diff --git a/linux/devices/devicedefinitions/PlocMPSoCDefinitions.h b/linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
index 9cb609bf..ef769eef 100644
--- a/linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
+++ b/linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
@@ -31,6 +31,10 @@ static const DeviceCommandId_t TC_MODE_IDLE = 18;
 static const DeviceCommandId_t TM_CAM_CMD_RPT = 19;
 static const DeviceCommandId_t SET_UART_TX_TRISTATE = 20;
 static const DeviceCommandId_t RELEASE_UART_TX = 21;
+static const DeviceCommandId_t TC_CAM_TAKE_PIC = 22;
+static const DeviceCommandId_t TC_SIMPLEX_SEND_FILE = 23;
+static const DeviceCommandId_t TC_DOWNLINK_DATA_MODULATE = 24;
+static const DeviceCommandId_t TC_MODE_SNAPSHOT = 25;
 
 // Will reset the sequence count of the OBSW
 static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
@@ -50,14 +54,18 @@ static const uint16_t TC_REPLAY_WRITE_SEQUENCE = 0x112;
 static const uint16_t TC_DOWNLINK_PWR_ON = 0x113;
 static const uint16_t TC_MEM_WRITE = 0x114;
 static const uint16_t TC_MEM_READ = 0x115;
+static const uint16_t TC_CAM_TAKE_PIC = 0x116;
 static const uint16_t TC_FLASHWRITE = 0x117;
 static const uint16_t TC_FLASHFOPEN = 0x119;
 static const uint16_t TC_FLASHFCLOSE = 0x11A;
 static const uint16_t TC_FLASHDELETE = 0x11C;
-static const uint16_t TC_MODE_REPLAY = 0x11F;
 static const uint16_t TC_MODE_IDLE = 0x11E;
+static const uint16_t TC_MODE_REPLAY = 0x11F;
+static const uint16_t TC_MODE_SNAPSHOT = 0x120;
+static const uint16_t TC_DOWNLINK_DATA_MODULATE = 0x121;
 static const uint16_t TC_DOWNLINK_PWR_OFF = 0x124;
 static const uint16_t TC_CAM_CMD_SEND = 0x12C;
+static const uint16_t TC_SIMPLEX_SEND_FILE = 0x130;
 static const uint16_t TM_MEMORY_READ_REPORT = 0x404;
 static const uint16_t ACK_SUCCESS = 0x400;
 static const uint16_t ACK_FAILURE = 0x401;
@@ -107,8 +115,11 @@ static const size_t MAX_DATA_SIZE = 1016;
 static const uint16_t TC_WRITE_SEQ_EXECUTION_DELAY = 80;
 // Requires approx. 2 seconds for execution. 8 => 4 seconds
 static const uint16_t TC_DOWNLINK_PWR_ON_EXECUTION_DELAY = 8;
+static const uint16_t TC_CAM_TAKE_PIC_EXECUTION_DELAY = 20;
+static const uint16_t TC_SIMPLEX_SEND_FILE_DELAY = 80;
 
 namespace status_code {
+static const uint16_t DEFAULT_ERROR_CODE = 0x1;
 static const uint16_t UNKNOWN_APID = 0x5DD;
 static const uint16_t INCORRECT_LENGTH = 0x5DE;
 static const uint16_t INCORRECT_CRC = 0x5DF;
@@ -646,6 +657,90 @@ class TcModeIdle : public TcBase {
       : TcBase(params, apid::TC_MODE_IDLE, sequenceCount) {}
 };
 
