diff --git a/CMakeLists.txt b/CMakeLists.txt
index d6a73014..43336bdd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -105,7 +105,7 @@ set(OBSW_ADD_ACS_CTRL
     ${INIT_VAL}
     CACHE STRING "Add ACS controller")
 set(OBSW_ADD_RTD_DEVICES
-    1
+    ${INIT_VAL}
     CACHE STRING "Add RTD devices")
 set(OBSW_ADD_RAD_SENSORS
     ${INIT_VAL}
diff --git a/bsp_q7s/em/emObjectFactory.cpp b/bsp_q7s/em/emObjectFactory.cpp
index b8e83862..d80d0af7 100644
--- a/bsp_q7s/em/emObjectFactory.cpp
+++ b/bsp_q7s/em/emObjectFactory.cpp
@@ -43,13 +43,14 @@ void ObjectFactory::produce(void* args) {
   // createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
   // createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
   // createTmpComponents();
+  // createSolarArrayDeploymentComponents();
   createRadSensorComponent(gpioComIF);
 
 #if OBSW_ADD_ACS_BOARD == 1
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
   createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
-  createSolarArrayDeploymentComponents();
+
   createPayloadComponents(gpioComIF);
 
 #if OBSW_ADD_MGT == 1
@@ -71,6 +72,9 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_TEST_CODE == 1
   createTestComponents(gpioComIF);
 #endif /* OBSW_ADD_TEST_CODE == 1 */
+#if OBSW_ADD_SCEX_DEVICE == 1
+  createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), true, std::nullopt);
+#endif
 
   createMiscComponents();
   createAcsController();
diff --git a/dummies/CMakeLists.txt b/dummies/CMakeLists.txt
index 4cb05289..677120fb 100644
--- a/dummies/CMakeLists.txt
+++ b/dummies/CMakeLists.txt
@@ -12,6 +12,7 @@ target_sources(
          AcuDummy.cpp
          PduDummy.cpp
          P60DockDummy.cpp
+         SaDeploymentDummy.cpp
          GyroAdisDummy.cpp
          GyroL3GD20Dummy.cpp
          MgmLIS3MDLDummy.cpp
diff --git a/dummies/SaDeploymentDummy.cpp b/dummies/SaDeploymentDummy.cpp
new file mode 100644
index 00000000..8ea80545
--- /dev/null
+++ b/dummies/SaDeploymentDummy.cpp
@@ -0,0 +1,10 @@
+#include "SaDeploymentDummy.h"
+
+SaDeplDummy::SaDeplDummy(object_id_t objectId): SystemObject(objectId) {
+}
+
+SaDeplDummy::~SaDeplDummy() = default;
+
+ReturnValue_t SaDeplDummy::performOperation(uint8_t opCode) {
+	return returnvalue::OK;
+}
diff --git a/dummies/SaDeploymentDummy.h b/dummies/SaDeploymentDummy.h
new file mode 100644
index 00000000..a0b5ccdf
--- /dev/null
+++ b/dummies/SaDeploymentDummy.h
@@ -0,0 +1,19 @@
+
+#ifndef DUMMIES_SADEPLOYMENT_H_
+#define DUMMIES_SADEPLOYMENT_H_
+
+#include "SaDeploymentDummy.h"
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+class SaDeplDummy : public SystemObject, public ExecutableObjectIF {
+ public:
+
+  SaDeplDummy(object_id_t objectId);
+  virtual ~SaDeplDummy();
+
+  ReturnValue_t performOperation(uint8_t opCode) override;
+
+ protected:
+};
+
+#endif /* DUMMIES_SADEPLOYMENT_H_ */
diff --git a/dummies/helpers.cpp b/dummies/helpers.cpp
index 8eb73250..2b18cffd 100644
--- a/dummies/helpers.cpp
+++ b/dummies/helpers.cpp
@@ -14,6 +14,7 @@
 #include <dummies/PduDummy.h>
 #include <dummies/PlPcduDummy.h>
 #include <dummies/RwDummy.h>
+#include <dummies/SaDeploymentDummy.h>
 #include <dummies/StarTrackerDummy.h>
 #include <dummies/SusDummy.h>
 #include <dummies/SyrlinksDummy.h>
@@ -35,6 +36,7 @@ void dummy::createDummies(DummyCfg cfg) {
   new RwDummy(objects::RW2, objects::DUMMY_COM_IF, comCookieDummy);
   new RwDummy(objects::RW3, objects::DUMMY_COM_IF, comCookieDummy);
   new RwDummy(objects::RW4, objects::DUMMY_COM_IF, comCookieDummy);
+  new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
   new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
   new SyrlinksDummy(objects::SYRLINKS_HK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
diff --git a/fsfw b/fsfw
index 1d6ccfe5..ec7566fb 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 1d6ccfe5ab63c268e1b62a731eb55d35eac88492
+Subproject commit ec7566fb8c38ebe232fbbb71e2ed1095fcc864e2
diff --git a/mission/controller/ThermalController.cpp b/mission/controller/ThermalController.cpp
index e33090f7..e76c8f7e 100644
--- a/mission/controller/ThermalController.cpp
+++ b/mission/controller/ThermalController.cpp
@@ -235,7 +235,7 @@ ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode
 
