diff --git a/.run/IMTQ_Test_UDP.run.xml b/.run/IMTQ Dipole.run.xml
similarity index 81%
rename from .run/IMTQ_Test_UDP.run.xml
rename to .run/IMTQ Dipole.run.xml
index 06b2555..1d065fc 100644
--- a/.run/IMTQ_Test_UDP.run.xml
+++ b/.run/IMTQ Dipole.run.xml	
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="IMTQ Test UDP" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="IMTQ Dipole" type="PythonConfigurationType" factoryName="Python" folderName="IMTQ">
     <module name="tmtc" />
     <option name="INTERPRETER_OPTIONS" value="" />
     <option name="PARENT_ENVS" value="true" />
@@ -13,7 +13,7 @@
     <option name="ADD_SOURCE_ROOTS" value="true" />
     <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
     <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
-    <option name="PARAMETERS" value="-m seqcmd -c udp -s imtq -l -d 4" />
+    <option name="PARAMETERS" value="-s imtq -o set_dipole -l" />
     <option name="SHOW_COMMAND_LINE" value="false" />
     <option name="EMULATE_TERMINAL" value="true" />
     <option name="MODULE_MODE" value="false" />
diff --git a/.run/IMTQ_Get_Commanded_Dipole.run.xml b/.run/IMTQ_Get_Commanded_Dipole.run.xml
index 789e88f..c286698 100644
--- a/.run/IMTQ_Get_Commanded_Dipole.run.xml
+++ b/.run/IMTQ_Get_Commanded_Dipole.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="IMTQ Get Commanded Dipole" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="IMTQ Get Commanded Dipole" type="PythonConfigurationType" factoryName="Python" folderName="IMTQ">
     <module name="tmtc" />
     <option name="INTERPRETER_OPTIONS" value="" />
     <option name="PARENT_ENVS" value="true" />
diff --git a/.run/IMTQ_Neg_X_Test.run.xml b/.run/IMTQ_Neg_X_Test.run.xml
index 1330fa2..0d6ceca 100644
--- a/.run/IMTQ_Neg_X_Test.run.xml
+++ b/.run/IMTQ_Neg_X_Test.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="IMTQ Neg X Test" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="IMTQ Neg X Test" type="PythonConfigurationType" factoryName="Python" folderName="IMTQ">
     <module name="tmtc" />
     <option name="INTERPRETER_OPTIONS" value="" />
     <option name="PARENT_ENVS" value="true" />
diff --git a/.run/IMTQ_Neg_Y_Test.run.xml b/.run/IMTQ_Neg_Y_Test.run.xml
index 3f98518..64bbc39 100644
--- a/.run/IMTQ_Neg_Y_Test.run.xml
+++ b/.run/IMTQ_Neg_Y_Test.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="IMTQ Neg Y Test" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="IMTQ Neg Y Test" type="PythonConfigurationType" factoryName="Python" folderName="IMTQ">
     <module name="tmtc" />
     <option name="INTERPRETER_OPTIONS" value="" />
     <option name="PARENT_ENVS" value="true" />
diff --git a/.run/IMTQ_Neg_Z_Test.run.xml b/.run/IMTQ_Neg_Z_Test.run.xml
index 8af92f6..39ac03b 100644
--- a/.run/IMTQ_Neg_Z_Test.run.xml
+++ b/.run/IMTQ_Neg_Z_Test.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="IMTQ Neg Z Test" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="IMTQ Neg Z Test" type="PythonConfigurationType" factoryName="Python" folderName="IMTQ">
     <module name="tmtc" />
     <option name="INTERPRETER_OPTIONS" value="" />
     <option name="PARENT_ENVS" value="true" />
diff --git a/.run/IMTQ_Pos_X_Test.run.xml b/.run/IMTQ_Pos_X_Test.run.xml
index 63ab5f4..482c465 100644
--- a/.run/IMTQ_Pos_X_Test.run.xml
+++ b/.run/IMTQ_Pos_X_Test.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="IMTQ Pos X Test" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="IMTQ Pos X Test" type="PythonConfigurationType" factoryName="Python" folderName="IMTQ">
     <module name="tmtc" />
     <option name="INTERPRETER_OPTIONS" value="" />
     <option name="PARENT_ENVS" value="true" />
diff --git a/.run/IMTQ_Pos_Y_Test.run.xml b/.run/IMTQ_Pos_Y_Test.run.xml
index 3226197..ebf7edf 100644
--- a/.run/IMTQ_Pos_Y_Test.run.xml
+++ b/.run/IMTQ_Pos_Y_Test.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="IMTQ Pos Y Test" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="IMTQ Pos Y Test" type="PythonConfigurationType" factoryName="Python" folderName="IMTQ">
     <module name="tmtc" />
     <option name="INTERPRETER_OPTIONS" value="" />
     <option name="PARENT_ENVS" value="true" />
diff --git a/.run/IMTQ_Pos_Z_Test.run.xml b/.run/IMTQ_Pos_Z_Test.run.xml
index 0961704..12e072a 100644
--- a/.run/IMTQ_Pos_Z_Test.run.xml
+++ b/.run/IMTQ_Pos_Z_Test.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="IMTQ Pos Z Test" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="IMTQ Pos Z Test" type="PythonConfigurationType" factoryName="Python" folderName="IMTQ">
     <module name="tmtc" />
     <option name="INTERPRETER_OPTIONS" value="" />
     <option name="PARENT_ENVS" value="true" />
diff --git a/.run/P60_Dock_Commanding.run.xml b/.run/P60_Dock_Commanding.run.xml
index 0d85bea..090ac02 100644
--- a/.run/P60_Dock_Commanding.run.xml
+++ b/.run/P60_Dock_Commanding.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="P60 Dock Commanding" type="PythonConfigurationType" factoryName="Python" folderName="Power">
+  <configuration default="false" name="P60 Dock" type="PythonConfigurationType" factoryName="Python" folderName="Power">
     <module name="tmtc" />
     <option name="INTERPRETER_OPTIONS" value="" />
     <option name="PARENT_ENVS" value="true" />
diff --git a/.run/PDU1 Commanding.run.xml b/.run/PDU1.run.xml
similarity index 87%
rename from .run/PDU1 Commanding.run.xml
rename to .run/PDU1.run.xml
index dd03c80..f93718a 100644
--- a/.run/PDU1 Commanding.run.xml	
+++ b/.run/PDU1.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="PDU1 Commanding" type="PythonConfigurationType" factoryName="Python" folderName="Power">
+  <configuration default="false" name="PDU1" type="PythonConfigurationType" factoryName="Python" folderName="Power">
     <module name="tmtc" />
     <option name="INTERPRETER_OPTIONS" value="" />
     <option name="PARENT_ENVS" value="true" />
diff --git a/.run/PDU2 Commanding.run.xml b/.run/PDU2.run.xml
similarity index 87%
rename from .run/PDU2 Commanding.run.xml
rename to .run/PDU2.run.xml
index 72511e9..e0c2883 100644
--- a/.run/PDU2 Commanding.run.xml	
+++ b/.run/PDU2.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="PDU2 Commanding" type="PythonConfigurationType" factoryName="Python" folderName="Power">
+  <configuration default="false" name="PDU2" type="PythonConfigurationType" factoryName="Python" folderName="Power">
     <module name="tmtc" />
     <option name="INTERPRETER_OPTIONS" value="" />
     <option name="PARENT_ENVS" value="true" />
diff --git a/.run/_IMTQ_Command_Dipole.run.xml b/.run/RW All Off.run.xml
similarity index 80%
rename from .run/_IMTQ_Command_Dipole.run.xml
rename to .run/RW All Off.run.xml
index 665ec2a..482a5e7 100644
--- a/.run/_IMTQ_Command_Dipole.run.xml
+++ b/.run/RW All Off.run.xml	
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name=" IMTQ Command Dipole" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="RW All Off" type="PythonConfigurationType" factoryName="Python" folderName="ACS">
     <module name="tmtc" />
     <option name="INTERPRETER_OPTIONS" value="" />
     <option name="PARENT_ENVS" value="true" />
@@ -13,7 +13,7 @@
     <option name="ADD_SOURCE_ROOTS" value="true" />
     <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
     <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
-    <option name="PARAMETERS" value="-c udp -s imtq -o 7 -l -d 4 --hk" />
+    <option name="PARAMETERS" value="-s rw_ass -o speed_off -d 0.1 -l" />
     <option name="SHOW_COMMAND_LINE" value="false" />
     <option name="EMULATE_TERMINAL" value="true" />
     <option name="MODULE_MODE" value="false" />
diff --git a/.run/RW All On.run.xml b/.run/RW All On.run.xml
new file mode 100644
index 0000000..bc80f1a
--- /dev/null
+++ b/.run/RW All On.run.xml	
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="RW All On" type="PythonConfigurationType" factoryName="Python" folderName="ACS">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s rw_ass -o speed_up -d 0.1 -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/.run/RW1.run.xml b/.run/RW1.run.xml
new file mode 100644
index 0000000..f5f1941
--- /dev/null
+++ b/.run/RW1.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="RW1" type="PythonConfigurationType" factoryName="Python" folderName="ACS">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s rw_1 -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/.run/RW2.run.xml b/.run/RW2.run.xml
new file mode 100644
index 0000000..58e7433
--- /dev/null
+++ b/.run/RW2.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="RW2" type="PythonConfigurationType" factoryName="Python" folderName="ACS">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s rw_2 -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/.run/RW3.run.xml b/.run/RW3.run.xml
new file mode 100644
index 0000000..7548b59
--- /dev/null
+++ b/.run/RW3.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="RW3" type="PythonConfigurationType" factoryName="Python" folderName="ACS">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s rw_3 -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/.run/RW4.run.xml b/.run/RW4.run.xml
new file mode 100644
index 0000000..2ada545
--- /dev/null
+++ b/.run/RW4.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="RW4" type="PythonConfigurationType" factoryName="Python" folderName="ACS">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s rw_4 -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/.run/SA Deployment.run.xml b/.run/SA Deployment.run.xml
new file mode 100644
index 0000000..aeb3daa
--- /dev/null
+++ b/.run/SA Deployment.run.xml	
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="SA Deployment" type="PythonConfigurationType" factoryName="Python" folderName="Core">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s sa_depl -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 26e4fbb..6ba33e5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,7 +10,11 @@ list yields a list of all related PRs for each release.
 
 # [unreleased]
 
-# [v1.13.0]
+- Bugfixes for IMTQ TM handling
+- Updates S/A deployment command
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/118
+
+# [v1.13.0] 13.10.2022
 
 - CFDP integration
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/113
diff --git a/config/__init__.py b/config/__init__.py
index 2e43775..f802189 100644
--- a/config/__init__.py
+++ b/config/__init__.py
@@ -1,6 +1,6 @@
 SW_NAME = "eive"
 VERSION_MAJOR = 1
-VERSION_MINOR = 11
+VERSION_MINOR = 13
 VERSION_SUBMINOR = 0
 
-__version__ = "1.11.0"
+__version__ = "1.13.0"
diff --git a/deps/tmtccmd b/deps/tmtccmd
index a3dcf71..229a2b5 160000
--- a/deps/tmtccmd
+++ b/deps/tmtccmd
@@ -1 +1 @@
-Subproject commit a3dcf7125c04440c4cb7612051ebbbd2b7c6b800
+Subproject commit 229a2b5032b0c1becd93fe37f34ddc93a6b425c4
diff --git a/gomspace/gomspace_common.py b/gomspace/gomspace_common.py
index 0c1e0a8..1ce71a5 100644
--- a/gomspace/gomspace_common.py
+++ b/gomspace/gomspace_common.py
@@ -31,46 +31,6 @@ class GomspaceDeviceActionIds(enum.IntEnum):
     PRINT_LATCHUPS = 33
 
 
-class GomspaceOpCodes:
-    # Request HK
-    REQUEST_CORE_HK_ONCE = ["hk_core"]
-    REQUEST_AUX_HK_ONCE = ["hk_aux"]
-    PRINT_SWITCH_V_I = ["print_switch_vi"]
-    PRINT_LATCHUPS = ["print_latchups"]
-    GET_PARAM = ["get_param"]
-    SET_INTEGER_PARAM = ["set_int_param"]
-    SAVE_TABLE = ["save_table"]
-    RESET_GND_WATCHDOG = ["reset_gnd_wdt"]
-    SAVE_TABLE_DEFAULT = ["save_table_default"]
-    LOAD_TABLE = ["load_table"]
-    REQUEST_CONFIG_TABLE = ["cfg_table"]
-
-
-class GsInfo:
-    REQUEST_CORE_HK_ONCE = "Requesting Core HK once"
-    REQUEST_AUX_HK_ONCE = "Requesting Aux HK once"
-    PRINT_SWITCH_V_I = "Print Switch V I Info"
-    PRINT_LATCHUPS = "Print latchups"
-    GET_PARAMETER = "Get parameter"
-    SET_PARAMETER = "Set  integer parameter"
-    REQUEST_CONFIG_TABLE = "Request Config Table"
-    RESET_GND_WATCHDOG = "Reset GND watchdog"
-    SAVE_TABLE = "Save table non-volatile (file)"
-    SAVE_TABLE_DEFAULT = "Save table non-volatile (default)"
-    LOAD_TABLE = "Load Table"
-
-
-class SetIds:
-    PDU_1_CORE = 1
-    PDU_1_AUX = 2
-    PDU_2_CORE = 3
-    PDU_2_AUX = 4
-    P60_CORE = 5
-    P60_AUX = 6
-    ACU_CORE = 7
-    ACU_AUX = 8
-
-
 class ParamTypes(enum.Enum):
     U8 = 0
     U16 = 1
diff --git a/pus_tc/cmd_definitions.py b/pus_tc/cmd_definitions.py
index 137a806..b91ebf8 100644
--- a/pus_tc/cmd_definitions.py
+++ b/pus_tc/cmd_definitions.py
@@ -185,26 +185,6 @@ def add_time_cmds(defs: TmtcDefinitionWrapper):
     )
 
