diff --git a/eive_tmtc/tmtc/acs/acs_ctrl.py b/eive_tmtc/tmtc/acs/acs_ctrl.py
index 2c19d68..73b46e0 100644
--- a/eive_tmtc/tmtc/acs/acs_ctrl.py
+++ b/eive_tmtc/tmtc/acs/acs_ctrl.py
@@ -39,6 +39,8 @@ from tmtccmd.pus.s20_fsfw_param_defs import (
     create_scalar_double_parameter,
     create_vector_float_parameter,
     create_vector_double_parameter,
+    create_matrix_float_parameter,
+    create_matrix_double_parameter,
 )
 
 
@@ -82,6 +84,7 @@ class OpCodes:
     RESET_MEKF = ["reset_mekf"]
     SET_PARAMETER_SCALAR = ["set_scalar_param"]
     SET_PARAMETER_VECTOR = ["set_vector_param"]
+    SET_PARAMETER_MATRIX = ["set_matrix_param"]
     REQUEST_RAW_MGM_HK = ["0", "mgm_raw_hk"]
     ENABLE_RAW_MGM_HK = ["1", "mgm_raw_enable_hk"]
     DISABLE_RAW_MGM_HK = ["2", "mgm_raw_disable_hk"]
@@ -187,6 +190,7 @@ def acs_cmd_defs(defs: TmtcDefinitionWrapper):
     oce.add(keys=OpCodes.RESET_MEKF, info=Info.RESET_MEKF)
     oce.add(keys=OpCodes.SET_PARAMETER_SCALAR, info=Info.SET_PARAMETER_SCALAR)
     oce.add(keys=OpCodes.SET_PARAMETER_VECTOR, info=Info.SET_PARAMETER_VECTOR)
+    oce.add(keys=OpCodes.SET_PARAMETER_MATRIX, info=Info.SET_PARAMETER_MATRIX)
     oce.add(keys=OpCodes.REQUEST_RAW_MGM_HK, info=Info.REQUEST_RAW_MGM_HK)
     oce.add(keys=OpCodes.ENABLE_RAW_MGM_HK, info=Info.ENABLE_RAW_MGM_HK)
     oce.add(keys=OpCodes.DISABLE_RAW_MGM_HK, info=Info.DISABLE_RAW_MGM_HK)
@@ -262,6 +266,9 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
     elif op_code in OpCodes.SET_PARAMETER_VECTOR:
         q.add_log_cmd(f"{Info.SET_PARAMETER_VECTOR}")
         set_acs_ctrl_param_vector(q)
+    elif op_code in OpCodes.SET_PARAMETER_MATRIX:
+        q.add_log_cmd(f"{Info.SET_PARAMETER_MATRIX}")
+        set_acs_ctrl_param_matrix(q)
     elif op_code in OpCodes.REQUEST_RAW_MGM_HK:
         q.add_log_cmd(Info.REQUEST_RAW_MGM_HK)
         q.add_pus_tc(
@@ -528,12 +535,12 @@ def set_acs_ctrl_param_vector(q: DefaultPusQueueHelper):
     pid = int(input("Specify parameter ID to set: "))
     match pt:
         case 0:
-            nr = int(input("Specify number of elements in vector to set: "))
+            elms = int(input("Specify number of elements in vector to set: "))
             param = []
-            for _ in range(nr):
+            for _ in range(elms):
                 param.append(float(input("Specify parameter vector entry value to set: ")))
             print(param)
-            if bool(input("Confirm selected parameter values (Y/N): ")):
+            if input("Confirm selected parameter values (Y/N): ") == "Y":
                 q.add_pus_tc(
                     create_load_param_cmd(
                         create_vector_float_parameter(
@@ -548,12 +555,12 @@ def set_acs_ctrl_param_vector(q: DefaultPusQueueHelper):
                 print("Aborting")
                 return
         case 1:
-            nr = int(input("Specify number of elements in vector to set: "))
+            elms = int(input("Specify number of elements in vector to set: "))
             param = []
-            for _ in range(nr):
+            for _ in range(elms):
                 param.append(float(input("Specify parameter vector entry value to set: ")))
             print(param)
-            if bool(input("Confirm selected parameter values (Y/N): ")):
+            if input("Confirm selected parameter values (Y/N): ") == "Y":
                 q.add_pus_tc(
                     create_load_param_cmd(
                         create_vector_double_parameter(
@@ -569,6 +576,62 @@ def set_acs_ctrl_param_vector(q: DefaultPusQueueHelper):
                 return
 
 
+def set_acs_ctrl_param_matrix(q: DefaultPusQueueHelper):
+    pt = int(input("Specify parameter type to set {0: \"float\", 1: \"double\"}: "))
+    sid = int(input("Specify parameter struct ID to set: "))
+    pid = int(input("Specify parameter ID to set: "))
+    match pt:
+        case 0:
+            rows = int(input("Specify number of rows in matrix to set: "))
+            cols = int(input("Specify number of columns in matrix to set: "))
+            row = []
+            param = []
+            for _ in range(rows):
+                for _ in range(cols):
+                    row.append(float(input("Specify parameter vector entry value to set: ")))
+                param.append(row)
+            print(param)
+            if input("Confirm selected parameter values (Y/N): ") == "Y":
+                q.add_pus_tc(
+                    create_load_param_cmd(
+                        create_matrix_float_parameter(
+                            object_id=ACS_CONTROLLER,
+                            domain_id=sid,
+                            unique_id=pid,
+                            parameters=param,
+                        ).pack()
+                    )
+                )
+            else:
+                print("Aborting")
+                return
+        case 1:
+            rows = int(input("Specify number of rows in matrix to set: "))
+            cols = int(input("Specify number of columns in matrix to set: "))
+            row = []
+            param = []
+            for _ in range(rows):
+                for _ in range(cols):
+                    row.append(float(input("Specify parameter vector entry value to set: ")))
+                param.append(row)
+                row = []
+            print(param)
+            if input("Confirm selected parameter values (Y/N): ") == "Y":
+                q.add_pus_tc(
+                    create_load_param_cmd(
+                        create_matrix_double_parameter(
+                            object_id=ACS_CONTROLLER,
+                            domain_id=sid,
+                            unique_id=pid,
+                            parameters=param,
+                        ).pack()
+                    )
+                )
+            else:
+                print("Aborting")
+                return
+
+
 def handle_acs_ctrl_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
     pw = PrintWrapper(printer)
     match set_id: