diff --git a/CHANGELOG.md b/CHANGELOG.md
index 739067cc..baad285b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -19,6 +19,13 @@ will consitute of a breaking change warranting a new major release:
 ## Changed
 
 - Moved polling of all SPI parts to the same PST.
+- Allow quicker transition for the EIVE system component by allowing consecutive TCS and ACS
+  component commanding again.
+
+## Fixed
+
+- IMTQ: Sets were filled with wrong data, e.g. Raw MTM was filled with calibrated MTM measurements.
+- Set RM3100 dataset to valid.
 
 # [v1.33.0]
 
diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index f3269285..c0853695 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -661,7 +661,6 @@ void AcsController::announceMode(bool recursive) {
 }
 
 void AcsController::copyMgmData() {
-  ACS::SensorValues sensorValues;
   {
     PoolReadGuard pg(&sensorValues.mgm0Lis3Set);
     if (pg.getReadResult() == returnvalue::OK) {
@@ -806,7 +805,6 @@ void AcsController::copySusData() {
 }
 
 void AcsController::copyGyrData() {
-  ACS::SensorValues sensorValues;
   {
     PoolReadGuard pg(&sensorValues.gyr0AdisSet);
     if (pg.getReadResult() == returnvalue::OK) {
diff --git a/mission/devices/ImtqHandler.cpp b/mission/devices/ImtqHandler.cpp
index aa935ce5..5c5bdb61 100644
--- a/mission/devices/ImtqHandler.cpp
+++ b/mission/devices/ImtqHandler.cpp
@@ -312,7 +312,7 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
     uint8_t* rawMgmMeasurement = replies.getRawMgmMeasurement();
     result = parseStatusByte(imtq::CC::GET_RAW_MTM_MEASUREMENT, rawMgmMeasurement);
     if (result == returnvalue::OK) {
-      fillRawMtmDataset(rawMgmMeasurement);
+      fillRawMtmDataset(rawMtmNoTorque, rawMgmMeasurement);
     } else {
       status = result;
     }
@@ -323,7 +323,7 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
     uint8_t* calibMgmMeasurement = replies.getCalibMgmMeasurement();
     result = parseStatusByte(imtq::CC::GET_CAL_MTM_MEASUREMENT, calibMgmMeasurement);
     if (result == returnvalue::OK) {
-      fillRawMtmDataset(calibMgmMeasurement);
+      fillCalibratedMtmDataset(calibMgmMeasurement);
     } else {
       status = result;
     }
@@ -345,7 +345,7 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
     uint8_t* rawMgmMeasurement = replies.getRawMgmMeasurement();
     result = parseStatusByte(imtq::CC::GET_RAW_MTM_MEASUREMENT, rawMgmMeasurement);
     if (result == returnvalue::OK) {
-      fillRawMtmDataset(rawMgmMeasurement);
+      fillRawMtmDataset(rawMtmWithTorque, rawMgmMeasurement);
     } else {
       status = result;
     }
@@ -361,7 +361,7 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
     } else {
       status = result;
     }
-    fillEngHkDataset(hkDatasetNoTorque, engHkReply);
+    fillEngHkDataset(hkDatasetWithTorque, engHkReply);
     if (firstReplyCycle) {
       firstReplyCycle = false;
     }
@@ -847,8 +847,11 @@ void ImtqHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
   }
 }
 