 void ThermalController::copySensors() {
   {
-    PoolReadGuard pg0(&max31865Set0);
+    PoolReadGuard pg0(&max31865Set0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg0.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_ploc_heatspreader.value = max31865Set0.temperatureCelcius.value;
       sensorTemperatures.sensor_ploc_heatspreader.setValid(
@@ -247,7 +247,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg1(&max31865Set1);
+    PoolReadGuard pg1(&max31865Set1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg1.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_ploc_missionboard.value = max31865Set1.temperatureCelcius.value;
       sensorTemperatures.sensor_ploc_missionboard.setValid(
@@ -259,7 +259,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg2(&max31865Set2);
+    PoolReadGuard pg2(&max31865Set2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg2.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_4k_camera.value = max31865Set2.temperatureCelcius.value;
       sensorTemperatures.sensor_4k_camera.setValid(max31865Set2.temperatureCelcius.isValid());
@@ -270,7 +270,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg3(&max31865Set3);
+    PoolReadGuard pg3(&max31865Set3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg3.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_dac_heatspreader.value = max31865Set3.temperatureCelcius.value;
       sensorTemperatures.sensor_dac_heatspreader.setValid(
@@ -282,7 +282,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg4(&max31865Set4);
+    PoolReadGuard pg4(&max31865Set4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg4.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_startracker.value = max31865Set4.temperatureCelcius.value;
       sensorTemperatures.sensor_startracker.setValid(max31865Set4.temperatureCelcius.isValid());
@@ -293,7 +293,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg5(&max31865Set5);
+    PoolReadGuard pg5(&max31865Set5, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg5.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_rw1.value = max31865Set5.temperatureCelcius.value;
       sensorTemperatures.sensor_rw1.setValid(max31865Set5.temperatureCelcius.isValid());
@@ -304,7 +304,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg6(&max31865Set6);
+    PoolReadGuard pg6(&max31865Set6, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg6.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_dro.value = max31865Set6.temperatureCelcius.value;
       sensorTemperatures.sensor_dro.setValid(max31865Set6.temperatureCelcius.isValid());
@@ -315,7 +315,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg7(&max31865Set7);
+    PoolReadGuard pg7(&max31865Set7, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg7.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_scex.value = max31865Set7.temperatureCelcius.value;
       sensorTemperatures.sensor_scex.setValid(max31865Set7.temperatureCelcius.isValid());
@@ -326,7 +326,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg8(&max31865Set8);
+    PoolReadGuard pg8(&max31865Set8, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg8.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_x8.value = max31865Set8.temperatureCelcius.value;
       sensorTemperatures.sensor_x8.setValid(max31865Set8.temperatureCelcius.isValid());
@@ -337,7 +337,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg9(&max31865Set9);
+    PoolReadGuard pg9(&max31865Set9, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg9.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_hpa.value = max31865Set9.temperatureCelcius.value;
       sensorTemperatures.sensor_hpa.setValid(max31865Set9.temperatureCelcius.isValid());
@@ -348,7 +348,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg10(&max31865Set10);
+    PoolReadGuard pg10(&max31865Set10, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg10.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_tx_modul.value = max31865Set10.temperatureCelcius.value;
       sensorTemperatures.sensor_tx_modul.setValid(max31865Set10.temperatureCelcius.isValid());
@@ -359,7 +359,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg11(&max31865Set11);
+    PoolReadGuard pg11(&max31865Set11, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg11.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_mpa.value = max31865Set11.temperatureCelcius.value;
       sensorTemperatures.sensor_mpa.setValid(max31865Set11.temperatureCelcius.isValid());
@@ -370,7 +370,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg12(&max31865Set12);
+    PoolReadGuard pg12(&max31865Set12, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg12.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_acu.value = max31865Set12.temperatureCelcius.value;
       sensorTemperatures.sensor_acu.setValid(max31865Set12.temperatureCelcius.isValid());
@@ -381,7 +381,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg13(&max31865Set13);
+    PoolReadGuard pg13(&max31865Set13, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg13.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_plpcdu_heatspreader.value = max31865Set13.temperatureCelcius.value;
       sensorTemperatures.sensor_plpcdu_heatspreader.setValid(
@@ -393,7 +393,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg14(&max31865Set14);
+    PoolReadGuard pg14(&max31865Set14, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg14.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_tcs_board.value = max31865Set14.temperatureCelcius.value;
       sensorTemperatures.sensor_tcs_board.setValid(max31865Set14.temperatureCelcius.isValid());
@@ -404,7 +404,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg15(&max31865Set15);
+    PoolReadGuard pg15(&max31865Set15, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg15.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_magnettorquer.value = max31865Set15.temperatureCelcius.value;
       sensorTemperatures.sensor_magnettorquer.setValid(max31865Set15.temperatureCelcius.isValid());
@@ -415,7 +415,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg111(&tmp1075Set1);
+    PoolReadGuard pg111(&tmp1075Set1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg111.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_tmp1075_1.value = tmp1075Set1.temperatureCelcius.value;
       sensorTemperatures.sensor_tmp1075_1.setValid(tmp1075Set1.temperatureCelcius.isValid());
@@ -426,7 +426,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg112(&tmp1075Set2);
+    PoolReadGuard pg112(&tmp1075Set2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg112.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_tmp1075_2.value = tmp1075Set2.temperatureCelcius.value;
       sensorTemperatures.sensor_tmp1075_2.setValid(tmp1075Set2.temperatureCelcius.isValid());
@@ -439,7 +439,7 @@ void ThermalController::copySensors() {
 