 
-@tmtc_definitions_provider
-def add_imtq_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add("0", "Mode Off")
-    oce.add("1", "Mode On")
-    oce.add("2", "Mode Normal")
-    oce.add("3", "IMTQ perform pos X self test")
-    oce.add("4", "IMTQ perform neg X self test")
-    oce.add("5", "IMTQ perform pos Y self test")
-    oce.add("6", "IMTQ perform neg Y self test")
-    oce.add("7", "IMTQ perform pos Z self test")
-    oce.add("8", "IMTQ perform neg Z self test")
-    oce.add("9", "IMTQ command dipole")
-    oce.add("10", "IMTQ get commanded dipole")
-    oce.add("11", "IMTQ get engineering hk set")
-    oce.add("12", "IMTQ get calibrated MTM measurement one shot")
-    oce.add("13", "IMTQ get raw MTM measurement one shot")
-    defs.add_service(CustomServiceList.IMTQ.value, "IMQT Device", oce)
-
-
 @tmtc_definitions_provider
 def add_system_cmds(defs: TmtcDefinitionWrapper):
     import pus_tc.system.controllers as controllers
diff --git a/pus_tc/devs/imtq.py b/pus_tc/devs/imtq.py
deleted file mode 100644
index c78127a..0000000
--- a/pus_tc/devs/imtq.py
+++ /dev/null
@@ -1,202 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-@file   imtq.py
-@brief  Tests for the ISIS IMTQ (Magnettorquer) device handler
-@author J. Meier
-@date   25.03.2021
-"""
-import struct
-
-from spacepackets.ecss.tc import PusTelecommand
-from tmtccmd.tc import DefaultPusQueueHelper
-from tmtccmd.tc.pus_3_fsfw_hk import (
-    make_sid,
-    generate_one_diag_command,
-    generate_one_hk_command,
-)
-from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes
-from tmtccmd.util import ObjectIdU32
-
-
-class ImtqSetIds:
-    ENG_HK_SET = 1
-    CAL_MTM_SET = 2
-    RAW_MTM_SET = 3
-    POSITIVE_X_TEST = 4
-    NEGATIVE_X_TEST = 5
-    POSITIVE_Y_TEST = 6
-    NEGATIVE_Y_TEST = 7
-    POSITIVE_Z_TEST = 8
-    NEGATIVE_Z_TEST = 9
-
-
-class ImtqActionIds:
-    start_actuation_dipole = bytearray([0x0, 0x0, 0x0, 0x02])
-    get_commanded_dipole = bytearray([0x0, 0x0, 0x0, 0x03])
-    perform_positive_x_test = bytearray([0x0, 0x0, 0x0, 0x07])
-    perform_negative_x_test = bytearray([0x0, 0x0, 0x0, 0x08])
-    perform_positive_y_test = bytearray([0x0, 0x0, 0x0, 0x09])
-    perform_negative_y_test = bytearray([0x0, 0x0, 0x0, 0x0A])
-    perform_positive_z_test = bytearray([0x0, 0x0, 0x0, 0x0B])
-    perform_negative_z_test = bytearray([0x0, 0x0, 0x0, 0x0C])
-    # Initiates the reading of the last performed self test. After sending this command the results
-    # can be downlinked via the housekeeping service by using the appropriate set ids listed above.
-    read_self_test_results = bytearray([0x0, 0x0, 0x0, 0x0D])
-
-
-def pack_imtq_test_into(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str):
-    q.add_log_cmd(
-        f"Testing ISIS IMTQ handler with object id: {object_id.as_hex_string}"
-    )
-
-    if op_code == "0":
-        q.add_log_cmd("IMTQ: Set mode off")
-        command = pack_mode_data(object_id.as_bytes, Modes.OFF, 0)
-        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
-    if op_code == "1":
-        q.add_log_cmd("IMTQ: Set mode on")
-        command = pack_mode_data(object_id.as_bytes, Modes.ON, 0)
-        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
-    if op_code == "2":
-        q.add_log_cmd("IMTQ: Mode Normal")
-        command = pack_mode_data(object_id.as_bytes, Modes.NORMAL, 0)
-        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
-    if op_code == "3":
-        q.add_log_cmd("IMTQ: Perform positive x self test")
-        command = object_id.as_bytes + ImtqActionIds.perform_positive_x_test
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-
-        q.add_log_cmd("IMTQ: Initiate reading of positive x self test results")
-        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-
-        q.add_log_cmd("IMTQ: Request dataset with positive x self test results")
-        sid = make_sid(object_id.as_bytes, ImtqSetIds.POSITIVE_X_TEST)
-        q.add_pus_tc(generate_one_hk_command(sid))
-
-    if op_code == "4":
-        q.add_log_cmd("IMTQ: Perform negative x self test")
-        command = object_id.as_bytes + ImtqActionIds.perform_negative_x_test
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-        q.add_log_cmd("IMTQ: Initiate reading of negative x self test results")
-        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-        q.add_log_cmd("IMTQ: Request dataset with negative x self test results")
-        sid = make_sid(object_id.as_bytes, ImtqSetIds.NEGATIVE_X_TEST)
-        q.add_pus_tc(generate_one_hk_command(sid))
-
-    if op_code == "5":
-        q.add_log_cmd("IMTQ: Perform positive y self test")
-        command = object_id.as_bytes + ImtqActionIds.perform_positive_y_test
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-        q.add_log_cmd("IMTQ: Initiate reading of positive y self test results")
-        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-
-        q.add_log_cmd("IMTQ: Request dataset with positive y self test results")
-        sid = make_sid(object_id.as_bytes, ImtqSetIds.POSITIVE_Y_TEST)
-        q.add_pus_tc(generate_one_hk_command(sid))
-
-    if op_code == "6":
-        q.add_log_cmd("IMTQ: Perform negative y self test")
-        command = object_id.as_bytes + ImtqActionIds.perform_negative_y_test
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-
-        q.add_log_cmd("IMTQ: Initiate reading of negative y self test results")
-        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-
-        q.add_log_cmd("IMTQ: Request dataset with negative y self test results")
-        sid = make_sid(object_id.as_bytes, ImtqSetIds.NEGATIVE_Y_TEST)
-        q.add_pus_tc(generate_one_hk_command(sid))
-
-    if op_code == "7":
-        q.add_log_cmd("IMTQ: Perform positive z self test")
-        command = object_id.as_bytes + ImtqActionIds.perform_positive_z_test
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-
-        q.add_log_cmd("IMTQ: Initiate reading of positive z self test results")
-        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-
-        q.add_log_cmd("IMTQ: Request dataset with positive z self test results")
-        sid = make_sid(object_id.as_bytes, ImtqSetIds.POSITIVE_Y_TEST)
-        q.add_pus_tc(generate_one_hk_command(sid))
-
-    if op_code == "8":
-        q.add_log_cmd("IMTQ: Perform negative z self test")
-        command = object_id.as_bytes + ImtqActionIds.perform_negative_z_test
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-        q.add_log_cmd("IMTQ: Initiate reading of negative z self test results")
-        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-        q.add_log_cmd("IMTQ: Request dataset with negative z self test results")
-        sid = make_sid(object_id.as_bytes, ImtqSetIds.NEGATIVE_Z_TEST)
-        q.add_pus_tc(generate_one_hk_command(sid))
-
-    if op_code == "9":
-        q.add_log_cmd("IMTQ: Commanding dipole")
-        x_dipole = 0
-        y_dipole = 0
-        z_dipole = 0
-        duration = 0  # ms
-        q.add_pus_tc(
-            pack_dipole_command(
-                object_id.as_bytes, x_dipole, y_dipole, z_dipole, duration
-            )
-        )
-
-    if op_code == "10":
-        q.add_log_cmd("IMTQ: Get commanded dipole")
-        command = object_id.as_bytes + ImtqActionIds.get_commanded_dipole
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-
-    if op_code == "11":
-        q.add_log_cmd("IMTQ: Get engineering hk set")
-        q.add_pus_tc(
-            generate_one_diag_command(
-                sid=make_sid(object_id=object_id.as_bytes, set_id=ImtqSetIds.ENG_HK_SET)
-            )
-        )
-
-    if op_code == "12":
-        q.add_log_cmd("IMTQ: Get calibrated MTM hk set")
-        q.add_pus_tc(
-            generate_one_diag_command(
-                sid=make_sid(
-                    object_id=object_id.as_bytes, set_id=ImtqSetIds.CAL_MTM_SET
-                )
-            )
-        )
-
-    if op_code == "13":
-        q.add_log_cmd("IMTQ: Get raw MTM hk set")
-        q.add_pus_tc(
-            generate_one_diag_command(
-                sid=make_sid(
-                    object_id=object_id.as_bytes, set_id=ImtqSetIds.RAW_MTM_SET
-                )
-            )
-        )
-
-
-def pack_dipole_command(
-    object_id: bytes, x_dipole: int, y_dipole: int, z_dipole: int, duration: int
-) -> PusTelecommand:
-    """This function packs the command causing the ISIS IMTQ to generate a dipole.
-    @param object_id    The object id of the IMTQ handler.
-    @param x_dipole   The dipole of the x coil in 10^-4*Am^2 (max. 2000)
-    @param y_dipole   The dipole of the y coil in 10^-4*Am^2 (max. 2000)
-    @param z_dipole   The dipole of the z coil in 10^-4*Am^2 (max. 2000)
-    @param duration  The duration in milliseconds the dipole will be generated by the coils.
-                     When set to 0, the dipole will be generated until a new dipole actuation
-                     command is sent.
-    """
-    action_id = ImtqActionIds.start_actuation_dipole
-    command = object_id + action_id
-    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, app_data=command)
-    return command
diff --git a/pus_tc/devs/plpcdu.py b/pus_tc/devs/plpcdu.py
index 11ef5e0..6ceafed 100644
--- a/pus_tc/devs/plpcdu.py
+++ b/pus_tc/devs/plpcdu.py
@@ -11,6 +11,8 @@ from tmtccmd.tc import DefaultPusQueueHelper
 from tmtccmd.tc.pus_3_fsfw_hk import (
     make_sid,
     generate_one_diag_command,
+    enable_periodic_hk_command_with_interval,
+    disable_periodic_hk_command,
 )
 from tmtccmd.tc.pus_11_tc_sched import (
     generate_enable_tc_sched_cmd,
@@ -30,31 +32,32 @@ LOGGER = get_console_logger()
 
 
 class OpCodes:
-    SWITCH_HPA_ON_PROC = ["0", "proc-hpa"]
+    SWITCH_HPA_ON_PROC = ["0", "proc_hpa"]
     SWITCH_ON = ["2", "on"]
     SWITCH_OFF = ["3", "off"]
-    NORMAL_SSR = ["4", "nml-ssr"]
-    NORMAL_DRO = ["5", "nml-dro"]
-    NORMAL_X8 = ["6", "nml-x8"]
-    NORMAL_TX = ["7", "nml-tx"]
-    NORMAL_MPA = ["8", "nml-mpa"]
-    NORMAL_HPA = ["9", "nml-hpa"]
+    NORMAL_SSR = ["4", "nml_ssr"]
+    NORMAL_DRO = ["5", "nml_dro"]
+    NORMAL_X8 = ["6", "nml_x8"]
+    NORMAL_TX = ["7", "nml_tx"]
+    NORMAL_MPA = ["8", "nml_mpa"]
+    NORMAL_HPA = ["9", "nml_hpa"]
 
-    REQ_OS_HK = ["8", "hk-os"]
+    ENABLE_HK = ["enable_hk"]
+    DISABLE_HK = ["disable_hk"]
+    REQ_OS_HK = ["hk_os"]
 
-    INJECT_SSR_TO_DRO_FAILURE = ["10", "inject-ssr-dro-fault"]
-    INJECT_DRO_TO_X8_FAILURE = ["11", "inject-dro-x8-fault"]
-    INJECT_X8_TO_TX_FAILURE = ["12", "inject-x8-tx-fault"]
-    INJECT_TX_TO_MPA_FAILURE = ["13", "inject-tx-mpa-fault"]
-    INJECT_MPA_TO_HPA_FAILURE = ["14", "inject-mpa-hpa-fault"]
-    INJECT_ALL_ON_FAILURE = ["15", "inject-all-on-fault"]
+    INJECT_SSR_TO_DRO_FAILURE = ["10", "inject_ssr_dro_fault"]
+    INJECT_DRO_TO_X8_FAILURE = ["11", "inject_dro_x8_fault"]
+    INJECT_X8_TO_TX_FAILURE = ["12", "inject_x8_tx_fault"]
+    INJECT_TX_TO_MPA_FAILURE = ["13", "inject_tx_mpa_fault"]
+    INJECT_MPA_TO_HPA_FAILURE = ["14", "inject_mpa_hpa_fault"]
+    INJECT_ALL_ON_FAILURE = ["15", "inject_all_on_fault"]
 
 
 class Info:
-    NORMAL = "PL PCDU ADC modules normal"
-    SWITCH_HPA_ON_PROC = "Switch HPA on procedure"
-    SWITCH_ON = "Switching PL PCDU on"
-    SWITCH_OFF = "Switching PL PCDU off"
+    NORMAL = "ADC modules normal"
+    SWITCH_ON = "Switching on"
+    SWITCH_OFF = "Switching off"
     NORMAL_SSR = f"{NORMAL}, SSR on"
     NORMAL_DRO = f"{NORMAL},DRO on"
     NORMAL_X8 = f"{NORMAL}, X8 on"
@@ -62,6 +65,9 @@ class Info:
     NORMAL_MPA = f"{NORMAL}, MPA on"
     NORMAL_HPA = f"{NORMAL}, HPA on"
     REQ_OS_HK = "Request One Shot HK"
+    SWITCH_HPA_ON_PROC = "Switch HPA on procedure"
+    ENABLE_HK = "Enable HK"
+    DISABLE_HK = "Disable HK"
 
 
 class SetIds(enum.IntEnum):
@@ -128,6 +134,7 @@ def add_pl_pcdu_cmds(defs: TmtcDefinitionWrapper):
     oce.add(keys=OpCodes.NORMAL_MPA, info=Info.NORMAL_MPA)
     oce.add(keys=OpCodes.NORMAL_HPA, info=Info.NORMAL_HPA)
     oce.add(keys=OpCodes.REQ_OS_HK, info=Info.REQ_OS_HK)
+    oce.add(keys=OpCodes.ENABLE_HK, info=Info.ENABLE_HK)
     oce.add(
         keys=OpCodes.INJECT_SSR_TO_DRO_FAILURE,
         info="Inject failure SSR to DRO transition",
@@ -157,6 +164,22 @@ def pack_pl_pcdu_commands(q: DefaultPusQueueHelper, op_code: str):
         pack_pl_pcdu_mode_cmd(q=q, info=Info.SWITCH_ON, mode=Modes.ON, submode=0)
     if op_code in OpCodes.SWITCH_OFF:
         pack_pl_pcdu_mode_cmd(q=q, info=Info.SWITCH_OFF, mode=Modes.OFF, submode=0)
+    if op_code in OpCodes.ENABLE_HK:
+        interval = float(
+            input("Please enter HK collection interval in floating point seconds: ")
+        )
+        cmds = enable_periodic_hk_command_with_interval(
+            diag=True, sid=make_sid(PL_PCDU_ID, SetIds.ADC), interval_seconds=interval
+        )
+        q.add_log_cmd(f"Enable PL PCDU HK with interval of {interval} seconds")
+        for cmd in cmds:
+            q.add_pus_tc(cmd)
+    if op_code in OpCodes.DISABLE_HK:
+        cmd = disable_periodic_hk_command(
+            diag=True, sid=make_sid(PL_PCDU_ID, SetIds.ADC)
+        )
+        q.add_log_cmd("Disabling PL PCDU HK")
+        q.add_pus_tc(cmd)
     if op_code in OpCodes.NORMAL_SSR:
         pack_pl_pcdu_mode_cmd(
             q=q,
diff --git a/pus_tc/devs/reaction_wheels.py b/pus_tc/devs/reaction_wheels.py
deleted file mode 100644
index d83d592..0000000
--- a/pus_tc/devs/reaction_wheels.py
+++ /dev/null
@@ -1,219 +0,0 @@
-# -*- coding: utf-8 -*-
-"""reaction_wheels.py
-@brief  Tests for the reaction wheel handler
-@author J. Meier
-@date   20.06.2021
-"""
-import struct
-
-from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
-from tmtccmd.config.tmtc import tmtc_definitions_provider
-from tmtccmd.tc import DefaultPusQueueHelper
-from tmtccmd.tc.pus_3_fsfw_hk import (
-    generate_one_hk_command,
-    generate_one_diag_command,
-    make_sid,
-)
-from spacepackets.ecss.tc import PusTelecommand
-from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes, Subservices
-from config.definitions import CustomServiceList
-
-
-class OpCodesDevs:
-    SPEED = ["0", "speed"]
-    ON = ["1", "on"]
-    NML = ["2", "nml"]
-    OFF = ["3", "off"]
-    GET_STATUS = ["4", "status"]
-    GET_TM = ["5", "tm"]
-
-
-class InfoDevs:
-    SPEED = "Set speed"
-    ON = "Set On"
-    NML = "Set Normal"
-    OFF = "Set Off"
-    GET_STATUS = "Get Status HK"
-    GET_TM = "Get TM HK"
-
-
-class OpCodesAss:
-    ON = ["0", "on"]
-    NML = ["1", "nml"]
-    OFF = ["2", "off"]
-
-
-class InfoAss:
-    ON = "Mode On: 3/4 RWs min. on"
-    NML = "Mode Normal: 3/4 RWs min. normal"
-    OFF = "Mode Off: All RWs off"
-
-
-class RwSetIds:
-    STATUS_SET_ID = 4
-    TEMPERATURE_SET_ID = 8
-    LAST_RESET = 2
-    TM_SET = 9
-
-
-class RwCommandIds:
-    RESET_MCU = bytearray([0x0, 0x0, 0x0, 0x01])
-    # Reads status information from reaction wheel into dataset with id 4
-    GET_RW_STATUS = bytearray([0x0, 0x0, 0x0, 0x04])
-    INIT_RW_CONTROLLER = bytearray([0x0, 0x0, 0x0, 0x05])
-    SET_SPEED = bytearray([0x0, 0x0, 0x0, 0x06])
-    # Reads temperature from reaction wheel into dataset with id 8
-    GET_TEMPERATURE = bytearray([0x0, 0x0, 0x0, 0x08])
-    GET_TM = bytearray([0x0, 0x0, 0x0, 0x09])
-
-
-class SpeedDefinitions:
-    RPM_100 = 1000
-    RPM_5000 = 5000
-
-
-class RampTime:
-    MS_1000 = 1000
-
-
-@tmtc_definitions_provider
-def add_rw_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(info=InfoDevs.SPEED, keys=OpCodesDevs.SPEED)
-    oce.add(info=InfoDevs.ON, keys=OpCodesDevs.ON)
-    oce.add(info=InfoDevs.OFF, keys=OpCodesDevs.OFF)
-    oce.add(info=InfoDevs.NML, keys=OpCodesDevs.NML)
-    oce.add(info=InfoDevs.GET_STATUS, keys=OpCodesDevs.GET_STATUS)
-    oce.add(info=InfoDevs.GET_TM, keys=OpCodesDevs.GET_TM)
-    defs.add_service(
-        name=CustomServiceList.REACTION_WHEEL_1.value,
-        info="Reaction Wheel 1",
-        op_code_entry=oce,
-    )
-    defs.add_service(
-        name=CustomServiceList.REACTION_WHEEL_2.value,
-        info="Reaction Wheel 2",
-        op_code_entry=oce,
-    )
-    defs.add_service(
-        name=CustomServiceList.REACTION_WHEEL_3.value,
-        info="Reaction Wheel 3",
-        op_code_entry=oce,
-    )
-    defs.add_service(
-        name=CustomServiceList.REACTION_WHEEL_4.value,
-        info="Reaction Wheel 4",
-        op_code_entry=oce,
-    )
-    oce = OpCodeEntry()
-    oce.add(info=InfoAss.ON, keys=OpCodesAss.ON)
-    oce.add(info=InfoAss.NML, keys=OpCodesAss.NML)
-    oce.add(info=InfoAss.OFF, keys=OpCodesAss.OFF)
-    defs.add_service(
-        name=CustomServiceList.RW_ASSEMBLY.value,
-        info="Reaction Wheel Assembly",
-        op_code_entry=oce,
-    )
-
-
-def pack_single_rw_test_into(
-    object_id: bytes, rw_idx: int, q: DefaultPusQueueHelper, op_code: str
-):
-    if op_code in OpCodesDevs.SPEED:
-        speed = int(input("Specify speed [0.1 RPM]: "))
-        ramp_time = int(input("Specify ramp time [ms]: "))
-        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.SPEED}")
-        q.add_pus_tc(pack_set_speed_command(object_id, speed, ramp_time))
-
-    if op_code in OpCodesDevs.ON:
-        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.ON}")
-        mode_data = pack_mode_data(object_id, Modes.ON, 0)
-        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
-
-    if op_code in OpCodesDevs.NML:
-        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.NML}")
-        mode_data = pack_mode_data(object_id, Modes.NORMAL, 0)
-        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
-
-    if op_code in OpCodesDevs.OFF:
-        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.OFF}")
-        mode_data = pack_mode_data(object_id, Modes.OFF, 0)
-        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
-
-    if op_code in OpCodesDevs.GET_TM:
-        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.GET_TM}")
-        q.add_pus_tc(
-            generate_one_hk_command(
-                sid=make_sid(object_id=object_id, set_id=RwSetIds.TM_SET)
-            )
-        )
-    if op_code in OpCodesDevs.GET_STATUS:
-        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.GET_STATUS}")
-        q.add_pus_tc(
-            generate_one_diag_command(
-                sid=make_sid(object_id=object_id, set_id=RwSetIds.STATUS_SET_ID)
-            )
-        )
-
-
-def pack_rw_ass_cmds(q: DefaultPusQueueHelper, object_id: bytes, op_code: str):
-    if op_code in OpCodesAss.OFF:
-        data = pack_mode_data(object_id=object_id, mode=Modes.OFF, submode=0)
-        q.add_pus_tc(
-            PusTelecommand(
-                service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
-            )
-        )
-    if op_code in OpCodesAss.ON:
-        data = pack_mode_data(object_id=object_id, mode=Modes.ON, submode=0)
-        q.add_pus_tc(
-            PusTelecommand(
-                service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
-            )
-        )
-    if op_code in OpCodesAss.NML:
-        data = pack_mode_data(object_id=object_id, mode=Modes.NORMAL, submode=0)
-        q.add_pus_tc(
-            PusTelecommand(
-                service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
-            )
-        )
-
-
-def pack_set_speed_command(
-    object_id: bytes, speed: int, ramp_time_ms: int
-) -> PusTelecommand:
-    """With this function a command is packed to set the speed of a reaction wheel
-    :param object_id: The object id of the reaction wheel handler.
-    :param speed: Valid speeds are [-65000, -1000] and [1000, 65000]. Values are
-        specified in 0.1 * RPM
-    :param ramp_time_ms: The time after which the reaction wheel will reach the commanded speed.
-        Valid times are 10 - 10000 ms
-    """
-    if speed > 0:
-        if speed < 1000 or speed > 65000:
-            raise ValueError(
-                "Invalid RW speed specified. "
-                "Allowed range is [1000, 65000] 0.1 * RPM"
-            )
-    elif speed < 0:
-        if speed < -65000 or speed > -1000:
-            raise ValueError(
-                "Invalid RW speed specified. "
-                "Allowed range is [-65000, -1000] 0.1 * RPM"
-            )
-    else:
-        # Speed is 0
-        pass
-
-    if ramp_time_ms < 0 or (
-        ramp_time_ms > 0 and (ramp_time_ms > 10000 or ramp_time_ms < 10)
-    ):
-        raise ValueError("Invalid Ramp Speed time. Allowed range is [10-10000] ms")
-    command_id = RwCommandIds.SET_SPEED
-    command = bytearray()
-    command += object_id + command_id
-    command = command + struct.pack("!i", speed)
-    command = command + ramp_time_ms.to_bytes(length=2, byteorder="big")
-    command = PusTelecommand(service=8, subservice=128, app_data=command)
-    return command
diff --git a/pus_tc/devs/solar_array_deployment.py b/pus_tc/devs/solar_array_deployment.py
deleted file mode 100644
index 24bb94c..0000000
--- a/pus_tc/devs/solar_array_deployment.py
+++ /dev/null
@@ -1,22 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-@file   solar_array_deployment.py
-@brief  The test function in this file simply returns a command which triggers the solar array deployment.
-@author J. Meier
-@date   15.02.2021
-"""
-from spacepackets.ecss import PusTelecommand
-from tmtccmd.tc import DefaultPusQueueHelper
-
-
-class ActionIds:
-    DEPLOY_SOLAR_ARRAYS = bytearray([0x0, 0x0, 0x0, 0x5])
-
-
-def pack_solar_array_deployment_test_into(
-    object_id: bytearray, q: DefaultPusQueueHelper
-):
-    q.add_log_cmd("Testing S/A Deployment")
-
-    command = object_id + ActionIds.DEPLOY_SOLAR_ARRAYS
-    q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
diff --git a/pus_tc/procedure_packer.py b/pus_tc/procedure_packer.py
index db270da..7715c4e 100644
--- a/pus_tc/procedure_packer.py
+++ b/pus_tc/procedure_packer.py
@@ -27,11 +27,10 @@ from tmtc.power.p60dock import pack_p60dock_cmds
 from tmtc.power.pdu2 import pack_pdu2_commands
 from tmtc.power.pdu1 import pack_pdu1_commands
 from tmtc.power.acu import pack_acu_commands
-from pus_tc.devs.solar_array_deployment import pack_solar_array_deployment_test_into
-from pus_tc.devs.imtq import pack_imtq_test_into
+from tmtc.acs.imtq import pack_imtq_test_into
 from pus_tc.devs.tmp1075 import pack_tmp1075_test_into
 from pus_tc.devs.heater import pack_heater_cmds
-from pus_tc.devs.reaction_wheels import pack_single_rw_test_into, pack_rw_ass_cmds
+from tmtc.acs.reaction_wheels import pack_single_rw_test_into, pack_rw_ass_cmds
 from pus_tc.devs.rad_sensor import pack_rad_sensor_test_into
 from tmtc.ploc_memory_dumper import pack_ploc_memory_dumper_cmd
 from pus_tc.devs.ccsds_handler import pack_ccsds_handler_test
@@ -66,7 +65,6 @@ from config.object_ids import (
     PDEC_HANDLER_ID,
     STR_IMG_HELPER_ID,
     SYRLINKS_HANDLER_ID,
-    SOLAR_ARRAY_DEPLOYMENT_ID,
     RW_ASSEMBLY,
     get_object_ids,
 )
@@ -186,10 +184,6 @@ def handle_default_procedure(
         return pack_syrlinks_command(
             object_id=object_id, q=queue_helper, op_code=op_code
         )
-    if service == CustomServiceList.SA_DEPLYOMENT.value:
-        return pack_solar_array_deployment_test_into(
-            object_id=SOLAR_ARRAY_DEPLOYMENT_ID, q=queue_helper
-        )
     if service == CustomServiceList.PROCEDURE.value:
         return pack_proc_commands(q=queue_helper, op_code=op_code)
     if service == CustomServiceList.PL_PCDU.value:
diff --git a/pus_tc/system/proc.py b/pus_tc/system/proc.py
index 01c4abb..65db9da 100644
--- a/pus_tc/system/proc.py
+++ b/pus_tc/system/proc.py
@@ -2,7 +2,6 @@ from __future__ import annotations
 
 import time
 from datetime import timedelta
-from typing import List
 
 from config.definitions import CustomServiceList
 from config.object_ids import get_object_ids
@@ -22,7 +21,7 @@ import config.object_ids as oids
 from pus_tc.system.tcs import OpCodes as TcsOpCodes
 from pus_tc.devs.bpx_batt import BpxSetIds
 from pus_tc.system.core import SetIds as CoreSetIds
-from gomspace.gomspace_common import SetIds as GsSetIds
+from tmtc.power.common_power import SetIds as GsSetIds
 from pus_tc.devs.rad_sensor import SetIds as RadSetIds
 from pus_tc.devs.mgms import MgmLis3SetIds as MgmLis3SetIds_0_2
 from pus_tc.devs.mgms import MgmRm3100SetIds as MgmRm3100SetIds_1_3
@@ -30,16 +29,16 @@ from pus_tc.devs.gyros import AdisGyroSetIds as AdisGyroSetIds_0_2
 from pus_tc.devs.gyros import L3gGyroSetIds as L3gGyroSetIds_1_3
 from pus_tc.devs.syrlinks_hk_handler import SetIds as SyrlinksSetIds
 from pus_tc.devs.gps import SetIds as GpsSetIds
-from pus_tc.devs.imtq import ImtqSetIds
+from tmtc.acs.imtq import ImtqSetIds
 from pus_tc.devs.sus import SetIds
 from pus_tc.devs.star_tracker import SetIds as StrSetIds
-from pus_tc.devs.reaction_wheels import RwSetIds
+from tmtc.acs.reaction_wheels import RwSetIds, rw_speed_up_cmd_consec
 from pus_tc.system.controllers import pack_cmd_ctrl_to_off, pack_cmd_ctrl_to_nml
 from tmtc.acs_board import pack_acs_command
 from tmtc.sus_board import pack_sus_cmds
-from pus_tc.devs.imtq import pack_imtq_test_into, pack_dipole_command
+from tmtc.acs.imtq import pack_imtq_test_into, pack_dipole_command
 from pus_tc.devs.star_tracker import pack_star_tracker_commands
-from pus_tc.devs.reaction_wheels import pack_rw_ass_cmds, pack_set_speed_command
+from tmtc.acs.reaction_wheels import pack_rw_ass_cmds, pack_set_speed_command
 
 
 class OpCodes:
@@ -246,14 +245,14 @@ def pack_proc_commands(q: DefaultPusQueueHelper, op_code: str):
     if op_code in OpCodes.PCDU_FT:
         key = KAI.PCDU_FT[0]
         pcdu_pairs = [
-            (oids.P60_DOCK_HANDLER, GsSetIds.P60_CORE),
-            (oids.PDU_1_HANDLER_ID, GsSetIds.PDU_1_CORE),
-            (oids.PDU_2_HANDLER_ID, GsSetIds.PDU_2_CORE),
-            (oids.ACU_HANDLER_ID, GsSetIds.ACU_CORE),
-            (oids.P60_DOCK_HANDLER, GsSetIds.P60_AUX),
-            (oids.PDU_1_HANDLER_ID, GsSetIds.PDU_1_AUX),
-            (oids.PDU_2_HANDLER_ID, GsSetIds.PDU_2_AUX),
-            (oids.ACU_HANDLER_ID, GsSetIds.ACU_AUX),
+            (oids.P60_DOCK_HANDLER, GsSetIds.CORE),
+            (oids.PDU_1_HANDLER_ID, GsSetIds.CORE),
+            (oids.PDU_2_HANDLER_ID, GsSetIds.CORE),
+            (oids.ACU_HANDLER_ID, GsSetIds.CORE),
+            (oids.P60_DOCK_HANDLER, GsSetIds.AUX),
+            (oids.PDU_1_HANDLER_ID, GsSetIds.AUX),
+            (oids.PDU_2_HANDLER_ID, GsSetIds.AUX),
+            (oids.ACU_HANDLER_ID, GsSetIds.AUX),
         ]
 
         diag_list = [
@@ -586,10 +585,10 @@ def pack_proc_commands(q: DefaultPusQueueHelper, op_code: str):
         ]
         # HK listening
         pack_generic_hk_listening_cmds(
-            tc_queue=tc_queue,
+            q=q,
             proc_key=key,
             sid_list=sid_list,
-            diag=False,
+            diag_list=[False],
             cfg=GenericHkListeningCfg.default(),
         )
     if op_code in OpCodes.STR_FT:
@@ -725,7 +724,7 @@ def enable_listen_to_hk_for_x_seconds(
 ):
     q.add_log_cmd(f"Enabling periodic HK for {device}")
     cmd_tuple = enable_periodic_hk_command_with_interval(
-        diag=diag, sid=sid, interval_seconds=interval_seconds, ssc=0
+        diag=diag, sid=sid, interval_seconds=interval_seconds
     )
     for cmd in cmd_tuple:
         q.add_pus_tc(cmd)
@@ -826,24 +825,6 @@ def rw_speed_cmd_single(
     q.add_pus_tc(pack_set_speed_command(object_id=oid, speed=0, ramp_time_ms=ramp_time))
 
