diff --git a/CHANGELOG.md b/CHANGELOG.md
index 590a2cfd..0e279f6e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,14 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v1.34.0] 2023-03-03
+
+eive-tmtc: v2.16.3
+
+This might include the fix for the race condition where CPU usage jumped to 200 %. The race
+condition was traced to the `Countdown` class, more specifically to the `getUptime` function where
+the `/proc/uptime` file is read.
+
 ## Changed
 
 - Moved polling of all SPI parts to the same PST.
@@ -23,6 +31,8 @@ will consitute of a breaking change warranting a new major release:
   component commanding again.
 - Changed a lot of lock guards to use timeouts
 - Queue sizes of TCP/UDP servers increased from 20 to 50
+- Significantly simplified and improved lock guard handling in TCS and ACS board polling
+  tasks.
 
 ## Fixed
 
@@ -31,13 +41,16 @@ will consitute of a breaking change warranting a new major release:
 - Fixed units in calculation of ACS control laws safe and detumble.
 - Bump FSFW for change in Countdown: Use system clock instead of reading uptime from file
   to prevent possible race condition.
-- GPS: No fix for 30 minutes considered a faulty now instead of 5 hours.
+- GPS: No fix considered a fault now after 30 minutes instead of 5 hours.
+- SUS Assembly FDIR: Prevent permanent SAFE mode fallbacks by introducing special health
+  handling.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/418/files
 
 ## Added
 
 - Added Syrlinks Assembly object to allow recovery handling and to fix faulty FDIR behaviour.
 
-# [v1.33.0]
+# [v1.33.0] 2023-03-01
 
 eive-tmtc: v2.16.2
 
@@ -51,7 +64,7 @@ eive-tmtc: v2.16.2
 - Linux GPS handler now checks the individual `*_SET` flags when analysing the `gpsd` struct.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/400
 
-# [v1.32.0]
+# [v1.32.0] 2023-02-24
 
 eive-tmtc: v2.16.1
 
@@ -92,7 +105,7 @@ eive-tmtc: v2.16.1
 - `RwDummy` now initializes with a non faulty state
 
 
-# [v1.31.1]
+# [v1.31.1] 2023-02-23
 
 ## Fixed
 
@@ -102,7 +115,7 @@ eive-tmtc: v2.16.1
   for actuator control which lead to a crash.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/403
 
-# [v1.31.0]
+# [v1.31.0] 2023-02-23
 
 eive-tmtc: v2.16.0
 
@@ -143,7 +156,7 @@ COM PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/364
 - `MekfData` now includes `mekfStatus`
 - `CtrlValData` now includes `tgtRotRate`
 
-# [v1.30.0]
+# [v1.30.0] 2023-02-22
 
 eive-tmtc: v2.14.0
 
@@ -160,7 +173,7 @@ Event IDs for PDEC handler have changed in a breaking manner.
   an event is triggered and the task is delayed for 400 ms.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/393
 
-# [v1.29.1]
+# [v1.29.1] 2023-02-21
 
 ## Fixed
 
@@ -172,7 +185,7 @@ Event IDs for PDEC handler have changed in a breaking manner.
   Issue: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/388
 - Disable stopwatch in MAX31865 polling task
 
-# [v1.29.0]
+# [v1.29.0] 2023-02-21
 
 eive-tmtc: v2.13.0
 
@@ -193,7 +206,7 @@ eive-tmtc: v2.13.0
   will be part of the TCS tree.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351
 
-# [v1.28.1]
+# [v1.28.1] 2023-02-21
 
 ## Fixed
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f477d205..588bf233 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,7 +10,7 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
-set(OBSW_VERSION_MINOR 33)
+set(OBSW_VERSION_MINOR 34)
 set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
diff --git a/fsfw b/fsfw
index 6006c97e..33de1520 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 6006c97e48b7e6dc3b45a832bdd027a510b67f16
+Subproject commit 33de15205b4560c54a108e35609536374b026c22
diff --git a/tmtc b/tmtc
index 783d5a8e..94ae2d16 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 783d5a8ed56a9683fc75d2aaffcabe82af34ffa9
+Subproject commit 94ae2d16e21ade8f89723b2e62356967a67b171d