 void ThermalController::copySus() {
   {
-    PoolReadGuard pg0(&susSet0);
+    PoolReadGuard pg0(&susSet0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg0.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_0_n_loc_xfyfzm_pt_xf.value = susSet0.temperatureCelcius.value;
       susTemperatures.sus_0_n_loc_xfyfzm_pt_xf.setValid(susSet0.temperatureCelcius.isValid());
@@ -450,7 +450,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg1(&susSet1);
+    PoolReadGuard pg1(&susSet1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg1.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_6_r_loc_xfybzm_pt_xf.value = susSet1.temperatureCelcius.value;
       susTemperatures.sus_6_r_loc_xfybzm_pt_xf.setValid(susSet1.temperatureCelcius.isValid());
@@ -461,7 +461,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg2(&susSet2);
+    PoolReadGuard pg2(&susSet2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg2.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_1_n_loc_xbyfzm_pt_xb.value = susSet2.temperatureCelcius.value;
       susTemperatures.sus_1_n_loc_xbyfzm_pt_xb.setValid(susSet2.temperatureCelcius.isValid());
@@ -472,7 +472,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg3(&susSet3);
+    PoolReadGuard pg3(&susSet3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg3.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_7_r_loc_xbybzm_pt_xb.value = susSet3.temperatureCelcius.value;
       susTemperatures.sus_7_r_loc_xbybzm_pt_xb.setValid(susSet3.temperatureCelcius.isValid());
@@ -483,7 +483,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg4(&susSet4);
+    PoolReadGuard pg4(&susSet4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg4.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_2_n_loc_xfybzb_pt_yb.value = susSet4.temperatureCelcius.value;
       susTemperatures.sus_2_n_loc_xfybzb_pt_yb.setValid(susSet4.temperatureCelcius.isValid());
@@ -494,7 +494,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg5(&susSet5);
+    PoolReadGuard pg5(&susSet5, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg5.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_8_r_loc_xbybzb_pt_yb.value = susSet5.temperatureCelcius.value;
       susTemperatures.sus_8_r_loc_xbybzb_pt_yb.setValid(susSet5.temperatureCelcius.isValid());
@@ -505,7 +505,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg6(&susSet6);
+    PoolReadGuard pg6(&susSet6, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg6.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_3_n_loc_xfybzf_pt_yf.value = susSet6.temperatureCelcius.value;
       susTemperatures.sus_3_n_loc_xfybzf_pt_yf.setValid(susSet6.temperatureCelcius.isValid());
@@ -516,7 +516,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg7(&susSet7);
+    PoolReadGuard pg7(&susSet7, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg7.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_9_r_loc_xbybzb_pt_yf.value = susSet7.temperatureCelcius.value;
       susTemperatures.sus_9_r_loc_xbybzb_pt_yf.setValid(susSet7.temperatureCelcius.isValid());
@@ -527,7 +527,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg8(&susSet8);
+    PoolReadGuard pg8(&susSet8, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg8.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_4_n_loc_xmyfzf_pt_zf.value = susSet8.temperatureCelcius.value;
       susTemperatures.sus_4_n_loc_xmyfzf_pt_zf.setValid(susSet8.temperatureCelcius.isValid());
@@ -538,7 +538,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg9(&susSet9);
+    PoolReadGuard pg9(&susSet9, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg9.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_10_n_loc_xmybzf_pt_zf.value = susSet9.temperatureCelcius.value;
       susTemperatures.sus_10_n_loc_xmybzf_pt_zf.setValid(susSet9.temperatureCelcius.isValid());
@@ -549,7 +549,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg10(&susSet10);
+    PoolReadGuard pg10(&susSet10, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg10.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_5_n_loc_xfymzb_pt_zb.value = susSet10.temperatureCelcius.value;
       susTemperatures.sus_5_n_loc_xfymzb_pt_zb.setValid(susSet10.temperatureCelcius.isValid());
@@ -560,7 +560,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg11(&susSet11);
+    PoolReadGuard pg11(&susSet11, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg11.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_11_r_loc_xbymzb_pt_zb.value = susSet11.temperatureCelcius.value;
       susTemperatures.sus_11_r_loc_xbymzb_pt_zb.setValid(susSet11.temperatureCelcius.isValid());
diff --git a/mission/controller/ThermalController.h b/mission/controller/ThermalController.h
index d671412e..76366d0c 100644
--- a/mission/controller/ThermalController.h
+++ b/mission/controller/ThermalController.h
@@ -75,6 +75,7 @@ class ThermalController : public ExtendedControllerBase {
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(DELAY);
 