 
-def rw_speed_up_cmd_consec(
-    q: DefaultPusQueueHelper, obids: List[bytes], speed: int, ramp_time: int
-):
-    for oid in obids:
-        q.add_pus_tc(
-            pack_set_speed_command(object_id=oid, speed=speed, ramp_time_ms=ramp_time)
-        )
-
-
-def rw_speed_down_cmd_consec(
-    q: DefaultPusQueueHelper, obids: List[bytes], ramp_time: int
-):
-    for oid in obids:
-        q.add_pus_tc(
-            pack_set_speed_command(object_id=oid, speed=0, ramp_time_ms=ramp_time)
-        )
-
-
 def activate_all_rws_in_sequence(
     q: DefaultPusQueueHelper, init_ssc: int, test_speed: int, test_ramp_time: int
 ):
diff --git a/pus_tm/action_reply_handler.py b/pus_tm/action_reply_handler.py
index 520ae26..cb07dc4 100644
--- a/pus_tm/action_reply_handler.py
+++ b/pus_tm/action_reply_handler.py
@@ -1,6 +1,6 @@
 import struct
 from config.object_ids import *
-from pus_tc.devs.imtq import ImtqActionIds
+from tmtc.acs.imtq import ImtqActionIds
 from pus_tm.defs import PrintWrapper
 from tmtc.ploc_mpsoc import PlocReplyIds
 from tmtc.ploc_supervisor import SupvActionIds
diff --git a/pus_tm/devs/imtq_mgt.py b/pus_tm/devs/imtq_mgt.py
deleted file mode 100644
index 347e675..0000000
--- a/pus_tm/devs/imtq_mgt.py
+++ /dev/null
@@ -1,228 +0,0 @@
-import struct
-
-from pus_tm.defs import PrintWrapper
-from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
-
-
-def handle_eng_set(printer: FsfwTmTcPrinter, hk_data: bytes):
-    pw = PrintWrapper(printer)
-    header_list = [
-        "Digital Voltage [mV]",
-        "Analog Voltage [mV]",
-        "Digital Current [mA]",
-        "Analog Current [mA]",
-        "Coil Current X [mA]",
-        "Coil Current Y [mA]",
-        "Coil Current Z [mA]",
-        "Coil X Temperature [°C]",
-        "Coil Y Temperature [°C]",
-        "Coil Z Temperature [°C]",
-        "Coil Z Temperature [°C]",
-        "MCU Temperature [°C]",
-    ]
-    digital_voltage = struct.unpack("!H", hk_data[0:2])[0]
-    analog_voltage = struct.unpack("!H", hk_data[2:4])[0]
-    digital_current = struct.unpack("!f", hk_data[4:8])[0]
-    analog_current = struct.unpack("!f", hk_data[8:12])[0]
-    coil_x_current = struct.unpack("!f", hk_data[12:16])[0]
-    coil_y_current = struct.unpack("!f", hk_data[16:20])[0]
-    coil_z_current = struct.unpack("!f", hk_data[20:24])[0]
-    coil_x_temperature = struct.unpack("!H", hk_data[24:26])[0]
-    coil_y_temperature = struct.unpack("!H", hk_data[26:28])[0]
-    coil_z_temperature = struct.unpack("!H", hk_data[30:32])[0]
-    mcu_temperature = struct.unpack("!H", hk_data[32:34])[0]
-
-    validity_buffer = hk_data[42:]
-    content_list = [
-        digital_voltage,
-        analog_voltage,
-        digital_current,
-        analog_current,
-        coil_x_current,
-        coil_y_current,
-        coil_z_current,
-        coil_x_temperature,
-        coil_y_temperature,
-        coil_z_temperature,
-        mcu_temperature,
-    ]
-    num_of_vars = len(header_list)
-    pw.dlog(str(header_list))
-    pw.dlog(str(content_list))
-    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
-
-
-def handle_calibrated_mtm_measurement(printer: FsfwTmTcPrinter, hk_data: bytes):
-    pw = PrintWrapper(printer)
-    header_list = [
-        "Calibrated MTM X [nT]",
-        "Calibrated MTM Y [nT]",
-        "Calibrated MTM Z [nT]",
-        "Coild actuation status",
-    ]
-    mtm_x = struct.unpack("!I", hk_data[0:4])[0]
-    mtm_y = struct.unpack("!I", hk_data[4:8])[0]
-    mtm_z = struct.unpack("!I", hk_data[8:12])[0]
-    coil_actuation_status = hk_data[12]
-    validity_buffer = hk_data[12:]
-    content_list = [mtm_x, mtm_y, mtm_z, coil_actuation_status]
-    num_of_vars = len(header_list)
-    pw.dlog(str(header_list))
-    pw.dlog(str(content_list))
-    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
-
-
-def handle_raw_mtm_measurement(printer: FsfwTmTcPrinter, hk_data: bytes):
-    pw = PrintWrapper(printer)
-    header_list = [
-        "Raw MTM X [nT]",
-        "Raw MTM Y [nT]",
-        "Raw MTM Z [nT]",
-        "Coild actuation status",
-    ]
-    mtm_x = struct.unpack("!f", hk_data[0:4])[0]
-    mtm_y = struct.unpack("!f", hk_data[4:8])[0]
-    mtm_z = struct.unpack("!f", hk_data[8:12])[0]
-    coil_actuation_status = hk_data[12]
-    validity_buffer = hk_data[12:]
-    content_list = [mtm_x, mtm_y, mtm_z, coil_actuation_status]
-    num_of_vars = len(header_list)
-    pw.dlog(str(header_list))
-    pw.dlog(str(content_list))
-    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
-
-
-def handle_self_test_data(printer: FsfwTmTcPrinter, hk_data: bytes):
-    pw = PrintWrapper(printer)
-    header_list = [
-        "Init Err",
-        "Init Raw Mag X [nT]",
-        "Init Raw Mag Y [nT]",
-        "Init Raw Mag Z [nT]",
-        "Init Cal Mag X [nT]",
-        "Init Cal Mag Y [nT]",
-        "Init Cal Mag Z [nT]",
-        "Init Coil X Current [mA]",
-        "Init Coil Y Current [mA]",
-        "Init Coil Z Current [mA]",
-        "Init Coil X Temperature [°C]",
-        "Init Coil Y Temperature [°C]",
-        "Init Coil Z Temperature [°C]",
-        "Err",
-        "Raw Mag X [nT]",
-        "Raw Mag Y [nT]",
-        "Raw Mag Z [nT]",
-        "Cal Mag X [nT]",
-        "Cal Mag Y [nT]",
-        "Cal Mag Z [nT]",
-        "Coil X Current [mA]",
-        "Coil Y Current [mA]",
-        "Coil Z Current [mA]",
-        "Coil X Temperature [°C]",
-        "Coil Y Temperature [°C]",
-        "Coil Z Temperature [°C]",
-        "Fina Err",
-        "Fina Raw Mag X [nT]",
-        "Fina Raw Mag Y [nT]",
-        "Fina Raw Mag Z [nT]",
-        "Fina Cal Mag X [nT]",
-        "Fina Cal Mag Y [nT]",
-        "Fina Cal Mag Z [nT]",
-        "Fina Coil X Current [mA]",
-        "Fina Coil Y Current [mA]",
-        "Fina Coil Z Current [mA]",
-        "Fina Coil X Temperature [°C]",
-        "Fina Coil Y Temperature [°C]",
-        "Fina Coil Z Temperature [°C]",
-    ]
-    # INIT step (no coil actuation)
-    init_err = hk_data[0]
-    init_raw_mag_x = struct.unpack("!f", hk_data[1:5])[0]
-    init_raw_mag_y = struct.unpack("!f", hk_data[5:9])[0]
-    init_raw_mag_z = struct.unpack("!f", hk_data[9:13])[0]
-    init_cal_mag_x = struct.unpack("!f", hk_data[13:17])[0]
-    init_cal_mag_y = struct.unpack("!f", hk_data[17:21])[0]
-    init_cal_mag_z = struct.unpack("!f", hk_data[21:25])[0]
-    init_coil_x_current = struct.unpack("!f", hk_data[25:29])[0]
-    init_coil_y_current = struct.unpack("!f", hk_data[29:33])[0]
-    init_coil_z_current = struct.unpack("!f", hk_data[33:37])[0]
-    init_coil_x_temperature = struct.unpack("!H", hk_data[37:39])[0]
-    init_coil_y_temperature = struct.unpack("!H", hk_data[39:41])[0]
-    init_coil_z_temperature = struct.unpack("!H", hk_data[41:43])[0]
-
-    # Actuation step
-    err = hk_data[43]
-    raw_mag_x = struct.unpack("!f", hk_data[44:48])[0]
-    raw_mag_y = struct.unpack("!f", hk_data[48:52])[0]
-    raw_mag_z = struct.unpack("!f", hk_data[52:56])[0]
-    cal_mag_x = struct.unpack("!f", hk_data[56:60])[0]
-    cal_mag_y = struct.unpack("!f", hk_data[60:64])[0]
-    cal_mag_z = struct.unpack("!f", hk_data[64:68])[0]
-    coil_x_current = struct.unpack("!f", hk_data[68:72])[0]
-    coil_y_current = struct.unpack("!f", hk_data[72:76])[0]
-    coil_z_current = struct.unpack("!f", hk_data[76:80])[0]
-    coil_x_temperature = struct.unpack("!H", hk_data[80:82])[0]
-    coil_y_temperature = struct.unpack("!H", hk_data[82:84])[0]
-    coil_z_temperature = struct.unpack("!H", hk_data[84:86])[0]
-
-    # FINA step (no coil actuation)
-    fina_err = hk_data[86]
-    fina_raw_mag_x = struct.unpack("!f", hk_data[87:91])[0]
-    fina_raw_mag_y = struct.unpack("!f", hk_data[91:95])[0]
-    fina_raw_mag_z = struct.unpack("!f", hk_data[95:99])[0]
-    fina_cal_mag_x = struct.unpack("!f", hk_data[99:103])[0]
-    fina_cal_mag_y = struct.unpack("!f", hk_data[103:107])[0]
-    fina_cal_mag_z = struct.unpack("!f", hk_data[107:111])[0]
-    fina_coil_x_current = struct.unpack("!f", hk_data[111:115])[0]
-    fina_coil_y_current = struct.unpack("!f", hk_data[115:119])[0]
-    fina_coil_z_current = struct.unpack("!f", hk_data[119:123])[0]
-    fina_coil_x_temperature = struct.unpack("!H", hk_data[123:125])[0]
-    fina_coil_y_temperature = struct.unpack("!H", hk_data[125:127])[0]
-    fina_coil_z_temperature = struct.unpack("!H", hk_data[127:129])[0]
-
-    validity_buffer = hk_data[129:]
-    content_list = [
-        init_err,
-        init_raw_mag_x,
-        init_raw_mag_y,
-        init_raw_mag_z,
-        init_cal_mag_x,
-        init_cal_mag_y,
-        init_cal_mag_z,
-        init_coil_x_current,
-        init_coil_y_current,
-        init_coil_z_current,
-        init_coil_x_temperature,
-        init_coil_y_temperature,
-        init_coil_z_temperature,
-        err,
-        raw_mag_x,
-        init_raw_mag_y,
-        raw_mag_z,
-        cal_mag_x,
-        cal_mag_y,
-        cal_mag_z,
-        coil_x_current,
-        coil_y_current,
-        coil_z_current,
-        coil_x_temperature,
-        coil_y_temperature,
-        coil_z_temperature,
-        fina_err,
-        fina_raw_mag_x,
-        fina_raw_mag_y,
-        fina_raw_mag_z,
-        fina_cal_mag_x,
-        fina_cal_mag_y,
-        fina_cal_mag_z,
-        fina_coil_x_current,
-        fina_coil_y_current,
-        fina_coil_z_current,
-        fina_coil_x_temperature,
-        fina_coil_y_temperature,
-        fina_coil_z_temperature,
-    ]
-    num_of_vars = len(header_list)
-    pw.dlog(str(header_list))
-    pw.dlog(str(content_list))
-    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
diff --git a/pus_tm/devs/reaction_wheels.py b/pus_tm/devs/reaction_wheels.py
deleted file mode 100644
index 6e072f5..0000000
--- a/pus_tm/devs/reaction_wheels.py
+++ /dev/null
@@ -1,124 +0,0 @@
-import struct
-
-from pus_tm.defs import PrintWrapper, FsfwTmTcPrinter
-from tmtccmd.util.obj_id import ObjectIdU32
-
-
-def handle_rw_hk_data(
-    printer: FsfwTmTcPrinter, object_id: ObjectIdU32, set_id: int, hk_data: bytes
-):
-    from pus_tc.devs.reaction_wheels import RwSetIds
-
-    pw = PrintWrapper(printer)
-    current_idx = 0
-    if set_id == RwSetIds.STATUS_SET_ID:
-        pw.dlog(
-            f"Received Status HK (ID {set_id}) from Reaction Wheel {object_id.name}"
-        )
-        fmt_str = "!IiiBB"
-        inc_len = struct.calcsize(fmt_str)
-        (temp, speed, ref_speed, state, clc_mode) = struct.unpack(
-            fmt_str, hk_data[current_idx : current_idx + inc_len]
-        )
-        current_idx += inc_len
-        speed_rpm = speed / 10.0
-        ref_speed_rpm = ref_speed / 10.0
-        pw.dlog(
-            f"Temperature {temp} C | Speed {speed_rpm} rpm | Reference Speed {ref_speed_rpm} rpm"
-        )
-        pw.dlog(
-            f"State {state}. 0: Error, 1: Idle, 2: Coasting, 3: Running, speed stable, "
-            f"4: Running, speed  changing"
-        )
-        pw.dlog(
-            f"Current Limit Control mode {clc_mode}. 0: Low Current Mode (0.3 A), "
-            f"1: High Current Mode (0.6 A)"
-        )
-        printer.print_validity_buffer(hk_data[current_idx:], 5)
-    if set_id == RwSetIds.LAST_RESET:
-        pw.dlog(
-            f"Received Last Reset HK (ID {set_id}) from Reaction Wheel {object_id.name}"
-        )
-        fmt_str = "!BB"
-        inc_len = struct.calcsize(fmt_str)
-        (last_not_cleared_reset_status, current_reset_status) = struct.unpack(
-            fmt_str, hk_data[current_idx : current_idx + inc_len]
-        )
-        current_idx += inc_len
-        pw.dlog(
-            f"Last Non-Cleared (Cached) Reset Status {last_not_cleared_reset_status} | "
-            f"Current Reset Status {current_reset_status}"
-        )
-    if set_id == RwSetIds.TM_SET:
-        pw.dlog(f"Received TM HK (ID {set_id}) from Reaction Wheel {object_id.name}")
-        fmt_str = "!BiffBBiiIIIIIIIIIIIIIIII"
-        inc_len = struct.calcsize(fmt_str)
-        (
-            last_reset_status,
-            mcu_temp,
-            pressure_sens_temp,
-            pressure,
-            state,
-            clc_mode,
-            current_speed,
-            ref_speed,
-            num_invalid_crc_packets,
-            num_invalid_len_packets,
-            num_invalid_cmd_packets,
-            num_of_cmd_executed_requests,
-            num_of_cmd_replies,
-            uart_num_of_bytes_written,
-            uart_num_of_bytes_read,
-            uart_num_parity_errors,
-            uart_num_noise_errors,
-            uart_num_frame_errors,
-            uart_num_reg_overrun_errors,
-            uart_total_num_errors,
-            spi_num_bytes_written,
-            spi_num_bytes_read,
-            spi_num_reg_overrun_errors,
-            spi_total_num_errors,
-        ) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
-
-        pw.dlog(
-            f"MCU Temperature {mcu_temp} | Pressure Sensore Temperature {pressure_sens_temp} C"
-        )
-        pw.dlog(f"Last Reset Status {last_reset_status}")
-        pw.dlog(
-            f"Current Limit Control mode {clc_mode}. 0: Low Current Mode (0.3 A), "
-            f"1: High Current Mode (0.6 A)"
-        )
-        pw.dlog(f"Speed {current_speed} rpm | Reference Speed {ref_speed} rpm")
-        pw.dlog(
-            f"State {state}. 0: Error, 1: Idle, 2: Coasting, 3: Running, speed stable, "
-            f"4: Running, speed  changing"
-        )
-        pw.dlog(f"Number Of Invalid Packets:")
-        pw.dlog("CRC | Length | CMD")
-        pw.dlog(
-            f"{num_invalid_crc_packets} | {num_invalid_len_packets} | {num_invalid_cmd_packets}"
-        )
-        pw.dlog(
-            f"Num Of CMD Executed Requests {num_of_cmd_executed_requests} | "
-            f"Num of CMD Replies {num_of_cmd_replies}"
-        )
-        pw.dlog("UART COM information:")
-        pw.dlog(
-            f"NumBytesWritten | NumBytesRead | ParityErrs | NoiseErrs | FrameErrs | "
-            f"RegOverrunErrs | TotalErrs"
-        )
-        pw.dlog(
-            f"{uart_num_of_bytes_written} | {uart_num_of_bytes_read} | {uart_num_parity_errors} | "
-            f"{uart_num_noise_errors} | {uart_num_frame_errors} | {uart_num_reg_overrun_errors} | "
-            f"{uart_total_num_errors}"
-        )
-        pw.dlog("SPI COM Info:")
-        pw.dlog(f"NumBytesWritten | NumBytesRead | RegOverrunErrs | TotalErrs")
-        pw.dlog(
-            f"{spi_num_bytes_written} | {spi_num_bytes_read} | {spi_num_reg_overrun_errors} | "
-            f"{spi_total_num_errors}"
-        )
-        if current_idx > 0:
-            printer.print_validity_buffer(
-                validity_buffer=hk_data[current_idx:], num_vars=27
-            )
diff --git a/pus_tm/hk_handling.py b/pus_tm/hk_handling.py
index 1077246..613f45e 100644
--- a/pus_tm/hk_handling.py
+++ b/pus_tm/hk_handling.py
@@ -6,6 +6,7 @@ from pus_tm.devs.rad_sensor import handle_rad_sensor_data
 from pus_tm.devs.sus import handle_sus_hk
 from pus_tm.system.tcs import handle_thermal_controller_hk_data
 from tmtc.ploc_supervisor import handle_supv_hk_data
+from tmtc.acs.reaction_wheels import handle_rw_hk_data
 from tmtccmd.tm.pus_3_fsfw_hk import (
     Service3Base,
     HkContentType,
@@ -17,16 +18,10 @@ from tmtccmd.logging import get_console_logger
 from pus_tm.devs.bpx_bat import handle_bpx_hk_data
 from pus_tm.devs.gps import handle_gps_data
 from pus_tm.devs.gyros import handle_gyros_hk_data
-from pus_tm.devs.imtq_mgt import (
-    handle_self_test_data,
-    handle_eng_set,
-    handle_calibrated_mtm_measurement,
-    handle_raw_mtm_measurement,
-)
 from tmtc.power.tm import handle_pdu_data, handle_p60_hk_data, handle_acu_hk_data
 from pus_tm.devs.syrlinks import handle_syrlinks_hk_data
-from pus_tc.devs.imtq import ImtqSetIds
-from pus_tm.devs.reaction_wheels import handle_rw_hk_data
+from tmtc.acs.imtq import ImtqSetIds, handle_self_test_data, handle_eng_set, \
+    handle_calibrated_mtm_measurement, handle_raw_mtm_measurement
 from pus_tm.defs import FsfwTmTcPrinter
 from pus_tm.system.core import handle_core_hk_data
 from pus_tm.devs.mgms import handle_mgm_hk_data
diff --git a/tmtc/acs/__init__.py b/tmtc/acs/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/tmtc/acs/imtq.py b/tmtc/acs/imtq.py
new file mode 100644
index 0000000..e3da477
--- /dev/null
+++ b/tmtc/acs/imtq.py
@@ -0,0 +1,488 @@
+# -*- coding: utf-8 -*-
+"""
+@file   imtq.py
+@brief  Tests for the ISIS IMTQ (Magnettorquer) device handler
+@author J. Meier
+@date   25.03.2021
+"""
+import struct
+
+from config.definitions import CustomServiceList
+from pus_tm.defs import PrintWrapper
+from spacepackets.ecss.tc import PusTelecommand
+from tmtccmd.config.tmtc import (
+    tmtc_definitions_provider,
+    OpCodeEntry,
+    TmtcDefinitionWrapper,
+)
+from tmtccmd.tc import DefaultPusQueueHelper
