diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2142692..0a42af2 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -19,6 +19,10 @@ list yields a list of all related PRs for each release.
 
 - EPS power commands working again.
 
+## Changed
+
+- Fixed PLOC commanding
+
 # [v6.1.1] 2024-03-06
 
 ## Added
diff --git a/eive_tmtc/pus_tc/cmd_definitions.py b/eive_tmtc/pus_tc/cmd_definitions.py
index 88ba312..e69de29 100644
--- a/eive_tmtc/pus_tc/cmd_definitions.py
+++ b/eive_tmtc/pus_tc/cmd_definitions.py
@@ -1,21 +0,0 @@
-from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry, CoreServiceList
-from tmtccmd.config.tmtc import (
-    call_all_definitions_providers,
-)
-from tmtccmd.config.globals import get_default_tmtc_defs
-
-
-def get_eive_service_op_code_dict() -> TmtcDefinitionWrapper:
-    """Call all registered TMTC definition providers. They were registered using
-    the :py:func:`tmtc_definitions_provider` decorator.
-    """
-    def_wrapper = get_default_tmtc_defs()
-    srv_5 = OpCodeEntry()
-    srv_5.add("0", "Event Test")
-    def_wrapper.add_service(
-        name=CoreServiceList.SERVICE_5.value,
-        info="PUS Service 5 Event",
-        op_code_entry=srv_5,
-    )
-    call_all_definitions_providers(def_wrapper)
-    return def_wrapper
diff --git a/eive_tmtc/pus_tc/cmd_demux.py b/eive_tmtc/pus_tc/cmd_demux.py
index 33e5548..12c4722 100644
--- a/eive_tmtc/pus_tc/cmd_demux.py
+++ b/eive_tmtc/pus_tc/cmd_demux.py
@@ -52,6 +52,7 @@ from eive_tmtc.tmtc.com.subsystem import build_com_subsystem_procedure
 from eive_tmtc.tmtc.com.syrlinks_handler import pack_syrlinks_command
 from eive_tmtc.tmtc.core import pack_core_commands
 from eive_tmtc.tmtc.health import build_health_cmds
+from eive_tmtc.tmtc.payload.subsystem import create_payload_subsystem_cmd
 from eive_tmtc.tmtc.payload.ploc_mpsoc import pack_ploc_mpsoc_commands
 from eive_tmtc.tmtc.payload.ploc_supervisor import pack_ploc_supv_commands
 from eive_tmtc.tmtc.payload.plpcdu import pack_pl_pcdu_commands
@@ -252,7 +253,8 @@ def handle_payload_procedure(
     queue_helper: DefaultPusQueueHelper, cmd_path_list: List[str]
 ):
     obj_id_man = get_object_ids()
-    assert len(cmd_path_list) >= 2
+    if cmd_path_list[0] == "subsystem":
+        return create_payload_subsystem_cmd(queue_helper, cmd_path_list[1])
     if cmd_path_list[0] == "ploc_mpsoc":
         return pack_ploc_mpsoc_commands(queue_helper, cmd_path_list[1])
     if cmd_path_list[0] == "ploc_supv":
@@ -264,7 +266,6 @@ def handle_payload_procedure(
             object_id=object_id, q=queue_helper, cmd_str=cmd_path_list[1]
         )
     if cmd_path_list[0] == "pl_pcdu":
-        assert len(cmd_path_list) >= 3
         return pack_pl_pcdu_commands(q=queue_helper, cmd_str=cmd_path_list[1])
     if cmd_path_list[0] == "scex":
         return pack_scex_cmds(
diff --git a/eive_tmtc/tmtc/payload/subsystem.py b/eive_tmtc/tmtc/payload/subsystem.py
index 529865e..7ebd77a 100644
--- a/eive_tmtc/tmtc/payload/subsystem.py
+++ b/eive_tmtc/tmtc/payload/subsystem.py
@@ -21,20 +21,27 @@ class ModeId(enum.IntEnum):
 class OpCode(str, enum.Enum):
     OFF = "off"
     REPORT_ALL_MODES = "report_modes"
+    MPSOC_STREAM = "mode_mpsoc_stream"
+    CAM_STREAM = "mode_cam_stream"
+    EARTH_OBSV = "mode_eart_obsv"
 
 
 class Info(str, enum.Enum):
     OFF = "Off Command"
     REPORT_ALL_MODES = "Report all modes"
+    MPSOC_STREAM = "MPSoC Stream Mode"
+    CAM_STREAM = "Camera Stream Mode"
+    EARTH_OBSV = "Earth Observation Mode"
 
 
 HANDLER_LIST: Dict[str, Tuple[int, str]] = {
     OpCode.OFF: (ModeId.OFF, Info.OFF),
+    OpCode.MPSOC_STREAM: (ModeId.MPSOC_STREAM, Info.MPSOC_STREAM),
 }
 
 
-def build_acs_subsystem_cmd(q: DefaultPusQueueHelper, cmd_str: str):
-    info_prefix = "ACS Subsystem"
+def create_payload_subsystem_cmd(q: DefaultPusQueueHelper, cmd_str: str):
+    info_prefix = "Payload Subsystem"
     if cmd_str == OpCode.REPORT_ALL_MODES:
         q.add_log_cmd(f"{info_prefix}: {Info.REPORT_ALL_MODES}")
         q.add_pus_tc(
@@ -45,19 +52,28 @@ def build_acs_subsystem_cmd(q: DefaultPusQueueHelper, cmd_str: str):
             )
         )
     mode_info_tup = HANDLER_LIST.get(cmd_str)
+    assert mode_info_tup is not None
     if mode_info_tup is None:
         return
     pack_mode_cmd_with_info(
         object_id=PL_SUBSYSTEM_ID,
         info=f"{info_prefix}: {mode_info_tup[1]}",
-        submode=0,
         mode=mode_info_tup[0],
+        submode=0,
         q=q,
     )
 
 
 def create_payload_subsystem_node() -> CmdTreeNode:
     payload_node = CmdTreeNode("payload", "Payload Subsystem")
-    payload_node.add_child(CmdTreeNode(OpCode.OFF, Info.OFF))
-    payload_node.add_child(CmdTreeNode(OpCode.REPORT_ALL_MODES, Info.REPORT_ALL_MODES))
+    subsystem_node = CmdTreeNode("subsystem", "Subsystem Commands")
+    subsystem_node.add_child(CmdTreeNode(OpCode.OFF, Info.OFF))
+    subsystem_node.add_child(CmdTreeNode(OpCode.MPSOC_STREAM, Info.MPSOC_STREAM))
+    subsystem_node.add_child(CmdTreeNode(OpCode.EARTH_OBSV, Info.EARTH_OBSV))
+    subsystem_node.add_child(CmdTreeNode(OpCode.CAM_STREAM, Info.CAM_STREAM))
+
+    subsystem_node.add_child(
+        CmdTreeNode(OpCode.REPORT_ALL_MODES, Info.REPORT_ALL_MODES)
+    )
+    payload_node.add_child(subsystem_node)
     return payload_node