+  static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
   void copySensors();
   void copySus();
   void copyDevices();
diff --git a/mission/devices/PCDUHandler.cpp b/mission/devices/PCDUHandler.cpp
index 8dc78137..91881db5 100644
--- a/mission/devices/PCDUHandler.cpp
+++ b/mission/devices/PCDUHandler.cpp
@@ -52,8 +52,8 @@ ReturnValue_t PCDUHandler::initialize() {
     return returnvalue::FAILED;
   }
   result = pdu2Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
-      static_cast<uint32_t>(P60System::SetIds::PDU_2_CORE), this->getObjectId(),
-      commandQueue->getId(), true);
+      static_cast<uint32_t>(P60System::SetIds::CORE), this->getObjectId(), commandQueue->getId(),
+      true);
   if (result != returnvalue::OK) {
     sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "
                << "PDU2Handler" << std::endl;
@@ -68,8 +68,8 @@ ReturnValue_t PCDUHandler::initialize() {
     return returnvalue::FAILED;
   }
   result = pdu1Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
-      static_cast<uint32_t>(P60System::SetIds::PDU_1_CORE), this->getObjectId(),
-      commandQueue->getId(), true);
+      static_cast<uint32_t>(P60System::SetIds::CORE), this->getObjectId(), commandQueue->getId(),
+      true);
   if (result != returnvalue::OK) {
     sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "
                << "PDU1Handler" << std::endl;
@@ -110,11 +110,10 @@ void PCDUHandler::readCommandQueue() {
 MessageQueueId_t PCDUHandler::getCommandQueue() const { return commandQueue->getId(); }
 
