Re-work MPSoC handler module

2024-04-25 17:31:41 +02:00
60 changed files with 434 additions and 877 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,81 +16,9 @@ will consitute of a breaking change warranting a new major release:

 # [unreleased]

-# [v8.2.1] 2025-02-07
-
-Patch release with EM changes only.
-
 ## Changed

- BPX battery is not added anymore for EM build, dummy is used by default now.
-
-## Fixed
-
- Small fix for `q7s-cp.py` script: Add `-O` argument.
-
-# [v8.2.0] 2024-06-26
-
-## Changed
-
- STR quaternions are now used by the `MEKF` by default
- Changed nominal `SUS Assembly` side to `B Side`.
- Changed source for state machine of detumbling to SUS and MGM only.
- Changed `FusedRotRateData` dataset to always display rotation rate from SUS and MGM.
- Solution from `QUEST` will be set to invalid if sun vector and magnetic field vector are too close
-  to each other.
- Changed collection intervals of dataset collection
-  - `GPS Controller`: `GPS Set` to 60s
-  - `MTQ Handler`: `HK with Torque`, `HK without Torque` to 60s
-  - `RW Handler`: `Status Set` to 30s
-  - `STR Handler`: `Solution Set` to 30s
-  - `ACS Controller`: `MGM Sensor`, `MGM Processed`, `SUS Sensor`, `SUS Processed`, `GYR Sensor`,
-    `GPS Processed` to 60s
-  - `ACS Controller` at or below `IDLE`: `CTRL Values`, `ACT Commands`, `Attitude Estimation`,
-    `Fused Rotation Rate` to 30s
-  - `ACS Controller` above `IDLE`: `CTRL Values`, `ACT Commands`, `Attitude Estimation`,
-    `Fused Rotation Rate` to 10s
-
-## Fixed
-
- Added null termination for PLOC MPSoC image taking command which could possibly lead to
-  default target filenames.
-
-# [v8.1.1] 2024-06-05
-
-## Added
-
- PLOC SUPV MPSoC update re-try logic for the `WRITE_MEMORY` command. These packets form  > 98%
-  of all packets required for a software update, but the update mechanism is not tolerant against
-  occasional glitches on the RS485 communication to the PLOC SUPV. A simple re-try mechanism which
-  tries to re-attempt packet handling up to three times for those packets is introduced.
-
-# [v8.1.0] 2024-05-29
-
-## Fixed
-
- Small fix for transition failure handling of the MPSoC when the `START_MPSOC` action command
-  to the supervisor fails.
- Fixed inits of arrays within the `MEKF` not being zeros.
- Important bugfix for PLOC SUPV: The SUPV previously was able to steal packets from the special
-  communication helper, for example during software updates.
- Corrected sigma of STR for `MEKF`.
-
-## Added
-
- Added new command to cancel the PLOC SUPV special communication helper.
-
-# [v8.0.0] 2024-05-13
-
- `eive-tmtc` v7.0.0
-
-## Fixed
-
- Fixed calculation for target rotation rate during pointing modes.
- Possible fix for MPSoC file read algorithm.
-
-## Changed
-
- Reworked MPSoC handler to be compatible to new MPSoC software image and use
+- Reworked MPSoC handler to be compatible to new MPSoC software image and use 
  new device handler base class. This should increase the reliability of the communication
  significantly.
 - MPSoC device modes IDLE, SNAPSHOT and REPLAY are now modelled using submodes.
@@ -104,8 +32,6 @@ Patch release with EM changes only.

 # [v7.8.1] 2024-04-11

-## Fixed
-
 - Reverted fix for wrong order in quaternion multiplication for computation of the error quaternion.

 # [v7.8.0] 2024-04-10
@@ -116,7 +42,7 @@ Patch release with EM changes only.
 - All pointing laws are now allowed to use the `MEKF` per default.
 - Changed limits in `PWR Controller`.
 - PUS time service: Now dumps the time before and after relative timeshift or setting absolute time
- The `GPS Controller` does not set itself to `OFF` anymore, if it has not detected a valid fix for
+- The `GPS Controller` does not set itself to `OFF` anymore, if it has not detected a valid fix for 
  some time. Instead it attempts to reset both GNSS devices once.
 - The maximum time to reach a fix is shortened from 30min to 15min.
 - The time the reset pin of the GNSS devices is pulled is prolonged from 5ms to 10s.
@@ -125,7 +51,7 @@ Patch release with EM changes only.
  of the controller is changed. As arguments it now displays the new fix and the numer of fix changes
  missed.
 - The number of satellites seen and used is reset to 0, in case they are set to invalid.
- Altitude, latitude and longitude messages are not checked anymore, in case the mode message was
+- Altitude, latitude and longitude messages are not checked anymore, in case the mode message was 
  already invalid.

 ## Added
@@ -339,7 +265,7 @@ Patch release with EM changes only.
 - `ACS Controller` now has the function `performAttitudeControl` which is called prior to passing
  on to the relevant mode functions. It handles all telemetry relevant functions, which were
  always called, regardless of the mode.
-
+ 
 ## Added

 - Higher ACS modes can now be entered without a running `MEKF`. Higher modes will collect their
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)

 set(OBSW_VERSION_MAJOR 8)
-set(OBSW_VERSION_MINOR 2)
-set(OBSW_VERSION_REVISION 1)
+set(OBSW_VERSION_MINOR 0)
+set(OBSW_VERSION_REVISION 0)

 # set(CMAKE_VERBOSE TRUE)

@@ -70,13 +70,13 @@ if(EIVE_Q7S_EM)
  set(OBSW_Q7S_EM
      1
      CACHE STRING "Q7S EM configuration")
-  set(OBSW_Q7S_FM 0)
+  set(INIT_VAL 0)
  set(OBSW_STAR_TRACKER_GROUND_CONFIG 1)
 else()
  set(OBSW_Q7S_EM
      0
      CACHE STRING "Q7S EM configuration")
-  set(OBSW_Q7S_FM 1)
+  set(INIT_VAL 1)
  set(OBSW_STAR_TRACKER_GROUND_CONFIG 0)
 endif()

@@ -87,19 +87,19 @@ set(OBSW_ADD_TMTC_UDP_SERVER
    0
    CACHE STRING "Add UDP TMTC Server")
 set(OBSW_ADD_MGT
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
    CACHE STRING "Add MGT module")
 set(OBSW_ADD_BPX_BATTERY_HANDLER
-    ${OBSW_Q7S_FM}
+    1
    CACHE STRING "Add BPX battery module")
 set(OBSW_ADD_STAR_TRACKER
    1
    CACHE STRING "Add Startracker module")
 set(OBSW_ADD_SUN_SENSORS
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
    CACHE STRING "Add sun sensor module")
 set(OBSW_ADD_SUS_BOARD_ASS
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
    CACHE STRING "Add sun sensor board assembly")
 set(OBSW_ADD_THERMAL_TEMP_INSERTER
    ${OBSW_Q7S_EM}
@@ -108,7 +108,7 @@ set(OBSW_ADD_ACS_BOARD
    1
    CACHE STRING "Add ACS board module")
 set(OBSW_ADD_GPS_CTRL
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
    CACHE STRING "Add GPS controllers")
 set(OBSW_ADD_CCSDS_IP_CORES
    1
@@ -129,19 +129,19 @@ set(OBSW_ADD_PLOC_SUPERVISOR
    1
    CACHE STRING "Add PLOC supervisor handler")
 set(OBSW_ADD_SA_DEPL
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
    CACHE STRING "Add SA deployment handler")
 set(OBSW_ADD_PLOC_MPSOC
    1
    CACHE STRING "Add MPSoC handler")
 set(OBSW_ADD_ACS_CTRL
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
    CACHE STRING "Add ACS controller")
 set(OBSW_ADD_RTD_DEVICES
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
    CACHE STRING "Add RTD devices")
 set(OBSW_ADD_RAD_SENSORS
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
    CACHE STRING "Add Rad Sensor module")
 set(OBSW_ADD_PL_PCDU
    1
@@ -156,10 +156,10 @@ set(OBSW_ADD_GOMSPACE_PCDU
    1
    CACHE STRING "Add GomSpace PCDU modules")
 set(OBSW_ADD_GOMSPACE_ACU
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
    CACHE STRING "Add GomSpace ACU submodule")
 set(OBSW_ADD_RW
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
    CACHE STRING "Add RW modules")
 set(OBSW_ADD_SCEX_DEVICE
    1
--- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp
+++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 325 translations.
+ * @brief    Auto-generated event translation file. Contains 324 translations.
 * @details
- * Generated on: 2024-05-06 13:47:38
+ * Generated on: 2024-04-17 11:22:10
 */
 #include "translateEvents.h"

@@ -142,7 +142,6 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
 const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
-const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -607,8 +606,6 @@ const char *translateEvents(Event event) {
      return SUPV_NOT_ON_STRING;
    case (11608):
      return SUPV_REPLY_TIMEOUT_STRING;
-    case (11609):
-      return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
    case (11701):
      return SELF_TEST_I2C_FAILURE_STRING;
    case (11702):
--- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
+++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
@@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 176 translations.
- * Generated on: 2024-05-06 13:47:38
+ * Generated on: 2024-04-17 11:22:10
 */
 #include "translateObjects.h"

--- a/bsp_q7s/em/emObjectFactory.cpp
+++ b/bsp_q7s/em/emObjectFactory.cpp
@@ -117,11 +117,10 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
  createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
 #endif
+  createPowerController(true, enableHkSets);

  dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF, enableHkSets);

-  createPowerController(true, enableHkSets);
-
  new CoreController(objects::CORE_CONTROLLER, enableHkSets);

  auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
@@ -144,6 +143,10 @@ void ObjectFactory::produce(void* args) {
  createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
 #endif

+#if OBSW_ADD_SYRLINKS == 1
+  createSyrlinksComponents(pwrSwitcher);
+#endif /* OBSW_ADD_SYRLINKS == 1 */
+
 #if OBSW_ADD_RW == 1
  createReactionWheelComponents(gpioComIF, pwrSwitcher);
 #endif
@@ -152,10 +155,6 @@ void ObjectFactory::produce(void* args) {
  createStrComponents(pwrSwitcher, *SdCardManager::instance());
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */

-#if OBSW_ADD_SYRLINKS == 1
-  createSyrlinksComponents(pwrSwitcher);
-#endif
-
 #if OBSW_ADD_PL_PCDU == 1
  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
 #endif
--- a/bsp_q7s/objectFactory.cpp
+++ b/bsp_q7s/objectFactory.cpp
@@ -65,7 +65,6 @@
 #include "linux/payload/PlocMpsocSpecialComHelper.h"
 #include "linux/payload/SerialConfig.h"
 #include "mission/config/configfile.h"
-#include "mission/power/defs.h"
 #include "mission/system/acs/AcsBoardFdir.h"
 #include "mission/system/acs/AcsSubsystem.h"
 #include "mission/system/acs/RwAssembly.h"
@@ -598,13 +597,14 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc
 }

 void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
-  new SyrlinksComHandler(objects::SYRLINKS_COM_HANDLER);
-  auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
-  syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
  auto* syrlinksUartCookie =
      new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, serial::SYRLINKS_BAUD,
                       syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
  syrlinksUartCookie->setParityEven();
+
+  new SyrlinksComHandler(objects::SYRLINKS_COM_HANDLER);
+  auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
+  syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
  auto syrlinksHandler =
      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::SYRLINKS_COM_HANDLER,
@@ -635,9 +635,9 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
  auto specialComHelper =
      new PlocMpsocSpecialComHelper(objects::PLOC_MPSOC_HELPER, *mpsocCommunication);
  DhbConfig dhbConf(objects::PLOC_MPSOC_HANDLER);
-  auto* mpsocHandler = new FreshMpsocHandler(
-      dhbConf, *mpsocCommunication, *specialComHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
-      objects::PLOC_SUPERVISOR_HANDLER, pwrSwitcher, power::PDU2_CH8_PAYLOAD_CAMERA);
+  auto* mpsocHandler = new FreshMpsocHandler(dhbConf, *mpsocCommunication, *specialComHelper,
+                                             Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
+                                             objects::PLOC_SUPERVISOR_HANDLER);
  mpsocHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
@@ -839,7 +839,7 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
                                    Levels::LOW);
  gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
  gpioChecker(args.gpioComIF.addGpios(gpioCookiePdec), "PDEC");
-  struct UioNames uioNames{};
+  struct UioNames uioNames {};
  uioNames.configMemory = q7s::UIO_PDEC_CONFIG_MEMORY;
  uioNames.ramMemory = q7s::UIO_PDEC_RAM;
  uioNames.registers = q7s::UIO_PDEC_REGISTERS;
--- a/bsp_q7s/simple/simple.cpp
+++ b/bsp_q7s/simple/simple.cpp
@@ -10,9 +10,7 @@
 int simple::simple() {
  std::cout << "-- Q7S Simple Application --" << std::endl;
 #if Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST == 1
-  {
-    FileSystemTest fileSystemTest;
-  }
+  { FileSystemTest fileSystemTest; }
 #endif

 #if TE0720_GPIO_TEST
--- a/dummies/BatteryDummy.cpp
+++ b/dummies/BatteryDummy.cpp
@@ -1,54 +0,0 @@
-#include "BatteryDummy.h"
-
-BatteryDummy::BatteryDummy(DhbConfig cfg)
-    : FreshDeviceHandlerBase(cfg), cfgSet(this), hkSet(this) {}
-
-void BatteryDummy::performDeviceOperation(uint8_t opCode) {}
-
-LocalPoolDataSetBase* BatteryDummy::getDataSetHandle(sid_t sid) {
-  if (sid == hkSet.getSid()) {
-    return &hkSet;
-  }
-  if (sid == cfgSet.getSid()) {
-    return &cfgSet;
-  }
-  return nullptr;
-}
-
-ReturnValue_t BatteryDummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                                                    LocalDataPoolManager& poolManager) {
-  localDataPoolMap.emplace(bpxBat::BATT_TEMP_1, &battTemp1);
-  localDataPoolMap.emplace(bpxBat::BATT_TEMP_2, &battTemp2);
-  localDataPoolMap.emplace(bpxBat::BATT_TEMP_3, &battTemp3);
-  localDataPoolMap.emplace(bpxBat::BATT_TEMP_4, &battTemp4);
-  localDataPoolMap.emplace(bpxBat::CHARGE_CURRENT, &chargeCurrent);
-  localDataPoolMap.emplace(bpxBat::DISCHARGE_CURRENT, &dischargeCurrent);
-  localDataPoolMap.emplace(bpxBat::HEATER_CURRENT, &heaterCurrent);
-  localDataPoolMap.emplace(bpxBat::BATT_VOLTAGE, &battVolt);
-  localDataPoolMap.emplace(bpxBat::REBOOT_COUNTER, &rebootCounter);
-  localDataPoolMap.emplace(bpxBat::BOOTCAUSE, &bootCause);
-
-  localDataPoolMap.emplace(bpxBat::BATTERY_HEATER_MODE, &battheatMode);
-  localDataPoolMap.emplace(bpxBat::BATTHEAT_LOW_LIMIT, &battheatLow);
-  localDataPoolMap.emplace(bpxBat::BATTHEAT_HIGH_LIMIT, &battheatHigh);
-
-  poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(hkSet.getSid(), true, 20.0));
-  poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(cfgSet.getSid(), false, 30.0));
-  return returnvalue::OK;
-}
-
-ReturnValue_t BatteryDummy::checkModeCommand(Mode_t mode, Submode_t submode,
-                                             uint32_t* msToReachTheMode) {
-  return returnvalue::OK;
-}
-
-ReturnValue_t BatteryDummy::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                          const uint8_t* data, size_t size) {
-  return returnvalue::OK;
-}
-
-ReturnValue_t BatteryDummy::handleCommandMessage(CommandMessage* message) {
-  return returnvalue::FAILED;
-}
--- a/dummies/BatteryDummy.h
+++ b/dummies/BatteryDummy.h
@@ -1,52 +0,0 @@
-#pragma once
-
-#include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
-#include "mission/power/bpxBattDefs.h"
-
-/// @brief
-class BatteryDummy : public FreshDeviceHandlerBase {
- public:
-  BatteryDummy(DhbConfig cfg);
-
- private:
-  /**
-   * Periodic helper executed function, implemented by child class.
-   */
-  void performDeviceOperation(uint8_t opCode) override;
-
-  /**
-   * Implemented by child class. Handle all command messages which are
-   * not health, mode, action or housekeeping messages.
-   * @param message
-   * @return
-   */
-  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
-
-  // HK manager abstract functions.
-  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
-  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                                        LocalDataPoolManager& poolManager) override;
-
-  // Mode abstract functions
-  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                 uint32_t* msToReachTheMode) override;
-  // Action override. Forward to user.
-  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                              const uint8_t* data, size_t size) override;
-
-  BpxBatteryCfg cfgSet;
-  BpxBatteryHk hkSet;
-  PoolEntry<uint16_t> chargeCurrent = PoolEntry<uint16_t>({0});
-  PoolEntry<uint16_t> dischargeCurrent = PoolEntry<uint16_t>({0});
-  PoolEntry<uint16_t> heaterCurrent = PoolEntry<uint16_t>({0});
-  PoolEntry<uint16_t> battVolt = PoolEntry<uint16_t>({16'000});
-  PoolEntry<int16_t> battTemp1 = PoolEntry<int16_t>({10}, true);
-  PoolEntry<int16_t> battTemp2 = PoolEntry<int16_t>({10}, true);
-  PoolEntry<int16_t> battTemp3 = PoolEntry<int16_t>({10}, true);
-  PoolEntry<int16_t> battTemp4 = PoolEntry<int16_t>({10}, true);
-  PoolEntry<uint32_t> rebootCounter = PoolEntry<uint32_t>({0});
-  PoolEntry<uint8_t> bootCause = PoolEntry<uint8_t>({0});
-  PoolEntry<uint8_t> battheatMode = PoolEntry<uint8_t>({0});
-  PoolEntry<int8_t> battheatLow = PoolEntry<int8_t>({0});
-  PoolEntry<int8_t> battheatHigh = PoolEntry<int8_t>({0});
-};
--- a/dummies/CMakeLists.txt
+++ b/dummies/CMakeLists.txt
@@ -29,5 +29,4 @@ target_sources(
         PlocSupervisorDummy.cpp
         helperFactory.cpp
         MgmRm3100Dummy.cpp
-         BatteryDummy.cpp
         Tmp1075Dummy.cpp)
--- a/dummies/SyrlinksDummy.cpp
+++ b/dummies/SyrlinksDummy.cpp
@@ -2,15 +2,14 @@