+/**
+ * @brief   Class to build mode idle command
+ */
+class TcModeSnapshot : public TcBase {
+ public:
+  TcModeSnapshot(ploc::SpTcParams params, uint16_t sequenceCount)
+      : TcBase(params, apid::TC_MODE_SNAPSHOT, sequenceCount) {}
+};
+
+/**
+ * @brief   Class to build camera take picture command
+ */
+class TcCamTakePic : public TcBase {
+ public:
+  TcCamTakePic(ploc::SpTcParams params, uint16_t sequenceCount)
+      : TcBase(params, apid::TC_CAM_TAKE_PIC, sequenceCount) {}
+
+  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
+    if (commandDataLen > MAX_DATA_LENGTH) {
+      return INVALID_LENGTH;
+    }
+    std::string fileName(reinterpret_cast<const char*>(commandData));
+    if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
+      return FILENAME_TOO_LONG;
+    }
+    if (commandDataLen - (fileName.size() + sizeof(NULL_TERMINATOR)) != PARAMETER_SIZE) {
+      return INVALID_LENGTH;
+    }
+    spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
+    std::memcpy(payloadStart, commandData, commandDataLen);
+    return returnvalue::OK;
+  }
+
+ private:
+  static const size_t MAX_DATA_LENGTH = 286;
+  static const size_t PARAMETER_SIZE = 28;
+};
+
+/**
+ * @brief   Class to build simplex send file command
+ */
+class TcSimplexSendFile : public TcBase {
+ public:
+  TcSimplexSendFile(ploc::SpTcParams params, uint16_t sequenceCount)
+      : TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}
+
+  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
+    if (commandDataLen > MAX_DATA_LENGTH) {
+      return INVALID_LENGTH;
+    }
+    std::string fileName(reinterpret_cast<const char*>(commandData));
+    if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
+      return FILENAME_TOO_LONG;
+    }
+    spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
+    std::memcpy(payloadStart, commandData, commandDataLen);
+    return returnvalue::OK;
+  }
+
+ private:
+  static const size_t MAX_DATA_LENGTH = 256;
+};
+
+/**
+ * @brief   Class to build downlink data modulate command
+ */
+class TcDownlinkDataModulate : public TcBase {
+ public:
+  TcDownlinkDataModulate(ploc::SpTcParams params, uint16_t sequenceCount)
+      : TcBase(params, apid::TC_DOWNLINK_DATA_MODULATE, sequenceCount) {}
+
+  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
+    if (commandDataLen > MAX_DATA_LENGTH) {
+      return INVALID_LENGTH;
+    }
+    spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
+    std::memcpy(payloadStart, commandData, commandDataLen);
+    return returnvalue::OK;
+  }
+
+ private:
+  static const size_t MAX_DATA_LENGTH = 11;
+};
+
 class TcCamcmdSend : public TcBase {
  public:
   TcCamcmdSend(ploc::SpTcParams params, uint16_t sequenceCount)
diff --git a/linux/devices/ploc/PlocMPSoCHandler.cpp b/linux/devices/ploc/PlocMPSoCHandler.cpp
index b1914111..5b53e089 100644
--- a/linux/devices/ploc/PlocMPSoCHandler.cpp
+++ b/linux/devices/ploc/PlocMPSoCHandler.cpp
@@ -1,5 +1,7 @@
 #include "PlocMPSoCHandler.h"
 
+#include <sstream>
+
 #include "OBSWConfig.h"
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/globalfunctions/CRC.h"
@@ -257,6 +259,22 @@ ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(DeviceCommandId_t device
       result = prepareTcCamCmdSend(commandData, commandDataLen);
       break;
     }
+    case (mpsoc::TC_CAM_TAKE_PIC): {
+      result = prepareTcCamTakePic(commandData, commandDataLen);
+      break;
+    }
+    case (mpsoc::TC_SIMPLEX_SEND_FILE): {
+      result = prepareTcSimplexSendFile(commandData, commandDataLen);
+      break;
+    }
+    case (mpsoc::TC_DOWNLINK_DATA_MODULATE): {
+      result = prepareTcDownlinkDataModulate(commandData, commandDataLen);
+      break;
+    }
+    case (mpsoc::TC_MODE_SNAPSHOT): {
+      result = prepareTcModeSnapshot();
+      break;
+    }
     default:
       sif::debug << "PlocMPSoCHandler::buildCommandFromCommand: Command not implemented"
                  << std::endl;
@@ -288,6 +306,10 @@ void PlocMPSoCHandler::fillCommandAndReplyMap() {
   this->insertInCommandMap(mpsoc::TC_CAM_CMD_SEND);
   this->insertInCommandMap(mpsoc::RELEASE_UART_TX);
   this->insertInCommandMap(mpsoc::SET_UART_TX_TRISTATE);
+  this->insertInCommandMap(mpsoc::TC_CAM_TAKE_PIC);
+  this->insertInCommandMap(mpsoc::TC_SIMPLEX_SEND_FILE);
+  this->insertInCommandMap(mpsoc::TC_DOWNLINK_DATA_MODULATE);
+  this->insertInCommandMap(mpsoc::TC_MODE_SNAPSHOT);
   this->insertInReplyMap(mpsoc::ACK_REPORT, 3, nullptr, mpsoc::SIZE_ACK_REPORT);
   this->insertInReplyMap(mpsoc::EXE_REPORT, 3, nullptr, mpsoc::SIZE_EXE_REPORT);
   this->insertInReplyMap(mpsoc::TM_MEMORY_READ_REPORT, 2, nullptr, mpsoc::SIZE_TM_MEM_READ_REPORT);
@@ -537,6 +559,53 @@ ReturnValue_t PlocMPSoCHandler::prepareTcCamCmdSend(const uint8_t* commandData,
   return returnvalue::OK;
 }
 