+from tmtccmd.tc.pus_3_fsfw_hk import (
+    make_sid,
+    generate_one_diag_command,
+    generate_one_hk_command,
+)
+from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes
+from tmtccmd.util import ObjectIdU32
+from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
+
+
+class OpCodes:
+    ON = ["on"]
+    NORMAL = ["normal"]
+    OFF = ["off"]
+    SET_DIPOLE = ["set_dipole"]
+
+
+class ImtqSetIds:
+    ENG_HK_SET = 1
+    CAL_MTM_SET = 2
+    RAW_MTM_SET = 3
+    POSITIVE_X_TEST = 4
+    NEGATIVE_X_TEST = 5
+    POSITIVE_Y_TEST = 6
+    NEGATIVE_Y_TEST = 7
+    POSITIVE_Z_TEST = 8
+    NEGATIVE_Z_TEST = 9
+
+
+class ImtqActionIds:
+    start_actuation_dipole = bytearray([0x0, 0x0, 0x0, 0x02])
+    get_commanded_dipole = bytearray([0x0, 0x0, 0x0, 0x03])
+    perform_positive_x_test = bytearray([0x0, 0x0, 0x0, 0x07])
+    perform_negative_x_test = bytearray([0x0, 0x0, 0x0, 0x08])
+    perform_positive_y_test = bytearray([0x0, 0x0, 0x0, 0x09])
+    perform_negative_y_test = bytearray([0x0, 0x0, 0x0, 0x0A])
+    perform_positive_z_test = bytearray([0x0, 0x0, 0x0, 0x0B])
+    perform_negative_z_test = bytearray([0x0, 0x0, 0x0, 0x0C])
+    # Initiates the reading of the last performed self test. After sending this command the results
+    # can be downlinked via the housekeeping service by using the appropriate set ids listed above.
+    read_self_test_results = bytearray([0x0, 0x0, 0x0, 0x0D])
+
+
+@tmtc_definitions_provider
+def add_imtq_cmds(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    oce.add(OpCodes.OFF, "Mode Off")
+    oce.add(OpCodes.ON, "Mode On")
+    oce.add(OpCodes.NORMAL, "Mode Normal")
+    oce.add("3", "IMTQ perform pos X self test")
+    oce.add("4", "IMTQ perform neg X self test")
+    oce.add("5", "IMTQ perform pos Y self test")
+    oce.add("6", "IMTQ perform neg Y self test")
+    oce.add("7", "IMTQ perform pos Z self test")
+    oce.add("8", "IMTQ perform neg Z self test")
+    oce.add(OpCodes.SET_DIPOLE, "IMTQ command dipole")
+    oce.add("10", "IMTQ get commanded dipole")
+    oce.add("11", "IMTQ get engineering hk set")
+    oce.add("12", "IMTQ get calibrated MTM measurement one shot")
+    oce.add("13", "IMTQ get raw MTM measurement one shot")
+    defs.add_service(CustomServiceList.IMTQ.value, "IMQT Device", oce)
+
+
+def pack_imtq_test_into(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str):
+    q.add_log_cmd(
+        f"Testing ISIS IMTQ handler with object id: {object_id.as_hex_string}"
+    )
+
+    if op_code in OpCodes.OFF:
+        q.add_log_cmd("IMTQ: Set mode off")
+        command = pack_mode_data(object_id.as_bytes, Modes.OFF, 0)
+        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
+    if op_code in OpCodes.ON:
+        q.add_log_cmd("IMTQ: Set mode on")
+        command = pack_mode_data(object_id.as_bytes, Modes.ON, 0)
+        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
+    if op_code in OpCodes.NORMAL:
+        q.add_log_cmd("IMTQ: Mode Normal")
+        command = pack_mode_data(object_id.as_bytes, Modes.NORMAL, 0)
+        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
+    if op_code == "3":
+        q.add_log_cmd("IMTQ: Perform positive x self test")
+        command = object_id.as_bytes + ImtqActionIds.perform_positive_x_test
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+
+        q.add_log_cmd("IMTQ: Initiate reading of positive x self test results")
+        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+
+        q.add_log_cmd("IMTQ: Request dataset with positive x self test results")
+        sid = make_sid(object_id.as_bytes, ImtqSetIds.POSITIVE_X_TEST)
+        q.add_pus_tc(generate_one_hk_command(sid))
+
+    if op_code == "4":
+        q.add_log_cmd("IMTQ: Perform negative x self test")
+        command = object_id.as_bytes + ImtqActionIds.perform_negative_x_test
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+        q.add_log_cmd("IMTQ: Initiate reading of negative x self test results")
+        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+        q.add_log_cmd("IMTQ: Request dataset with negative x self test results")
+        sid = make_sid(object_id.as_bytes, ImtqSetIds.NEGATIVE_X_TEST)
+        q.add_pus_tc(generate_one_hk_command(sid))
+
+    if op_code == "5":
+        q.add_log_cmd("IMTQ: Perform positive y self test")
+        command = object_id.as_bytes + ImtqActionIds.perform_positive_y_test
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+        q.add_log_cmd("IMTQ: Initiate reading of positive y self test results")
+        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+
+        q.add_log_cmd("IMTQ: Request dataset with positive y self test results")
+        sid = make_sid(object_id.as_bytes, ImtqSetIds.POSITIVE_Y_TEST)
+        q.add_pus_tc(generate_one_hk_command(sid))
+
+    if op_code == "6":
+        q.add_log_cmd("IMTQ: Perform negative y self test")
+        command = object_id.as_bytes + ImtqActionIds.perform_negative_y_test
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+
+        q.add_log_cmd("IMTQ: Initiate reading of negative y self test results")
+        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+
+        q.add_log_cmd("IMTQ: Request dataset with negative y self test results")
+        sid = make_sid(object_id.as_bytes, ImtqSetIds.NEGATIVE_Y_TEST)
+        q.add_pus_tc(generate_one_hk_command(sid))
+
+    if op_code == "7":
+        q.add_log_cmd("IMTQ: Perform positive z self test")
+        command = object_id.as_bytes + ImtqActionIds.perform_positive_z_test
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+
+        q.add_log_cmd("IMTQ: Initiate reading of positive z self test results")
+        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+
+        q.add_log_cmd("IMTQ: Request dataset with positive z self test results")
+        sid = make_sid(object_id.as_bytes, ImtqSetIds.POSITIVE_Y_TEST)
+        q.add_pus_tc(generate_one_hk_command(sid))
+
+    if op_code == "8":
+        q.add_log_cmd("IMTQ: Perform negative z self test")
+        command = object_id.as_bytes + ImtqActionIds.perform_negative_z_test
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+        q.add_log_cmd("IMTQ: Initiate reading of negative z self test results")
+        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+        q.add_log_cmd("IMTQ: Request dataset with negative z self test results")
+        sid = make_sid(object_id.as_bytes, ImtqSetIds.NEGATIVE_Z_TEST)
+        q.add_pus_tc(generate_one_hk_command(sid))
+
+    if op_code in OpCodes.SET_DIPOLE:
+        x_dipole = int(input("Specify X dipole [range [0, 2000] * 10^-4 * Am^2]: "))
+        y_dipole = int(input("Specify Y dipole [range [0, 2000] * 10^-4 * Am^2]: "))
+        z_dipole = int(input("Specify Z dipole [range [0, 2000] * 10^-4 * Am^2]: "))
+        duration = int(
+            input(
+                f"Specify torque duration [range [0, {pow(2, 16) - 1}, "
+                f"0 for continuous generation until update]: "
+            )
+        )
+        dur_str = "infinite" if duration == 0 else str(duration)
+        q.add_log_cmd(
+            f"IMTQ: Commanding dipole X={x_dipole}, Y={y_dipole}, Z={y_dipole}, duration={dur_str}"
+        )
+        q.add_pus_tc(
+            pack_dipole_command(
+                object_id.as_bytes, x_dipole, y_dipole, z_dipole, duration
+            )
+        )
+
+    if op_code == "10":
+        q.add_log_cmd("IMTQ: Get commanded dipole")
+        command = object_id.as_bytes + ImtqActionIds.get_commanded_dipole
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+
+    if op_code == "11":
+        q.add_log_cmd("IMTQ: Get engineering hk set")
+        q.add_pus_tc(
+            generate_one_diag_command(
+                sid=make_sid(object_id=object_id.as_bytes, set_id=ImtqSetIds.ENG_HK_SET)
+            )
+        )
+
+    if op_code == "12":
+        q.add_log_cmd("IMTQ: Get calibrated MTM hk set")
+        q.add_pus_tc(
+            generate_one_diag_command(
+                sid=make_sid(
+                    object_id=object_id.as_bytes, set_id=ImtqSetIds.CAL_MTM_SET
+                )
+            )
+        )
+
+    if op_code == "13":
+        q.add_log_cmd("IMTQ: Get raw MTM hk set")
+        q.add_pus_tc(
+            generate_one_diag_command(
+                sid=make_sid(
+                    object_id=object_id.as_bytes, set_id=ImtqSetIds.RAW_MTM_SET
+                )
+            )
+        )
+
+
+def pack_dipole_command(
+    object_id: bytes, x_dipole: int, y_dipole: int, z_dipole: int, duration: int
+) -> PusTelecommand:
+    """This function packs the command causing the ISIS IMTQ to generate a dipole.
+    :param object_id:    The object id of the IMTQ handler.
+    :param x_dipole:  The dipole of the x coil in 10^-4*Am^2 (max. 2000)
+    :param y_dipole:   The dipole of the y coil in 10^-4*Am^2 (max. 2000)
+    :param z_dipole:   The dipole of the z coil in 10^-4*Am^2 (max. 2000)
+    :param duration:  The duration in milliseconds the dipole will be generated by the coils.
+                     When set to 0, the dipole will be generated until a new dipole actuation
+                     command is sent.
+    """
+    action_id = ImtqActionIds.start_actuation_dipole
+    command = object_id + action_id
+    x_dipole = int(round(x_dipole))
+    y_dipole = int(round(y_dipole))
+    z_dipole = int(round(z_dipole))
+    if x_dipole < -2000 or x_dipole > 2000:
+        raise_dipole_error("X dipole", x_dipole)
+    if y_dipole < -2000 or y_dipole > 2000:
+        raise_dipole_error("Y dipole", y_dipole)
+    if z_dipole < -2000 or z_dipole > 2000:
+        raise_dipole_error("Z dipole", z_dipole)
+    duration = int(round(duration))
+    if duration < 0 or duration > pow(2, 16) - 1:
+        raise ValueError(
+            f"Duration in ms of {duration} smaller than 0 or larger than allowed {pow(2, 16) - 1}"
+        )
+    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, app_data=command)
+    return command
+
+
+def raise_dipole_error(dipole_str: str, value: int):
+    raise ValueError(
+        f"{dipole_str} {value} negative or larger than maximum allowed 2000 * 10^-4*Am^2"
+    )
+
+
+def handle_eng_set(printer: FsfwTmTcPrinter, hk_data: bytes):
+    pw = PrintWrapper(printer)
+    header_list = [
+        "Digital Voltage [mV]",
+        "Analog Voltage [mV]",
+        "Digital Current [mA]",
+        "Analog Current [mA]",
+        "Coil Current X [mA]",
+        "Coil Current Y [mA]",
+        "Coil Current Z [mA]",
+        "Coil X Temperature [°C]",
+        "Coil Y Temperature [°C]",
+        "Coil Z Temperature [°C]",
+        "MCU Temperature [°C]",
+    ]
+    digital_voltage = struct.unpack("!H", hk_data[0:2])[0]
+    analog_voltage = struct.unpack("!H", hk_data[2:4])[0]
+    digital_current = struct.unpack("!f", hk_data[4:8])[0]
+    analog_current = struct.unpack("!f", hk_data[8:12])[0]
+    coil_x_current = struct.unpack("!f", hk_data[12:16])[0]
+    coil_y_current = struct.unpack("!f", hk_data[16:20])[0]
+    coil_z_current = struct.unpack("!f", hk_data[20:24])[0]
+    coil_x_temperature = struct.unpack("!h", hk_data[24:26])[0]
+    coil_y_temperature = struct.unpack("!h", hk_data[26:28])[0]
+    coil_z_temperature = struct.unpack("!h", hk_data[28:30])[0]
+    mcu_temperature = struct.unpack("!h", hk_data[30:32])[0]
+
+    validity_buffer = hk_data[32:]
+    content_list = [
+        digital_voltage,
+        analog_voltage,
+        digital_current,
+        analog_current,
+        coil_x_current,
+        coil_y_current,
+        coil_z_current,
+        coil_x_temperature,
+        coil_y_temperature,
+        coil_z_temperature,
+        mcu_temperature,
+    ]
+    num_of_vars = len(header_list)
+    pw.dlog(str(header_list))
+    pw.dlog(str(content_list))
+    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
+
+
+def handle_calibrated_mtm_measurement(printer: FsfwTmTcPrinter, hk_data: bytes):
+    pw = PrintWrapper(printer)
+    header_list = [
+        "Calibrated MTM X [nT]",
+        "Calibrated MTM Y [nT]",
+        "Calibrated MTM Z [nT]",
+        "Coil actuation status",
+    ]
+    mtm_x = struct.unpack("!I", hk_data[0:4])[0]
+    mtm_y = struct.unpack("!I", hk_data[4:8])[0]
+    mtm_z = struct.unpack("!I", hk_data[8:12])[0]
+    coil_actuation_status = hk_data[12]
+    validity_buffer = hk_data[12:]
+    content_list = [mtm_x, mtm_y, mtm_z, coil_actuation_status]
+    num_of_vars = len(header_list)
+    pw.dlog(str(header_list))
+    pw.dlog(str(content_list))
+    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
+
+
+def handle_raw_mtm_measurement(printer: FsfwTmTcPrinter, hk_data: bytes):
+    pw = PrintWrapper(printer)
+    header_list = [
+        "Raw MTM X [nT]",
+        "Raw MTM Y [nT]",
+        "Raw MTM Z [nT]",
+        "Coil actuation status",
+    ]
+    mtm_x = struct.unpack("!f", hk_data[0:4])[0]
+    mtm_y = struct.unpack("!f", hk_data[4:8])[0]
+    mtm_z = struct.unpack("!f", hk_data[8:12])[0]
+    coil_actuation_status = hk_data[12]
+    validity_buffer = hk_data[13:]
+    content_list = [mtm_x, mtm_y, mtm_z, coil_actuation_status]
+    num_of_vars = 2
+    pw.dlog(str(header_list))
+    pw.dlog(str(content_list))
+    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
+
+
+def handle_self_test_data(printer: FsfwTmTcPrinter, hk_data: bytes):
+    pw = PrintWrapper(printer)
+    header_list = [
+        "Init Err",
+        "Init Raw Mag X [nT]",
+        "Init Raw Mag Y [nT]",
+        "Init Raw Mag Z [nT]",
+        "Init Cal Mag X [nT]",
+        "Init Cal Mag Y [nT]",
+        "Init Cal Mag Z [nT]",
+        "Init Coil X Current [mA]",
+        "Init Coil Y Current [mA]",
+        "Init Coil Z Current [mA]",
+        "Init Coil X Temperature [°C]",
+        "Init Coil Y Temperature [°C]",
+        "Init Coil Z Temperature [°C]",
+        "Err",
+        "Raw Mag X [nT]",
+        "Raw Mag Y [nT]",
+        "Raw Mag Z [nT]",
+        "Cal Mag X [nT]",
+        "Cal Mag Y [nT]",
+        "Cal Mag Z [nT]",
+        "Coil X Current [mA]",
+        "Coil Y Current [mA]",
+        "Coil Z Current [mA]",
+        "Coil X Temperature [°C]",
+        "Coil Y Temperature [°C]",
+        "Coil Z Temperature [°C]",
+        "Fina Err",
+        "Fina Raw Mag X [nT]",
+        "Fina Raw Mag Y [nT]",
+        "Fina Raw Mag Z [nT]",
+        "Fina Cal Mag X [nT]",
+        "Fina Cal Mag Y [nT]",
+        "Fina Cal Mag Z [nT]",
+        "Fina Coil X Current [mA]",
+        "Fina Coil Y Current [mA]",
+        "Fina Coil Z Current [mA]",
+        "Fina Coil X Temperature [°C]",
+        "Fina Coil Y Temperature [°C]",
+        "Fina Coil Z Temperature [°C]",
+    ]
+    # INIT step (no coil actuation)
+    init_err = hk_data[0]
+    init_raw_mag_x = struct.unpack("!f", hk_data[1:5])[0]
+    init_raw_mag_y = struct.unpack("!f", hk_data[5:9])[0]
+    init_raw_mag_z = struct.unpack("!f", hk_data[9:13])[0]
+    init_cal_mag_x = struct.unpack("!f", hk_data[13:17])[0]
+    init_cal_mag_y = struct.unpack("!f", hk_data[17:21])[0]
+    init_cal_mag_z = struct.unpack("!f", hk_data[21:25])[0]
+    init_coil_x_current = struct.unpack("!f", hk_data[25:29])[0]
+    init_coil_y_current = struct.unpack("!f", hk_data[29:33])[0]
+    init_coil_z_current = struct.unpack("!f", hk_data[33:37])[0]
+    init_coil_x_temperature = struct.unpack("!H", hk_data[37:39])[0]
+    init_coil_y_temperature = struct.unpack("!H", hk_data[39:41])[0]
+    init_coil_z_temperature = struct.unpack("!H", hk_data[41:43])[0]
+
+    # Actuation step
+    err = hk_data[43]
+    raw_mag_x = struct.unpack("!f", hk_data[44:48])[0]
+    raw_mag_y = struct.unpack("!f", hk_data[48:52])[0]
+    raw_mag_z = struct.unpack("!f", hk_data[52:56])[0]
+    cal_mag_x = struct.unpack("!f", hk_data[56:60])[0]
+    cal_mag_y = struct.unpack("!f", hk_data[60:64])[0]
+    cal_mag_z = struct.unpack("!f", hk_data[64:68])[0]
+    coil_x_current = struct.unpack("!f", hk_data[68:72])[0]
+    coil_y_current = struct.unpack("!f", hk_data[72:76])[0]
+    coil_z_current = struct.unpack("!f", hk_data[76:80])[0]
+    coil_x_temperature = struct.unpack("!H", hk_data[80:82])[0]
+    coil_y_temperature = struct.unpack("!H", hk_data[82:84])[0]
+    coil_z_temperature = struct.unpack("!H", hk_data[84:86])[0]
+
+    # FINA step (no coil actuation)
+    fina_err = hk_data[86]
+    fina_raw_mag_x = struct.unpack("!f", hk_data[87:91])[0]
+    fina_raw_mag_y = struct.unpack("!f", hk_data[91:95])[0]
+    fina_raw_mag_z = struct.unpack("!f", hk_data[95:99])[0]
+    fina_cal_mag_x = struct.unpack("!f", hk_data[99:103])[0]
+    fina_cal_mag_y = struct.unpack("!f", hk_data[103:107])[0]
+    fina_cal_mag_z = struct.unpack("!f", hk_data[107:111])[0]
+    fina_coil_x_current = struct.unpack("!f", hk_data[111:115])[0]