-void ImtqHandler::fillRawMtmDataset(const uint8_t* packet) {
-  PoolReadGuard rg(&rawMtmNoTorque);
+void ImtqHandler::fillRawMtmDataset(imtq::RawMtmMeasurementSet& set, const uint8_t* packet) {
+  PoolReadGuard rg(&set);
+  if(rg.getReadResult() != returnvalue::OK) {
+    sif::error << "ImtqHandler::fillRawMtmDataset: Lock failure" << std::endl;
+  }
   unsigned int offset = 2;
   size_t deSerLen = 16;
   const uint8_t* dataStart = packet + offset;
@@ -876,18 +879,18 @@ void ImtqHandler::fillRawMtmDataset(const uint8_t* packet) {
   if (res != returnvalue::OK) {
     return;
   }
-  rawMtmNoTorque.mtmRawNt[0] = xRaw * 7.5;
-  rawMtmNoTorque.mtmRawNt[1] = yRaw * 7.5;
-  rawMtmNoTorque.mtmRawNt[2] = zRaw * 7.5;
-  rawMtmNoTorque.coilActuationStatus = static_cast<uint8_t>(coilActStatus);
-  rawMtmNoTorque.setValidity(true, true);
+  set.mtmRawNt[0] = static_cast<float>(xRaw) * 7.5;
+  set.mtmRawNt[1] = static_cast<float>(yRaw) * 7.5;
+  set.mtmRawNt[2] = static_cast<float>(zRaw) * 7.5;
+  set.coilActuationStatus = static_cast<uint8_t>(coilActStatus);
+  set.setValidity(true, true);
   if (debugMode) {
 #if OBSW_VERBOSE_LEVEL >= 1
-    sif::info << "IMTQ raw MTM measurement X: " << rawMtmNoTorque.mtmRawNt[0] << " nT" << std::endl;
-    sif::info << "IMTQ raw MTM measurement Y: " << rawMtmNoTorque.mtmRawNt[1] << " nT" << std::endl;
-    sif::info << "IMTQ raw MTM measurement Z: " << rawMtmNoTorque.mtmRawNt[2] << " nT" << std::endl;
+    sif::info << "IMTQ raw MTM measurement X: " << set.mtmRawNt[0] << " nT" << std::endl;
+    sif::info << "IMTQ raw MTM measurement Y: " << set.mtmRawNt[1] << " nT" << std::endl;
+    sif::info << "IMTQ raw MTM measurement Z: " << set.mtmRawNt[2] << " nT" << std::endl;
     sif::info << "IMTQ coil actuation status during MTM measurement: "
-              << (unsigned int)rawMtmNoTorque.coilActuationStatus.value << std::endl;
+              << (unsigned int)set.coilActuationStatus.value << std::endl;
 #endif
   }
 }
diff --git a/mission/devices/ImtqHandler.h b/mission/devices/ImtqHandler.h
index a674f85b..419fad33 100644
--- a/mission/devices/ImtqHandler.h
+++ b/mission/devices/ImtqHandler.h
@@ -159,7 +159,7 @@ class ImtqHandler : public DeviceHandlerBase {
    * @param packet    Pointer to the reply data requested with the GET_RAW_MTM_MEASUREMENTS
    *                  command.
    */
-  void fillRawMtmDataset(const uint8_t* packet);
+  void fillRawMtmDataset(imtq::RawMtmMeasurementSet& set, const uint8_t* packet);
 
   /**
    * @brief   This function handles all self test results. This comprises parsing the error byte
diff --git a/mission/devices/MgmRm3100CustomHandler.cpp b/mission/devices/MgmRm3100CustomHandler.cpp
index 685de23d..90fe58e2 100644
--- a/mission/devices/MgmRm3100CustomHandler.cpp
+++ b/mission/devices/MgmRm3100CustomHandler.cpp
@@ -91,6 +91,7 @@ ReturnValue_t MgmRm3100CustomHandler::interpretDeviceReply(DeviceCommandId_t id,
     }
 
     PoolReadGuard pg(&primaryDataset);
+    primaryDataset.setValidity(true, true);
     for (uint8_t idx = 0; idx < 3; idx++) {
       primaryDataset.fieldStrengths[idx] = reply->mgmValuesRaw[idx] * reply->scaleFactors[idx];
     }
diff --git a/mission/system/tree/system.cpp b/mission/system/tree/system.cpp
index 5ec10a8c..710698a1 100644
--- a/mission/system/tree/system.cpp
+++ b/mission/system/tree/system.cpp
@@ -87,19 +87,19 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
   // consecutive commanding of TCS and ACS can lead to SPI issues.
   iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
   iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_SAFE_TRANS_0.second);
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second);
   check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)),
         ctxc);
 
   // Build SAFE transition 1
-  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_1.second);
-  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_1.second);
-  check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_1.first, &EIVE_TABLE_SAFE_TRANS_1.second)),
-        ctxc);
+  //check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_1.first, &EIVE_TABLE_SAFE_TRANS_1.second)),
+  //      ctxc);
 
   // Build Safe sequence
   ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false);
   ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false);
-  ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_1.first, 0, false);
+  //ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_1.first, 0, false);
   check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second,
                                      EIVE_SEQUENCE_SAFE.first)),
         ctxc);
@@ -129,19 +129,19 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build SAFE transition 0
   iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_IDLE_TRANS_1.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_1.second);
   check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_0.first, &EIVE_TABLE_IDLE_TRANS_0.second)),
         ctxc);
 
   // Build SAFE transition 1
-  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_IDLE_TRANS_1.second);
-  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_1.second);
-  check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_1.first, &EIVE_TABLE_IDLE_TRANS_1.second)),
-        ctxc);
+  //check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_1.first, &EIVE_TABLE_IDLE_TRANS_1.second)),
+   //     ctxc);
 
   // Build Safe sequence
   ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TGT.first, 0, false);
   ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_0.first, 0, false);
-  ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_1.first, 0, false);
+  //ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_1.first, 0, false);
   check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_IDLE.first, &EIVE_SEQUENCE_IDLE.second,
                                      EIVE_SEQUENCE_SAFE.first)),
         ctxc);
diff --git a/tmtc b/tmtc
index 350ffda6..2dd850f0 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 350ffda6c61b76dc9a6bbf08cec168c29c08136f
+Subproject commit 2dd850f0725d37256c17576bf7d3ae4423184044