+ReturnValue_t PlocMPSoCHandler::prepareTcCamTakePic(const uint8_t* commandData,
+                                                    size_t commandDataLen) {
+  ReturnValue_t result = returnvalue::OK;
+  mpsoc::TcCamTakePic tcCamTakePic(spParams, sequenceCount);
+  result = tcCamTakePic.buildPacket(commandData, commandDataLen);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  finishTcPrep(tcCamTakePic.getFullPacketLen());
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMPSoCHandler::prepareTcSimplexSendFile(const uint8_t* commandData,
+                                                         size_t commandDataLen) {
+  ReturnValue_t result = returnvalue::OK;
+  mpsoc::TcSimplexSendFile tcSimplexSendFile(spParams, sequenceCount);
+  result = tcSimplexSendFile.buildPacket(commandData, commandDataLen);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  finishTcPrep(tcSimplexSendFile.getFullPacketLen());
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkDataModulate(const uint8_t* commandData,
+                                                              size_t commandDataLen) {
+  ReturnValue_t result = returnvalue::OK;
+  mpsoc::TcDownlinkDataModulate tcDownlinkDataModulate(spParams, sequenceCount);
+  result = tcDownlinkDataModulate.buildPacket(commandData, commandDataLen);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  finishTcPrep(tcDownlinkDataModulate.getFullPacketLen());
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMPSoCHandler::prepareTcModeSnapshot() {
+  ReturnValue_t result = returnvalue::OK;
+  mpsoc::TcModeSnapshot tcModeSnapshot(spParams, sequenceCount);
+  result = tcModeSnapshot.buildPacket();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  finishTcPrep(tcModeSnapshot.getFullPacketLen());
+  return returnvalue::OK;
+}
+
 void PlocMPSoCHandler::finishTcPrep(size_t packetLen) {
   nextReplyId = mpsoc::ACK_REPORT;
   rawPacket = commandBuffer;
@@ -694,6 +763,10 @@ ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator
     case mpsoc::TC_REPLAY_WRITE_SEQUENCE:
     case mpsoc::TC_MODE_REPLAY:
     case mpsoc::TC_MODE_IDLE:
+    case mpsoc::TC_CAM_TAKE_PIC:
+    case mpsoc::TC_SIMPLEX_SEND_FILE:
+    case mpsoc::TC_DOWNLINK_DATA_MODULATE:
+    case mpsoc::TC_MODE_SNAPSHOT:
       enabledReplies = 2;
       break;
     case mpsoc::TC_MEM_READ: {
@@ -753,8 +826,17 @@ ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator
     }
     case mpsoc::TC_DOWNLINK_PWR_ON: {
       DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
-      //
-      iter->second.delayCycles = mpsoc::TC_DOWNLINK_PWR_ON;
+      iter->second.delayCycles = mpsoc::TC_DOWNLINK_PWR_ON_EXECUTION_DELAY;
+      break;
+    }
+    case mpsoc::TC_CAM_TAKE_PIC: {
+      DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
+      iter->second.delayCycles = mpsoc::TC_CAM_TAKE_PIC_EXECUTION_DELAY;
+      break;
+    }
+    case mpsoc::TC_SIMPLEX_SEND_FILE: {
+      DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
+      iter->second.delayCycles = mpsoc::TC_SIMPLEX_SEND_FILE_DELAY;
       break;
     }
     default:
@@ -917,6 +999,18 @@ void PlocMPSoCHandler::disableAllReplies() {
   /* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
   switch (commandId) {
     case TC_MEM_WRITE:
+    case TC_FLASHDELETE:
+    case TC_REPLAY_START:
+    case TC_REPLAY_STOP:
+    case TC_DOWNLINK_PWR_ON:
+    case TC_DOWNLINK_PWR_OFF:
+    case TC_REPLAY_WRITE_SEQUENCE:
+    case TC_MODE_REPLAY:
+    case TC_MODE_IDLE:
+    case TC_CAM_TAKE_PIC:
+    case TC_SIMPLEX_SEND_FILE:
+    case TC_DOWNLINK_DATA_MODULATE:
+    case TC_MODE_SNAPSHOT:
       break;
     case TC_MEM_READ: {
       iter = deviceReplyMap.find(TM_MEMORY_READ_REPORT);
@@ -1048,6 +1142,10 @@ std::string PlocMPSoCHandler::getStatusString(uint16_t status) {
       return "Flash file already closed";
       break;
     }
+    case (mpsoc::status_code::FLASH_FILE_OPEN_FAILED): {
+      return "Flash file open failed";
+      break;
+    }
     case (mpsoc::status_code::FLASH_FILE_NOT_OPEN): {
       return "Flash file not open";
       break;
@@ -1084,7 +1182,14 @@ std::string PlocMPSoCHandler::getStatusString(uint16_t status) {
       return "Flash uncorrectable mismatch";
       break;
     }
+    case (mpsoc::status_code::DEFAULT_ERROR_CODE): {
+      return "Default error code";
+      break;
+    }
     default:
+      std::stringstream ss;
+      ss << "0x" << std::hex << status;
+      return ss.str();
       break;
   }
   return "";
diff --git a/linux/devices/ploc/PlocMPSoCHandler.h b/linux/devices/ploc/PlocMPSoCHandler.h
index 99a12515..f14fbe9d 100644
--- a/linux/devices/ploc/PlocMPSoCHandler.h
+++ b/linux/devices/ploc/PlocMPSoCHandler.h
@@ -169,6 +169,10 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   ReturnValue_t prepareTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
   ReturnValue_t prepareTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
   ReturnValue_t prepareTcModeIdle();
+  ReturnValue_t prepareTcCamTakePic(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t prepareTcSimplexSendFile(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t prepareTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t prepareTcModeSnapshot();
   void finishTcPrep(size_t packetLen);
 