+    fina_coil_y_current = struct.unpack("!f", hk_data[115:119])[0]
+    fina_coil_z_current = struct.unpack("!f", hk_data[119:123])[0]
+    fina_coil_x_temperature = struct.unpack("!H", hk_data[123:125])[0]
+    fina_coil_y_temperature = struct.unpack("!H", hk_data[125:127])[0]
+    fina_coil_z_temperature = struct.unpack("!H", hk_data[127:129])[0]
+
+    validity_buffer = hk_data[129:]
+    content_list = [
+        init_err,
+        init_raw_mag_x,
+        init_raw_mag_y,
+        init_raw_mag_z,
+        init_cal_mag_x,
+        init_cal_mag_y,
+        init_cal_mag_z,
+        init_coil_x_current,
+        init_coil_y_current,
+        init_coil_z_current,
+        init_coil_x_temperature,
+        init_coil_y_temperature,
+        init_coil_z_temperature,
+        err,
+        raw_mag_x,
+        init_raw_mag_y,
+        raw_mag_z,
+        cal_mag_x,
+        cal_mag_y,
+        cal_mag_z,
+        coil_x_current,
+        coil_y_current,
+        coil_z_current,
+        coil_x_temperature,
+        coil_y_temperature,
+        coil_z_temperature,
+        fina_err,
+        fina_raw_mag_x,
+        fina_raw_mag_y,
+        fina_raw_mag_z,
+        fina_cal_mag_x,
+        fina_cal_mag_y,
+        fina_cal_mag_z,
+        fina_coil_x_current,
+        fina_coil_y_current,
+        fina_coil_z_current,
+        fina_coil_x_temperature,
+        fina_coil_y_temperature,
+        fina_coil_z_temperature,
+    ]
+    num_of_vars = len(header_list)
+    pw.dlog(str(header_list))
+    pw.dlog(str(content_list))
+    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
diff --git a/tmtc/acs/reaction_wheels.py b/tmtc/acs/reaction_wheels.py
new file mode 100644
index 0000000..74987d1
--- /dev/null
+++ b/tmtc/acs/reaction_wheels.py
@@ -0,0 +1,410 @@
+# -*- coding: utf-8 -*-
+"""reaction_wheels.py
+@brief  Tests for the reaction wheel handler
+@author J. Meier
+@date   20.06.2021
+"""
+import struct
+from typing import List
+
+from pus_tm.defs import PrintWrapper
+from config.object_ids import RW1_ID, RW2_ID, RW3_ID, RW4_ID
+from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
+from tmtccmd.config.tmtc import tmtc_definitions_provider
+from tmtccmd.tc import DefaultPusQueueHelper
+from tmtccmd.tc.pus_3_fsfw_hk import (
+    generate_one_hk_command,
+    generate_one_diag_command,
+    make_sid,
+    enable_periodic_hk_command_with_interval,
+    disable_periodic_hk_command,
+)
+from spacepackets.ecss.tc import PusTelecommand
+from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes, Subservices
+from config.definitions import CustomServiceList
+from tmtccmd.util import ObjectIdU32
+from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
+
+
+class OpCodesDevs:
+    SPEED = ["0", "speed"]
+    ON = ["1", "on"]
+    NML = ["2", "nml"]
+    OFF = ["3", "off"]
+    GET_STATUS = ["4", "status"]
+    GET_TM = ["5", "tm"]
+    ENABLE_STATUS_HK = ["6", "enable_status_hk"]
+    DISABLE_STATUS_HK = ["7", "disable_status_hk"]
+
+
+class InfoDevs:
+    SPEED = "Set speed"
+    ON = "Set On"
+    NML = "Set Normal"
+    OFF = "Set Off"
+    GET_STATUS = "Get Status HK"
+    GET_TM = "Get TM HK"
+    ENABLE_STATUS_HK = "Enable Status HK"
+    DISABLE_STATUS_HK = "Disable Status HK"
+
+
+class OpCodesAss:
+    ON = ["0", "on"]
+    NML = ["1", "nml"]
+    OFF = ["2", "off"]
+    ALL_SPEED_UP = ["3", "speed_up"]
+    ALL_SPEED_OFF = ["4", "speed_off"]
+
+
+class InfoAss:
+    ON = "Mode On: 3/4 RWs min. on"
+    NML = "Mode Normal: 3/4 RWs min. normal"
+    OFF = "Mode Off: All RWs off"
+    ALL_SPEED_UP = "Speed up consecutively"
+    ALL_SPEED_OFF = "Speed down to 0"
+
+
+class RwSetIds:
+    STATUS_SET_ID = 4
+    TEMPERATURE_SET_ID = 8
+    LAST_RESET = 2
+    TM_SET = 9
+
+
+class RwCommandIds:
+    RESET_MCU = bytearray([0x0, 0x0, 0x0, 0x01])
+    # Reads status information from reaction wheel into dataset with id 4
+    GET_RW_STATUS = bytearray([0x0, 0x0, 0x0, 0x04])
+    INIT_RW_CONTROLLER = bytearray([0x0, 0x0, 0x0, 0x05])
+    SET_SPEED = bytearray([0x0, 0x0, 0x0, 0x06])
+    # Reads temperature from reaction wheel into dataset with id 8
+    GET_TEMPERATURE = bytearray([0x0, 0x0, 0x0, 0x08])
+    GET_TM = bytearray([0x0, 0x0, 0x0, 0x09])
+
+
+class SpeedDefinitions:
+    RPM_100 = 1000
+    RPM_5000 = 5000
+
+
+class RampTime:
+    MS_1000 = 1000
+
+
+@tmtc_definitions_provider
+def add_rw_cmds(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    oce.add(info=InfoDevs.SPEED, keys=OpCodesDevs.SPEED)
+    oce.add(info=InfoDevs.ON, keys=OpCodesDevs.ON)
+    oce.add(info=InfoDevs.OFF, keys=OpCodesDevs.OFF)
+    oce.add(info=InfoDevs.NML, keys=OpCodesDevs.NML)
+    oce.add(info=InfoDevs.GET_STATUS, keys=OpCodesDevs.GET_STATUS)
+    oce.add(info=InfoDevs.GET_TM, keys=OpCodesDevs.GET_TM)
+    oce.add(info=InfoDevs.ENABLE_STATUS_HK, keys=OpCodesDevs.ENABLE_STATUS_HK)
+    oce.add(info=InfoDevs.DISABLE_STATUS_HK, keys=OpCodesDevs.DISABLE_STATUS_HK)
+    defs.add_service(
+        name=CustomServiceList.REACTION_WHEEL_1.value,
+        info="Reaction Wheel 1",
+        op_code_entry=oce,
+    )
+    defs.add_service(
+        name=CustomServiceList.REACTION_WHEEL_2.value,
+        info="Reaction Wheel 2",
+        op_code_entry=oce,
+    )
+    defs.add_service(
+        name=CustomServiceList.REACTION_WHEEL_3.value,
+        info="Reaction Wheel 3",
+        op_code_entry=oce,
+    )
+    defs.add_service(
+        name=CustomServiceList.REACTION_WHEEL_4.value,
+        info="Reaction Wheel 4",
+        op_code_entry=oce,
+    )
+    oce = OpCodeEntry()
+    oce.add(info=InfoAss.ON, keys=OpCodesAss.ON)
+    oce.add(info=InfoAss.NML, keys=OpCodesAss.NML)
+    oce.add(info=InfoAss.OFF, keys=OpCodesAss.OFF)
+    oce.add(info=InfoAss.ALL_SPEED_UP, keys=OpCodesAss.ALL_SPEED_UP)
+    oce.add(info=InfoAss.ALL_SPEED_OFF, keys=OpCodesAss.ALL_SPEED_OFF)
+    defs.add_service(
+        name=CustomServiceList.RW_ASSEMBLY.value,
+        info="Reaction Wheel Assembly",
+        op_code_entry=oce,
+    )
+
+
+def pack_single_rw_test_into(
+    object_id: bytes, rw_idx: int, q: DefaultPusQueueHelper, op_code: str
+):
+    if op_code in OpCodesDevs.SPEED:
+        speed, ramp_time = prompt_speed_ramp_time()
+        q.add_log_cmd(
+            f"RW {rw_idx}: {InfoDevs.SPEED} with target "
+            f"speed {speed / 10.0} RPM and {ramp_time} ms ramp time"
+        )
+        q.add_pus_tc(pack_set_speed_command(object_id, speed, ramp_time))
+
+    if op_code in OpCodesDevs.ON:
+        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.ON}")
+        mode_data = pack_mode_data(object_id, Modes.ON, 0)
+        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
+
+    if op_code in OpCodesDevs.NML:
+        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.NML}")
+        mode_data = pack_mode_data(object_id, Modes.NORMAL, 0)
+        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
+
+    if op_code in OpCodesDevs.OFF:
+        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.OFF}")
+        mode_data = pack_mode_data(object_id, Modes.OFF, 0)
+        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
+
+    if op_code in OpCodesDevs.GET_TM:
+        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.GET_TM}")
+        q.add_pus_tc(
+            generate_one_hk_command(
+                sid=make_sid(object_id=object_id, set_id=RwSetIds.TM_SET)
+            )
+        )
+    if op_code in OpCodesDevs.GET_STATUS:
+        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.GET_STATUS}")
+        q.add_pus_tc(
+            generate_one_diag_command(
+                sid=make_sid(object_id=object_id, set_id=RwSetIds.STATUS_SET_ID)
+            )
+        )
+    if op_code in OpCodesDevs.ENABLE_STATUS_HK:
+        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.ENABLE_STATUS_HK}")
+        interval = float(input("Please enter HK interval in floating point seconds: "))
+        cmds = enable_periodic_hk_command_with_interval(
+            True, make_sid(object_id, RwSetIds.STATUS_SET_ID), interval
+        )
+        for cmd in cmds:
+            q.add_pus_tc(cmd)
+    if op_code in OpCodesDevs.DISABLE_STATUS_HK:
+        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.DISABLE_STATUS_HK}")
+        q.add_pus_tc(
+            disable_periodic_hk_command(
+                True, make_sid(object_id, RwSetIds.STATUS_SET_ID)
+            )
+        )
+
+
+def pack_rw_ass_cmds(q: DefaultPusQueueHelper, object_id: bytes, op_code: str):
+    if op_code in OpCodesAss.OFF:
+        data = pack_mode_data(object_id=object_id, mode=Modes.OFF, submode=0)
+        q.add_pus_tc(
+            PusTelecommand(
+                service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
+            )
+        )
+    if op_code in OpCodesAss.ON:
+        data = pack_mode_data(object_id=object_id, mode=Modes.ON, submode=0)
+        q.add_pus_tc(
+            PusTelecommand(
+                service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
+            )
+        )
+    if op_code in OpCodesAss.NML:
+        data = pack_mode_data(object_id=object_id, mode=Modes.NORMAL, submode=0)
+        q.add_pus_tc(
+            PusTelecommand(
+                service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
+            )
+        )
+    if op_code in OpCodesAss.ALL_SPEED_UP:
+        speed, ramp_time = prompt_speed_ramp_time()
+        rw_speed_up_cmd_consec(q, [RW1_ID, RW2_ID, RW3_ID, RW4_ID], speed, ramp_time)
+    if op_code in OpCodesAss.ALL_SPEED_OFF:
+        rw_speed_down_cmd_consec(
+            q, [RW1_ID, RW2_ID, RW3_ID, RW4_ID], prompt_ramp_time()
+        )
+
+
+def prompt_speed_ramp_time() -> (int, int):
+    speed = int(
+        input("Specify speed [0.1 RPM, 0 or range [-65000, -1000] and [1000, 65000]: ")
+    )
+    return speed, prompt_ramp_time()
+
+
+def prompt_ramp_time() -> int:
+    return int(input("Specify ramp time [ms, range [10, 20000]]: "))
+
+
+def pack_set_speed_command(
+    object_id: bytes, speed: int, ramp_time_ms: int
+) -> PusTelecommand:
+    """With this function a command is packed to set the speed of a reaction wheel
+    :param object_id: The object id of the reaction wheel handler.
+    :param speed: Valid speeds are 0, [-65000, -1000] and [1000, 65000]. Values are
+        specified in 0.1 * RPM
+    :param ramp_time_ms: The time after which the reaction wheel will reach the commanded speed.
+        Valid times are 10 - 20000 ms
+    """
+    if speed > 0:
+        if speed < 1000 or speed > 65000:
+            raise ValueError(
+                "Invalid RW speed specified. "
+                "Allowed range is [1000, 65000] 0.1 * RPM"
+            )
+    elif speed < 0:
+        if speed < -65000 or speed > -1000:
+            raise ValueError(
+                "Invalid RW speed specified. "
+                "Allowed range is [-65000, -1000] 0.1 * RPM"
+            )
+    else:
+        # Speed is 0
+        pass
+
+    if ramp_time_ms < 0 or (
+        ramp_time_ms > 0 and (ramp_time_ms > 20000 or ramp_time_ms < 10)
+    ):
+        raise ValueError("Invalid Ramp Speed time. Allowed range is [10-20000] ms")
+    command_id = RwCommandIds.SET_SPEED
+    command = bytearray()
+    command += object_id + command_id
+    command = command + struct.pack("!i", speed)
+    command = command + ramp_time_ms.to_bytes(length=2, byteorder="big")
+    command = PusTelecommand(service=8, subservice=128, app_data=command)
+    return command
+
+
+def handle_rw_hk_data(
+    printer: FsfwTmTcPrinter, object_id: ObjectIdU32, set_id: int, hk_data: bytes
+):
+
+    pw = PrintWrapper(printer)
+    current_idx = 0
+    if set_id == RwSetIds.STATUS_SET_ID:
+        pw.dlog(
+            f"Received Status HK (ID {set_id}) from Reaction Wheel {object_id.name}"
+        )
+        fmt_str = "!IiiBB"
+        inc_len = struct.calcsize(fmt_str)
+        (temp, speed, ref_speed, state, clc_mode) = struct.unpack(
+            fmt_str, hk_data[current_idx : current_idx + inc_len]
+        )
+        current_idx += inc_len
+        speed_rpm = speed / 10.0
+        ref_speed_rpm = ref_speed / 10.0
+        pw.dlog(
+            f"Temperature {temp} C | Speed {speed_rpm} rpm | Reference Speed {ref_speed_rpm} rpm"
+        )
+        pw.dlog(
+            f"State {state}. 0: Error, 1: Idle, 2: Coasting, 3: Running, speed stable, "
+            f"4: Running, speed  changing"
+        )
+        pw.dlog(
+            f"Current Limit Control mode {clc_mode}. 0: Low Current Mode (0.3 A), "
+            f"1: High Current Mode (0.6 A)"
+        )
+        printer.print_validity_buffer(hk_data[current_idx:], 5)
+    if set_id == RwSetIds.LAST_RESET:
+        pw.dlog(
+            f"Received Last Reset HK (ID {set_id}) from Reaction Wheel {object_id.name}"
+        )
+        fmt_str = "!BB"
+        inc_len = struct.calcsize(fmt_str)
+        (last_not_cleared_reset_status, current_reset_status) = struct.unpack(
+            fmt_str, hk_data[current_idx : current_idx + inc_len]
+        )
+        current_idx += inc_len
+        pw.dlog(
+            f"Last Non-Cleared (Cached) Reset Status {last_not_cleared_reset_status} | "
+            f"Current Reset Status {current_reset_status}"
+        )
+    if set_id == RwSetIds.TM_SET:
+        pw.dlog(f"Received TM HK (ID {set_id}) from Reaction Wheel {object_id.name}")
+        fmt_str = "!BiffBBiiIIIIIIIIIIIIIIII"
+        inc_len = struct.calcsize(fmt_str)
+        (
+            last_reset_status,
+            mcu_temp,
+            pressure_sens_temp,
+            pressure,
+            state,
+            clc_mode,
+            current_speed,
+            ref_speed,
+            num_invalid_crc_packets,
+            num_invalid_len_packets,
+            num_invalid_cmd_packets,
+            num_of_cmd_executed_requests,
+            num_of_cmd_replies,
+            uart_num_of_bytes_written,
+            uart_num_of_bytes_read,
+            uart_num_parity_errors,
+            uart_num_noise_errors,
+            uart_num_frame_errors,
+            uart_num_reg_overrun_errors,
+            uart_total_num_errors,
+            spi_num_bytes_written,
+            spi_num_bytes_read,
+            spi_num_reg_overrun_errors,
+            spi_total_num_errors,
+        ) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
+
+        pw.dlog(
+            f"MCU Temperature {mcu_temp} | Pressure Sensore Temperature {pressure_sens_temp} C"
+        )
+        pw.dlog(f"Last Reset Status {last_reset_status}")
+        pw.dlog(
+            f"Current Limit Control mode {clc_mode}. 0: Low Current Mode (0.3 A), "
+            f"1: High Current Mode (0.6 A)"
+        )
+        pw.dlog(f"Speed {current_speed} rpm | Reference Speed {ref_speed} rpm")
+        pw.dlog(
+            f"State {state}. 0: Error, 1: Idle, 2: Coasting, 3: Running, speed stable, "
+            f"4: Running, speed  changing"
+        )
+        pw.dlog(f"Number Of Invalid Packets:")
+        pw.dlog("CRC | Length | CMD")
+        pw.dlog(
+            f"{num_invalid_crc_packets} | {num_invalid_len_packets} | {num_invalid_cmd_packets}"
+        )
+        pw.dlog(
+            f"Num Of CMD Executed Requests {num_of_cmd_executed_requests} | "
+            f"Num of CMD Replies {num_of_cmd_replies}"
+        )
+        pw.dlog("UART COM information:")
+        pw.dlog(
+            f"NumBytesWritten | NumBytesRead | ParityErrs | NoiseErrs | FrameErrs | "
+            f"RegOverrunErrs | TotalErrs"
+        )
+        pw.dlog(
+            f"{uart_num_of_bytes_written} | {uart_num_of_bytes_read} | {uart_num_parity_errors} | "
+            f"{uart_num_noise_errors} | {uart_num_frame_errors} | {uart_num_reg_overrun_errors} | "
+            f"{uart_total_num_errors}"
+        )
+        pw.dlog("SPI COM Info:")
+        pw.dlog(f"NumBytesWritten | NumBytesRead | RegOverrunErrs | TotalErrs")
+        pw.dlog(
+            f"{spi_num_bytes_written} | {spi_num_bytes_read} | {spi_num_reg_overrun_errors} | "
+            f"{spi_total_num_errors}"
+        )
+        if current_idx > 0:
+            printer.print_validity_buffer(
+                validity_buffer=hk_data[current_idx:], num_vars=27
+            )
+
+
+def rw_speed_up_cmd_consec(
+    q: DefaultPusQueueHelper, obids: List[bytes], speed: int, ramp_time: int
+):
+    for oid in obids:
+        q.add_pus_tc(
+            pack_set_speed_command(object_id=oid, speed=speed, ramp_time_ms=ramp_time)
+        )
+
+
+def rw_speed_down_cmd_consec(
+    q: DefaultPusQueueHelper, obids: List[bytes], ramp_time: int
+):
+    for oid in obids:
+        q.add_pus_tc(
+            pack_set_speed_command(object_id=oid, speed=0, ramp_time_ms=ramp_time)
+        )
diff --git a/tmtc/power/acu.py b/tmtc/power/acu.py
index 5c1dad3..9da4bc5 100644
--- a/tmtc/power/acu.py
+++ b/tmtc/power/acu.py
@@ -6,25 +6,18 @@
 