 #include <mission/com/syrlinksDefs.h>

-SyrlinksDummy::SyrlinksDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
-                             DeviceHandlerFailureIsolation *fdir)
-    : DeviceHandlerBase(objectId, comif, comCookie, fdir) {}
+SyrlinksDummy::SyrlinksDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie) {}

 SyrlinksDummy::~SyrlinksDummy() {}

-void SyrlinksDummy::doStartUp() { setMode(MODE_ON); }
+void SyrlinksDummy::doStartUp() {}

-void SyrlinksDummy::doShutDown() { setMode(MODE_OFF); }
+void SyrlinksDummy::doShutDown() {}

 ReturnValue_t SyrlinksDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
  return NOTHING_TO_SEND;
@@ -37,7 +36,7 @@ ReturnValue_t SyrlinksDummy::interpretDeviceReply(DeviceCommandId_t id, const ui

 void SyrlinksDummy::fillCommandAndReplyMap() {}

-uint32_t SyrlinksDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 1000; }
+uint32_t SyrlinksDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }

 ReturnValue_t SyrlinksDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                     LocalDataPoolManager &poolManager) {
--- a/dummies/SyrlinksDummy.h
+++ b/dummies/SyrlinksDummy.h
@@ -11,8 +11,7 @@ class SyrlinksDummy : public DeviceHandlerBase {
  static const uint8_t SIMPLE_COMMAND_DATA = 1;
  static const uint8_t PERIODIC_REPLY_DATA = 2;

-  SyrlinksDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
-                DeviceHandlerFailureIsolation *fdir);
+  SyrlinksDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
  virtual ~SyrlinksDummy();

 protected:
--- a/dummies/helperFactory.cpp
+++ b/dummies/helperFactory.cpp
@@ -1,7 +1,6 @@
 #include "helperFactory.h"

 #include <dummies/AcuDummy.h>
-#include <dummies/BatteryDummy.h>
 #include <dummies/BpxDummy.h>
 #include <dummies/ComCookieDummy.h>
 #include <dummies/ComIFDummy.h>
@@ -31,8 +30,6 @@
 #include <mission/power/gsDefs.h>
 #include <mission/system/acs/ImtqAssembly.h>
 #include <mission/system/acs/StrAssembly.h>
-#include <mission/system/com/SyrlinksAssembly.h>
-#include <mission/system/com/SyrlinksFdir.h>
 #include <mission/system/objects/CamSwitcher.h>
 #include <mission/system/tcs/TcsBoardAssembly.h>

@@ -52,7 +49,7 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
  new ComIFDummy(objects::DUMMY_COM_IF);
  auto* comCookieDummy = new ComCookieDummy();
  if (cfg.addBpxBattDummy) {
-    new BatteryDummy(DhbConfig(objects::BPX_BATT_HANDLER));
+    new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
  }
  if (cfg.addCoreCtrlCfg) {
    new CoreControllerDummy(objects::CORE_CONTROLLER);
@@ -77,13 +74,9 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
    strDummy->connectModeTreeParent(*strAssy);
  }
  if (cfg.addSyrlinksDummies) {
-    auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
-    syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
-
-    auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
-    auto* syrlinksDummy = new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF,
-                                            comCookieDummy, syrlinksFdir);
-    syrlinksDummy->connectModeTreeParent(*syrlinksAssy);
+    auto* syrlinksDummy =
+        new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    syrlinksDummy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
  }
  auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
  imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
--- a/2
+++ b/2
--- a/generators/bsp_hosted_events.csv
+++ b/generators/bsp_hosted_events.csv
@@ -135,8 +135,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/plocMpsocHelpers.h
 11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/plocMpsocHelpers.h
 11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/plocMpsocHelpers.h
-11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;SUPV reply timeout.;linux/payload/plocMpsocHelpers.h
-11609;0x2d59;CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE;LOW;Camera must be commanded on first.;linux/payload/plocMpsocHelpers.h
+11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/plocMpsocHelpers.h
 11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@@ -135,8 +135,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/plocMpsocHelpers.h
 11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/plocMpsocHelpers.h
 11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/plocMpsocHelpers.h
-11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;SUPV reply timeout.;linux/payload/plocMpsocHelpers.h
-11609;0x2d59;CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE;LOW;Camera must be commanded on first.;linux/payload/plocMpsocHelpers.h
+11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/plocMpsocHelpers.h
 11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 325 translations.
+ * @brief    Auto-generated event translation file. Contains 324 translations.
 * @details
- * Generated on: 2024-05-06 13:47:38
+ * Generated on: 2024-04-17 11:22:10
 */
 #include "translateEvents.h"

@@ -142,7 +142,6 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
 const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
-const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -607,8 +606,6 @@ const char *translateEvents(Event event) {
      return SUPV_NOT_ON_STRING;
    case (11608):
      return SUPV_REPLY_TIMEOUT_STRING;
-    case (11609):
-      return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
    case (11701):
      return SELF_TEST_I2C_FAILURE_STRING;
    case (11702):
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 180 translations.
- * Generated on: 2024-05-06 13:47:38
+ * Generated on: 2024-04-17 11:22:10
 */
 #include "translateObjects.h"

--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -100,7 +100,7 @@ ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
  localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
  localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
  localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
-  poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 60.0});
+  poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 30.0});
  localDataPoolMap.emplace(GpsHyperion::SKYVIEW_UNIX_SECONDS, new PoolEntry<double>());
  localDataPoolMap.emplace(GpsHyperion::PRN_ID, new PoolEntry<int16_t>());
  localDataPoolMap.emplace(GpsHyperion::AZIMUTH, new PoolEntry<int16_t>());
--- a/linux/com/SyrlinksComHandler.h
+++ b/linux/com/SyrlinksComHandler.h
@@ -28,7 +28,7 @@ class SyrlinksComHandler : public DeviceCommunicationIF,
  MutexIF *lock;
  SemaphoreIF *semaphore;
  int serialPort = 0;
-  struct termios tty{};
+  struct termios tty {};
  Countdown replyTimeout = Countdown(2000);
  std::array<uint8_t, 2048> recBuf{};
  SimpleRingBuffer ringBuf;
--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 325 translations.
+ * @brief    Auto-generated event translation file. Contains 324 translations.
 * @details
- * Generated on: 2024-05-06 13:47:38
+ * Generated on: 2024-04-17 11:22:10
 */
 #include "translateEvents.h"

@@ -142,7 +142,6 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
 const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
-const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -607,8 +606,6 @@ const char *translateEvents(Event event) {
      return SUPV_NOT_ON_STRING;
    case (11608):
      return SUPV_REPLY_TIMEOUT_STRING;
-    case (11609):
-      return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
    case (11701):
      return SELF_TEST_I2C_FAILURE_STRING;
    case (11702):
--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 180 translations.
- * Generated on: 2024-05-06 13:47:38
+ * Generated on: 2024-04-17 11:22:10
 */
 #include "translateObjects.h"

--- a/linux/ipcore/PtmeIF.h
+++ b/linux/ipcore/PtmeIF.h
@@ -14,7 +14,7 @@
 */
 class PtmeIF {
 public:
-  virtual ~PtmeIF() {};
+  virtual ~PtmeIF(){};

  virtual bool containsVc(uint8_t vcId) const = 0;
  virtual VirtualChannelIF* getVirtChannel(uint8_t vcId) = 0;
--- a/linux/ipcore/VirtualChannelIF.h
+++ b/linux/ipcore/VirtualChannelIF.h
@@ -15,7 +15,7 @@
 */
 class VirtualChannelIF : public DirectTmSinkIF {
 public:
-  virtual ~VirtualChannelIF() {};
+  virtual ~VirtualChannelIF(){};

  virtual ReturnValue_t initialize() = 0;
  virtual void cancelTransfer() = 0;
--- a/linux/payload/FreshMpsocHandler.cpp
+++ b/linux/payload/FreshMpsocHandler.cpp
@@ -8,29 +8,22 @@
 #include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/QueueFactory.h"
-#include "fsfw/ipc/messageQueueDefinitions.h"
-#include "fsfw/power/PowerSwitchIF.h"
-#include "fsfw/power/definitions.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "linux/payload/MpsocCommunication.h"
 #include "linux/payload/plocMpsocHelpers.h"
 #include "linux/payload/plocSupvDefs.h"
-#include "mission/power/gsDefs.h"

 FreshMpsocHandler::FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
                                     PlocMpsocSpecialComHelper& specialComHelper,
-                                     Gpio uartIsolatorSwitch, object_id_t supervisorHandler,
-                                     PowerSwitchIF& powerSwitcher, power::Switch_t camSwitchId)
+                                     Gpio uartIsolatorSwitch, object_id_t supervisorHandler)
    : FreshDeviceHandlerBase(cfg),
      comInterface(comInterface),
      specialComHelper(specialComHelper),
      commandActionHelper(this),
      uartIsolatorSwitch(uartIsolatorSwitch),
      hkReport(this),
-      supervisorHandler(supervisorHandler),
-      powerSwitcher(powerSwitcher),
-      camSwitchId(camSwitchId) {
+      supervisorHandler(supervisorHandler) {
  commandActionHelperQueue = QueueFactory::instance()->createMessageQueue(10);
  eventQueue = QueueFactory::instance()->createMessageQueue(10);
  spParams.maxSize = sizeof(commandBuffer);
@@ -45,7 +38,7 @@ void FreshMpsocHandler::performDeviceOperation(uint8_t opCode) {

  if (opCode == OpCode::DEFAULT_OPERATION) {
    performDefaultDeviceOperation();
-  } else if (opCode == OpCode::PARSE_TM and not specialComHelperExecuting) {
+  } else if (opCode == OpCode::PARSE_TM) {
    // Just need to call this once, this should take care of processing the whole received
    // Linux UART RX buffer.
    comInterface.readSerialInterface();
@@ -84,13 +77,8 @@ void FreshMpsocHandler::performDefaultDeviceOperation() {
    }
  }

-  // We checked the action queue beforehand, so action commands should always be performed
-  // before normal commands.
-  if (mode == MODE_NORMAL and not activeCmdInfo.pending and not specialComHelperExecuting) {
-    ReturnValue_t result = commandTcGetHkReport();
-    if (result == returnvalue::OK) {
-      commandInitHandling(mpsoc::TC_GET_HK_REPORT, MessageQueueIF::NO_QUEUE);
-    }
+  if (mode == MODE_NORMAL and not activeCmdInfo.pending) {
+    // TODO: Take care of regular periodic commanding here.
  }

  if (activeCmdInfo.pending and activeCmdInfo.cmdCountdown.hasTimedOut()) {
@@ -165,6 +153,7 @@ ReturnValue_t FreshMpsocHandler::initialize() {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }

+  specialComHelper.setSequenceCount(&commandSequenceCount);
  result = commandActionHelper.initialize();
  if (result != returnvalue::OK) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
@@ -236,11 +225,6 @@ ReturnValue_t FreshMpsocHandler::checkModeCommand(Mode_t mode, Submode_t submode
      return HasModesIF::INVALID_SUBMODE;
    }
  }
-  if (submode == mpsoc::Submode::SNAPSHOT and
-      powerSwitcher.getSwitchState(camSwitchId) != PowerSwitchIF::SWITCH_ON) {
-    triggerEvent(mpsoc::CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE);
-    return HasModesIF::TRANS_NOT_ALLOWED;
-  }
  *msToReachTheMode = MPSOC_MODE_CMD_TIMEOUT_MS;
  return returnvalue::OK;
 }
@@ -281,11 +265,11 @@ ReturnValue_t FreshMpsocHandler::executeAction(ActionId_t actionId, MessageQueue
        return result;
      }
      result = specialComHelper.startFlashWrite(flashWritePusCmd.getObcFile(),
-                                                flashWritePusCmd.getMpsocFile());
+                                                flashWritePusCmd.getMPSoCFile());
      if (result != returnvalue::OK) {
        return result;
      }
-      commonSpecialComInit();
+      specialComHelperExecuting = true;
      return EXECUTION_FINISHED;
    }
    case mpsoc::TC_FLASH_READ_FULL_FILE: {
@@ -295,15 +279,12 @@ ReturnValue_t FreshMpsocHandler::executeAction(ActionId_t actionId, MessageQueue
        return result;
      }
      result = specialComHelper.startFlashRead(flashReadPusCmd.getObcFile(),
-                                               flashReadPusCmd.getMpsocFile(),
+                                               flashReadPusCmd.getMPSoCFile(),
                                               flashReadPusCmd.getReadSize());
      if (result != returnvalue::OK) {
        return result;
      }
-      sif::info << "PLOC MPSoC: Reading " << flashReadPusCmd.getMpsocFile() << " with size "
-                << flashReadPusCmd.getReadSize() << " to " << flashReadPusCmd.getObcFile()
-                << std::endl;
-      commonSpecialComInit();
+      specialComHelperExecuting = true;
      return EXECUTION_FINISHED;
    }
    case (mpsoc::OBSW_RESET_SEQ_COUNT_LEGACY): {
@@ -313,15 +294,12 @@ ReturnValue_t FreshMpsocHandler::executeAction(ActionId_t actionId, MessageQueue
    default:
      break;
  }
+  // For longer commands, do not set these.
+  // TODO: Do all the stuff the form buildDeviceFromDevice blah did.
  executeRegularCmd(actionId, commandedBy, data, size);
  return returnvalue::OK;
 }