   /**
diff --git a/mission/controller/acs/ActuatorCmd.cpp b/mission/controller/acs/ActuatorCmd.cpp
index 457cacce..d2fe2d65 100644
--- a/mission/controller/acs/ActuatorCmd.cpp
+++ b/mission/controller/acs/ActuatorCmd.cpp
@@ -49,7 +49,7 @@ void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t spee
     } else if (rwCmdSpeed[i] < -maxRwSpeed) {
       rwCmdSpeed[i] = -maxRwSpeed;
     }
-    }
+  }
 }
 
 void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,
diff --git a/mission/devices/devicedefinitions/SpBase.h b/mission/devices/devicedefinitions/SpBase.h
index 11d67a59..8678cf9d 100644
--- a/mission/devices/devicedefinitions/SpBase.h
+++ b/mission/devices/devicedefinitions/SpBase.h
@@ -14,6 +14,7 @@ struct SpTcParams {
   SpTcParams(SpacePacketCreator& creator, uint8_t* buf, size_t maxSize)
       : creator(creator), buf(buf), maxSize(maxSize) {}
 
+  // Set full payload length. Must also consider the two CRC bytes
   void setFullPayloadLen(size_t fullPayloadLen_) { fullPayloadLen = fullPayloadLen_; }
 
   SpacePacketCreator& creator;
diff --git a/tmtc b/tmtc
index d8367f7e..f21ee37a 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit d8367f7e62a47516d7772c129c18ee8f7b07703b
+Subproject commit f21ee37a01379907ca72932264e5236a6c30f8a1