 from config.definitions import CustomServiceList
 from tmtc.power.common_power import (
-    pack_gomspace_cmds,
+    pack_common_gomspace_cmds,
     add_gomspace_cmd_defs,
     req_hk_cmds,
+    pack_common_power_cmds,
+    SetIds,
 )
 from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
 from tmtccmd.config.tmtc import tmtc_definitions_provider
 
 from tmtccmd.tc import DefaultPusQueueHelper
-from tmtccmd.tc.pus_3_fsfw_hk import (
-    make_sid,
-    generate_one_diag_command,
-    generate_one_hk_command,
-)
 import gomspace.gomspace_common as gs
-from gomspace.gomspace_common import GomspaceOpCodes
-from gomspace.gomspace_common import GsInfo as GsInfo
 from config.object_ids import ACU_HANDLER_ID
-from tmtc.power.p60dock import P60DockConfigTable
-from tmtccmd.tc.pus_8_funccmd import make_fsfw_action_cmd
 from tmtccmd.util import ObjectIdU32
 
 
@@ -68,15 +61,14 @@ def add_acu_cmds(defs: TmtcDefinitionWrapper):
 
 def pack_acu_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str):
     q.add_log_cmd("Handling ACU command")
-    pack_gomspace_cmds("ACU", object_id, q, op_code)
+    pack_common_power_cmds("ACU", object_id, q, op_code)
+    pack_common_gomspace_cmds("ACU", object_id, q, op_code)
     acu_req_hk_cmds(q, op_code)
     pack_test_cmds(object_id=object_id, q=q)
 
 
 def acu_req_hk_cmds(q: DefaultPusQueueHelper, op_code: str):
-    req_hk_cmds(
-        "ACU", q, op_code, ACU_HANDLER_ID, [gs.SetIds.ACU_CORE, gs.SetIds.ACU_AUX]
-    )
+    req_hk_cmds("ACU", q, op_code, ACU_HANDLER_ID, [SetIds.CORE, SetIds.AUX])
 
 
 class ACUTestProcedure:
@@ -173,13 +165,3 @@ def pack_test_cmds(object_id: ObjectIdU32, q: DefaultPusQueueHelper):
                 ACUConfigTable.ov_mode.parameter_size,
             )
         )
-    if ACUTestProcedure.all or ACUTestProcedure.off:
-        q.add_log_cmd("P60 Dock: Turning off ACU")
-        q.add_pus_tc(
-            gs.pack_set_param_command(
-                ACU_HANDLER_ID,
-                P60DockConfigTable.out_en_0.parameter_address,
-                P60DockConfigTable.out_en_0.parameter_size,
-                gs.Channel.off,
-            )
-        )
diff --git a/tmtc/power/common_power.py b/tmtc/power/common_power.py
index 20d8d06..59f6b2c 100644
--- a/tmtc/power/common_power.py
+++ b/tmtc/power/common_power.py
@@ -1,8 +1,6 @@
 from gomspace.gomspace_common import (
     pack_set_u8_param_command,
     Channel,
-    GomspaceOpCodes,
-    GsInfo,
     GomspaceDeviceActionIds,
     prompt_and_pack_set_integer_param_command,
     prompt_and_pack_get_param_command,
@@ -18,16 +16,44 @@ from tmtccmd.tc.pus_3_fsfw_hk import (
     make_sid,
     generate_one_diag_command,
     generate_one_hk_command,
+    enable_periodic_hk_command_with_interval,
+    disable_periodic_hk_command,
 )
 from tmtccmd.tc.pus_8_funccmd import make_fsfw_action_cmd
 from tmtccmd.util import ObjectIdU32, ObjectIdBase
 
 
+class GomspaceOpCodes:
+    GET_PARAM = ["get_param"]
+    SET_INTEGER_PARAM = ["set_int_param"]
+    SAVE_TABLE = ["save_table"]
+    RESET_GND_WATCHDOG = ["reset_gnd_wdt"]
+    SAVE_TABLE_DEFAULT = ["save_table_default"]
+    LOAD_TABLE = ["load_table"]
+    REQUEST_CONFIG_TABLE = ["cfg_table"]
+
+
+class GsInfo:
+    GET_PARAMETER = "Get parameter"
+    SET_PARAMETER = "Set  integer parameter"
+    REQUEST_CONFIG_TABLE = "Request Config Table"
+    RESET_GND_WATCHDOG = "Reset GND watchdog"
+    SAVE_TABLE = "Save table non-volatile (file)"
+    SAVE_TABLE_DEFAULT = "Save table non-volatile (default)"
+    LOAD_TABLE = "Load Table"
+
+
 class PowerInfo:
     INFO_CORE = "Core Information"
     INFO_AUX = "Auxiliary Information"
     INFO_ALL = "All Information"
+    ENABLE_INFO_HK = "Enable Core Info HK"
+    DISABLE_INFO_HK = "Disable Core Info HK"
     RESET_ALL_GND_WDTS = "Reset all Ground Watchdogs"
+    REQUEST_CORE_HK_ONCE = "Requesting Core HK once"
+    REQUEST_AUX_HK_ONCE = "Requesting Aux HK once"
+    PRINT_SWITCH_V_I = "Print Switch V I Info"
+    PRINT_LATCHUPS = "Print latchups"
 
 
 class PowerOpCodes:
@@ -68,24 +94,54 @@ class PowerOpCodes:
     PL_CAM_OFF = ["cam_off"]
 
     INFO_CORE = ["info"]
+    ENABLE_INFO_HK = ["info_hk_on"]
+    DISABLE_INFO_HK = ["info_hk_off"]
     INFO_AUX = ["info_aux"]
     INFO_ALL = ["info_all"]
     RESET_ALL_GND_WDTS = ["reset_gnd_wdts"]
+    # Request HK
+    REQUEST_CORE_HK_ONCE = ["hk_core"]
+    REQUEST_AUX_HK_ONCE = ["hk_aux"]
+    PRINT_SWITCH_V_I = ["print_switch_vi"]
+    PRINT_LATCHUPS = ["print_latchups"]
 
 
-def pack_gomspace_cmds(
+class SetIds:
+    CORE = 1
+    AUX = 2
+    CONFIG = 3
+
+
+def pack_common_power_cmds(
     prefix: str, object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str
 ):
     objb = object_id.as_bytes
-    if op_code in GomspaceOpCodes.PRINT_SWITCH_V_I:
-        q.add_log_cmd(f"{prefix}: {GsInfo.PRINT_SWITCH_V_I}")
+    if op_code in PowerOpCodes.ENABLE_INFO_HK:
+        interval = float(input("Specify HK interval in floating point seconds: "))
+        q.add_log_cmd(f"{prefix}: {PowerInfo.ENABLE_INFO_HK} with interval {interval}")
+        cmds = enable_periodic_hk_command_with_interval(
+            True, make_sid(objb, SetIds.CORE), interval
+        )
+        for cmd in cmds:
+            q.add_pus_tc(cmd)
+    if op_code in PowerOpCodes.DISABLE_INFO_HK:
+        q.add_log_cmd(f"{prefix}: {PowerInfo.DISABLE_INFO_HK}")
+        q.add_pus_tc(disable_periodic_hk_command(True, make_sid(objb, SetIds.CORE)))
+
+
+def pack_common_gomspace_cmds(
+    prefix: str, object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str
+):
+    objb = object_id.as_bytes
+    if op_code in PowerOpCodes.PRINT_SWITCH_V_I:
+        q.add_log_cmd(f"{prefix}: {PowerInfo.PRINT_SWITCH_V_I}")
         q.add_pus_tc(
             make_fsfw_action_cmd(
                 object_id=objb, action_id=GomspaceDeviceActionIds.PRINT_SWITCH_V_I
             )
         )
-    if op_code in GomspaceOpCodes.PRINT_LATCHUPS:
-        q.add_log_cmd(f"{prefix}: {GsInfo.PRINT_LATCHUPS}")
+    if op_code in PowerOpCodes.PRINT_LATCHUPS:
+        q.add_log_cmd(f"{prefix}: {PowerInfo.PRINT_LATCHUPS}")
         q.add_pus_tc(
             make_fsfw_action_cmd(
                 object_id=objb, action_id=GomspaceDeviceActionIds.PRINT_LATCHUPS
@@ -189,12 +245,12 @@ def req_hk_cmds(
     obj_id: bytes,
     set_id_pair: [int, int],
 ):
-    if op_code in GomspaceOpCodes.REQUEST_CORE_HK_ONCE:
-        q.add_log_cmd(f"{prefix}: {GsInfo.REQUEST_CORE_HK_ONCE}")
+    if op_code in PowerOpCodes.REQUEST_CORE_HK_ONCE:
+        q.add_log_cmd(f"{prefix}: {PowerInfo.REQUEST_CORE_HK_ONCE}")
         hk_sid = make_sid(object_id=obj_id, set_id=set_id_pair[0])
         q.add_pus_tc(generate_one_diag_command(sid=hk_sid))
-    if op_code in GomspaceOpCodes.REQUEST_AUX_HK_ONCE:
-        q.add_log_cmd(f"{prefix}: {GsInfo.REQUEST_AUX_HK_ONCE}")
+    if op_code in PowerOpCodes.REQUEST_AUX_HK_ONCE:
+        q.add_log_cmd(f"{prefix}: {PowerInfo.REQUEST_AUX_HK_ONCE}")
         hk_sid = make_sid(object_id=obj_id, set_id=set_id_pair[1])
         q.add_pus_tc(generate_one_hk_command(sid=hk_sid))
 
@@ -229,17 +285,24 @@ def generic_off_cmd(
     )
 
 
+def add_common_power_defs(oce: OpCodeEntry):
+    oce.add(keys=PowerOpCodes.REQUEST_CORE_HK_ONCE, info=PowerInfo.REQUEST_CORE_HK_ONCE)
+    oce.add(keys=PowerOpCodes.REQUEST_AUX_HK_ONCE, info=PowerInfo.REQUEST_AUX_HK_ONCE)
+    oce.add(keys=PowerOpCodes.ENABLE_INFO_HK, info=PowerInfo.ENABLE_INFO_HK)
+    oce.add(keys=PowerOpCodes.DISABLE_INFO_HK, info=PowerInfo.DISABLE_INFO_HK)
+
+
 def add_gomspace_cmd_defs(oce: OpCodeEntry):
     oce.add(
-        keys=GomspaceOpCodes.REQUEST_CORE_HK_ONCE,
-        info=GsInfo.REQUEST_CORE_HK_ONCE,
+        keys=PowerOpCodes.REQUEST_CORE_HK_ONCE,
+        info=PowerInfo.REQUEST_CORE_HK_ONCE,
     )
     oce.add(
-        keys=GomspaceOpCodes.REQUEST_AUX_HK_ONCE,
-        info=GsInfo.REQUEST_AUX_HK_ONCE,
+        keys=PowerOpCodes.REQUEST_AUX_HK_ONCE,
+        info=PowerInfo.REQUEST_AUX_HK_ONCE,
     )
+    oce.add(keys=PowerOpCodes.PRINT_LATCHUPS, info=PowerInfo.PRINT_LATCHUPS)
     oce.add(keys=GomspaceOpCodes.GET_PARAM, info=GsInfo.GET_PARAMETER)
-    oce.add(keys=GomspaceOpCodes.PRINT_LATCHUPS, info=GsInfo.PRINT_LATCHUPS)
     oce.add(keys=GomspaceOpCodes.SET_INTEGER_PARAM, info=GsInfo.SET_PARAMETER)
     oce.add(keys=GomspaceOpCodes.REQUEST_CONFIG_TABLE, info=GsInfo.REQUEST_CONFIG_TABLE)
     oce.add(keys=GomspaceOpCodes.SAVE_TABLE, info=GsInfo.SAVE_TABLE)
diff --git a/tmtc/power/p60dock.py b/tmtc/power/p60dock.py
index 993fa86..e9fed56 100644
--- a/tmtc/power/p60dock.py
+++ b/tmtc/power/p60dock.py
@@ -5,7 +5,12 @@
 @author J. Meier
 @date   13.12.2020
 """
-from tmtc.power.common_power import pack_gomspace_cmds, req_hk_cmds
+from tmtc.power.common_power import (
+    pack_common_gomspace_cmds,
+    req_hk_cmds,
+    pack_common_power_cmds,
+    SetIds,
+)
 from tmtccmd.tc import DefaultPusQueueHelper
 from gomspace.gomspace_common import (
     TableEntry,
@@ -17,7 +22,6 @@ from gomspace.gomspace_common import (
     pack_reboot_command,
     pack_set_u8_param_command,
     pack_set_u16_param_command,
-    SetIds,
 )
 from config.object_ids import P60_DOCK_HANDLER
 from tmtccmd.util import ObjectIdU32
@@ -96,7 +100,8 @@ class P60DockHkTable:
 
 def pack_p60dock_cmds(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str):
     objb = object_id.as_bytes
-    pack_gomspace_cmds("P60 Dock", object_id, q, op_code)
+    pack_common_power_cmds("P60 Dock", object_id, q, op_code)
+    pack_common_gomspace_cmds("P60 Dock", object_id, q, op_code)
     p60_dock_req_hk_cmds(q, op_code)
     if op_code in P60OpCodes.STACK_3V3_ON:
         q.add_log_cmd(P60Info.STACK_3V3_ON)
@@ -233,6 +238,4 @@ def pack_p60dock_cmds(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code:
 
 
 def p60_dock_req_hk_cmds(q: DefaultPusQueueHelper, op_code: str):
-    req_hk_cmds(
-        "P60 Dock", q, op_code, P60_DOCK_HANDLER, [SetIds.P60_CORE, SetIds.P60_AUX]
-    )
+    req_hk_cmds("P60 Dock", q, op_code, P60_DOCK_HANDLER, [SetIds.CORE, SetIds.AUX])
diff --git a/tmtc/power/pdu1.py b/tmtc/power/pdu1.py
index 7220632..2ee949c 100644
--- a/tmtc/power/pdu1.py
+++ b/tmtc/power/pdu1.py
@@ -3,18 +3,27 @@
 @author J. Meier
 @date   17.12.2020
 """
+from config.definitions import CustomServiceList
 from config.object_ids import PDU_1_HANDLER_ID
 from tmtc.power.common_power import (
-    pack_gomspace_cmds,
+    pack_common_gomspace_cmds,
     req_hk_cmds,
     PowerOpCodes,
     generic_on_cmd,
     generic_off_cmd,
+    add_gomspace_cmd_defs,
+    pack_common_power_cmds,
+    GomspaceOpCodes,
+    GsInfo,
+    PowerInfo,
+    add_common_power_defs,
+    SetIds,
 )
 
 from gomspace.gomspace_common import *
 from gomspace.gomspace_pdu_definitions import *
-from tmtccmd.config import OpCodeEntry
+from tmtccmd.config import OpCodeEntry, TmtcDefinitionWrapper
+from tmtccmd.config.tmtc import tmtc_definitions_provider
 
 
 class Pdu1InfoBase:
@@ -59,9 +68,10 @@ class PDU1TestProcedure:
 def pack_pdu1_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str):
     q.add_log_cmd("Commanding PDU1")
     objb = object_id.as_bytes
-    pdu1_cmds(q, op_code)
+    pdu1_switch_cmds(q, op_code)
     pdu1_req_hk_cmds(q, op_code)
-    pack_gomspace_cmds("PDU1", object_id, q, op_code)
+    pack_common_power_cmds("PDU1", object_id, q, op_code)
+    pack_common_gomspace_cmds("PDU1", object_id, q, op_code)
     if PDU1TestProcedure.all or PDU1TestProcedure.ping:
         q.add_log_cmd("PDU1: Ping Test")
         ping_data = bytearray([0, 1, 2, 3, 4, 5, 6, 7, 8, 9])
@@ -79,9 +89,7 @@ def pack_pdu1_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code
 
 
 def pdu1_req_hk_cmds(q: DefaultPusQueueHelper, op_code: str):
-    req_hk_cmds(
-        "PDU1", q, op_code, PDU_1_HANDLER_ID, [SetIds.PDU_1_CORE, SetIds.PDU_1_AUX]
-    )
+    req_hk_cmds("PDU1", q, op_code, PDU_1_HANDLER_ID, [SetIds.CORE, SetIds.AUX])
 
 
 def info_on_pdu1(base: str) -> str:
@@ -92,7 +100,7 @@ def info_off_pdu1(base: str) -> str:
     return "PDU1: " + base + " off"
 
 
-def pdu1_cmds(q: DefaultPusQueueHelper, op_code: str):
+def pdu1_switch_cmds(q: DefaultPusQueueHelper, op_code: str):
     if op_code in PowerOpCodes.TCS_ON:
         tcs_on_cmd(q)
     elif op_code in PowerOpCodes.TCS_OFF:
@@ -146,6 +154,25 @@ def add_pdu1_common_defs(oce: OpCodeEntry):
     oce.add(keys=PowerOpCodes.SCEX_OFF, info=info_off_pdu1(Pdu1InfoBase.SCEX))
 