 void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
-  if (sid == sid_t(objects::PDU2_HANDLER, static_cast<uint32_t>(P60System::SetIds::PDU_2_CORE))) {
+  if (sid == sid_t(objects::PDU2_HANDLER, static_cast<uint32_t>(P60System::SetIds::CORE))) {
     updateHkTableDataset(storeId, &pdu2CoreHk, &timeStampPdu2HkDataset);
     updatePdu2SwitchStates();
-  } else if (sid ==
-             sid_t(objects::PDU1_HANDLER, static_cast<uint32_t>(P60System::SetIds::PDU_1_CORE))) {
+  } else if (sid == sid_t(objects::PDU1_HANDLER, static_cast<uint32_t>(P60System::SetIds::CORE))) {
     updateHkTableDataset(storeId, &pdu1CoreHk, &timeStampPdu1HkDataset);
     updatePdu1SwitchStates();
   } else {
diff --git a/mission/devices/PayloadPcduHandler.cpp b/mission/devices/PayloadPcduHandler.cpp
index 56822bd5..d9e41c7f 100644
--- a/mission/devices/PayloadPcduHandler.cpp
+++ b/mission/devices/PayloadPcduHandler.cpp
@@ -33,6 +33,7 @@ void PayloadPcduHandler::doStartUp() {
   if (pwrStateMachine.getState() == power::States::IDLE) {
     pwrStateMachine.start(MODE_ON, pwrSubmode);
   }
+  clearSetOnOffFlag = true;
   auto opCode = pwrStateMachine.fsm();
   if (opCode == power::OpCodes::TO_NOT_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
     pwrStateMachine.reset();
@@ -50,6 +51,11 @@ void PayloadPcduHandler::doShutDown() {
   if (pwrStateMachine.getState() == power::States::IDLE) {
     pwrStateMachine.start(MODE_OFF, 0);
   }
+  if (clearSetOnOffFlag) {
+    std::memset(adcSet.processed.value, 0, adcSet.processed.getSerializedSize());
+    clearSetOnOffFlag = false;
+  }
+
   auto opCode = pwrStateMachine.fsm();
   if (opCode == power::OpCodes::TO_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
     pwrStateMachine.reset();
diff --git a/mission/devices/PayloadPcduHandler.h b/mission/devices/PayloadPcduHandler.h
index 6275b859..137a9a0b 100644
--- a/mission/devices/PayloadPcduHandler.h
+++ b/mission/devices/PayloadPcduHandler.h
@@ -124,6 +124,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   bool txToMpaInjectionRequested = false;
   bool mpaToHpaInjectionRequested = false;
   bool allOnInjectRequested = false;
+  bool clearSetOnOffFlag = true;
 
   PeriodicOperationDivider opDivider = PeriodicOperationDivider(5);
   uint8_t tempReadDivisor = 1;
diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp
index b7e26123..732bb9fe 100644
--- a/mission/devices/RwHandler.cpp
+++ b/mission/devices/RwHandler.cpp
@@ -304,9 +304,9 @@ ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_
     return INVALID_SPEED;
   }
 
-  uint16_t rampTime = *(commandData + 4) << 8 | *(commandData + 5);
+  uint16_t rampTime = (*(commandData + 4) << 8) | *(commandData + 5);
 
-  if (rampTime < 10 || rampTime > 10000) {
+  if (rampTime < 10 || rampTime > 20000) {
     sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid ramp time" << std::endl;
     return INVALID_RAMP_TIME;
   }
diff --git a/mission/devices/devicedefinitions/GomspaceDefinitions.h b/mission/devices/devicedefinitions/GomspaceDefinitions.h
index 5d435375..d2ffdc25 100644
--- a/mission/devices/devicedefinitions/GomspaceDefinitions.h
+++ b/mission/devices/devicedefinitions/GomspaceDefinitions.h
@@ -102,19 +102,7 @@ namespace P60System {
 
 enum class BatteryModes : uint8_t { CRITICAL = 1, SAFE = 2, NORMAL = 3, FULL = 4 };
 
-enum class SetIds : uint32_t {
-  PDU_1_CORE = 1,
-  PDU_1_AUX = 2,
-  PDU_2_CORE = 3,
-  PDU_2_AUX = 4,
-  P60_CORE = 5,
-  P60_AUX = 6,
-  ACU_CORE = 7,
-  ACU_AUX = 8,
-
-  PDU_1_CONFIG = 9,
-  PDU_2_CONFIG = 10
-};
+enum class SetIds : uint32_t { CORE = 1, AUX = 2, CONFIG = 3 };
 
