diff --git a/pus_tc/devs/imtq.py b/pus_tc/devs/imtq.py
index f71de6b..ea31b5d 100644
--- a/pus_tc/devs/imtq.py
+++ b/pus_tc/devs/imtq.py
@@ -5,6 +5,8 @@
 @author J. Meier
 @date   25.03.2021
 """
+import struct
+
 from tmtccmd.config.definitions import QueueCommands
 
 from tmtccmd.tc.packer import TcQueueT
@@ -276,11 +278,10 @@ def pack_dipole_command(
                      command is sent.
     """
     action_id = ImtqActionIds.start_actuation_dipole
-    command = bytearray()
     command = object_id + action_id
-    command.extend(x_dipole.to_bytes(length=2, byteorder="big"))
-    command.extend(y_dipole.to_bytes(length=2, byteorder="big"))
-    command.extend(z_dipole.to_bytes(length=2, byteorder="big"))
-    command.extend(duration.to_bytes(length=2, byteorder="big"))
+    command += struct.pack('!h', x_dipole)
+    command += struct.pack('!h', y_dipole)
+    command += struct.pack('!h', z_dipole)
+    command += struct.pack('!h', duration)
     command = PusTelecommand(service=8, subservice=128, ssc=22, app_data=command)
     return command
diff --git a/pus_tc/system/proc.py b/pus_tc/system/proc.py
index f524193..99935d8 100644
--- a/pus_tc/system/proc.py
+++ b/pus_tc/system/proc.py
@@ -210,7 +210,7 @@ def pack_generic_hk_listening_cmds(
             )
 
     if not cfg.use_tc_sched:
-        tc_queue.appendleft((QueueCommands.WAIT, 120))
+        tc_queue.appendleft((QueueCommands.WAIT, 60))
     sid_list.clear()
     diag_list.clear()
 
@@ -332,7 +332,7 @@ def pack_proc_commands(tc_queue: TcQueueT, op_code: str):
             False,
             True,
             False,
-            False
+            True
         ]
         pack_acs_command(tc_queue=tc_queue, op_code="acs-a")
 
@@ -358,7 +358,7 @@ def pack_proc_commands(tc_queue: TcQueueT, op_code: str):
             False,
             True,
             False,
-            False
+            True
         ]
 
         for b_side_dev in b_side_pairs:
@@ -393,7 +393,7 @@ def pack_proc_commands(tc_queue: TcQueueT, op_code: str):
             False,
             True,
             False,
-            False,
+            True,
         ]
         pack_generic_hk_listening_cmds(
             tc_queue=tc_queue,
@@ -413,12 +413,15 @@ def pack_proc_commands(tc_queue: TcQueueT, op_code: str):
             (oids.IMTQ_HANDLER_ID, ImtqSetIds.RAW_MTM_SET),
         ]
         diag_list = [
-            False,
-            False,
-            False,
+            True,
+            True,
+            True,
         ]
 
-        # mgt 1: imtq und hk
+        # Command MGT to mode on
+        pack_imtq_test_into(oids.IMTQ_HANDLER_ID, tc_queue=tc_queue, op_code="1")
+        tc_queue.appendleft((QueueCommands.WAIT, 5))
+        # Command MGT to normal mode
         pack_imtq_test_into(oids.IMTQ_HANDLER_ID, tc_queue=tc_queue, op_code="2")
 
         for imtq_dev in imtq_pairs:
@@ -456,23 +459,24 @@ def pack_proc_commands(tc_queue: TcQueueT, op_code: str):
         diag_list = [
             False,
             False,
+            True,
+            False,
+            True,
             False,
             False,
+            Truehk,
             False,
-            False,
-            False,
-            False,
-            False,
-            False,
-            False,
-            False,
-            False,
+            True,
+            True,
+            True,
+            True,
         ]
         pack_acs_command(tc_queue=tc_queue, op_code="acs-d")
-        # mgt 2.: imtq + dual side + dipole
-        pack_imtq_test_into(
-            object_id=oids.IMTQ_HANDLER_ID, tc_queue=tc_queue, op_code="2"
-        )
+        # Command MGT to mode on
+        pack_imtq_test_into(oids.IMTQ_HANDLER_ID, tc_queue=tc_queue, op_code="1")
+        tc_queue.appendleft((QueueCommands.WAIT, 20))
+        # Command MGT to normal mode
+        pack_imtq_test_into(oids.IMTQ_HANDLER_ID, tc_queue=tc_queue, op_code="2")
 
         for d_side_and_imtq_dev in d_side_and_imtq_pairs:
             oid = d_side_and_imtq_dev[0]
diff --git a/pus_tm/devs/gyros.py b/pus_tm/devs/gyros.py
index ff56abf..8031143 100644
--- a/pus_tm/devs/gyros.py
+++ b/pus_tm/devs/gyros.py
@@ -60,7 +60,7 @@ def handle_adis_gyro_hk(
 def handle_l3g_gyro_hk(
     object_id: ObjectId, printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes
 ):
-    if set_id == L3gGyroSetIds:
+    if set_id == L3gGyroSetIds.CORE_HK:
         pw = PrintWrapper(printer)
         fmt_str = "!ffff"
         inc_len = struct.calcsize(fmt_str)
diff --git a/pus_tm/devs/mgms.py b/pus_tm/devs/mgms.py
index 0a9db2c..1683c29 100644
--- a/pus_tm/devs/mgms.py
+++ b/pus_tm/devs/mgms.py
@@ -10,8 +10,10 @@ import config.object_ids as obj_ids
 def handle_mgm_hk_data(
     object_id: ObjectId, printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes
 ):
-    if object_id in [obj_ids.MGM_0_LIS3_HANDLER_ID, obj_ids.MGM_2_LIS3_HANDLER_ID]:
+    if object_id.as_bytes in [obj_ids.MGM_0_LIS3_HANDLER_ID, obj_ids.MGM_2_LIS3_HANDLER_ID]:
         handle_mgm_lis3_hk_data(object_id, printer, set_id, hk_data)
+    elif object_id.as_bytes in [obj_ids.MGM_1_RM3100_HANDLER_ID, obj_ids.MGM_3_RM3100_HANDLER_ID]:
+        handle_mgm_rm3100_hk_data(object_id, printer, set_id, hk_data)
     pass
 
 
@@ -23,7 +25,7 @@ def handle_mgm_lis3_hk_data(
         fmt_str = "!ffff"
         inc_len = struct.calcsize(fmt_str)
         (field_x, field_y, field_z, temp) = struct.unpack(
-            fmt_str, hk_data[0 : 0 + inc_len]
+            fmt_str, hk_data[0: 0 + inc_len]
         )
         pw.dlog(f"Received MGM LIS3 from object {object_id}")
         pw.dlog(