diff --git a/CHANGELOG.md b/CHANGELOG.md
index ae107d14..8a6ddc9d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -30,6 +30,12 @@ will consitute of a breaking change warranting a new major release:
 
 - The `EiveSystem` now only sends reboot commands targetting the same image.
 - Added 200 ms delay between switching HPA/MPA/TX/X8 and DRO GPIP pin OFF.
+- PL PCDU ADC set is now automatically enabled for `NORMAL` mode transitions. It is automatically
+  disabled for `OFF` mode transitions.
+
+## Added
+
+- PL PCDU for EM build.
 
 # [v6.2.0] 2023-07-26
 
diff --git a/bsp_q7s/em/emObjectFactory.cpp b/bsp_q7s/em/emObjectFactory.cpp
index 14cafdb2..3c3ba290 100644
--- a/bsp_q7s/em/emObjectFactory.cpp
+++ b/bsp_q7s/em/emObjectFactory.cpp
@@ -94,6 +94,9 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_ACS_BOARD == 1
   dummyCfg.addAcsBoardDummies = false;
 #endif
+#if OBSW_ADD_PL_PCDU == 0
+  dummyCfg.addPlPcduDummy = true;
+#endif
 
   PowerSwitchIF* pwrSwitcher = nullptr;
 #if OBSW_ADD_GOMSPACE_PCDU == 0
@@ -107,6 +110,8 @@ void ObjectFactory::produce(void* args) {
 
   new CoreController(objects::CORE_CONTROLLER, enableHkSets);
 
+  auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
+
   // Initialize chip select to avoid SPI bus issues.
   createRadSensorChipSelect(gpioComIF);
 
@@ -146,6 +151,9 @@ void ObjectFactory::produce(void* args) {
   createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
+#if OBSW_ADD_PL_PCDU == 1
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
+#endif
   createPayloadComponents(gpioComIF, *pwrSwitcher);
 
 #if OBSW_ADD_CCSDS_IP_CORES == 1
diff --git a/bsp_q7s/fmObjectFactory.cpp b/bsp_q7s/fmObjectFactory.cpp
index e43e3551..a3ab6bba 100644
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@@ -81,7 +81,9 @@ void ObjectFactory::produce(void* args) {
   createTmpComponents(tmpDevsToAdd);
 #endif
   createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
+#if OBSW_ADD_PL_PCDU == 1
   createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
+#endif
 #if OBSW_ADD_SYRLINKS == 1
   createSyrlinksComponents(pwrSwitcher);
 #endif /* OBSW_ADD_SYRLINKS == 1 */
diff --git a/bsp_q7s/objectFactory.cpp b/bsp_q7s/objectFactory.cpp
index 04da40a9..39271628 100644
--- a/bsp_q7s/objectFactory.cpp
+++ b/bsp_q7s/objectFactory.cpp
@@ -902,8 +902,6 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
       new PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
                              gpioComIF, SdCardManager::instance(), stackHandler, false);
   spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
-//  plPcduHandler->enablePeriodicPrintout(true, 5);
-//  static_cast<void>(plPcduHandler);
 #if OBSW_TEST_PL_PCDU == 1
   plPcduHandler->setStartUpImmediately();
 #endif
diff --git a/dummies/helperFactory.cpp b/dummies/helperFactory.cpp
index 8f58cbaf..b23720b4 100644
--- a/dummies/helperFactory.cpp
+++ b/dummies/helperFactory.cpp
@@ -248,9 +248,11 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
     auto* scexDummy = new ScexDummy(objects::SCEX, objects::DUMMY_COM_IF, comCookieDummy);
     scexDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
   }
-  auto* plPcduDummy =
-      new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  plPcduDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
+  if (cfg.addPlPcduDummy) {
+    auto* plPcduDummy =
+        new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    plPcduDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
+  }
   if (cfg.addPlocDummies) {
     auto* plocMpsocDummy =
         new PlocMpsocDummy(objects::PLOC_MPSOC_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
diff --git a/dummies/helperFactory.h b/dummies/helperFactory.h
index 32da11cd..34d167f0 100644
--- a/dummies/helperFactory.h
+++ b/dummies/helperFactory.h
@@ -30,6 +30,7 @@ struct DummyCfg {
   bool addStrDummy = true;
   bool addTmpDummies = true;
   bool addRadSensorDummy = true;
+  bool addPlPcduDummy = false;
   Tmp1075Cfg tmp1075Cfg;
   bool addCamSwitcherDummy = false;
   bool addScexDummy = false;
diff --git a/mission/payload/PayloadPcduHandler.cpp b/mission/payload/PayloadPcduHandler.cpp
index 7984b2ca..f6ac891c 100644
--- a/mission/payload/PayloadPcduHandler.cpp
+++ b/mission/payload/PayloadPcduHandler.cpp
@@ -66,6 +66,7 @@ void PayloadPcduHandler::doShutDown() {
   }
   state = States::PL_PCDU_OFF;
   quickTransitionAlreadyCalled = false;
+  adcSet.setReportingEnabled(false);
   // No need to set mode _MODE_POWER_DOWN, power switching was already handled
   setMode(MODE_OFF);
 }
@@ -84,6 +85,10 @@ void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
 ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) {
   using namespace plpcdu;
   bool doFinish = true;
+  if (toNormalOneShot) {
+    adcSet.setReportingEnabled(true);
+    toNormalOneShot = false;
+  }
   if (((getSubmode() >> SOLID_STATE_RELAYS_ADC_ON) & 0b1) == 1) {
     if (state == States::PL_PCDU_OFF) {
       sif::error << "PayloadPcduHandler::stateMachineToNormal: Unexpected state PL_PCDU_OFF"
@@ -162,6 +167,7 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
   switchHandler(MPA_ON, gpioIds::PLPCDU_ENB_MPA, "MPA");
   switchHandler(HPA_ON, gpioIds::PLPCDU_ENB_HPA, "HPA");
   if (doFinish) {
+    toNormalOneShot = true;
     setMode(MODE_NORMAL);
   }
   return returnvalue::OK;
@@ -666,14 +672,14 @@ void PayloadPcduHandler::handleFailureInjection(std::string output, Event event)
 }
 
 void PayloadPcduHandler::pullAllGpiosLow(uint32_t delayBeforeSwitchingOffDro) {
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_X8);
-    TaskFactory::delayTask(delayBeforeSwitchingOffDro);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_DRO);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_X8);
+  TaskFactory::delayTask(delayBeforeSwitchingOffDro);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_DRO);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
 }
 
 ReturnValue_t PayloadPcduHandler::handleDoubleParamUpdate(std::string key,
diff --git a/mission/payload/PayloadPcduHandler.h b/mission/payload/PayloadPcduHandler.h
index 78646104..ab21a445 100644
--- a/mission/payload/PayloadPcduHandler.h
+++ b/mission/payload/PayloadPcduHandler.h
@@ -128,6 +128,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   bool mpaToHpaInjectionRequested = false;
   bool allOnInjectRequested = false;
   bool clearSetOnOffFlag = true;
+  bool toNormalOneShot = true;
 
   PeriodicOperationDivider opDivider = PeriodicOperationDivider(5);
   uint8_t tempReadDivisor = 1;