 }  // namespace P60System
 
@@ -217,10 +205,10 @@ static const uint8_t HK_TABLE_ENTRIES = 100;
 class CoreHkSet : public StaticLocalDataSet<16> {
  public:
   CoreHkSet(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::P60_CORE)) {}
+      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}
 
   CoreHkSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::P60_CORE))) {}
+      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::CORE))) {}
 
   /** Measured output currents */
   lp_vec_t<int16_t, P60Dock::hk::Index::CHNLS_LEN> currents =
@@ -254,10 +242,10 @@ class CoreHkSet : public StaticLocalDataSet<16> {
 class HkTableDataset : public StaticLocalDataSet<32> {
  public:
   HkTableDataset(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::P60_AUX)) {}
+      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}
 
   HkTableDataset(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::P60_AUX))) {}
+      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::AUX))) {}
 
   /** Number of detected latchups on each output channel */
   lp_vec_t<uint16_t, P60Dock::hk::Index::CHNLS_LEN> latchups =
@@ -545,25 +533,25 @@ static const uint16_t CONFIG_ADDRESS_OUT_EN_CHANNEL8 = 0x50;
 class Pdu1CoreHk : public ::PDU::PduCoreHk {
  public:
   Pdu1CoreHk(HasLocalDataPoolIF* owner)
-      : PduCoreHk(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_1_CORE)) {}
+      : PduCoreHk(owner, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}
 
   Pdu1CoreHk(object_id_t objectId)
-      : PduCoreHk(objectId, static_cast<uint32_t>(::P60System::SetIds::PDU_1_CORE)) {}
+      : PduCoreHk(objectId, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}
 };
 
 class Pdu1AuxHk : public ::PDU::PduAuxHk {
  public:
   Pdu1AuxHk(HasLocalDataPoolIF* owner)
-      : PduAuxHk(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_1_AUX)) {}
+      : PduAuxHk(owner, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}
 
   Pdu1AuxHk(object_id_t objectId)
-      : PduAuxHk(objectId, static_cast<uint32_t>(::P60System::SetIds::PDU_1_AUX)) {}
+      : PduAuxHk(objectId, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}
 };
 
 class Pdu1Config : public ::PDU::PduConfig {
  public:
   Pdu1Config(HasLocalDataPoolIF* owner)
-      : PduConfig(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_1_CONFIG)) {}
+      : PduConfig(owner, static_cast<uint32_t>(::P60System::SetIds::CONFIG)) {}
 };
 
 }  // namespace PDU1
@@ -600,25 +588,25 @@ static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA = 0x50;
 class Pdu2CoreHk : public ::PDU::PduCoreHk {
  public:
   Pdu2CoreHk(HasLocalDataPoolIF* owner)
-      : PduCoreHk(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_2_CORE)) {}
+      : PduCoreHk(owner, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}
 
   Pdu2CoreHk(object_id_t objectId)
-      : PduCoreHk(objectId, static_cast<uint32_t>(::P60System::SetIds::PDU_2_CORE)) {}
+      : PduCoreHk(objectId, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}
 };
 
 class Pdu2AuxHk : public ::PDU::PduAuxHk {
  public:
   Pdu2AuxHk(HasLocalDataPoolIF* owner)
-      : PduAuxHk(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_2_AUX)) {}
+      : PduAuxHk(owner, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}
 
   Pdu2AuxHk(object_id_t objectId)
-      : PduAuxHk(objectId, static_cast<uint32_t>(::P60System::SetIds::PDU_2_AUX)) {}
+      : PduAuxHk(objectId, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}
 };
 
 class Pdu2Config : public ::PDU::PduConfig {
  public:
   Pdu2Config(HasLocalDataPoolIF* owner)
-      : PduConfig(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_2_CONFIG)) {}
+      : PduConfig(owner, static_cast<uint32_t>(::P60System::SetIds::CONFIG)) {}
 };
 
 }  // namespace PDU2
@@ -661,10 +649,10 @@ static const size_t MAX_REPLY_SIZE = HK_TABLE_SIZE;
 class CoreHk : public StaticLocalDataSet<14> {
  public:
   CoreHk(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::ACU_CORE)) {}
+      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}
 
