diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 4223c8fc..d956a392 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -766,14 +766,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
 
-//    GpiodRegular* enRw1 = new GpiodRegular("Enable reaction wheel 1", gpio::OUT, 0,
-//            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS);
-//    gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
-//    GpiodRegular* enRw2 = new GpiodRegular("Enable reaction wheel 2", gpio::OUT, 0,
-//            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS);
-//    gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
-//    GpiodRegular* enRw3 = new GpiodRegular(, gpio::OUT, 0,
-//            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS);
     auto enRw1 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS,
             "Enable reaction wheel 1", gpio::OUT, gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
@@ -813,18 +805,30 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
 
     auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
             gpioIds::EN_RW1);
+#if OBSW_DEBUG_RW == 1
+    rwHandler1->setStartUpImmediately();
+#endif
     rw1SpiCookie->setCallbackArgs(rwHandler1);
 
     auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
             gpioIds::EN_RW2);
+#if OBSW_DEBUG_RW == 1
+    rwHandler2->setStartUpImmediately();
+#endif
     rw2SpiCookie->setCallbackArgs(rwHandler2);
 
     auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
             gpioIds::EN_RW3);
+#if OBSW_DEBUG_RW == 1
+    rwHandler3->setStartUpImmediately();
+#endif
     rw3SpiCookie->setCallbackArgs(rwHandler3);
 
     auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
             gpioIds::EN_RW4);
+#if OBSW_DEBUG_RW == 1
+    rwHandler4->setStartUpImmediately();
+#endif
     rw4SpiCookie->setCallbackArgs(rwHandler4);
 }
 
diff --git a/fsfw b/fsfw
index c9b343eb..e1a85b47 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit c9b343ebcd92de1d214a9b1d7abafee4a7e79888
+Subproject commit e1a85b47c5018590e58b9b1130b1754b0079450f
diff --git a/mission/devices/GPSHyperionHandler.cpp b/mission/devices/GPSHyperionHandler.cpp
index 26b86a76..8944d17a 100644
--- a/mission/devices/GPSHyperionHandler.cpp
+++ b/mission/devices/GPSHyperionHandler.cpp
@@ -60,10 +60,8 @@ ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
             PoolReadGuard pg(&gpsSet);
             // Set HK entries invalid
             gpsSet.setValidity(false, true);
-            // The user needs to implement this. Don't touch states for now, the device should
-            // quickly reboot and send valid strings again.
-            actionHelper.finish(true, getCommanderQueueId(deviceCommand), deviceCommand);
-            return resetCallback(resetCallbackArgs);
+            resetCallback(resetCallbackArgs);
+            return HasActionsIF::EXECUTION_FINISHED;
         }
         return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
     }
@@ -210,3 +208,7 @@ ReturnValue_t GPSHyperionHandler::initialize() {
     // Enable reply immediately for now
     return updatePeriodicReply(true, GpsHyperion::GPS_REPLY);
 }
+
+ReturnValue_t GPSHyperionHandler::acceptExternalDeviceCommands() {
+    return DeviceHandlerBase::acceptExternalDeviceCommands();
+}
diff --git a/mission/devices/GPSHyperionHandler.h b/mission/devices/GPSHyperionHandler.h
index 13591b44..e7c925be 100644
--- a/mission/devices/GPSHyperionHandler.h
+++ b/mission/devices/GPSHyperionHandler.h
@@ -22,6 +22,7 @@ public:
     using gpioResetFunction_t = ReturnValue_t (*) (void* args);
 
 	void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void*args);
+	ReturnValue_t acceptExternalDeviceCommands() override;
 
 	ReturnValue_t initialize() override;
 protected:
diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp
index 571f7eca..91188d87 100644
--- a/mission/devices/RwHandler.cpp
+++ b/mission/devices/RwHandler.cpp
@@ -144,47 +144,48 @@ void RwHandler::fillCommandAndReplyMap() {
 
 ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize,
         DeviceCommandId_t *foundId, size_t *foundLen) {
-
-    switch (*(start)) {
-    case (static_cast<uint8_t>(RwDefinitions::GET_LAST_RESET_STATUS)): {
+    uint8_t replyByte = *start;
+    switch (replyByte) {
+    case (RwDefinitions::GET_LAST_RESET_STATUS): {
         *foundLen = RwDefinitions::SIZE_GET_RESET_STATUS;
         *foundId = RwDefinitions::GET_LAST_RESET_STATUS;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::CLEAR_LAST_RESET_STATUS)): {
+    case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
         *foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS;
         *foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::GET_RW_STATUS)): {
+    case (RwDefinitions::GET_RW_STATUS): {
         *foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
         *foundId = RwDefinitions::GET_RW_STATUS;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::INIT_RW_CONTROLLER)): {
+    case (RwDefinitions::INIT_RW_CONTROLLER): {
         *foundLen = RwDefinitions::SIZE_INIT_RW;
         *foundId = RwDefinitions::INIT_RW_CONTROLLER;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::SET_SPEED)): {
+    case (RwDefinitions::SET_SPEED): {
         *foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY;
         *foundId = RwDefinitions::SET_SPEED;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::GET_TEMPERATURE)): {
+    case (RwDefinitions::GET_TEMPERATURE): {
         *foundLen = RwDefinitions::SIZE_GET_TEMPERATURE_REPLY;
         *foundId = RwDefinitions::GET_TEMPERATURE;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::GET_TM)): {
+    case (RwDefinitions::GET_TM): {
         *foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
         *foundId = RwDefinitions::GET_TM;
         break;
     }
     default: {
-        sif::debug << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl;
+        sif::warning << "RwHandler::scanForReply: Reply contains invalid command code" <<
+                std::endl;
+        *foundLen = remainingSize;
         return RETURN_FAILED;
-        break;
     }
     }