-void FreshMpsocHandler::commonSpecialComInit() {
-  specialComHelperExecuting = true;
-  specialComHelper.setCommandSequenceCount(commandSequenceCount.get());
-}
-
 /**
 * @overload
 * @param submode
@@ -337,10 +315,6 @@ void FreshMpsocHandler::startTransition(Mode_t newMode, Submode_t submode) {
  } else if ((newMode == MODE_ON or newMode == MODE_NORMAL) &&
             ((mode == MODE_OFF) or (mode == MODE_UNDEFINED))) {
    transitionState = TransitionState::TO_ON;
-  } else if (mode == MODE_ON && newMode == MODE_NORMAL) {
-    hkReport.setReportingEnabled(true);
-  } else if (mode == MODE_NORMAL && newMode == MODE_ON) {
-    hkReport.setReportingEnabled(false);
  } else if (newMode == MODE_OFF) {
    transitionState = TransitionState::TO_OFF;
  }
@@ -376,9 +350,7 @@ void FreshMpsocHandler::handleTransitionToOn() {
  if (startupState == StartupState::DONE) {
    setMode(targetMode, targetSubmode);
    transitionState = TransitionState::NONE;
-    if (targetMode == MODE_NORMAL) {
-      hkReport.setReportingEnabled(true);
-    }
+    hkReport.setReportingEnabled(true);
    powerState = PowerState::IDLE;
    startupState = StartupState::IDLE;
  }
@@ -387,7 +359,7 @@ void FreshMpsocHandler::handleTransitionToOn() {
 void FreshMpsocHandler::handleTransitionToOff() {
  if (handleHwShutdown()) {
    hkReport.setReportingEnabled(false);
-    setMode(MODE_OFF, 0);
+    setMode(MODE_OFF);
    transitionState = TransitionState::NONE;
    activeCmdInfo.reset();
    powerState = PowerState::IDLE;
@@ -456,7 +428,7 @@ void FreshMpsocHandler::handleActionCommandFailure(ActionId_t actionId, ReturnVa
      if (actionId != supv::START_MPSOC) {
        return;
      }
-      sif::info << "FreshMpsocHandler::handleActionCommandFailure: MPSoC boot command failed"
+      sif::info << "PlocMPSoCHandler::handleActionCommandFailure: MPSoC boot command failed"
                << std::endl;
      // This is commonly the case when the MPSoC is already operational. Thus the power state is
      // set to on here
@@ -504,23 +476,6 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
      result = commandTcMemRead(commandData, commandDataLen);
      break;
    }
-    case (mpsoc::TC_FLASHFOPEN): {
-      mpsoc::TcFlashFopen cmd(spParams, commandSequenceCount);
-      // C string constructor.
-      std::string filename = std::string(reinterpret_cast<const char*>(commandData));
-      if (filename.size() > mpsoc::MAX_FILENAME_SIZE) {
-        return mpsoc::NAME_TOO_LONG;
-      }
-      uint8_t mode = commandData[filename.size() + 2];
-      cmd.setPayload(filename, mode);
-      result = finishAndSendTc(actionId, cmd);
-      break;
-    }
-    case (mpsoc::TC_FLASHFCLOSE): {
-      mpsoc::TcFlashFclose cmd(spParams, commandSequenceCount);
-      result = finishAndSendTc(actionId, cmd);
-      break;
-    }
    case (mpsoc::TC_FLASHDELETE): {
      result = commandTcFlashDelete(commandData, commandDataLen);
      break;
@@ -563,7 +518,6 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
      }
      mpsoc::TcFlashMkfs cmd(spParams, commandSequenceCount,
                             static_cast<mpsoc::FlashId>(commandData[0]));
-      sif::info << "PLOC MPSoC: Formatting Flash " << (int)commandData[0] << std::endl;
      result = finishAndSendTc(actionId, cmd, mpsoc::CMD_TIMEOUT_MKFS);
      break;
    }
@@ -584,16 +538,9 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
      break;
    }
    case (mpsoc::TC_SIMPLEX_STREAM_FILE): {
-      if (submode != mpsoc::Submode::SNAPSHOT) {
-        return HasModesIF::INVALID_SUBMODE;
-      }
      result = commandTcSimplexStreamFile(commandData, commandDataLen);
      break;
    }
-    case (mpsoc::TC_SPLIT_FILE): {
-      result = commandTcSplitFile(commandData, commandDataLen);
-      break;
-    }
    case (mpsoc::TC_DOWNLINK_DATA_MODULATE): {
      result = commandTcDownlinkDataModulate(commandData, commandDataLen);
      break;
@@ -606,20 +553,16 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
  }

  if (result == returnvalue::OK) {
-    commandInitHandling(actionId, commandedBy);
+    activeCmdInfo.start(actionId, commandedBy);
+    /**
+     * Flushing the receive buffer to make sure there are no data left from a faulty reply.
+     */
+    comInterface.getComHelper().flushUartRxBuffer();
  }

  return result;
 }

-void FreshMpsocHandler::commandInitHandling(ActionId_t actionId, MessageQueueId_t commandedBy) {
-  activeCmdInfo.start(actionId, commandedBy);
-  /**
-   * Flushing the receive buffer to make sure there are no data left from a faulty reply.
-   */
-  comInterface.getComHelper().flushUartRxBuffer();
-}
-
 ReturnValue_t FreshMpsocHandler::commandTcMemWrite(const uint8_t* commandData,
                                                   size_t commandDataLen) {
  ReturnValue_t result = returnvalue::OK;
@@ -647,7 +590,7 @@ ReturnValue_t FreshMpsocHandler::commandTcMemRead(const uint8_t* commandData,

 ReturnValue_t FreshMpsocHandler::commandTcFlashDelete(const uint8_t* commandData,
                                                      size_t commandDataLen) {
-  if (commandDataLen > mpsoc::FILENAME_FIELD_SIZE) {
+  if (commandDataLen > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
    return mpsoc::NAME_TOO_LONG;
  }
  ReturnValue_t result = returnvalue::OK;
@@ -744,15 +687,6 @@ ReturnValue_t FreshMpsocHandler::commandTcCamTakePic(const uint8_t* commandData,
  if (result != returnvalue::OK) {
    return result;
  }
-  sif::info << "PLOC MPSoC Take Picture Command" << std::endl;
-  sif::info << "filename: " << tcCamTakePic.fileName << std::endl;
-  sif::info << "encoder [Y, Cb, Cr]: [" << (int)tcCamTakePic.encoderSettingY << ", "
-            << (int)tcCamTakePic.encoderSettingsCb << ", " << (int)tcCamTakePic.encoderSettingsCr
-            << "]" << std::endl;
-  sif::info << "quantization [Y, Cb, Cr]: [" << tcCamTakePic.quantizationY << ", "
-            << tcCamTakePic.quantizationCb << ", " << tcCamTakePic.quantizationCr << "]"
-            << std::endl;
-  sif::info << "bypass compressor: " << (int)tcCamTakePic.bypassCompressor << std::endl;
  finishAndSendTc(mpsoc::TC_CAM_TAKE_PIC, tcCamTakePic);
  return returnvalue::OK;
 }
@@ -768,14 +702,14 @@ ReturnValue_t FreshMpsocHandler::commandTcSimplexStreamFile(const uint8_t* comma
  return returnvalue::OK;
 }

-ReturnValue_t FreshMpsocHandler::commandTcSplitFile(const uint8_t* commandData,
-                                                    size_t commandDataLen) {
-  mpsoc::TcSplitFile tcSplitFile(spParams, commandSequenceCount);
-  ReturnValue_t result = tcSplitFile.setPayload(commandData, commandDataLen);
+ReturnValue_t FreshMpsocHandler::commandTcSimplexStoreFile(const uint8_t* commandData,
+                                                           size_t commandDataLen) {
+  mpsoc::TcSimplexStoreFile tcSimplexStoreFile(spParams, commandSequenceCount);
+  ReturnValue_t result = tcSimplexStoreFile.setPayload(commandData, commandDataLen);
  if (result != returnvalue::OK) {
    return result;
  }
-  finishAndSendTc(mpsoc::TC_SPLIT_FILE, tcSplitFile);
+  finishAndSendTc(mpsoc::TC_SIMPLEX_STORE_FILE, tcSimplexStoreFile);
  return returnvalue::OK;
 }

@@ -809,18 +743,18 @@ ReturnValue_t FreshMpsocHandler::commandTcModeSnapshot() {

 ReturnValue_t FreshMpsocHandler::finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase,
                                                 uint32_t cmdCountdownMs) {
-  // Emit warning but still send command.
-  if (specialComHelperExecuting) {
-    sif::warning << "PLOC MPSoC: Sending command even though special COM helper is executing"
-                 << std::endl;
-  }
  ReturnValue_t result = tcBase.finishPacket();
  if (result != returnvalue::OK) {
    return result;
  }
+  // TODO: We should find a way so this works with the old implementation.
  commandSequenceCount++;

-  mpsoc::printTxPacket(tcBase);
+  if (MPSOC_TX_WIRETAPPING) {
+    sif::debug << "SEND MPSOC packet. APID 0x" << std::hex << std::setw(3) << tcBase.getApid()
+               << " Size " << std::dec << tcBase.getFullPacketLen() << " SSC "
+               << tcBase.getSeqCount() << std::endl;
+  }
  activeCmdInfo.cmdCountdown.setTimeout(cmdCountdownMs);
  activeCmdInfo.cmdCountdown.resetTimer();
  activeCmdInfo.pending = true;
@@ -830,10 +764,11 @@ ReturnValue_t FreshMpsocHandler::finishAndSendTc(DeviceCommandId_t cmdId, mpsoc:
 }

 void FreshMpsocHandler::handleEvent(EventMessage* eventMessage) {
+  // TODO: Shouldn't we check for specific events?
  object_id_t objectId = eventMessage->getReporter();
  switch (objectId) {
-    case objects::PLOC_MPSOC_HELPER: {
-      commonSpecialComStop();
+    case objects::PLOC_MPSOC_HANDLER: {
+      specialComHelperExecuting = false;
      break;
    }
    default:
@@ -841,10 +776,6 @@ void FreshMpsocHandler::handleEvent(EventMessage* eventMessage) {
      break;
  }
 }
-void FreshMpsocHandler::commonSpecialComStop() {
-  specialComHelperExecuting = false;
-  commandSequenceCount.set(specialComHelper.getCommandSequenceCount());
-}

 void FreshMpsocHandler::cmdDoneHandler(bool success, ReturnValue_t result) {
  if (transitionState == TransitionState::SUBMODE) {
@@ -865,11 +796,17 @@ void FreshMpsocHandler::cmdDoneHandler(bool success, ReturnValue_t result) {
 ReturnValue_t FreshMpsocHandler::handleDeviceReply() {
  ReturnValue_t result = returnvalue::OK;

-  const auto& replyReader = comInterface.getSpReader();
+  // SpacePacketReader spacePacket;
+  // spacePacket.setReadOnlyData(start, remainingSize);
+  auto& replyReader = comInterface.getSpReader();
  if (replyReader.isNull()) {
    return returnvalue::FAILED;
  }
-  mpsoc::printRxPacket(replyReader);
+  if (MPSOC_RX_WIRETAPPING) {
+    sif::debug << "RECV MPSOC packet. APID 0x" << std::hex << std::setw(3) << replyReader.getApid()
+               << std::dec << " Size " << replyReader.getFullPacketLen() << " SSC "
+               << replyReader.getSequenceCount() << std::endl;
+  }
  uint16_t apid = replyReader.getApid();

  switch (apid) {
@@ -916,14 +853,15 @@ ReturnValue_t FreshMpsocHandler::handleDeviceReply() {
    default: {
      sif::debug << "FreshMpsocHandler:: Reply has invalid APID 0x" << std::hex << std::setfill('0')
                 << std::setw(2) << apid << std::dec << std::endl;
+      //*foundLen = remainingSize;
      return mpsoc::INVALID_APID;
    }
  }

+  // TODO: We should implement some way so this can also be used with the former implementation.
  uint16_t sequenceCount = replyReader.getSequenceCount();
  if (sequenceCount != lastReplySequenceCount + 1) {
-    // We could trigger event for possible missing reply packet to inform operator, but I don't
-    // think this is properly implemented and used on the MPSoC side anymore.
+    // TODO: Trigger event for possible missing reply packet to inform operator.
  }
  lastReplySequenceCount = sequenceCount;

@@ -978,6 +916,7 @@ ReturnValue_t FreshMpsocHandler::handleAckReport() {

  switch (replyReader.getApid()) {
    case mpsoc::apid::ACK_FAILURE: {
+      // DeviceCommandId_t commandId = getPendingCommand();
      uint16_t status = mpsoc::getStatusFromRawData(replyReader.getFullData());
      sif::warning << "MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
      triggerEvent(mpsoc::ACK_FAILURE, activeCmdInfo.pendingCmd, status);
@@ -1224,7 +1163,6 @@ bool FreshMpsocHandler::handleHwStartup() {
  if (powerState == PowerState::SUPV_FAILED) {
    setMode(MODE_OFF);
    powerState = PowerState::IDLE;
-    transitionState = TransitionState::NONE;
    return false;
  }
  if (powerState == PowerState::PENDING_STARTUP) {
@@ -1262,9 +1200,7 @@ bool FreshMpsocHandler::handleHwShutdown() {
      supvTransitionCd.resetTimer();
      powerState = PowerState::PENDING_SHUTDOWN;
    } else {
-      if ((this->mode != MODE_OFF) and (this->mode != MODE_UNDEFINED)) {
-        triggerEvent(mpsoc::SUPV_NOT_ON, 0);
-      }
+      triggerEvent(mpsoc::SUPV_NOT_ON, 0);
      powerState = PowerState::DONE;
    }
  }
--- a/linux/payload/FreshMpsocHandler.h
+++ b/linux/payload/FreshMpsocHandler.h
@@ -1,4 +1,3 @@
-#include "fsfw/action/ActionMessage.h"
 #include "fsfw/action/CommandsActionsIF.h"
 #include "fsfw/devicehandlers/DeviceHandlerIF.h"
 #include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
@@ -6,14 +5,15 @@
 #include "fsfw/ipc/messageQueueDefinitions.h"
 #include "fsfw/modes/ModeMessage.h"
 #include "fsfw/objectmanager/SystemObjectIF.h"
-#include "fsfw/power/PowerSwitchIF.h"
-#include "fsfw/power/definitions.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw_hal/linux/gpio/Gpio.h"
 #include "linux/payload/MpsocCommunication.h"
 #include "linux/payload/PlocMpsocSpecialComHelper.h"
 #include "linux/payload/plocMpsocHelpers.h"

+static constexpr bool MPSOC_TX_WIRETAPPING = true;
+static constexpr bool MPSOC_RX_WIRETAPPING = true;
+
 class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsIF {
 public:
  enum OpCode { DEFAULT_OPERATION = 0, PARSE_TM = 1 };
@@ -21,8 +21,7 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI

  FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
                    PlocMpsocSpecialComHelper& specialComHelper, Gpio uartIsolatorSwitch,
-                    object_id_t supervisorHandler, PowerSwitchIF& powerSwitcher,
-                    power::Switch_t camSwitchId);
+                    object_id_t supervisorHandler);

  /**
   * Periodic helper executed function, implemented by child class.
@@ -132,8 +131,6 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
  TmMemReadReport tmMemReadReport;
  uint32_t lastReplySequenceCount = 0;
  uint8_t skipSupvCommandingToOn = false;
-  PowerSwitchIF& powerSwitcher;
-  power::Switch_t camSwitchId;

  // HK manager abstract functions.
  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
@@ -187,7 +184,7 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
  ReturnValue_t commandTcModeIdle();
  ReturnValue_t commandTcCamTakePic(const uint8_t* commandData, size_t commandDataLen);
  ReturnValue_t commandTcSimplexStreamFile(const uint8_t* commandData, size_t commandDataLen);
-  ReturnValue_t commandTcSplitFile(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t commandTcSimplexStoreFile(const uint8_t* commandData, size_t commandDataLen);
  ReturnValue_t commandTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
  ReturnValue_t commandTcModeSnapshot();

@@ -206,7 +203,4 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI

  void stopSpecialComHelper();
  void commandSubmodeTransition();
-  void commonSpecialComInit();
-  void commonSpecialComStop();
-  void commandInitHandling(ActionId_t actionId, MessageQueueId_t commandedBy);
 };
--- a/linux/payload/FreshSupvHandler.cpp
+++ b/linux/payload/FreshSupvHandler.cpp
@@ -241,10 +241,6 @@ ReturnValue_t FreshSupvHandler::executeAction(ActionId_t actionId, MessageQueueI
      uartManager->initiateUpdateContinuation();
      return EXECUTION_FINISHED;
    }
-    case ABORT_LONGER_REQUEST: {
-      uartManager->stop();
-      return EXECUTION_FINISHED;
-    }
    case MEMORY_CHECK_WITH_FILE: {
      UpdateParams params;
      result = extractBaseParams(&data, size, params);
@@ -853,10 +849,6 @@ ReturnValue_t FreshSupvHandler::prepareWipeMramCmd(const uint8_t* commandData, s
 ReturnValue_t FreshSupvHandler::parseTmPackets() {
  uint8_t* receivedData = nullptr;
  size_t receivedSize = 0;
-  // We do not want to steal packets from the long request handler.
-  if (uartManager->longerRequestActive()) {
-    return returnvalue::OK;
-  }
  while (true) {
    ReturnValue_t result =
        uartManager->readReceivedMessage(comCookie, &receivedData, &receivedSize);
--- a/linux/payload/MpsocCommunication.cpp
+++ b/linux/payload/MpsocCommunication.cpp
@@ -13,9 +13,6 @@ MpsocCommunication::MpsocCommunication(object_id_t objectId, SerialConfig cfg)
 ReturnValue_t MpsocCommunication::initialize() { return helper.initialize(); }

