diff --git a/pus_tc/system/proc.py b/pus_tc/system/proc.py
index 2f82c3d..0837ad8 100644
--- a/pus_tc/system/proc.py
+++ b/pus_tc/system/proc.py
@@ -16,8 +16,15 @@ 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 pus_tc.devs.rad_sensor import CommandIds as RadSetIds
+from pus_tc.devs.mgms import MgmLis3SetIds as MgmSetIds_0_2
+from pus_tc.devs.mgms import MgmRm3100SetIds as MgmSetIds_1_3
+from pus_tc.devs.gyros import AdisGyroSetIds as GyroSetIds_0_2
+from pus_tc.devs.gyros import L3gGyroSetIds as GyroSetIds_1_3
+
+
 from pus_tc.system.tcs import pack_tcs_sys_commands
 from pus_tc.system.controllers import pack_controller_commands
+from pus_tc.system.acs import pack_acs_command
 
 
 class OpCodes:
@@ -27,6 +34,7 @@ class OpCodes:
     PCDU_FT = ["pcdu-ft"]
     RAD_SEN_FT = ["rad-sen-ft"]
     TCS_FT = ["tcs-ft-on"]
+    ACS_FT = ["acs-ft"]
 
 
 class KeyAndInfo:
@@ -35,7 +43,8 @@ class KeyAndInfo:
     CORE_FT = ["OBC", "OBC functional test"]
     PCDU_FT = ["PCDU", "PCDU functional test"]
     RAD_SEN_FT = ["Radiation Sensor", "Radiation Sensor functional test"]
-    TCS_FT = ["TCS Act.", "TCS functional test activation"]
+    TCS_FT = ["TCS", "TCS functional test"]
+    ACS_FT = ["ACS", "ACS functional test"]
 
 
 KAI = KeyAndInfo
@@ -46,6 +55,7 @@ PROC_INFO_DICT = {
     KAI.PCDU_FT[0]: [OpCodes.PCDU_FT, KAI.PCDU_FT[1], 120.0, 10.0],
     KAI.RAD_SEN_FT[0]: [OpCodes.RAD_SEN_FT, KAI.RAD_SEN_FT[1], 120.0, 10.0],
     KAI.TCS_FT[0]: [OpCodes.TCS_FT, KAI.TCS_FT[1], 1800.0, 10.0],
+    KAI.ACS_FT[0]: [OpCodes.ACS_FT, KAI.ACS_FT[1], 120.0, 10.0]
 
 
 }
@@ -124,17 +134,18 @@ def pack_proc_commands(tc_queue: TcQueueT, op_code: str):
         )
 
     if op_code in OpCodes.RAD_SEN_FT:
-        key = KAI.CORE_FT[0]
+        key = KAI.RAD_SEN_FT[0]
         sid = make_sid(oids.RAD_SENSOR_ID, RadSetIds.READ_CONVERSIONS)
         pack_generic_hk_listening_cmds(
             tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
         )
 
     if op_code in OpCodes.TCS_FT:
+# does not work with .WAIT
         pack_tcs_sys_commands(tc_queue=tc_queue, op_code="tcs-normal")
         pack_controller_commands(tc_queue=tc_queue, op_code="thermal_controller")
 
-        key = KAI.CORE_FT[0]
+        key = KAI.TCS_FT[0]
 # Ids for TCS Board missing. No HK generation?
         sid = make_sid(oids.TCS_BOARD_ASS_ID, RadSetIds.READ_CONVERSIONS)
         pack_generic_hk_listening_cmds(
@@ -144,6 +155,114 @@ def pack_proc_commands(tc_queue: TcQueueT, op_code: str):
         pack_tcs_sys_commands(tc_queue=tc_queue, op_code="tcs-off")
         pack_controller_commands(tc_queue=tc_queue, op_code="thermal_controller")
 
+    if op_code in OpCodes.ACS_FT:
+        key = KAI.ACS_FT[0]
+
+        pack_acs_command(tc_queue=tc_queue, op_code="acs-a")
+
+        sid = make_sid(oids.MGM_0_LIS3_HANDLER_ID, MgmSetIds_0_2.CORE_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+        sid = make_sid(oids.MGM_1_RM3100_HANDLER_ID, MgmSetIds_1_3.CORE_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+
+        sid = make_sid(oids.GYRO_0_ADIS_HANDLER_ID, GyroSetIds_0_2.CORE_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+        sid = make_sid(oids.GYRO_0_ADIS_HANDLER_ID, GyroSetIds_0_2.CFG_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+        sid = make_sid(oids.GYRO_1_L3G_HANDLER_ID, GyroSetIds_1_3.CORE_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+
+# GNSS0 missing
+
+
+        pack_acs_command(tc_queue=tc_queue, op_code="acs-off")
+        tc_queue.appendleft((QueueCommands.WAIT, 5.0))
+        pack_acs_command(tc_queue=tc_queue, op_code="acs-b")
+
+        sid = make_sid(oids.MGM_2_LIS3_HANDLER_ID, MgmSetIds_0_2.CORE_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+        sid = make_sid(oids.MGM_3_RM3100_HANDLER_ID, MgmSetIds_1_3.CORE_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+
+        sid = make_sid(oids.GYRO_2_ADIS_HANDLER_ID, GyroSetIds_0_2.CORE_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+        sid = make_sid(oids.GYRO_2_ADIS_HANDLER_ID, GyroSetIds_0_2.CFG_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+        sid = make_sid(oids.GYRO_3_L3G_HANDLER_ID, GyroSetIds_1_3.CORE_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+
+# GNSS1 missing
+
+        pack_acs_command(tc_queue=tc_queue, op_code="acs-off")
+        tc_queue.appendleft((QueueCommands.WAIT, 5.0))
+        pack_acs_command(tc_queue=tc_queue, op_code="acs-d")
+
+        sid = make_sid(oids.MGM_0_LIS3_HANDLER_ID, MgmSetIds_0_2.CORE_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+        sid = make_sid(oids.MGM_1_RM3100_HANDLER_ID, MgmSetIds_1_3.CORE_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+        sid = make_sid(oids.MGM_2_LIS3_HANDLER_ID, MgmSetIds_0_2.CORE_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+        sid = make_sid(oids.MGM_3_RM3100_HANDLER_ID, MgmSetIds_1_3.CORE_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+
+        sid = make_sid(oids.GYRO_0_ADIS_HANDLER_ID, GyroSetIds_0_2.CORE_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+        sid = make_sid(oids.GYRO_0_ADIS_HANDLER_ID, GyroSetIds_0_2.CFG_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+        sid = make_sid(oids.GYRO_1_L3G_HANDLER_ID, GyroSetIds_1_3.CORE_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+        sid = make_sid(oids.GYRO_2_ADIS_HANDLER_ID, GyroSetIds_0_2.CORE_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+        sid = make_sid(oids.GYRO_2_ADIS_HANDLER_ID, GyroSetIds_0_2.CFG_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+        sid = make_sid(oids.GYRO_3_L3G_HANDLER_ID, GyroSetIds_1_3.CORE_HK)
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+        )
+
+# GNSS0+1 missing
+
+        pack_acs_command(tc_queue=tc_queue, op_code="acs-off")
+
 
 def listen_to_hk_for_x_seconds(
     tc_queue: TcQueueT,