diff --git a/CHANGELOG.md b/CHANGELOG.md
index bf627b3a..b7f27fc7 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -14,6 +14,8 @@ list yields a list of all related PRs for each release.
 
 - First version of ACS controller
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/329
+- Allow commanding the 5V stack internally in software
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/334
 
 # [v1.18.0] 01.12.2022
 
diff --git a/bsp_q7s/core/CoreController.cpp b/bsp_q7s/core/CoreController.cpp
index a1491044..23c6cc4f 100644
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@@ -1323,7 +1323,7 @@ void CoreController::performRebootFileHandling(bool recreateFile) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
 #endif
-    rebootFile.enabled = true;
+    rebootFile.enabled = false;
     rebootFile.img00Cnt = 0;
     rebootFile.img01Cnt = 0;
     rebootFile.img10Cnt = 0;
diff --git a/bsp_q7s/fmObjectFactory.cpp b/bsp_q7s/fmObjectFactory.cpp
index 74c9d02e..34da0257 100644
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@@ -33,8 +33,12 @@ void ObjectFactory::produce(void* args) {
 
   new CoreController(objects::CORE_CONTROLLER);
   createPcduComponents(gpioComIF, &pwrSwitcher);
+#if OBSW_ADD_RAD_SENSORS == 1
   createRadSensorComponent(gpioComIF);
+#endif
+#if OBSW_ADD_SUN_SENSORS == 1
   createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
+#endif
 
 #if OBSW_ADD_ACS_BOARD == 1
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
diff --git a/fsfw b/fsfw
index 5b0ea912..05cad893 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 5b0ea91222a6b8efb2f4562cfecbcb735dfeedd5
+Subproject commit 05cad893a2b713827cf4cdc9afe49675f18afcc7
diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index f9ea5926..ca030f1d 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -219,10 +219,9 @@ void AcsController::performDetumble() {
   {
     PoolReadGuard pg(&actuatorCmdData);
     if (pg.getReadResult() == returnvalue::OK) {
-      int32_t zeroVec[4] = {0, 0, 0, 0};
-      std::memcpy(actuatorCmdData.rwTargetTorque.value, zeroVec, 4 * sizeof(double));
+      std::memset(actuatorCmdData.rwTargetTorque.value, 0, 4 * sizeof(double));
       actuatorCmdData.rwTargetTorque.setValid(false);
-      std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
+      std::memset(actuatorCmdData.rwTargetSpeed.value, 0, 4 * sizeof(int32_t));
       actuatorCmdData.rwTargetSpeed.setValid(false);
       std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(int16_t));
       actuatorCmdData.mtqTargetDipole.setValid(true);
@@ -468,7 +467,7 @@ void AcsController::copyMgmData() {
     PoolReadGuard pg(&sensorValues.mgm3Rm3100Set);
     if (pg.getReadResult() == returnvalue::OK) {
       std::memcpy(mgmDataRaw.mgm3Rm3100.value, sensorValues.mgm3Rm3100Set.fieldStrengths.value,
-                  3 + sizeof(float));
+                  3 * sizeof(float));
       mgmDataRaw.mgm3Rm3100.setValid(sensorValues.mgm3Rm3100Set.fieldStrengths.isValid());
     }
   }
diff --git a/mission/devices/PCDUHandler.cpp b/mission/devices/PCDUHandler.cpp
index 91881db5..71b4734e 100644
--- a/mission/devices/PCDUHandler.cpp
+++ b/mission/devices/PCDUHandler.cpp
@@ -321,6 +321,11 @@ ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
+    case pcdu::P60_DOCK_5V_STACK: {
+      memoryAddress = P60Dock::CONFIG_ADDRESS_OUT_EN_5V_STACK;
+      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::P60DOCK_HANDLER);
+      break;
+    }
 
     default: {
       sif::error << "PCDUHandler::sendSwitchCommand: Invalid switch number " << std::endl;
diff --git a/mission/devices/devicedefinitions/GomspaceDefinitions.h b/mission/devices/devicedefinitions/GomspaceDefinitions.h
index d2ffdc25..ca92f5e4 100644
--- a/mission/devices/devicedefinitions/GomspaceDefinitions.h
+++ b/mission/devices/devicedefinitions/GomspaceDefinitions.h
@@ -108,6 +108,8 @@ enum class SetIds : uint32_t { CORE = 1, AUX = 2, CONFIG = 3 };
 
 namespace P60Dock {
 
+static const uint16_t CONFIG_ADDRESS_OUT_EN_5V_STACK = 0x72;
+
 namespace pool {
 
 enum Ids : lp_id_t {
@@ -733,7 +735,9 @@ enum Switches : power::Switch_t {
   PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
   PDU2_CH6_PL_PCDU_BATT_1_14V8,
   PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
-  PDU2_CH8_PAYLOAD_CAMERA
+  PDU2_CH8_PAYLOAD_CAMERA,
+
+  P60_DOCK_5V_STACK
 };
 
 static constexpr uint8_t NUMBER_OF_SWITCHES = 18;