 ReturnValue_t MpsocCommunication::send(const uint8_t* data, size_t dataLen) {
-  if (MPSOC_LOW_LEVEL_TX_WIRETAPPING) {
-    sif::debug << "SEND MPSOC packet with size " << dataLen << std::endl;
-  }
  return helper.send(data, dataLen);
 }

@@ -30,7 +27,7 @@ ReturnValue_t MpsocCommunication::parseAndRetrieveNextPacket() {
    return returnvalue::OK;
  }
  readRingBuf.readData(readBuf, availableReadData);
-  spReader.setReadOnlyData(readBuf, sizeof(readBuf));
+  spReader.setReadOnlyData(readBuf, availableReadData);
  auto res = spReader.checkSize();
  if (res != returnvalue::OK) {
    return res;
--- a/linux/payload/MpsocCommunication.h
+++ b/linux/payload/MpsocCommunication.h
@@ -9,8 +9,7 @@
 #include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
 #include "linux/payload/SerialCommunicationHelper.h"

-static constexpr bool MPSOC_LOW_LEVEL_TX_WIRETAPPING = false;
-static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = false;
+static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = true;

 class MpsocCommunication : public SystemObject {
 public:
--- a/linux/payload/PlocMpsocSpecialComHelper.cpp
+++ b/linux/payload/PlocMpsocSpecialComHelper.cpp
@@ -6,16 +6,14 @@
 #include <filesystem>
 #include <fstream>

-#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
-#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
-#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
 #include "linux/payload/MpsocCommunication.h"
-#include "linux/payload/plocMpsocHelpers.h"

 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/FilesystemHelper.h"
 #endif

+#include "mission/utility/Timestamp.h"
+
 using namespace ploc;

 PlocMpsocSpecialComHelper::PlocMpsocSpecialComHelper(object_id_t objectId,
@@ -53,9 +51,9 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
      case InternalState::FLASH_WRITE: {
        result = performFlashWrite();
        if (result == returnvalue::OK) {
-          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, txSequenceCount.get());
+          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, sequenceCount->get());
        } else {
-          triggerEvent(MPSOC_FLASH_WRITE_FAILED, txSequenceCount.get());
+          triggerEvent(MPSOC_FLASH_WRITE_FAILED, sequenceCount->get());
        }
        internalState = InternalState::IDLE;
        break;
@@ -63,10 +61,9 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
      case InternalState::FLASH_READ: {
        result = performFlashRead();
        if (result == returnvalue::OK) {
-          triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, txSequenceCount.get());
+          triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, sequenceCount->get());
        } else {
-          sif::printWarning("PLOC MPSoC Helper: Flash read failed with code %04x\n", result);
-          triggerEvent(MPSOC_FLASH_READ_FAILED, txSequenceCount.get(), result);
+          triggerEvent(MPSOC_FLASH_READ_FAILED, sequenceCount->get());
        }
        internalState = InternalState::IDLE;
        break;
@@ -78,12 +75,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
  }
 }

-void PlocMpsocSpecialComHelper::setCommandSequenceCount(uint16_t sequenceCount_) {
-  txSequenceCount.set(sequenceCount_);
-}
-
-uint16_t PlocMpsocSpecialComHelper::getCommandSequenceCount() const {
-  return txSequenceCount.get();
+void PlocMpsocSpecialComHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
+  sequenceCount = sequenceCount_;
 }

 ReturnValue_t PlocMpsocSpecialComHelper::startFlashWrite(std::string obcFile,
@@ -155,7 +148,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
    file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
    bytesRead += dataLength;
    remainingSize -= dataLength;
-    mpsoc::TcFlashWrite tc(spParams, txSequenceCount);
+    mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
    result = tc.setPayload(fileBuf.data(), dataLength);
    if (result != returnvalue::OK) {
      return result;
@@ -164,7 +157,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
    if (result != returnvalue::OK) {
      return result;
    }
-    txSequenceCount.increment();
+    (*sequenceCount)++;
    result = handlePacketTransmissionNoReply(tc);
    if (result != returnvalue::OK) {
      return result;
@@ -179,12 +172,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {

 ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
  std::error_code e;
-  if (std::filesystem::exists(flashReadAndWrite.obcFile)) {
-    // Truncate the file first.
-    std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::binary | std::ios::trunc);
-  }
-  std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::binary | std::ios::app);
-  if (ofile.bad() or not ofile.is_open()) {
+  std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::trunc | std::ios::binary);
+  if (ofile.bad()) {
    return returnvalue::FAILED;
  }
  ReturnValue_t result = flashfopen(mpsoc::FileAccessModes::READ);
@@ -207,7 +196,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
      std::filesystem::remove(flashReadAndWrite.obcFile, e);
      return FILE_READ_ERROR;
    }
-    mpsoc::TcFlashRead flashReadRequest(spParams, txSequenceCount);
+    mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount);
    result = flashReadRequest.setPayload(nextReadSize);
    if (result != returnvalue::OK) {
      std::filesystem::remove(flashReadAndWrite.obcFile, e);
@@ -218,7 +207,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
      std::filesystem::remove(flashReadAndWrite.obcFile, e);
      return result;
    }
-    txSequenceCount.increment();
+    (*sequenceCount)++;
    result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
    if (result != returnvalue::OK) {
      std::filesystem::remove(flashReadAndWrite.obcFile, e);
@@ -235,7 +224,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {

 ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
  spParams.buf = commandBuffer;
-  mpsoc::TcFlashFopen flashFopen(spParams, txSequenceCount);
+  mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
  ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
  if (result != returnvalue::OK) {
    return result;
@@ -244,7 +233,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
  if (result != returnvalue::OK) {
    return result;
  }
-  txSequenceCount.increment();
+  (*sequenceCount)++;
  result = handlePacketTransmissionNoReply(flashFopen);
  if (result != returnvalue::OK) {
    return result;
@@ -254,12 +243,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {

 ReturnValue_t PlocMpsocSpecialComHelper::flashfclose() {
  spParams.buf = commandBuffer;
-  mpsoc::TcFlashFclose flashFclose(spParams, txSequenceCount);
+  mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
  ReturnValue_t result = flashFclose.finishPacket();
  if (result != returnvalue::OK) {
    return result;
  }
-  txSequenceCount.increment();
+  (*sequenceCount)++;
  result = handlePacketTransmissionNoReply(flashFclose);
  if (result != returnvalue::OK) {
    return result;
@@ -282,7 +271,6 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc
  if (result != returnvalue::OK) {
    return result;
  }
-  auto& spReader = comInterface.getSpReader();

  // We have the nominal case where the flash read report appears first, or the case where we
  // get an EXE failure immediately.
@@ -293,7 +281,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc
    }
    return handleExe();
  } else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
-    handleExeFailure(spReader);
+    handleExeFailure();
  } else {
    triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
    sif::warning << "PLOC MPSoC: Expected execution report "
@@ -317,7 +305,6 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionNoReply(ploc::S

 ReturnValue_t PlocMpsocSpecialComHelper::sendCommand(ploc::SpTcBase& tc) {
  ReturnValue_t result = comInterface.send(tc.getFullPacket(), tc.getFullPacketLen());
-  mpsoc::printTxPacket(tc);
  if (result != returnvalue::OK) {
    sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
    triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
@@ -336,8 +323,6 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
  if (result != returnvalue::OK) {
    return result;
  }
-  const auto& spReader = comInterface.getSpReader();
-
  uint16_t apid = spReader.getApid();
  if (apid != mpsoc::apid::ACK_SUCCESS) {
    handleAckApidFailure(spReader);
@@ -346,7 +331,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
  return returnvalue::OK;
 }

-void PlocMpsocSpecialComHelper::handleAckApidFailure(const SpacePacketReader& reader) {
+void PlocMpsocSpecialComHelper::handleAckApidFailure(const ploc::SpTmReader& reader) {
  uint16_t apid = reader.getApid();
  if (apid == mpsoc::apid::ACK_FAILURE) {
    uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
@@ -370,10 +355,9 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
  if (result != returnvalue::OK) {
    return result;
  }
-  const auto& spReader = comInterface.getSpReader();
  uint16_t apid = spReader.getApid();
  if (apid == mpsoc::apid::EXE_FAILURE) {
-    handleExeFailure(spReader);
+    handleExeFailure();
    return returnvalue::FAILED;
  } else if (apid != mpsoc::apid::EXE_SUCCESS) {
    triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
@@ -383,7 +367,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
  return returnvalue::OK;
 }

-void PlocMpsocSpecialComHelper::handleExeFailure(const SpacePacketReader& spReader) {
+void PlocMpsocSpecialComHelper::handleExeFailure() {
  uint16_t status = mpsoc::getStatusFromRawData(spReader.getFullData());
  sif::warning << "PLOC MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
  triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
@@ -392,32 +376,46 @@ void PlocMpsocSpecialComHelper::handleExeFailure(const SpacePacketReader& spRead
 ReturnValue_t PlocMpsocSpecialComHelper::handleTmReception() {
  ReturnValue_t result = returnvalue::OK;
  tmCountdown.resetTimer();
+  size_t readBytes = 0;
+  size_t currentBytes = 0;
  uint32_t usleepDelay = 5;
+  size_t fullPacketLen = 0;
  while (true) {
    if (tmCountdown.hasTimedOut()) {
      triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
      return returnvalue::FAILED;
    }
-    result = tryReceiveNextReply();
-    if (result == MpsocCommunication::PACKET_RECEIVED) {
-      // Need to convert this, we are faking a synchronous API here.
-      result = returnvalue::OK;
-      break;
-    }
+    result = receive(tmBuf.data() + readBytes, 6, &currentBytes);
    if (result != returnvalue::OK) {
-      if (result == MpsocCommunication::FAULTY_PACKET_SIZE) {
-        sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: faulty packet size\n");
-      } else if (result == MpsocCommunication::CRC_CHECK_FAILED) {
-        sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: CRC check failed\n");
-      }
-      sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed with code %d\n", result);
      return result;
    }
+    spReader.setReadOnlyData(tmBuf.data(), tmBuf.size());
+    fullPacketLen = spReader.getFullPacketLen();
+    readBytes += currentBytes;
+    if (readBytes == 6) {
+      break;
+    }
    usleep(usleepDelay);
    if (usleepDelay < 200000) {
      usleepDelay *= 4;
    }
  }
+  while (true) {
+    if (tmCountdown.hasTimedOut()) {
+      triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
+      return returnvalue::FAILED;
+    }
+    result = receive(tmBuf.data() + readBytes, fullPacketLen - readBytes, &currentBytes);
+    readBytes += currentBytes;
+    if (fullPacketLen == readBytes) {
+      break;
+    }
+    usleep(usleepDelay);
+    if (usleepDelay < 200000) {
+      usleepDelay *= 4;
+    }
+  }
+  // arrayprinter::print(tmBuf.data(), readBytes);
  return result;
 }

@@ -427,7 +425,6 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleFlashReadReply(std::ofstream& ofi
  if (result != returnvalue::OK) {
    return result;
  }
-  auto& spReader = comInterface.getSpReader();
  uint16_t apid = spReader.getApid();
  if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) {
    triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR);
@@ -493,19 +490,25 @@ ReturnValue_t PlocMpsocSpecialComHelper::startFlashReadOrWriteBase(std::string o
 }

 ReturnValue_t PlocMpsocSpecialComHelper::checkReceivedTm() {
-  const auto& spReader = comInterface.getSpReader();
  ReturnValue_t result = spReader.checkSize();
  if (result != returnvalue::OK) {
    sif::error << "PLOC MPSoC: Size check on received TM failed" << std::endl;
    triggerEvent(MPSOC_TM_SIZE_ERROR);
    return result;
  }
-  rxSequenceCount = spReader.getSequenceCount();
-  mpsoc::printRxPacket(spReader);
+  // No CRC check, this is already done by the communication interface..
+  uint16_t recvSeqCnt = spReader.getSequenceCount();
+  if (recvSeqCnt != *sequenceCount) {
+    triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
+    *sequenceCount = recvSeqCnt;
+  }
+  // This sequence count ping pong does not make any sense but it is how the MPSoC expects it.
+  (*sequenceCount)++;
  return returnvalue::OK;
 }

-ReturnValue_t PlocMpsocSpecialComHelper::tryReceiveNextReply() {
+ReturnValue_t PlocMpsocSpecialComHelper::receive(uint8_t* data, size_t requestBytes,
+                                                 size_t* readBytes) {
  ReturnValue_t result = returnvalue::OK;
  result = comInterface.readSerialInterface();
  if (result != returnvalue::OK) {
@@ -513,5 +516,11 @@ ReturnValue_t PlocMpsocSpecialComHelper::tryReceiveNextReply() {
                 static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
    return returnvalue::FAILED;
  }
-  return comInterface.parseAndRetrieveNextPacket();
+  result = comInterface.parseAndRetrieveNextPacket();
+  if (result == MpsocCommunication::PACKET_RECEIVED) {
+    auto& spReader = comInterface.getSpReader();
+    // Maybe unnecessary copy, but the easiest way to get this done for now..
+    std::memcpy(data, spReader.getFullData(), spReader.getFullPacketLen());
+  }
+  return result;
 }
--- a/linux/payload/PlocMpsocSpecialComHelper.h
+++ b/linux/payload/PlocMpsocSpecialComHelper.h
@@ -10,7 +10,6 @@
 #include "fsfw/osal/linux/BinarySemaphore.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
-#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
 #include "fsfw/tmtcservices/SourceSequenceCounter.h"
 #include "linux/payload/MpsocCommunication.h"
 #ifdef XIPHOS_Q7S
@@ -114,8 +113,7 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
  /**
   * @brief   Sets the sequence count object responsible for the sequence count handling
   */
-  void setCommandSequenceCount(uint16_t sequenceCount_);
-  uint16_t getCommandSequenceCount() const;
+  void setSequenceCount(SourceSequenceCounter* sequenceCount_);

 private:
  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
@@ -171,9 +169,8 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
  // CookieIF* comCookie = nullptr;
  MpsocCommunication& comInterface;
  // Sequence count, must be set by Ploc MPSoC Handler
-  // ploc::SpTmReader spReader;
-  uint16_t rxSequenceCount = 0;
-  SourceSequenceCounter txSequenceCount = 0;
+  SourceSequenceCounter* sequenceCount = nullptr;
+  ploc::SpTmReader spReader;

  void resetHelper();
  ReturnValue_t performFlashWrite();
@@ -185,13 +182,13 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
                                                  size_t expectedReadLen);
  ReturnValue_t handleFlashReadReply(std::ofstream& ofile, size_t expectedReadLen);
  ReturnValue_t sendCommand(ploc::SpTcBase& tc);
-  ReturnValue_t tryReceiveNextReply();
+  ReturnValue_t receive(uint8_t* data, size_t requestBytes, size_t* readBytes);
  ReturnValue_t handleAck();
  ReturnValue_t handleExe();
  ReturnValue_t startFlashReadOrWriteBase(std::string obcFile, std::string mpsocFile);
  ReturnValue_t fileCheck(std::string obcFile);
-  void handleAckApidFailure(const SpacePacketReader& reader);
-  void handleExeFailure(const SpacePacketReader& reader);
+  void handleAckApidFailure(const ploc::SpTmReader& reader);
+  void handleExeFailure();
  ReturnValue_t handleTmReception();
  ReturnValue_t checkReceivedTm();
 };
--- a/linux/payload/PlocSupvUartMan.cpp
+++ b/linux/payload/PlocSupvUartMan.cpp
@@ -11,8 +11,6 @@
 #include <fstream>