 
+@tmtc_definitions_provider
+def add_pdu1_cmds(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    add_pdu1_common_defs(oce)
+    add_common_power_defs(oce)
+    add_gomspace_cmd_defs(oce)
+    oce.add(
+        keys=PowerOpCodes.PRINT_SWITCH_V_I,
+        info="PDU1: Print Switches, Voltages, Currents",
+    )
+    oce.add(keys=GomspaceOpCodes.GET_PARAM, info=GsInfo.GET_PARAMETER)
+
+    defs.add_service(
+        name=CustomServiceList.PDU1.value,
+        info="PDU1 Device",
+        op_code_entry=oce,
+    )
+
+
 def tcs_on_cmd(q: DefaultPusQueueHelper):
     generic_on_cmd(PDU_1_HANDLER_ID, q, Pdu1InfoBase.TCS, Pdu1ChIndex.TCS)
 
diff --git a/tmtc/power/pdu2.py b/tmtc/power/pdu2.py
index 683cd39..6ae17f5 100644
--- a/tmtc/power/pdu2.py
+++ b/tmtc/power/pdu2.py
@@ -8,15 +8,20 @@
 """
 from config.object_ids import PDU_2_HANDLER_ID
 from tmtc.power.common_power import (
-    pack_gomspace_cmds,
+    pack_common_gomspace_cmds,
     req_hk_cmds,
     PowerOpCodes,
     generic_on_cmd,
     generic_off_cmd,
+    add_gomspace_cmd_defs,
+    pack_common_power_cmds,
+    SetIds,
+    add_common_power_defs,
 )
 from gomspace.gomspace_common import *
 from gomspace.gomspace_pdu_definitions import *
-from tmtccmd.config import OpCodeEntry
+from tmtccmd.config import OpCodeEntry, TmtcDefinitionWrapper
+from tmtccmd.config.tmtc import tmtc_definitions_provider
 
 
 class Pdu2InfoBase:
@@ -74,7 +79,8 @@ def pack_pdu2_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code
     objb = object_id.as_bytes
     pdu2_cmds(q, op_code)
     pdu2_req_hk_cmds(q, op_code)
-    pack_gomspace_cmds("PDU2", object_id, q, op_code)
+    pack_common_power_cmds("PDU2", object_id, q, op_code)
+    pack_common_gomspace_cmds("PDU2", object_id, q, op_code)
     if PDU2TestProcedure.all or PDU2TestProcedure.reboot:
         q.add_log_cmd("PDU2: Reboot")
         q.add_pus_tc(pack_reboot_command(object_id))
@@ -130,6 +136,27 @@ def pack_pdu2_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code
         q.add_pus_tc(pack_request_full_hk_table_command(object_id))
 
 
+@tmtc_definitions_provider
+def add_pdu2_cmds(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    add_pdu2_common_defs(oce)
+    add_common_power_defs(oce)
+    add_gomspace_cmd_defs(oce)
+    oce.add(
+        keys=PowerOpCodes.PRINT_SWITCH_V_I,
+        info="PDU2: Print Switches, Voltages, Currents",
+    )
+    oce.add(
+        keys=PowerOpCodes.PRINT_LATCHUPS,
+        info="PDU2: Print Latchups",
+    )
+    defs.add_service(
+        name="pdu2",
+        info="PDU2 Device",
+        op_code_entry=oce,
+    )
+
+
 def pdu2_cmds(q: DefaultPusQueueHelper, op_code: str):
     if op_code in PowerOpCodes.PL_PCDU_VBAT_NOM_ON:
         pl_pcdu_bat_nom_on_cmd(q)
@@ -211,9 +238,7 @@ def add_pdu2_common_defs(oce: OpCodeEntry):
 
 
 def pdu2_req_hk_cmds(q: DefaultPusQueueHelper, op_code: str):
-    req_hk_cmds(
-        "PDU2", q, op_code, PDU_2_HANDLER_ID, [SetIds.PDU_2_CORE, SetIds.PDU_2_AUX]
-    )
+    req_hk_cmds("PDU2", q, op_code, PDU_2_HANDLER_ID, [SetIds.CORE, SetIds.AUX])
 
 
 def pl_pcdu_bat_nom_on_cmd(q: DefaultPusQueueHelper):
diff --git a/tmtc/power/power.py b/tmtc/power/power.py
index 7391fbc..50d4d96 100644
--- a/tmtc/power/power.py
+++ b/tmtc/power/power.py
@@ -1,4 +1,3 @@
-from gomspace.gomspace_common import GsInfo, GomspaceOpCodes
 from tmtc.power.common_power import (
     PowerOpCodes,
     PowerInfo,
@@ -13,8 +12,18 @@ from config.object_ids import (
     PDU_2_HANDLER_ID,
     get_object_ids,
 )
-from tmtc.power.pdu1 import pdu1_req_hk_cmds, pdu1_cmds, add_pdu1_common_defs
-from tmtc.power.pdu2 import pdu2_req_hk_cmds, add_pdu2_common_defs, pdu2_cmds
+from tmtc.power.pdu1 import (
+    pdu1_req_hk_cmds,
+    pdu1_switch_cmds,
+    add_pdu1_common_defs,
+    add_pdu1_cmds,
+)
+from tmtc.power.pdu2 import (
+    pdu2_req_hk_cmds,
+    add_pdu2_common_defs,
+    pdu2_cmds,
+    add_pdu2_cmds,
+)
 from tmtccmd import get_console_logger
 from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
 
@@ -28,29 +37,29 @@ LOGGER = get_console_logger()
 
 
 def pack_power_commands(q: DefaultPusQueueHelper, op_code: str):
-    pdu1_cmds(q, op_code)
+    pdu1_switch_cmds(q, op_code)
     pdu2_cmds(q, op_code)
     if op_code in PowerOpCodes.INFO_CORE:
-        pdu1_req_hk_cmds(q, GomspaceOpCodes.REQUEST_CORE_HK_ONCE[0])
-        pdu2_req_hk_cmds(q, GomspaceOpCodes.REQUEST_CORE_HK_ONCE[0])
-        p60_dock_req_hk_cmds(q, GomspaceOpCodes.REQUEST_CORE_HK_ONCE[0])
-        acu_req_hk_cmds(q, GomspaceOpCodes.REQUEST_CORE_HK_ONCE[0])
+        pdu1_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
+        pdu2_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
+        p60_dock_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
+        acu_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
         q.add_wait_seconds(8.0)
     elif op_code in PowerOpCodes.INFO_AUX:
-        pdu1_req_hk_cmds(q, GomspaceOpCodes.REQUEST_AUX_HK_ONCE[0])
-        pdu2_req_hk_cmds(q, GomspaceOpCodes.REQUEST_AUX_HK_ONCE[0])
-        p60_dock_req_hk_cmds(q, GomspaceOpCodes.REQUEST_AUX_HK_ONCE[0])
-        acu_req_hk_cmds(q, GomspaceOpCodes.REQUEST_AUX_HK_ONCE[0])
+        pdu1_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
+        pdu2_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
+        p60_dock_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
+        acu_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
         q.add_wait_seconds(8.0)
     elif op_code in PowerOpCodes.INFO_ALL:
-        pdu1_req_hk_cmds(q, GomspaceOpCodes.REQUEST_CORE_HK_ONCE[0])
-        pdu2_req_hk_cmds(q, GomspaceOpCodes.REQUEST_CORE_HK_ONCE[0])
-        pdu1_req_hk_cmds(q, GomspaceOpCodes.REQUEST_AUX_HK_ONCE[0])
-        pdu2_req_hk_cmds(q, GomspaceOpCodes.REQUEST_AUX_HK_ONCE[0])
-        p60_dock_req_hk_cmds(q, GomspaceOpCodes.REQUEST_CORE_HK_ONCE[0])
-        p60_dock_req_hk_cmds(q, GomspaceOpCodes.REQUEST_AUX_HK_ONCE[0])
-        acu_req_hk_cmds(q, GomspaceOpCodes.REQUEST_CORE_HK_ONCE[0])
-        acu_req_hk_cmds(q, GomspaceOpCodes.REQUEST_AUX_HK_ONCE[0])
+        pdu1_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
+        pdu2_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
+        pdu1_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
+        pdu2_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
+        p60_dock_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
+        p60_dock_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
+        acu_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
+        acu_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
         q.add_wait_seconds(8.0)
     elif op_code in PowerOpCodes.RESET_ALL_GND_WDTS:
         oids = get_object_ids()
@@ -93,46 +102,6 @@ def add_power_cmd_defs(defs: TmtcDefinitionWrapper):
     )
 
 
-@tmtc_definitions_provider
-def add_pdu1_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    add_pdu1_common_defs(oce)
-    add_gomspace_cmd_defs(oce)
-    oce.add(keys=GomspaceOpCodes.REQUEST_CORE_HK_ONCE, info=GsInfo.REQUEST_CORE_HK_ONCE)
-    oce.add(keys=GomspaceOpCodes.REQUEST_AUX_HK_ONCE, info=GsInfo.REQUEST_AUX_HK_ONCE)
-    oce.add(
-        keys=GomspaceOpCodes.PRINT_SWITCH_V_I,
-        info="PDU1: Print Switches, Voltages, Currents",
-    )
-    oce.add(keys=GomspaceOpCodes.GET_PARAM, info=GsInfo.GET_PARAMETER)
-
-    defs.add_service(
-        name=CustomServiceList.PDU1.value,
-        info="PDU1 Device",
-        op_code_entry=oce,
-    )
-
-
-@tmtc_definitions_provider
-def add_pdu2_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    add_pdu2_common_defs(oce)
-    add_gomspace_cmd_defs(oce)
-    oce.add(
-        keys=GomspaceOpCodes.PRINT_SWITCH_V_I,
-        info="PDU2: Print Switches, Voltages, Currents",
-    )
-    oce.add(
-        keys=GomspaceOpCodes.PRINT_LATCHUPS,
-        info="PDU2: Print Latchups",
-    )
-    defs.add_service(
-        name="pdu2",
-        info="PDU2 Device",
-        op_code_entry=oce,
-    )
-
-
 def add_pcdu_cmds(defs: TmtcDefinitionWrapper):
     add_p60_cmds(defs)
     add_pdu1_cmds(defs)
diff --git a/tmtc/power/tm.py b/tmtc/power/tm.py
index 9441116..93f32d2 100644
--- a/tmtc/power/tm.py
+++ b/tmtc/power/tm.py
@@ -1,10 +1,11 @@
 import struct
 from typing import List, Tuple
 
+from tmtc.power.common_power import SetIds
 from tmtccmd.util import ObjectIdBase
 from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
 from pus_tm.defs import PrintWrapper
-from gomspace.gomspace_common import SetIds, GomspaceDeviceActionIds
+from gomspace.gomspace_common import GomspaceDeviceActionIds
 from config.object_ids import (
     PDU_1_HANDLER_ID,
     PDU_2_HANDLER_ID,
@@ -145,7 +146,7 @@ def handle_pdu_data(
     pw = PrintWrapper(printer=printer)
     current_idx = 0
     priv_idx = pdu_idx - 1
-    if set_id == SetIds.PDU_1_AUX or set_id == SetIds.PDU_2_AUX:
+    if set_id == SetIds.AUX or set_id == SetIds.AUX:
         fmt_str = "!hhBBBIIH"
         inc_len = struct.calcsize(fmt_str)
         (
@@ -182,7 +183,7 @@ def handle_pdu_data(
         wdt.print()
         pw.dlog(f"PDU Device Types: 0:FRAM|1:ADC|2:ADC|3:TempSens|4,5,6,7:Reserved")
         dev_parser.print(pw=pw)
-    if set_id == SetIds.PDU_1_CORE or set_id == SetIds.PDU_2_CORE:
+    if set_id == SetIds.CORE or set_id == SetIds.CORE:
         pw.dlog(f"Received PDU HK from PDU {pdu_idx}")
         current_list = []
         for idx in range(len(PDU1_CHANNELS_NAMES)):
@@ -223,7 +224,7 @@ def handle_pdu_data(
 
 def handle_p60_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
     pw = PrintWrapper(printer=printer)
-    if set_id == SetIds.P60_CORE:
+    if set_id == SetIds.CORE:
         pw.dlog("Received P60 Core HK. Voltages in mV, currents in mA")
         current_idx = 0
         current_list = []
@@ -270,7 +271,7 @@ def handle_p60_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
         pw.dlog(temps)
         pw.dlog(batt_info)
         printer.print_validity_buffer(validity_buffer=hk_data[current_idx:], num_vars=9)
-    if set_id == SetIds.P60_AUX:
+    if set_id == SetIds.AUX:
         pw.dlog("Received P60 AUX HK. Voltages in mV, currents in mA")
         current_idx = 0
         latchup_list = []
@@ -349,7 +350,7 @@ def gen_six_entry_u16_list(hk_data: bytes, current_idx: int) -> Tuple[int, List[
 
 def handle_acu_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
     pw = PrintWrapper(printer=printer)
-    if set_id == SetIds.ACU_CORE:
+    if set_id == SetIds.CORE:
         mppt_mode = hk_data[0]
         current_idx = 1
         current_idx, currents = gen_six_entry_u16_list(
@@ -393,7 +394,7 @@ def handle_acu_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
         printer.print_validity_buffer(
             validity_buffer=hk_data[current_idx:], num_vars=12
         )
-    if set_id == SetIds.ACU_AUX:
+    if set_id == SetIds.AUX:
         current_idx = 0
         fmt_str = "!BBB"
         inc_len = struct.calcsize(fmt_str)
@@ -540,6 +541,8 @@ def p60_dock_config_table_handler(pw: PrintWrapper, custom_data: bytes):
     init_out_safe = unpack_array_in_data(custom_data, 0xB7, 1, 13, "B")
     init_on_dly = unpack_array_in_data(custom_data, 0xC4, 2, 13, "H")
     init_off_dly = unpack_array_in_data(custom_data, 0xDE, 2, 13, "H")
+    acu_channel_addrs = unpack_array_in_data(custom_data, 0x180, 1, 2, "B")
+    pdu_channel_addrs = unpack_array_in_data(custom_data, 0x186, 1, 4, "B")
     pw.dlog(f"Ch Names: {ch_names}")
     pw.dlog(f"{'out_on_cnt'.ljust(15)}: {out_on_cnt}")
     pw.dlog(f"{'out_off_cnt'.ljust(15)}: {out_off_cnt}")
@@ -547,6 +550,8 @@ def p60_dock_config_table_handler(pw: PrintWrapper, custom_data: bytes):
     pw.dlog(f"{'init_out_safe'.ljust(15)}: {init_out_safe}")
     pw.dlog(f"{'init_on_dly'.ljust(15)}: {init_on_dly}")
     pw.dlog(f"{'init_off_dly'.ljust(15)}: {init_off_dly}")
+    pw.dlog(f"{'p60acu_addr'.ljust(15)}: {acu_channel_addrs}")
+    pw.dlog(f"{'p60pdu_addr'.ljust(15)}: {pdu_channel_addrs}")
 
 
 def parse_name_list(data: bytes, name_len: int):
diff --git a/tmtc/solar_array_deployment.py b/tmtc/solar_array_deployment.py
new file mode 100644
index 0000000..96eea65
--- /dev/null
+++ b/tmtc/solar_array_deployment.py
@@ -0,0 +1,78 @@
+# -*- coding: utf-8 -*-
+"""
+@file   solar_array_deployment.py
+@brief  The test function in this file simply returns a command which triggers the solar array deployment.
+@author J. Meier
+@date   15.02.2021
+"""
+import struct
+
+from config.definitions import CustomServiceList
+from config.object_ids import SOLAR_ARRAY_DEPLOYMENT_ID
+from tmtccmd.config.tmtc import (
+    tmtc_definitions_provider,
+    TmtcDefinitionWrapper,
+    OpCodeEntry,
+)
+from tmtccmd.tc import service_provider
+from tmtccmd.tc.pus_8_funccmd import make_fsfw_action_cmd
+from tmtccmd.tc.decorator import ServiceProviderParams
+from tmtccmd import get_console_logger
+
+LOGGER = get_console_logger()
+
+
+class OpCodes:
+    MANUAL_DEPLOYMENT = "man_depl"
+
+
+class Info:
+    MANUAL_DEPLOYMENT = "Manual Solar Array Deployment"
+
+
+class ActionIds:
+    MANUAL_DEPLOYMENT = 5
+
+
+@tmtc_definitions_provider
+def pack_sa_depl_cmds(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    oce.add(keys=OpCodes.MANUAL_DEPLOYMENT, info=Info.MANUAL_DEPLOYMENT)
+    defs.add_service(
+        name=CustomServiceList.SA_DEPLYOMENT,
+        info="Solar Array Deployment",
+        op_code_entry=oce,
+    )
+
+
+@service_provider(CustomServiceList.SA_DEPLYOMENT)
+def pack_solar_array_deployment_test_into(p: ServiceProviderParams):
+    q = p.queue_helper
+    user_data = bytearray()
+    while True:
+        burn_time = int(input("Please specify burn time in seconds [0-120 secs]: "))
+        if burn_time < 0 or burn_time > 120:
+            LOGGER.warning(f"Invalid burn time {burn_time}")
+            continue
+        user_data.extend(struct.pack("!I", burn_time))
+        break
+    while True:
+        dry_run = input("Dry run? [y/n]: ")
+        if dry_run in ["yes", "y", "1"]:
+            dry_run = 1
+        elif dry_run in ["no", "n", "0"]:
+            dry_run = 0
+        else:
+            LOGGER.warning("Invalid input for dry run parameter")
+            continue
+        user_data.append(dry_run)
+        break
+    if dry_run == 1:
+        dry_run_str = " as dry run"
+    else:
+        dry_run_str = ""
+    q.add_log_cmd(f"Testing S/A Deployment with burn time {burn_time}{dry_run_str}")
+    command = make_fsfw_action_cmd(
+        SOLAR_ARRAY_DEPLOYMENT_ID, ActionIds.MANUAL_DEPLOYMENT, user_data
+    )
+    q.add_pus_tc(command)