diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2cde35c..729c27c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -21,6 +21,10 @@ list yields a list of all related PRs for each release.
 - Correction for ACS CTRL raw data requests HK type
 - Fixed diag related ACS hk cmds
 
+## Added
+
+- Basic MGM commanding (modes)
+
 # [v2.16.1] 2023-02-24
 
 - Updated CSVs for new persistent TM store
diff --git a/eive_tmtc/config/definitions.py b/eive_tmtc/config/definitions.py
index c0eaee1..a3cf5c3 100644
--- a/eive_tmtc/config/definitions.py
+++ b/eive_tmtc/config/definitions.py
@@ -37,6 +37,7 @@ class CustomServiceList(str, enum.Enum):
     ACU = "acu"
     ACS = "acs"
     GYRO = "gyro"
+    MGMS = "mgms"
     COM_SS = "com"
     BPX_BATTERY = "bpx"
     HEATER = "heater"
diff --git a/eive_tmtc/pus_tc/procedure_packer.py b/eive_tmtc/pus_tc/procedure_packer.py
index 7560ca9..1c2376e 100644
--- a/eive_tmtc/pus_tc/procedure_packer.py
+++ b/eive_tmtc/pus_tc/procedure_packer.py
@@ -4,6 +4,7 @@ import logging
 from typing import cast
 
 from eive_tmtc.tmtc.acs.gyros import handle_gyr_cmd
+from eive_tmtc.tmtc.acs.mgms import handle_mgm_cmd
 from eive_tmtc.tmtc.power.power import pack_power_commands
 from eive_tmtc.tmtc.tcs.rtd import pack_rtd_commands
 from eive_tmtc.tmtc.payload.scex import pack_scex_cmds
@@ -135,6 +136,8 @@ def handle_default_procedure(
         return pack_single_rw_test_into(
             object_id=RW4_ID, rw_idx=4, q=queue_helper, op_code=op_code
         )
+    if service == CustomServiceList.MGMS.value:
+        return handle_mgm_cmd(q=queue_helper, op_code=op_code)
     if service == CustomServiceList.RAD_SENSOR.value:
         object_id = cast(ObjectIdU32, obj_id_man.get(RAD_SENSOR_ID))
         return pack_rad_sensor_test_into(
diff --git a/eive_tmtc/tmtc/acs/gyros.py b/eive_tmtc/tmtc/acs/gyros.py
index 612b37b..3e21a59 100644
--- a/eive_tmtc/tmtc/acs/gyros.py
+++ b/eive_tmtc/tmtc/acs/gyros.py
@@ -2,7 +2,10 @@ import enum
 import logging
 import struct
 
+from spacepackets.ecss import PusTelecommand
 from tmtccmd.tc import DefaultPusQueueHelper
+from tmtccmd.tc.pus_201_fsfw_health import pack_set_health_cmd_data, FsfwHealth
+from tmtccmd.pus.s201_fsfw_health import Subservice
 
 import eive_tmtc.config.object_ids as obj_ids
 from tmtccmd.tc.pus_200_fsfw_mode import create_mode_command, Mode
@@ -30,6 +33,7 @@ class OpCode:
     OFF = "off"
     CORE_HK = "core_hk"
     CFG_HK = "cfg_hk"
+    SET_FAULTY = "set_faulty"
 
 
 class AdisGyroSetId(enum.IntEnum):
@@ -85,6 +89,15 @@ def handle_gyr_cmd(q: DefaultPusQueueHelper, op_code: str):
         q.add_pus_tc(
             create_request_one_hk_command(make_sid(gyr_obj_id, AdisGyroSetId.CFG_HK))
         )
+    elif op_code == OpCode.SET_FAULTY:
+        q.add_log_cmd(f"Gyro {gyr_info[0]} set faulty")
+        q.add_pus_tc(
+            PusTelecommand(
+                service=201,
+                subservice=Subservice.TC_SET_HEALTH,
+                app_data=pack_set_health_cmd_data(object_id=gyr_obj_id, health=FsfwHealth.FAULTY)
+            )
+        )
     else:
         logging.getLogger(__name__).warning(
             f"invalid op code {op_code} for gyro command"
@@ -177,4 +190,5 @@ def add_gyr_cmd_defs(defs: TmtcDefinitionWrapper):
     oce.add(keys=OpCode.CFG_HK, info="Request CFG HK")
     oce.add(keys=OpCode.NML, info="Normal Mode")
     oce.add(keys=OpCode.OFF, info="Off Mode")
+    oce.add(keys=OpCode.SET_FAULTY, info="Set Faulty")
     defs.add_service(CustomServiceList.GYRO, info="Gyro", op_code_entry=oce)
diff --git a/eive_tmtc/tmtc/acs/imtq.py b/eive_tmtc/tmtc/acs/imtq.py
index c0caf24..9ca9eb5 100644
--- a/eive_tmtc/tmtc/acs/imtq.py
+++ b/eive_tmtc/tmtc/acs/imtq.py
@@ -61,6 +61,7 @@ class ImtqSetId:
     NEGATIVE_Y_TEST = 13
     POSITIVE_Z_TEST = 14
     NEGATIVE_Z_TEST = 15
+    SELF_TEST_SET = 16
 
 
 class ImtqActionId:
@@ -307,7 +308,7 @@ ENG_HK_HEADERS = [
 
 
 def handle_imtq_hk(printer: FsfwTmTcPrinter, hk_data: bytes, set_id: int):
-    if (set_id >= ImtqSetId.POSITIVE_X_TEST) and (set_id <= ImtqSetId.NEGATIVE_Z_TEST):
+    if set_id == ImtqSetId.SELF_TEST_SET:
         return handle_self_test_data(printer, hk_data)
     elif set_id == ImtqSetId.ENG_HK_NO_TORQUE:
         _LOGGER.info("Found engineering HK without torque")
diff --git a/eive_tmtc/tmtc/acs/mgms.py b/eive_tmtc/tmtc/acs/mgms.py
index 908df55..5d7ecc2 100644
--- a/eive_tmtc/tmtc/acs/mgms.py
+++ b/eive_tmtc/tmtc/acs/mgms.py
@@ -1,13 +1,25 @@
 import enum
 import struct
 
+from eive_tmtc.config.definitions import CustomServiceList
+from tmtccmd.config import OpCodeEntry
+
 import eive_tmtc.config.object_ids as obj_ids
+from eive_tmtc.config.object_ids import MGM_0_LIS3_HANDLER_ID, MGM_1_RM3100_HANDLER_ID, MGM_2_LIS3_HANDLER_ID, MGM_3_RM3100_HANDLER_ID
 
 from eive_tmtc.pus_tm.defs import PrintWrapper
+from tmtccmd.config.tmtc import tmtc_definitions_provider, TmtcDefinitionWrapper
+from tmtccmd.tc import DefaultPusQueueHelper
+from tmtccmd.tc.pus_200_fsfw_mode import create_mode_command, Mode
 from tmtccmd.util import ObjectIdU32
 from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
 
 
+class OpCode:
+    NORMAL = "normal"
+    OFF = "off"
+
+
 class MgmLis3SetId(enum.IntEnum):
     CORE_HK = 0
 
@@ -16,6 +28,36 @@ class MgmRm3100SetId(enum.IntEnum):
     CORE_HK = 0
 
 
+class MgmSel(enum.IntEnum):
+    MGM_0_LIS3 = 0
+    MGM_1_RM3100 = 1
+    MGM_2_LIS3 = 2
+    MGM_3_RM3100 = 3
+
+
+MGM_SEL_DICT = {
+    MgmSel.MGM_0_LIS3: ("MGM_0_LIS3", MGM_0_LIS3_HANDLER_ID),
+    MgmSel.MGM_1_RM3100: ("MGM_1_RM3100", MGM_1_RM3100_HANDLER_ID),
+    MgmSel.MGM_2_LIS3: ("MGM_2_LIS3", MGM_2_LIS3_HANDLER_ID),
+    MgmSel.MGM_3_RM3100: ("MGM_3_RM3100", MGM_3_RM3100_HANDLER_ID),
+}
+
+
+def handle_mgm_cmd(q: DefaultPusQueueHelper, op_code: str):
+    print("Please select the MGM Device")
+    for (k, v) in MGM_SEL_DICT.items():
+        print(f"{k}: {v[0]}")
+    sel_idx = int(input("Select MGM device by index: "))
+    mgm_info = MGM_SEL_DICT[MgmSel(sel_idx)]
+    mgm_obj_id = mgm_info[1]
+    if op_code == OpCode.NORMAL:
+        q.add_log_cmd(f"Gyro {mgm_info[0]} NORMAL mode")
+        q.add_pus_tc(create_mode_command(mgm_obj_id, Mode.NORMAL, 0))
+    if op_code == OpCode.OFF:
+        q.add_log_cmd(f"Gyro {mgm_info[0]} OFF mode")
+        q.add_pus_tc(create_mode_command(mgm_obj_id, Mode.OFF, 0))
+
+
 def handle_mgm_hk_data(
     object_id: ObjectIdU32, printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes
 ):
@@ -61,3 +103,11 @@ def handle_mgm_rm3100_hk_data(
         pw.dlog(
             f"Field strengths in micro Tesla X {field_x} | Y {field_y} | Z {field_z}"
         )
+
+
+@tmtc_definitions_provider
+def add_mgm_cmd_defs(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    oce.add(keys=OpCode.NORMAL, info="Normal Mode")
+    oce.add(keys=OpCode.OFF, info="Off Mode")
+    defs.add_service(CustomServiceList.MGMS, info="MGMs", op_code_entry=oce)
diff --git a/eive_tmtc/tmtc/power/power.py b/eive_tmtc/tmtc/power/power.py
index 7430f34..c748b00 100644
--- a/eive_tmtc/tmtc/power/power.py
+++ b/eive_tmtc/tmtc/power/power.py
@@ -45,7 +45,7 @@ class SetId(enum.IntEnum):
     SWITCHER_SET = 0
 
 
-class PcduSetIds:
+class PcduSetIds(enum.IntEnum):
     SWITCHER_SET = 0