 #include "OBSWConfig.h"
-#include "fsfw/returnvalues/returnvalue.h"
-#include "linux/payload/plocSupvDefs.h"
 #include "tas/hdlc.h"
 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/FilesystemHelper.h"
@@ -23,13 +21,9 @@

 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/timemanager/Countdown.h"
-
-#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
 #include "mission/utility/Filenaming.h"
 #include "mission/utility/ProgressPrinter.h"
 #include "mission/utility/Timestamp.h"
-#endif
-
 #include "tas/crc.h"

 using namespace returnvalue;
@@ -283,6 +277,23 @@ ReturnValue_t PlocSupvUartManager::initiateUpdateContinuation() {
  return returnvalue::OK;
 }

+// ReturnValue_t PlocSupvHelper::startEventBufferRequest(std::string path) {
+// #ifdef XIPHOS_Q7S
+//   ReturnValue_t result = FilesystemHelper::checkPath(path);
+//   if (result != returnvalue::OK) {
+//     return result;
+//   }
+// #endif
+//   if (not std::filesystem::exists(path)) {
+//     return PATH_NOT_EXISTS;
+//   }
+//   eventBufferReq.path = path;
+//   request = Request::REQUEST_EVENT_BUFFER;
+//   //uartComIF->flushUartTxAndRxBuf(comCookie);
+//   semaphore->release();
+//   return returnvalue::OK;
+// }
+
 void PlocSupvUartManager::stop() {
  MutexGuard mg(lock);
  if (state == InternalState::SLEEPING or state == InternalState::GO_TO_SLEEP) {
@@ -426,8 +437,6 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
        // Useful to allow restarting the update
        triggerEvent(SUPV_UPDATE_PROGRESS, buildProgParams1(progPercent, update.sequenceCount),
                     update.bytesWritten);
-        sif::info << "PLOC SUPV update progress " << (int)progPercent << " % at "
-                  << update.bytesWritten << " bytes" << std::endl;
      }
    }
    supv::WriteMemory packet(spParams);
@@ -438,8 +447,10 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
                   update.bytesWritten);
      return result;
    }
-    result = writeMemoryHandlingWithRetryLogic(packet, progPercent);
+    result = handlePacketTransmissionNoReply(packet, 5000);
    if (result != returnvalue::OK) {
+      triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
+                   update.bytesWritten);
      return result;
    }

@@ -450,25 +461,7 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
 #if OBSW_DEBUG_PLOC_SUPERVISOR == 1
    progressPrinter.print(update.bytesWritten);
 #endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
-  }
-  return result;
-}
-
-ReturnValue_t PlocSupvUartManager::writeMemoryHandlingWithRetryLogic(supv::WriteMemory& packet,
-                                                                     unsigned progPercent) {
-  ReturnValue_t result = returnvalue::OK;
-  // Simple re-try logic in place to deal with communication unreliability in orbit.
-  for (uint8_t retryCount = 0; retryCount < MAX_RETRY_COUNT; retryCount++) {
-    result = handlePacketTransmissionNoReply(packet, COM_TIMEOUT_MS);
-    if (result == returnvalue::OK) {
-      return result;
-    }
-    triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
-                 update.bytesWritten);
-    // Clear data structures related to reply handling.
-    serial::flushTxRxBuf(serialPort);
-    recRingBuf.clear();
-    decodedRingBuf.clear();
+    // TaskFactory::delayTask(1);
  }
  return result;
 }
@@ -577,16 +570,7 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
  bool ackReceived = false;
  bool packetWasHandled = false;
  while (true) {
-    ReturnValue_t status = handleUartReception();
-    if (status != returnvalue::OK) {
-      result = status;
-      if (result == HDLC_ERROR) {
-        // We could bail here immediately.. but I prefer to wait for the timeout, because we should
-        // ensure that all packets which might be related to the transfer are still received and
-        // cleared from all data structures related to reply handling.
-        // return result;
-      }
-    }
+    handleUartReception();
    if (not decodedQueue.empty()) {
      size_t packetLen = 0;
      decodedQueue.retrieve(&packetLen);
@@ -629,7 +613,7 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
      return result::NO_REPLY_TIMEOUT;
    }
  }
-  return result;
+  return returnvalue::OK;
 }

 int PlocSupvUartManager::handleAckReception(supv::TcBase& tc, size_t packetLen) {
--- a/linux/payload/PlocSupvUartMan.h
+++ b/linux/payload/PlocSupvUartMan.h
@@ -118,7 +118,6 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
  static constexpr Event HDLC_FRAME_REMOVAL_ERROR = MAKE_EVENT(31, severity::INFO);
  static constexpr Event HDLC_CRC_ERROR = MAKE_EVENT(32, severity::INFO);

-  static constexpr unsigned MAX_RETRY_COUNT = 3;
  PlocSupvUartManager(object_id_t objectId);
  virtual ~PlocSupvUartManager();
  /**
@@ -200,8 +199,6 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
  static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS_CONSECUTIVE_END = returnvalue::makeCode(1, 4);
  static constexpr ReturnValue_t HDLC_ERROR = returnvalue::makeCode(1, 5);

-  static constexpr uint32_t COM_TIMEOUT_MS = 3000;
-
  static const uint16_t CRC16_INIT = 0xFFFF;
  // Event buffer reply will carry 24 space packets with 1016 bytes and one space packet with
  // 192 bytes
@@ -372,8 +369,6 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
   */
  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;

-  ReturnValue_t writeMemoryHandlingWithRetryLogic(supv::WriteMemory& packet, unsigned progPercent);
-
  void performUartShutdown();
  void updateVtime(uint8_t vtime);
 };
--- a/linux/payload/ScexDleParser.cpp
+++ b/linux/payload/ScexDleParser.cpp
@@ -2,6 +2,6 @@

 ScexDleParser::ScexDleParser(SimpleRingBuffer &decodeRingBuf, DleEncoder &decoder,
                             BufPair encodedBuf, BufPair decodedBuf)
-    : DleParser(decodeRingBuf, decoder, encodedBuf, decodedBuf) {};
+    : DleParser(decodeRingBuf, decoder, encodedBuf, decodedBuf){};

-ScexDleParser::~ScexDleParser() {};
+ScexDleParser::~ScexDleParser(){};
--- a/linux/payload/plocMpsocHelpers.cpp
+++ b/linux/payload/plocMpsocHelpers.cpp
@@ -1,8 +1,5 @@
 #include "plocMpsocHelpers.h"

-#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
-#include "mission/payload/plocSpBase.h"
-
 uint16_t mpsoc::getStatusFromRawData(const uint8_t* data) {
  return (*(data + STATUS_OFFSET) << 8) | *(data + STATUS_OFFSET + 1);
 }
@@ -16,10 +13,6 @@ std::string mpsoc::getStatusString(uint16_t status) {
      return "Incorrect length";
      break;
    }
-    case (mpsoc::statusCode::FLASH_DRIVE_ERROR): {
-      return "flash drive error";
-      break;
-    }
    case (mpsoc::statusCode::INCORRECT_CRC): {
      return "Incorrect crc";
      break;
@@ -100,19 +93,3 @@ std::string mpsoc::getStatusString(uint16_t status) {
  }
  return "";
 }
-
-void mpsoc::printRxPacket(const SpacePacketReader& spReader) {
-  if (mpsoc::MPSOC_RX_WIRETAPPING) {
-    sif::debug << "RECV MPSOC packet. APID 0x" << std::hex << std::setw(3) << spReader.getApid()
-               << std::dec << " Size " << spReader.getFullPacketLen() << " SSC "
-               << spReader.getSequenceCount() << std::endl;
-  }
-}
-
-void mpsoc::printTxPacket(const ploc::SpTcBase& tcBase) {
-  if (mpsoc::MPSOC_TX_WIRETAPPING) {
-    sif::debug << "SEND MPSOC packet. APID 0x" << std::hex << std::setw(3) << tcBase.getApid()
-               << " Size " << std::dec << tcBase.getFullPacketLen() << " SSC "
-               << tcBase.getSeqCount() << std::endl;
-  }
-}
--- a/linux/payload/plocMpsocHelpers.h
+++ b/linux/payload/plocMpsocHelpers.h
@@ -5,65 +5,20 @@
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <mission/payload/plocSpBase.h>

+#include "eive/definitions.h"
 #include "eive/eventSubsystemIds.h"
 #include "eive/resultClassIds.h"
 #include "fsfw/action/HasActionsIF.h"
-#include "fsfw/events/Event.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serialize/SerializeIF.h"

 namespace mpsoc {

-static constexpr bool MPSOC_TX_WIRETAPPING = false;
-static constexpr bool MPSOC_RX_WIRETAPPING = false;
-
-static constexpr size_t CRC_SIZE = 2;
-
-/**
- * @brief   Abstract base class for TC space packet of MPSoC.
- */
-class TcBase : public ploc::SpTcBase {
- public:
-  virtual ~TcBase() = default;
-
-  // Initial length field of space packet. Will always be updated when packet is created.
-  static const uint16_t INIT_LENGTH = CRC_SIZE;
-
-  /**
-   * @brief    Constructor
-   *
-   * @param sequenceCount Sequence count of space packet which will be incremented with each
-   *        sent and received packets.
-   */
-  TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount)
-      : ploc::SpTcBase(params, apid, 0, sequenceCount) {
-    payloadStart = spParams.buf + ccsds::HEADER_LEN;
-    spParams.setFullPayloadLen(INIT_LENGTH);
-  }
-
-  /**
-   * @brief   Function to finsh and write the space packet. It is expected that the user has
-   * set the payload fields in the child class*
-   * @return  returnvalue::OK if packet creation was successful, otherwise error return value
-   */
-  ReturnValue_t finishPacket() {
-    updateSpFields();
-    ReturnValue_t res = checkSizeAndSerializeHeader();
-    if (res != returnvalue::OK) {
-      return res;
-    }
-    return calcAndSetCrc();
-  }
-};
-
-void printRxPacket(const SpacePacketReader& spReader);
-void printTxPacket(const ploc::SpTcBase& tcBase);
-
 static constexpr uint32_t DEFAULT_CMD_TIMEOUT_MS = 5000;
 static constexpr uint32_t CMD_TIMEOUT_MKFS = 15000;

-enum FlashId : uint8_t { FLASH_0 = 0, FLASH_1 = 1 };
+enum FlashId : uint8_t { FLASH_0 = 0, FLASH_1 = 0 };

 static const uint8_t INTERFACE_ID = CLASS_ID::MPSOC_RETURN_VALUES_IF;

@@ -113,11 +68,7 @@ static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
 //! [EXPORT] : [COMMENT] SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for
 //! ON transition.
 static constexpr Event SUPV_NOT_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
-//! [EXPORT] : [COMMENT] SUPV reply timeout.
 static constexpr Event SUPV_REPLY_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 8, severity::LOW);
-//! [EXPORT] : [COMMENT] Camera must be commanded on first.
-static constexpr Event CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE =
-    event::makeEvent(SUBSYSTEM_ID, 9, severity::LOW);

 enum ParamId : uint8_t { SKIP_SUPV_ON_COMMANDING = 0x01 };

@@ -210,7 +161,7 @@ static const DeviceCommandId_t TC_FLASH_GET_DIRECTORY_CONTENT = 28;
 static const DeviceCommandId_t TM_FLASH_DIRECTORY_CONTENT = 29;
 static constexpr DeviceCommandId_t TC_FLASH_READ_FULL_FILE = 30;
 // Store file on MPSoC.
-static const DeviceCommandId_t TC_SPLIT_FILE = 31;
+static const DeviceCommandId_t TC_SIMPLEX_STORE_FILE = 31;
 static const DeviceCommandId_t TC_VERIFY_BOOT = 32;
 static const DeviceCommandId_t TC_ENABLE_TC_EXECTION = 33;
 static const DeviceCommandId_t TC_FLASH_MKFS = 34;
@@ -220,6 +171,8 @@ static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT_LEGACY = 50;

 static const uint16_t SIZE_ACK_REPORT = 14;
 static const uint16_t SIZE_EXE_REPORT = 14;
+// static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;
+// static const uint16_t SIZE_TM_CAM_CMD_RPT = 18;
 static constexpr size_t SIZE_TM_HK_REPORT = 369;

 enum Submode : uint8_t { IDLE_OR_NONE = 0, REPLAY = 1, SNAPSHOT = 2 };
@@ -284,15 +237,15 @@ static const uint8_t SPACE_PACKET_HEADER_SIZE = 6;

 static const uint8_t STATUS_OFFSET = 10;

+static constexpr size_t CRC_SIZE = 2;
+
 /**
 * The size of payload data which will be forwarded to the requesting object. e.g. PUS Service
 * 8.
 */
 static const uint8_t SIZE_MEM_READ_RPT_FIX = 6;

-static const size_t FILENAME_FIELD_SIZE = 256;
-// Subtract size of NULL terminator.
-static const size_t MAX_FILENAME_SIZE = FILENAME_FIELD_SIZE - 1;
+static const size_t MAX_FILENAME_SIZE = 256;

 /**
 * PLOC space packet length for fixed size packets. This is the size of the whole packet data
@@ -329,7 +282,6 @@ static const uint16_t TC_SIMPLEX_SEND_FILE_DELAY = 80;

 namespace statusCode {
 static const uint16_t DEFAULT_ERROR_CODE = 0x1;
-static constexpr uint16_t FLASH_DRIVE_ERROR = 0xb;
 static const uint16_t UNKNOWN_APID = 0x5DD;
 static const uint16_t INCORRECT_LENGTH = 0x5DE;
 static const uint16_t INCORRECT_CRC = 0x5DF;
@@ -356,10 +308,47 @@ static const uint16_t RESERVED_3 = 0x5F3;
 static const uint16_t RESERVED_4 = 0x5F4;
 }  // namespace statusCode

+/**
+ * @brief   Abstract base class for TC space packet of MPSoC.
+ */
+class TcBase : public ploc::SpTcBase {
+ public:
+  virtual ~TcBase() = default;
+
+  // Initial length field of space packet. Will always be updated when packet is created.
+  static const uint16_t INIT_LENGTH = CRC_SIZE;
+
+  /**
+   * @brief    Constructor
+   *
+   * @param sequenceCount Sequence count of space packet which will be incremented with each
+   *        sent and received packets.
+   */
+  TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount)
+      : ploc::SpTcBase(params, apid, 0, sequenceCount) {
+    payloadStart = spParams.buf + ccsds::HEADER_LEN;
+    spParams.setFullPayloadLen(INIT_LENGTH);
+  }
+
+  /**
+   * @brief   Function to finsh and write the space packet. It is expected that the user has
+   * set the payload fields in the child class*
+   * @return  returnvalue::OK if packet creation was successful, otherwise error return value
+   */
+  ReturnValue_t finishPacket() {
+    updateSpFields();
+    ReturnValue_t res = checkSizeAndSerializeHeader();
+    if (res != returnvalue::OK) {
+      return res;
+    }
+    return calcAndSetCrc();
+  }
+};
+
 /**
 * @brief   This class helps to build the memory read command for the PLOC.
 */
-class TcMemRead : public mpsoc::TcBase {
+class TcMemRead : public TcBase {
 public:
  /**
   * @brief   Constructor
@@ -409,7 +398,7 @@ class TcMemRead : public mpsoc::TcBase {
 * @brief   This class helps to generate the space packet to write data to a memory address within
 *          the PLOC.
 */
-class TcMemWrite : public mpsoc::TcBase {
+class TcMemWrite : public TcBase {
 public:
  /**
   * @brief   Constructor
@@ -459,21 +448,24 @@ class TcMemWrite : public mpsoc::TcBase {
 /**
 * @brief   Class to help creation of flash fopen command.
 */
-class TcFlashFopen : public mpsoc::TcBase {
+class FlashFopen : public TcBase {
 public:
-  TcFlashFopen(ploc::SpTcParams params, uint16_t sequenceCount)
+  FlashFopen(ploc::SpTcParams params, uint16_t sequenceCount)
      : TcBase(params, apid::TC_FLASHFOPEN, sequenceCount) {}