   CoreHk(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::ACU_CORE))) {}
+      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::CORE))) {}
 
   lp_var_t<uint8_t> mpptMode = lp_var_t<uint8_t>(sid.objectId, pool::ACU_MPPT_MODE, this);
 
@@ -694,10 +682,10 @@ class CoreHk : public StaticLocalDataSet<14> {
 class AuxHk : public StaticLocalDataSet<12> {
  public:
   AuxHk(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::ACU_AUX)) {}
+      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}
 
   AuxHk(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::ACU_AUX))) {}
+      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::AUX))) {}
 
   lp_vec_t<uint8_t, 3> dacEnables = lp_vec_t<uint8_t, 3>(sid.objectId, pool::ACU_DAC_ENABLES, this);
 
diff --git a/q7s-env-em.sh b/q7s-env-em.sh
index e8be1467..86737627 100755
--- a/q7s-env-em.sh
+++ b/q7s-env-em.sh
@@ -19,5 +19,5 @@ if [[ -d "eive-obsw" ]]; then
 	export PATH=$PATH:"$(pwd)/eive-obsw/scripts"
 	cd "eive-obsw"
 fi
-export CONSOLE_PREFIX="[Q7S ENV]"
+export CONSOLE_PREFIX="[Q7S ENV EM]"
 /bin/bash
diff --git a/scripts/install-obsw-yocto.sh b/scripts/install-obsw-yocto.sh
index c7880d2f..a7e3f20a 100755
--- a/scripts/install-obsw-yocto.sh
+++ b/scripts/install-obsw-yocto.sh
@@ -2,13 +2,10 @@
 # This is a helper script to install the compiles EIVE OBSW files
 # into the yocto repository to re-generate the mission root filesystem
 build_dir=cmake-build-release-q7s
-em_install="0"
-if [ ! -z ${1} ]; then
-  if [[ "${1}" == "em" ]]; then
-    echo "-I- Installing EM binaries"
-    em_install="1"
-    build_dir=cmake-build-release-q7s-em
-  fi
+if [ ! -z ${1} && "${1}" == "em" ] || [[ ${EIVE_Q7S_EM} == "1" ]]; then
+  echo "-I- Installing EM binaries"
+  em_install="1"
+  build_dir=cmake-build-release-q7s-em
 fi
 
 init_dir=$(pwd)
@@ -84,17 +81,17 @@ else
   echo "-I- Installed EIVE OBSW into yocto repository successfully"
 fi
 
-if [ ! -f ${build_dir}/${watchdog_bin_name} ]; then
-  echo "-W- No EIVE Watchdog found to intall to yocto"
-else
-  cp_cmd="cp $(pwd)/${build_dir}/${watchdog_bin_name} ${yocto_root}/${yocto_watchdog_path}/${watchdog_target_name}"
-  echo "-I- Executing: ${cp_cmd}"
-  eval ${cp_cmd}
-  cp_ver_cmd="cp $(pwd)/${obsw_version_filename} ${yocto_root}/${yocto_watchdog_path}"
-  echo "-I- Executing: ${cp_ver_cmd}"
-  eval ${cp_ver_cmd}
-  echo "-I- Installed EIVE watchdog into yocto repository successfully"
-fi
+#if [ ! -f ${build_dir}/${watchdog_bin_name} ]; then
+#  echo "-W- No EIVE Watchdog found to intall to yocto"
+#else
+#  cp_cmd="cp $(pwd)/${build_dir}/${watchdog_bin_name} ${yocto_root}/${yocto_watchdog_path}/${watchdog_target_name}"
+#  echo "-I- Executing: ${cp_cmd}"
+#  eval ${cp_cmd}
+#  cp_ver_cmd="cp $(pwd)/${obsw_version_filename} ${yocto_root}/${yocto_watchdog_path}"
+#  echo "-I- Executing: ${cp_ver_cmd}"
+#  eval ${cp_ver_cmd}
+#  echo "-I- Installed EIVE watchdog into yocto repository successfully"
+#fi
 
 if [ -f $(pwd)/${obsw_version_filename} ]; then
   rm $(pwd)/${obsw_version_filename}
diff --git a/tmtc b/tmtc
index 7f56d1e7..90c9cf29 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 7f56d1e726c0432e05713d07415886d43fd9d76c
+Subproject commit 90c9cf297bc7158893181dbe3694d7814fae7730