  ReturnValue_t setPayload(std::string filename, uint8_t mode) {
    accessMode = mode;
+    size_t nameSize = filename.size();
+    spParams.setFullPayloadLen(256 + sizeof(uint8_t) + CRC_SIZE);
    ReturnValue_t result = checkPayloadLen();
    if (result != returnvalue::OK) {
      return result;
    }
-    std::memset(payloadStart, 0, FILENAME_FIELD_SIZE);
-    std::memcpy(payloadStart, filename.c_str(), filename.size());
-    payloadStart[FILENAME_FIELD_SIZE] = accessMode;
-    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + 1 + CRC_SIZE);
+    std::memcpy(payloadStart, filename.c_str(), nameSize);
+    // payloadStart[nameSize] = NULL_TERMINATOR;
+    std::memset(payloadStart + nameSize, 0, 256 - nameSize);
+    // payloadStart[255] = NULL_TERMINATOR;
+    payloadStart[256] = accessMode;
    return returnvalue::OK;
  }

@@ -484,9 +476,9 @@ class TcFlashFopen : public mpsoc::TcBase {
 /**
 * @brief   Class to help creation of flash fclose command.
 */
-class TcFlashFclose : public TcBase {
+class FlashFclose : public TcBase {
 public:
-  TcFlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
+  FlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
      : TcBase(params, apid::TC_FLASHFCLOSE, sequenceCount) {
    spParams.setFullPayloadLen(CRC_SIZE);
  }
@@ -513,14 +505,8 @@ class TcFlashMkfs : public TcBase {
 public:
  TcFlashMkfs(ploc::SpTcParams params, uint16_t sequenceCount, FlashId flashId)
      : TcBase(params, apid::TC_FLASH_MKFS, sequenceCount) {
-    const char* flashIdStr = "0:\\";
-    if (flashId == FlashId::FLASH_1) {
-      flashIdStr = "1:\\";
-    }
-    std::memcpy(payloadStart, flashIdStr, 3);
-    // Null terminator
-    payloadStart[3] = 0;
-    spParams.setFullPayloadLen(4 + CRC_SIZE);
+    spParams.setFullPayloadLen(1 + CRC_SIZE);
+    payloadStart[0] = flashId;
  }
 };

@@ -583,6 +569,15 @@ class TcFlashRead : public TcBase {
    if (result != returnvalue::OK) {
      return result;
    }
+    updateSpFields();
+    result = checkSizeAndSerializeHeader();
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = calcAndSetCrc();
+    if (result != returnvalue::OK) {
+      return result;
+    }
    readSize = readLen;
    return result;
  }
@@ -600,14 +595,20 @@ class TcFlashDelete : public TcBase {

  ReturnValue_t setPayload(std::string filename) {
    size_t nameSize = filename.size();
-    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
+    spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE);
    auto res = checkPayloadLen();
    if (res != returnvalue::OK) {
      return res;
    }
    std::memcpy(payloadStart, filename.c_str(), nameSize);
    *(payloadStart + nameSize) = NULL_TERMINATOR;
-    return returnvalue::OK;
+
+    updateSpFields();
+    res = checkSizeAndSerializeHeader();
+    if (res != returnvalue::OK) {
+      return res;
+    }
+    return calcAndSetCrc();
  }
 };

@@ -759,9 +760,8 @@ class TcGetDirContent : public TcBase {
    if (result != returnvalue::OK) {
      return result;
    }
-    std::memset(payloadStart, 0, 256);
    std::memcpy(payloadStart, commandData, commandDataLen);
-    payloadStart[255] = 0;
+    payloadStart[255] = '\0';
    return result;
  }
 };
@@ -802,7 +802,7 @@ class TcReplayWriteSeq : public TcBase {
  static const size_t USE_DECODING_LENGTH = 1;

  ReturnValue_t lengthCheck(size_t commandDataLen) {
-    if (commandDataLen > USE_DECODING_LENGTH + FILENAME_FIELD_SIZE or
+    if (commandDataLen > USE_DECODING_LENGTH + MAX_FILENAME_SIZE or
        checkPayloadLen() != returnvalue::OK) {
      sif::warning << "TcReplayWriteSeq: Command has invalid length " << commandDataLen
                   << std::endl;
@@ -821,18 +821,18 @@ class FlashBasePusCmd {
  virtual ~FlashBasePusCmd() = default;

  virtual ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) {
-    if (commandDataLen > FILENAME_FIELD_SIZE) {
+    if (commandDataLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE + MAX_FILENAME_SIZE)) {
      return INVALID_LENGTH;
    }
    size_t fileLen = strnlen(reinterpret_cast<const char*>(commandData), commandDataLen);
-    if (fileLen > MAX_FILENAME_SIZE) {
+    if (fileLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE)) {
      return FILENAME_TOO_LONG;
    }
    obcFile = std::string(reinterpret_cast<const char*>(commandData), fileLen);
    fileLen =
        strnlen(reinterpret_cast<const char*>(commandData + obcFile.size() + SIZE_NULL_TERMINATOR),
                commandDataLen - obcFile.size() - 1);
-    if (fileLen > FILENAME_FIELD_SIZE) {
+    if (fileLen > MAX_FILENAME_SIZE) {
      return MPSOC_FILENAME_TOO_LONG;
    }
    mpsocFile = std::string(
@@ -843,11 +843,11 @@ class FlashBasePusCmd {

  const std::string& getObcFile() const { return obcFile; }

-  const std::string& getMpsocFile() const { return mpsocFile; }
+  const std::string& getMPSoCFile() const { return mpsocFile; }

 protected:
  size_t getParsedSize() const {
-    return getObcFile().size() + getMpsocFile().size() + 2 * SIZE_NULL_TERMINATOR;
+    return getObcFile().size() + getMPSoCFile().size() + 2 * SIZE_NULL_TERMINATOR;
  }
  static const size_t SIZE_NULL_TERMINATOR = 1;

@@ -858,7 +858,7 @@ class FlashBasePusCmd {

 class FlashReadPusCmd : public FlashBasePusCmd {
 public:
-  FlashReadPusCmd() {};
+  FlashReadPusCmd(){};

  ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) override {
    ReturnValue_t result = FlashBasePusCmd::extractFields(commandData, commandDataLen);
@@ -914,116 +914,24 @@ class TcCamTakePic : public TcBase {
      : TcBase(params, apid::TC_CAM_TAKE_PIC, sequenceCount) {}

  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-    const uint8_t** dataPtr = &commandData;
-    if (commandDataLen > FULL_PAYLOAD_SIZE) {
+    if (commandDataLen > MAX_DATA_LENGTH) {
      return INVALID_LENGTH;
    }
-    size_t deserLen = commandDataLen;
-    size_t serLen = 0;
-    fileName = std::string(reinterpret_cast<const char*>(commandData));
-    if (fileName.size() > MAX_FILENAME_SIZE) {
+    std::string fileName(reinterpret_cast<const char*>(commandData));
+    if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
      return FILENAME_TOO_LONG;
    }
-    deserLen -= fileName.length() + 1;
-    *dataPtr += fileName.length() + 1;
-    uint8_t** payloadPtr = &payloadStart;
-    memset(payloadStart, 0, FILENAME_FIELD_SIZE);
-    memcpy(payloadStart, fileName.data(), fileName.size());
-    *payloadPtr += FILENAME_FIELD_SIZE;
-    serLen += FILENAME_FIELD_SIZE;
-    ReturnValue_t result = SerializeAdapter::deSerialize(&encoderSettingY, dataPtr, &deserLen,
-                                                         SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
+    if (commandDataLen - (fileName.size() + sizeof(NULL_TERMINATOR)) != PARAMETER_SIZE) {
+      return INVALID_LENGTH;
    }
-    result = SerializeAdapter::serialize(&encoderSettingY, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
-                                         SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-
-    result = SerializeAdapter::deSerialize(&quantizationY, dataPtr, &deserLen,
-                                           SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = SerializeAdapter::serialize(&quantizationY, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
-                                         SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-
-    result = SerializeAdapter::deSerialize(&encoderSettingsCb, dataPtr, &deserLen,
-                                           SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = SerializeAdapter::serialize(&encoderSettingsCb, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
-                                         SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-
-    result = SerializeAdapter::deSerialize(&quantizationCb, dataPtr, &deserLen,
-                                           SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = SerializeAdapter::serialize(&quantizationCb, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
-                                         SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-
-    result = SerializeAdapter::deSerialize(&encoderSettingsCr, dataPtr, &deserLen,
-                                           SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = SerializeAdapter::serialize(&encoderSettingsCr, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
-                                         SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-
-    result = SerializeAdapter::deSerialize(&quantizationCr, dataPtr, &deserLen,
-                                           SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = SerializeAdapter::serialize(&quantizationCr, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
-                                         SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-
-    result = SerializeAdapter::deSerialize(&bypassCompressor, dataPtr, &deserLen,
-                                           SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = SerializeAdapter::serialize(&bypassCompressor, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
-                                         SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-
-    spParams.setFullPayloadLen(FULL_PAYLOAD_SIZE + CRC_SIZE);
+    spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
+    std::memcpy(payloadStart, commandData, commandDataLen);
    return returnvalue::OK;
  }

-  std::string fileName;
-  uint8_t encoderSettingY = 7;
-  uint64_t quantizationY = 0;
-  uint8_t encoderSettingsCb = 7;
-  uint64_t quantizationCb = 0;
-  uint8_t encoderSettingsCr = 7;
-  uint64_t quantizationCr = 0;
-  uint8_t bypassCompressor = 0;
-
 private:
+  static const size_t MAX_DATA_LENGTH = 286;
  static const size_t PARAMETER_SIZE = 28;
-  static constexpr size_t FULL_PAYLOAD_SIZE = FILENAME_FIELD_SIZE + PARAMETER_SIZE;
 };

 /**
@@ -1035,31 +943,30 @@ class TcSimplexStreamFile : public TcBase {
      : TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}

  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-    if (commandDataLen > MAX_FILENAME_SIZE) {
+    if (commandDataLen > MAX_DATA_LENGTH) {
      return INVALID_LENGTH;
    }
    std::string fileName(reinterpret_cast<const char*>(commandData));
-    if (fileName.size() > MAX_FILENAME_SIZE) {
+    if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
      return FILENAME_TOO_LONG;
    }

-    std::memset(payloadStart, 0, FILENAME_FIELD_SIZE);
    std::memcpy(payloadStart, fileName.data(), fileName.length());
    payloadStart[fileName.length()] = 0;
-    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
-    ;
+    spParams.setFullPayloadLen(fileName.length() + 1);
    return returnvalue::OK;
  }

 private:
+  static constexpr size_t MAX_DATA_LENGTH = 256;
 };

 /**
 * @brief   Class to build simplex send file command
 */
-class TcSplitFile : public TcBase {
+class TcSimplexStoreFile : public TcBase {
 public:
-  TcSplitFile(ploc::SpTcParams params, uint16_t sequenceCount)
+  TcSimplexStoreFile(ploc::SpTcParams params, uint16_t sequenceCount)
      : TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}

  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
@@ -1081,24 +988,29 @@ class TcSplitFile : public TcBase {
      return INVALID_PARAMETER;
    }
    std::string fileName(reinterpret_cast<const char*>(*dataPtr));
-    if (fileName.size() > MAX_FILENAME_SIZE) {
+    if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
      return FILENAME_TOO_LONG;
    }
-    char divStr[16]{};
-    sprintf(divStr, "DIV%03u", chunkParameter);
-    std::memcpy(payloadStart, divStr, DIV_STR_LEN);
-    payloadStart[DIV_STR_LEN] = 0;
-    std::memset(payloadStart + DIV_STR_LEN + 1, 0, FILENAME_FIELD_SIZE - DIV_STR_LEN - 1);
-    std::memcpy(payloadStart + DIV_STR_LEN + 1, fileName.data(), fileName.length());
-    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
+    size_t currentCopyIdx = 0;
+    size_t payloadLen = fileName.length() + sizeof(NULL_TERMINATOR) + CRC_SIZE;
+    if (chunkParameter > 1) {
+      char divStr[16]{};
+      sprintf(divStr, "DIV%03u", chunkParameter);
+      std::memcpy(payloadStart, divStr, DIV_STR_LEN);
+      payloadLen += DIV_STR_LEN;
+      currentCopyIdx += DIV_STR_LEN;
+    }
+
+    std::memcpy(payloadStart + currentCopyIdx, *dataPtr, fileName.length());
+    spParams.setFullPayloadLen(payloadLen);
    return returnvalue::OK;
  }

 private:
  uint32_t chunkParameter = 0;
+  static constexpr size_t MAX_DATA_LENGTH = 256;
  static constexpr size_t MIN_DATA_LENGTH = 4;
  static constexpr size_t DIV_STR_LEN = 6;
-  static constexpr size_t MAX_DATA_LENGTH = 4 + MAX_FILENAME_SIZE;
 };

 /**
--- a/linux/payload/plocSupvDefs.h
+++ b/linux/payload/plocSupvDefs.h
@@ -159,7 +159,6 @@ static const DeviceCommandId_t ENABLE_NVMS = 59;
 static const DeviceCommandId_t CONTINUE_UPDATE = 60;
 static const DeviceCommandId_t MEMORY_CHECK_WITH_FILE = 61;
 static constexpr DeviceCommandId_t MEMORY_CHECK = 62;
-static constexpr DeviceCommandId_t ABORT_LONGER_REQUEST = 63;

 /** Reply IDs */
 enum ReplyId : DeviceCommandId_t {
@@ -1146,14 +1145,14 @@ class WriteMemory : public TcBase {
      : TcBase(params, Apid::MEM_MAN, static_cast<uint8_t>(tc::MemManId::WRITE), 1) {}

  ReturnValue_t buildPacket(ccsds::SequenceFlags seqFlags, uint16_t sequenceCount, uint8_t memoryId,
-                            uint32_t currentAddr, uint16_t length, uint8_t* updateData) {
+                            uint32_t startAddress, uint16_t length, uint8_t* updateData) {
    if (length > CHUNK_MAX) {
      sif::error << "WriteMemory::WriteMemory: Invalid length" << std::endl;
      return SerializeIF::BUFFER_TOO_SHORT;
    }
    spParams.creator.setSeqFlags(seqFlags);
    spParams.creator.setSeqCount(sequenceCount);
-    auto res = initPacket(memoryId, currentAddr, length, updateData);
+    auto res = initPacket(memoryId, startAddress, length, updateData);
    if (res != returnvalue::OK) {
      return res;
    }
@@ -1171,7 +1170,7 @@ class WriteMemory : public TcBase {
  static const uint16_t META_DATA_LENGTH = 8;
  uint8_t n = 1;

-  ReturnValue_t initPacket(uint8_t memoryId, uint32_t currentAddr, uint16_t updateDataLen,
+  ReturnValue_t initPacket(uint8_t memoryId, uint32_t startAddr, uint16_t updateDataLen,
                           uint8_t* updateData) {
    uint8_t* data = payloadStart;
    if (updateDataLen % 2 != 0) {
@@ -1189,7 +1188,7 @@ class WriteMemory : public TcBase {
                                SerializeIF::Endianness::BIG);
    SerializeAdapter::serialize(&n, &data, &serializedSize, spParams.maxSize,
                                SerializeIF::Endianness::BIG);
-    SerializeAdapter::serialize(&currentAddr, &data, &serializedSize, spParams.maxSize,
+    SerializeAdapter::serialize(&startAddr, &data, &serializedSize, spParams.maxSize,
                                SerializeIF::Endianness::BIG);
    SerializeAdapter::serialize(&updateDataLen, &data, &serializedSize, spParams.maxSize,
                                SerializeIF::Endianness::BIG);
--- a/linux/power/CspComIF.h
+++ b/linux/power/CspComIF.h
@@ -53,7 +53,7 @@ class CspComIF : public DeviceCommunicationIF, public SystemObject {

  typedef uint8_t node_t;
  struct ReplyInfo {
-    ReplyInfo(size_t maxLen) : replyBuf(maxLen) {};
+    ReplyInfo(size_t maxLen) : replyBuf(maxLen){};
    std::vector<uint8_t> replyBuf;
    size_t replyLen = 0;
  };
--- a/linux/tcs/Max31865RtdPolling.h
+++ b/linux/tcs/Max31865RtdPolling.h
@@ -12,7 +12,7 @@
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"

 struct Max31865ReaderCookie : public CookieIF {
-  Max31865ReaderCookie() {};
+  Max31865ReaderCookie(){};
  Max31865ReaderCookie(object_id_t handlerId_, uint8_t idx_, const std::string& locString_,
                       SpiCookie* spiCookie_)
      : idx(idx_), handlerId(handlerId_), locString(locString_), spiCookie(spiCookie_) {}
--- a/mission/acs/ImtqHandler.cpp
+++ b/mission/acs/ImtqHandler.cpp
@@ -795,9 +795,9 @@ ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDat
  localDataPoolMap.emplace(imtq::FINA_NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));

  poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 60.0));
+      subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 30.0));
  poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 60.0));
+      subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 30.0));
  poolManager.subscribeForDiagPeriodicPacket(
      subdp::DiagnosticsHkPeriodicParams(rawMtmNoTorque.getSid(), false, 10.0));
  poolManager.subscribeForDiagPeriodicPacket(
--- a/mission/acs/RwHandler.cpp
+++ b/mission/acs/RwHandler.cpp
@@ -340,7 +340,7 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
  localDataPoolMap.emplace(rws::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(rws::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
  poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 30.0));
+      subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 12.0));
  poolManager.subscribeForRegularPeriodicPacket(
      subdp::RegularHkPeriodicParams(tmDataset.getSid(), false, 30.0));
  poolManager.subscribeForRegularPeriodicPacket(
--- a/mission/acs/str/StarTrackerHandler.cpp
+++ b/mission/acs/str/StarTrackerHandler.cpp
@@ -1662,7 +1662,7 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
  poolManager.subscribeForRegularPeriodicPacket(
      subdp::RegularHkPeriodicParams(interfaceSet.getSid(), false, 10.0));
  poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(solutionSet.getSid(), false, 30.0));
+      subdp::DiagnosticsHkPeriodicParams(solutionSet.getSid(), false, 12.0));
  poolManager.subscribeForRegularPeriodicPacket(
      subdp::RegularHkPeriodicParams(cameraSet.getSid(), false, 10.0));
  poolManager.subscribeForRegularPeriodicPacket(
@@ -2099,7 +2099,7 @@ void StarTrackerHandler::preparePowerRequest() {

 void StarTrackerHandler::prepareSwitchToBootloaderCmd() {
  uint32_t length = 0;
-  struct RebootActionRequest rebootReq{};
+  struct RebootActionRequest rebootReq {};
  prv_arc_pack_reboot_action_req(&rebootReq, commandBuffer, &length);
  rawPacket = commandBuffer;
  rawPacketLen = length;
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -232,8 +232,7 @@ void AcsController::performSafe() {
  acs::ControlModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
      mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
      gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
-      fusedRotRateSourcesData.rotRateTotalSusMgm.isValid(),
-      acsParameters.safeModeControllerParameters.useMekf,
+      fusedRotRateData.rotRateTotal.isValid(), acsParameters.safeModeControllerParameters.useMekf,
      acsParameters.safeModeControllerParameters.useGyr,
      acsParameters.safeModeControllerParameters.dampingDuringEclipse);
  switch (safeCtrlStrat) {
@@ -252,10 +251,9 @@ void AcsController::performSafe() {
      safeCtrlFailureCounter = 0;
      break;
    case (acs::ControlModeStrategy::SAFECTRL_SUSMGM):
-      safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value,
-                          fusedRotRateSourcesData.rotRateTotalSusMgm.value,
-                          fusedRotRateSourcesData.rotRateParallelSusMgm.value,
-                          fusedRotRateSourcesData.rotRateOrthogonalSusMgm.value,
+      safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value, fusedRotRateData.rotRateTotal.value,
+                          fusedRotRateData.rotRateParallel.value,
+                          fusedRotRateData.rotRateOrthogonal.value,
                          susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
      safeCtrlFailureFlag = false;
      safeCtrlFailureCounter = 0;
@@ -269,8 +267,8 @@ void AcsController::performSafe() {
      break;
    case (acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM):
      safeCtrl.safeRateDampingSusMgm(mgmDataProcessed.mgmVecTot.value,
-                                     fusedRotRateSourcesData.rotRateTotalSusMgm.value, sunTargetDir,
-                                     magMomMtq, errAng);
+                                     fusedRotRateData.rotRateTotal.value, sunTargetDir, magMomMtq,
+                                     errAng);
      safeCtrlFailureFlag = false;
      safeCtrlFailureCounter = 0;
      break;
@@ -357,7 +355,7 @@ void AcsController::performPointingCtrl() {
  }
  acs::ControlModeStrategy ptgCtrlStrat = ptgCtrl.pointingCtrlStrategy(
      mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag, strValid,
-      attitudeEstimationData.quatQuest.isValid(), fusedRotRateData.rotRateTotalSource.isValid(),
+      attitudeEstimationData.quatQuest.isValid(), fusedRotRateData.rotRateTotal.isValid(),
      fusedRotRateData.rotRateSource.value, useMekf);

  if (ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL or
@@ -389,11 +387,11 @@ void AcsController::performPointingCtrl() {
      quatBI[1] = sensorValues.strSet.caliQy.value;
      quatBI[2] = sensorValues.strSet.caliQz.value;
      quatBI[3] = sensorValues.strSet.caliQw.value;
-      std::memcpy(rotRateB, fusedRotRateData.rotRateTotalSource.value, sizeof(rotRateB));
+      std::memcpy(rotRateB, fusedRotRateData.rotRateTotal.value, sizeof(rotRateB));
      break;
    case acs::ControlModeStrategy::PTGCTRL_QUEST:
      std::memcpy(quatBI, attitudeEstimationData.quatQuest.value, sizeof(quatBI));
-      std::memcpy(rotRateB, fusedRotRateData.rotRateTotalSource.value, sizeof(rotRateB));
+      std::memcpy(rotRateB, fusedRotRateData.rotRateTotal.value, sizeof(rotRateB));
      break;
    default:
      sif::error << "AcsController: Invalid pointing mode strategy for performPointingCtrl"
@@ -557,8 +555,8 @@ void AcsController::performPointingCtrl() {
 void AcsController::handleDetumbling() {
  switch (detumbleState) {
    case DetumbleState::NO_DETUMBLE:
-      if (fusedRotRateData.rotRateTotalSusMgm.isValid() and
-          VectorOperations<double>::norm(fusedRotRateData.rotRateTotalSusMgm.value, 3) >
+      if (fusedRotRateData.rotRateTotal.isValid() and
+          VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
              acsParameters.detumbleParameter.omegaDetumbleStart) {
        detumbleCounter++;
      } else if (detumbleCounter > 0) {
@@ -601,8 +599,8 @@ void AcsController::handleDetumbling() {
      detumbleState = DetumbleState::NO_DETUMBLE;
      break;
    case DetumbleState::IN_DETUMBLE:
-      if (fusedRotRateData.rotRateTotalSusMgm.isValid() and
-          VectorOperations<double>::norm(fusedRotRateData.rotRateTotalSusMgm.value, 3) <
+      if (fusedRotRateData.rotRateTotal.isValid() and
+          VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
              acsParameters.detumbleParameter.omegaDetumbleEnd) {
        detumbleCounter++;
      } else if (detumbleCounter > 0) {
@@ -749,7 +747,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3VecRaw);
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmVecRaw);
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_ACT_STATUS, &imtqCalActStatus);
-  poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 60.0});
+  poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 10.0});
  // MGM Processed
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_VEC, &mgm0VecProc);
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_VEC, &mgm1VecProc);
@@ -759,7 +757,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT, &mgmVecTot);
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT_DERIVATIVE, &mgmVecTotDer);
  localDataPoolMap.emplace(acsctrl::PoolIds::MAG_IGRF_MODEL, &magIgrf);
-  poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), enableHkSets, 60.0});
+  poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), enableHkSets, 10.0});
  // SUS Raw
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0ValRaw);
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1ValRaw);
@@ -773,7 +771,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_R_LOC_XBYBZB_PT_YF, &sus9ValRaw);
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_N_LOC_XMYBZF_PT_ZF, &sus10ValRaw);
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_R_LOC_XBYMZB_PT_ZB, &sus11ValRaw);
-  poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 60.0});
+  poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 10.0});
  // SUS Processed
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_VEC, &sus0VecProc);
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_VEC, &sus1VecProc);
@@ -790,20 +788,20 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT, &susVecTot);
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT_DERIVATIVE, &susVecTotDer);
  localDataPoolMap.emplace(acsctrl::PoolIds::SUN_IJK_MODEL, &sunIjk);
-  poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), enableHkSets, 60.0});
+  poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), enableHkSets, 10.0});
  // GYR Raw
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_ADIS, &gyr0VecRaw);
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_L3, &gyr1VecRaw);
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_ADIS, &gyr2VecRaw);
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_L3, &gyr3VecRaw);
-  poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 60.0});
+  poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 10.0});
  // GYR Processed
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_VEC, &gyr0VecProc);
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_VEC, &gyr1VecProc);
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_VEC, &gyr2VecProc);
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_VEC, &gyr3VecProc);
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_VEC_TOT, &gyrVecTot);
-  poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), enableHkSets, 60.0});
+  poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), enableHkSets, 10.0});
  // GPS Processed
  localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
  localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
@@ -811,37 +809,38 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
  localDataPoolMap.emplace(acsctrl::PoolIds::GPS_POSITION, &gpsPosition);
  localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
  localDataPoolMap.emplace(acsctrl::PoolIds::SOURCE, &gpsSource);
-  poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 60.0});
+  poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 30.0});
  // Attitude Estimation
  localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
  localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
  localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus);
  localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_QUEST, &quatQuest);
-  poolManager.subscribeForDiagPeriodicPacket({attitudeEstimationData.getSid(), enableHkSets, 30.0});
+  poolManager.subscribeForDiagPeriodicPacket({attitudeEstimationData.getSid(), enableHkSets, 10.0});
  // Ctrl Values
  localDataPoolMap.emplace(acsctrl::PoolIds::SAFE_STRAT, &safeStrat);
  localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
  localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);
  localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng);
  localDataPoolMap.emplace(acsctrl::PoolIds::TGT_ROT_RATE, &tgtRotRate);
-  poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 30.0});
+  poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 10.0});
  // Actuator CMD
  localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_TORQUE, &rwTargetTorque);
  localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed);
  localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole);
-  poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 30.0});
+  poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 10.0});
  // Fused Rot Rate
-  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOT_SUSMGM, &rotRateTotSusMgm);
-  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOT_SOURCE, &rotRateTotSource);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL, &rotRateOrthogonal);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL, &rotRateParallel);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL, &rotRateTotal);
  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_SOURCE, &rotRateSource);
-  poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 30.0});
+  poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 10.0});
  // Fused Rot Rate Sources
  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL_SUSMGM, &rotRateOrthogonalSusMgm);
  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL_SUSMGM, &rotRateParallelSusMgm);
  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_SUSMGM, &rotRateTotalSusMgm);
  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_QUEST, &rotRateTotalQuest);
  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_STR, &rotRateTotalStr);
-  poolManager.subscribeForRegularPeriodicPacket({fusedRotRateSourcesData.getSid(), false, 60.0});
+  poolManager.subscribeForRegularPeriodicPacket({fusedRotRateSourcesData.getSid(), false, 10.0});
  return returnvalue::OK;
 }

@@ -927,17 +926,6 @@ void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
  if (detumbleState == DetumbleState::IN_DETUMBLE and submode != acs::SafeSubmode::DETUMBLE) {
    detumbleState = DetumbleState::NO_DETUMBLE;
  }
-  if (mode > acs::AcsMode::PTG_IDLE) {
-    poolManager.changeCollectionInterval(ctrlValData.getSid(), 10);
-    poolManager.changeCollectionInterval(actuatorCmdData.getSid(), 10);
-    poolManager.changeCollectionInterval(fusedRotRateData.getSid(), 10);
-    poolManager.changeCollectionInterval(attitudeEstimationData.getSid(), 10);
-  } else {
-    poolManager.changeCollectionInterval(ctrlValData.getSid(), 30);
-    poolManager.changeCollectionInterval(actuatorCmdData.getSid(), 30);
-    poolManager.changeCollectionInterval(fusedRotRateData.getSid(), 30);
-    poolManager.changeCollectionInterval(attitudeEstimationData.getSid(), 30);
-  }
  return ExtendedControllerBase::modeChanged(mode, submode);
 }

--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -271,8 +271,9 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes

  // Fused Rot Rate
  acsctrl::FusedRotRateData fusedRotRateData;
-  PoolEntry<double> rotRateTotSusMgm = PoolEntry<double>(3);
-  PoolEntry<double> rotRateTotSource = PoolEntry<double>(3);
+  PoolEntry<double> rotRateOrthogonal = PoolEntry<double>(3);
+  PoolEntry<double> rotRateParallel = PoolEntry<double>(3);
+  PoolEntry<double> rotRateTotal = PoolEntry<double>(3);
  PoolEntry<uint8_t> rotRateSource = PoolEntry<uint8_t>();

  // Fused Rot Rate Sources
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -38,9 +38,6 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
        case 0x5:
          parameterWrapper->set(onBoardParams.questFilterWeight);
          break;
-        case 0x6:
-          parameterWrapper->set(onBoardParams.questAngleLimit);
-          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -26,7 +26,6 @@ class AcsParameters : public HasParametersIF {
    uint8_t fusedRateFromStr = true;
    uint8_t fusedRateFromQuest = true;
    double questFilterWeight = 0.9;
-    double questAngleLimit = 5 * DEG2RAD;
  } onBoardParams;

  struct InertiaEIVE {
@@ -942,7 +941,7 @@ class AcsParameters : public HasParametersIF {
  } sunModelParameters;

  struct KalmanFilterParameters {
-    double sensorNoiseStr = 0.0028 * DEG2RAD;
+    double sensorNoiseStr = 0.1 * DEG2RAD;
    double sensorNoiseSus = 8. * DEG2RAD;
    double sensorNoiseMgm = 4. * DEG2RAD;
    double sensorNoiseGyr = 0.1 * DEG2RAD;
@@ -950,7 +949,7 @@ class AcsParameters : public HasParametersIF {
    double sensorNoiseGyrArw = 3. * 0.0043 / sqrt(10) * DEG2RAD;  // Angular Random Walk
    double sensorNoiseGyrBs = 3. / 3600. * DEG2RAD;               // Bias Stability

-    uint8_t allowStr = true;
+    uint8_t allowStr = false;
  } kalmanFilterParameters;

  struct MagnetorquerParameter {
--- a/mission/controller/acs/AttitudeEstimation.cpp
+++ b/mission/controller/acs/AttitudeEstimation.cpp
@@ -29,20 +29,6 @@ void AttitudeEstimation::quest(acsctrl::SusDataProcessed *susData,
  VectorOperations<double>::normalize(mgmData->mgmVecTot.value, normMgmB, 3);
  VectorOperations<double>::normalize(mgmData->magIgrfModel.value, normMgmI, 3);

-  if ((std::acos(VectorOperations<double>::dot(normSusB, normMgmB)) <
-       acsParameters->onBoardParams.questAngleLimit) or
-      (std::acos(VectorOperations<double>::dot(normSusI, normMgmI)) <
-       acsParameters->onBoardParams.questAngleLimit)) {
-    {
-      PoolReadGuard pg{attitudeEstimationData};
-      if (pg.getReadResult() == returnvalue::OK) {
-        std::memcpy(attitudeEstimationData->quatQuest.value, ZERO_VEC4, 4 * sizeof(double));
-        attitudeEstimationData->quatQuest.setValid(false);
-      }
-    }
-    return;
-  }
-
  // Create Helper Vectors
  double normHelperB[3] = {0, 0, 0}, normHelperI[3] = {0, 0, 0}, helperCross[3] = {0, 0, 0},
         helperSum[3] = {0, 0, 0};
--- a/mission/controller/acs/FusedRotationEstimation.cpp
+++ b/mission/controller/acs/FusedRotationEstimation.cpp
@@ -19,9 +19,13 @@ void FusedRotationEstimation::estimateFusedRotationRate(
                                           acsParameters->onBoardParams.fusedRateFromStr)) {
    PoolReadGuard pg(fusedRotRateData);
    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(fusedRotRateData->rotRateTotalSource.value,
+      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->rotRateOrthogonal.setValid(false);
+      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->rotRateParallel.setValid(false);
+      std::memcpy(fusedRotRateData->rotRateTotal.value,
                  fusedRotRateSourcesData->rotRateTotalStr.value, 3 * sizeof(double));
-      fusedRotRateData->rotRateTotalSource.setValid(true);
+      fusedRotRateData->rotRateTotal.setValid(true);
      fusedRotRateData->rotRateSource.value = acs::rotrate::Source::STR;
      fusedRotRateData->rotRateSource.setValid(true);
    }
@@ -30,38 +34,41 @@ void FusedRotationEstimation::estimateFusedRotationRate(
              acsParameters->onBoardParams.fusedRateFromQuest)) {
    PoolReadGuard pg(fusedRotRateData);
    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(fusedRotRateData->rotRateTotalSource.value,
+      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->rotRateOrthogonal.setValid(false);
+      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->rotRateParallel.setValid(false);
+      std::memcpy(fusedRotRateData->rotRateTotal.value,
                  fusedRotRateSourcesData->rotRateTotalQuest.value, 3 * sizeof(double));
-      fusedRotRateData->rotRateTotalSource.setValid(true);
+      fusedRotRateData->rotRateTotal.setValid(true);
      fusedRotRateData->rotRateSource.value = acs::rotrate::Source::QUEST;
      fusedRotRateData->rotRateSource.setValid(true);
    }
  } else if (fusedRotRateSourcesData->rotRateTotalSusMgm.isValid()) {
-    std::memcpy(fusedRotRateData->rotRateTotalSource.value,
+    std::memcpy(fusedRotRateData->rotRateOrthogonal.value,
+                fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, 3 * sizeof(double));
+    fusedRotRateData->rotRateOrthogonal.setValid(
+        fusedRotRateSourcesData->rotRateOrthogonalSusMgm.isValid());
+    std::memcpy(fusedRotRateData->rotRateParallel.value,
+                fusedRotRateSourcesData->rotRateParallelSusMgm.value, 3 * sizeof(double));
+    fusedRotRateData->rotRateParallel.setValid(
+        fusedRotRateSourcesData->rotRateParallelSusMgm.isValid());
+    std::memcpy(fusedRotRateData->rotRateTotal.value,
                fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3 * sizeof(double));
-    fusedRotRateData->rotRateTotalSource.setValid(true);
+    fusedRotRateData->rotRateTotal.setValid(true);
    fusedRotRateData->rotRateSource.value = acs::rotrate::Source::SUSMGM;
    fusedRotRateData->rotRateSource.setValid(true);
  } else {
    PoolReadGuard pg(fusedRotRateData);
    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(fusedRotRateData->rotRateTotalSource.value, ZERO_VEC3, 3 * sizeof(double));
-      fusedRotRateData->rotRateTotalSource.setValid(false);
+      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
+      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
+      std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->setValidity(false, true);
      fusedRotRateData->rotRateSource.value = acs::rotrate::Source::NONE;
      fusedRotRateData->rotRateSource.setValid(true);
    }
  }
-  if (fusedRotRateSourcesData->rotRateTotalSusMgm.isValid()) {
-    std::memcpy(fusedRotRateData->rotRateTotalSusMgm.value,
-                fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3 * sizeof(double));
-    fusedRotRateData->rotRateTotalSusMgm.setValid(true);
-  } else {
-    PoolReadGuard pg(fusedRotRateData);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(fusedRotRateData->rotRateTotalSusMgm.value, ZERO_VEC3, 3 * sizeof(double));
-      fusedRotRateData->rotRateTotalSusMgm.setValid(false);
-    }
-  }
 }

 void FusedRotationEstimation::estimateFusedRotationRateStr(
--- a/mission/controller/acs/Guidance.cpp
+++ b/mission/controller/acs/Guidance.cpp
@@ -232,7 +232,6 @@ void Guidance::targetRotationRate(const double timeDelta, double quatIX[4], doub
  }
  if (timeDelta != 0.0) {
    QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate);
-    VectorOperations<double>::mulScalar(refSatRate, -1, refSatRate, 3);
  } else {
    std::memcpy(refSatRate, ZERO_VEC3, 3 * sizeof(double));
  }
@@ -316,9 +315,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do

  // Calculate error satellite rotational rate
  // Convert target rotational rate into body RF
-  double targetSatRotRateB[3] = {0, 0, 0};
-  QuaternionOperations::multiplyVector(currentQuat, targetSatRotRate, targetSatRotRateB);
-  VectorOperations<double>::copy(targetSatRotRateB, targetSatRotRate, 3);
+  double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0};
+  QuaternionOperations::inverse(errorQuat, errorQuatInv);
+  QuaternionOperations::multiplyVector(errorQuatInv, targetSatRotRate, targetSatRotRateB);
  // Combine the target and reference satellite rotational rates
  double combinedRefSatRotRate[3] = {0, 0, 0};
  VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
--- a/mission/controller/acs/MultiplicativeKalmanFilter.cpp
+++ b/mission/controller/acs/MultiplicativeKalmanFilter.cpp
@@ -114,13 +114,12 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
    return result;
  }

-  double measSensMatrix[matrixDimensionFactor][6] = {},
-         measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {},
-         measVec[matrixDimensionFactor] = {}, estVec[matrixDimensionFactor] = {};
+  double measSensMatrix[matrixDimensionFactor][6] = {{0}},
+         measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
+         measVec[matrixDimensionFactor] = {0}, estVec[matrixDimensionFactor] = {0};
  kfUpdate(susData, mgmData, *measSensMatrix, *measCovMatrix, measVec, estVec);

-  double kalmanGain[6][matrixDimensionFactor];
-  std::memset(kalmanGain, 0, sizeof(kalmanGain));
+  double kalmanGain[6][matrixDimensionFactor] = {{0}};
  result = kfGain(*measSensMatrix, *measCovMatrix, *kalmanGain, attitudeEstimationData);
  if (result != returnvalue::OK) {
    reset(attitudeEstimationData);
@@ -343,11 +342,10 @@ ReturnValue_t MultiplicativeKalmanFilter::kfGain(
    double *measSensMatrix, double *measCovMatrix, double *kalmanGain,
    acsctrl::AttitudeEstimationData *attitudeEstimationData) {
  // Kalman Gain: K = P * H' / (H * P * H' + R)
-  double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {},
-         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {};
-  double residualCov[6][matrixDimensionFactor], measSensMatrixTransposed[6][matrixDimensionFactor];
-  std::memset(residualCov, 0, sizeof(residualCov));
-  std::memset(measSensMatrixTransposed, 0, sizeof(measSensMatrixTransposed));
+  double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
+         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
+         residualCov[6][matrixDimensionFactor] = {{0}},
+         measSensMatrixTransposed[6][matrixDimensionFactor] = {{0}};

  MatrixOperations<double>::transpose(measSensMatrix, *measSensMatrixTransposed,
                                      matrixDimensionFactor, 6);
@@ -384,7 +382,8 @@ void MultiplicativeKalmanFilter::kfCovAposteriori(double *kalmanGain, double *me

 void MultiplicativeKalmanFilter::kfStateAposteriori(double *kalmanGain, double *measVec,
                                                    double *estVec) {
-  double stateVecErr[6] = {0, 0, 0, 0, 0, 0}, plantOutputDiff[matrixDimensionFactor] = {};
+  double stateVecErr[6] = {0, 0, 0, 0, 0, 0};
+  double plantOutputDiff[matrixDimensionFactor] = {0};
  VectorOperations<double>::subtract(measVec, estVec, plantOutputDiff, matrixDimensionFactor);
  MatrixOperations<double>::multiply(kalmanGain, plantOutputDiff, stateVecErr, 6,
                                     matrixDimensionFactor, 1);
--- a/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+++ b/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
@@ -129,8 +129,9 @@ enum PoolIds : lp_id_t {
  RW_TARGET_SPEED,
  MTQ_TARGET_DIPOLE,
  // Fused Rotation Rate
-  ROT_RATE_TOT_SUSMGM,
-  ROT_RATE_TOT_SOURCE,
+  ROT_RATE_ORTHOGONAL,
+  ROT_RATE_PARALLEL,
+  ROT_RATE_TOTAL,
  ROT_RATE_SOURCE,
  // Fused Rotation Rate Sources
  ROT_RATE_ORTHOGONAL_SUSMGM,
@@ -150,7 +151,7 @@ static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 6;
 static constexpr uint8_t ATTITUDE_ESTIMATION_SET_ENTRIES = 4;
 static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 5;
 static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
-static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 3;
+static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 4;
 static constexpr uint8_t FUSED_ROT_RATE_SOURCES_SET_ENTRIES = 5;

 /**
@@ -317,10 +318,10 @@ class FusedRotRateData : public StaticLocalDataSet<FUSED_ROT_RATE_SET_ENTRIES> {
  FusedRotRateData(HasLocalDataPoolIF* hkOwner)
      : StaticLocalDataSet(hkOwner, FUSED_ROTATION_RATE_DATA) {}

-  lp_vec_t<double, 3> rotRateTotalSusMgm =
-      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOT_SUSMGM, this);
-  lp_vec_t<double, 3> rotRateTotalSource =
-      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOT_SOURCE, this);
+  lp_vec_t<double, 3> rotRateOrthogonal =
+      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_ORTHOGONAL, this);
+  lp_vec_t<double, 3> rotRateParallel = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_PARALLEL, this);
+  lp_vec_t<double, 3> rotRateTotal = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL, this);
  lp_var_t<uint8_t> rotRateSource = lp_var_t<uint8_t>(sid.objectId, ROT_RATE_SOURCE, this);

 private:
--- a/mission/memory/SdCardMountedIF.h
+++ b/mission/memory/SdCardMountedIF.h
@@ -8,7 +8,7 @@

 class SdCardMountedIF {
 public:
-  virtual ~SdCardMountedIF() {};
+  virtual ~SdCardMountedIF(){};
  virtual const char* getCurrentMountPrefix() const = 0;
  virtual bool isSdCardUsable(std::optional<sd::SdCard> sdCard) = 0;
  virtual std::optional<sd::SdCard> getPreferredSdCard() const = 0;
--- a/mission/power/BpxBatteryHandler.h
+++ b/mission/power/BpxBatteryHandler.h
@@ -32,8 +32,8 @@ class BpxBatteryHandler : public DeviceHandlerBase {

  BpxBatteryHk hkSet;
  DeviceCommandId_t lastCmd = DeviceHandlerIF::NO_COMMAND_ID;
-  std::array<uint8_t, 8> cmdBuf = {};
  BpxBatteryCfg cfgSet;
+  std::array<uint8_t, 8> cmdBuf = {};
  PoolEntry<uint16_t> chargeCurrent = PoolEntry<uint16_t>({0});
  PoolEntry<uint16_t> dischargeCurrent = PoolEntry<uint16_t>({0});
  PoolEntry<uint16_t> heaterCurrent = PoolEntry<uint16_t>({0});
--- a/mission/power/bpxBattDefs.h
+++ b/mission/power/bpxBattDefs.h
@@ -199,7 +199,6 @@ class BpxBatteryHk : public StaticLocalDataSet<bpxBat::HK_ENTRIES> {

 private:
  friend class BpxBatteryHandler;
-  friend class BatteryDummy;
  /**
   * Constructor for data creator
   * @param hkOwner
@@ -239,7 +238,6 @@ class BpxBatteryCfg : public StaticLocalDataSet<bpxBat::CFG_ENTRIES> {

 private:
  friend class BpxBatteryHandler;
-  friend class BatteryDummy;
  /**
   * Constructor for data creator
   * @param hkOwner
--- a/mission/system/acs/acsModeTree.cpp
+++ b/mission/system/acs/acsModeTree.cpp
@@ -105,7 +105,7 @@ Subsystem& satsystem::acs::init() {
  };
  // Build TARGET PT transition 0
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
@@ -114,7 +114,7 @@ Subsystem& satsystem::acs::init() {
        ctxc);

  // Build SUS board transition
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, SUS_BOARD_NML_TRANS.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, SUS_BOARD_NML_TRANS.second, true);
  check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)),
        ctxc);

@@ -200,14 +200,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
  iht(objects::ACS_CONTROLLER, acs::AcsMode::SAFE, acs::SafeSubmode::DEFAULT,
      ACS_TABLE_SAFE_TGT.second, true);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TGT.second, true);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TGT.second, true);
  check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);

  // Build SAFE transition 0
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
  iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
  iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
  check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
@@ -257,14 +257,14 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TGT.second, true);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TGT.second, true);
  ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);

  // Build IDLE transition 0
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
@@ -307,7 +307,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
  // Build TARGET PT table
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TGT.second);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
@@ -356,7 +356,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
  // Build TARGET PT table
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_NADIR, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
@@ -409,7 +409,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
  // Build TARGET PT table
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET_GS, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
@@ -462,7 +462,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_INERTIAL, 0,
      ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
      true);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
      true);
--- a/mission/tmtc/PersistentTmStore.cpp
+++ b/mission/tmtc/PersistentTmStore.cpp
@@ -59,7 +59,7 @@ ReturnValue_t PersistentTmStore::buildDumpSet(uint32_t fromUnixSeconds, uint32_t
      continue;
    }
    const path& file = fileOrDir.path();
-    struct tm fileTime{};
+    struct tm fileTime {};
    if (pathToTime(file, fileTime) != returnvalue::OK) {
      sif::error << "Time extraction for file " << file << "failed" << std::endl;
      continue;
@@ -294,7 +294,7 @@ void PersistentTmStore::deleteFromUpTo(uint32_t startUnixTime, uint32_t endUnixT
      continue;
    }
    // Convert file time to the UNIX epoch
-    struct tm fileTime{};
+    struct tm fileTime {};
    if (pathToTime(file.path(), fileTime) != returnvalue::OK) {
      sif::error << "Time extraction for " << file << " failed" << std::endl;
      continue;
--- a/q7s-env.sh
+++ b/q7s-env.sh
@@ -9,7 +9,7 @@ export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-li

 export PATH=${CROSS_COMPILE_BIN_PATH}:$PATH
 export CROSS_COMPILE="arm-linux-gnueabihf"
-unset EIVE_Q7S_EM
+# export EIVE_Q7S_EM=1

 if [[ -d "eive-obsw" ]]; then
 	echo "Detected EIVE OBSW root directory at $(pwd)/eive-obsw. Setting to EIVE_OBSW_ROOT"
--- a/scripts/auto-formatter.sh
+++ b/scripts/auto-formatter.sh
@@ -29,7 +29,7 @@ else
  echo "No ${cmake_fmt} tool found, not formatting CMake files"
 fi

-cpp_format="clang-format-19"
+cpp_format="clang-format"
 file_selectors="( -iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp )"
 file_excludes="( -not -iname translateObjects.cpp -not -iname translateEvents.cpp )"
 if command -v ${cpp_format} &> /dev/null; then
--- a/scripts/q7s-cp.py
+++ b/scripts/q7s-cp.py
@@ -4,9 +4,6 @@ import os
 import sys


-DEFAULT_PORT = 1539
-
-
 def main():
    args = handle_args()
    cmd = build_cmd(args)
@@ -23,7 +20,7 @@ def prompt_ssh_key_removal():
    do_remove_key = input(
        "Do you want to remove problematic keys on localhost ([Y]/n)?: "
    )
-    if do_remove_key.lower() not in ["y", "yes", "1", ""]:
+    if not do_remove_key.lower() in ["y", "yes", "1", ""]:
        sys.exit(1)
    port = 0
    while True:
@@ -57,7 +54,7 @@ def handle_args():
        "If files are copied back to host, will be current directory by default",
        default="",
    )
-    parser.add_argument("-P", "--port", help="Target port", default=DEFAULT_PORT)
+    parser.add_argument("-P", "--port", help="Target port", default=1535)
    parser.add_argument(
        "-i",
        "--invert",
@@ -84,8 +81,6 @@ def build_cmd(args):
    cmd = "scp "
    if args.recursive:
        cmd += "-r "
-    # Necessary to avoid some errors related to SFTP server of OBSW.
-    cmd += "-O "
    address = ""
    port_args = ""
    target = args.target
@@ -101,7 +96,7 @@ def build_cmd(args):
            target = args.target
    else:
        if target == "":
-            target = "/tmp"
+            target = f"/tmp"
        else:
            target = args.target
    # accepted_key_rsa_args = "-o HostKeyAlgorithms=+ssh-rsa -o PubkeyAcceptedKeyTypes=+ssh-rsa"
--- a/2
+++ b/2