diff --git a/CHANGELOG.md b/CHANGELOG.md
index 46bf6c7..4050bc5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,6 +10,41 @@ list yields a list of all related PRs for each release.
 
 # [unreleased]
 
+# [v2.17.3] 2023-03-09
+
+## Fixed
+
+- Fixed the heater object ID names completely. Also,
+  the HPA heater is now the Syrlinks heater.
+
+# [v2.17.2] 2023-03-07
+
+- Updated CSVs
+- New events for core controller
+
+# [v2.17.1] 2023-03-07
+
+## Added
+
+- `MGT_ASSEMBLY` object ID
+
+# [v2.17.0] 2023-03-07
+
+## Added
+
+- Health set and health announce commands
+- Camera Switcher, Syrlinks Assembly, IMTQ assembly and Star Tracker assembly object IDs added
+
+## Changed
+
+- Breaking typo fix in TMP1075 `SetId`
+
+# [v2.16.4] 2023-03-04
+
+## Added
+
+- Some more IMTQ commands
+
 # [v2.16.3] 2023-03-03
 
 ## Added
diff --git a/eive_tmtc/__init__.py b/eive_tmtc/__init__.py
index e38df3f..16874aa 100644
--- a/eive_tmtc/__init__.py
+++ b/eive_tmtc/__init__.py
@@ -1,11 +1,11 @@
-__version__ = "2.16.3"
+__version__ = "2.17.3"
 
 import logging
 from pathlib import Path
 
 SW_NAME = "eive-tmtc"
 VERSION_MAJOR = 2
-VERSION_MINOR = 16
+VERSION_MINOR = 17
 VERSION_REVISION = 3
 
 EIVE_TMTC_ROOT = Path(__file__).parent
diff --git a/eive_tmtc/config/events.csv b/eive_tmtc/config/events.csv
index ee65a6d..77f5307 100644
--- a/eive_tmtc/config/events.csv
+++ b/eive_tmtc/config/events.csv
@@ -250,12 +250,14 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 14000;0x36b0;ALLOC_FAILURE;MEDIUM;No description;bsp_q7s/core/CoreController.h
-14001;0x36b1;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+14001;0x36b1;REBOOT_SW;LOW; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
 14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
 14003;0x36b3;REBOOT_HW;MEDIUM;No description;bsp_q7s/core/CoreController.h
 14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
 14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;bsp_q7s/core/CoreController.h
 14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;bsp_q7s/core/CoreController.h
+14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;bsp_q7s/core/CoreController.h
 14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/ThermalController.h
 14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/ThermalController.h
 14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
diff --git a/eive_tmtc/config/object_ids.py b/eive_tmtc/config/object_ids.py
index a95f994..c3cb03d 100644
--- a/eive_tmtc/config/object_ids.py
+++ b/eive_tmtc/config/object_ids.py
@@ -71,14 +71,14 @@ PLOC_MPSOC_ID = bytes([0x44, 0x33, 0x00, 0x15])
 PL_PCDU_ID = bytes([0x44, 0x30, 0x00, 0x00])
 
 # Other
-HEATER_0_OBC_BRD = bytes([0x60, 0x00, 0x00, 0x00])
-HEATER_1_PLOC_PROC_BRD = bytes([0x60, 0x00, 0x00, 0x01])
+HEATER_0_PLOC_PROC_BRD = bytes([0x60, 0x00, 0x00, 0x00])
+HEATER_1_PCDU_BRD = bytes([0x60, 0x00, 0x00, 0x01])
 HEATER_2_ACS_BRD = bytes([0x60, 0x00, 0x00, 0x02])
-HEATER_3_PCDU_BRD = bytes([0x60, 0x00, 0x00, 0x03])
+HEATER_3_OBC_BRD = bytes([0x60, 0x00, 0x00, 0x03])
 HEATER_4_CAMERA = bytes([0x60, 0x00, 0x00, 0x04])
 HEATER_5_STR = bytes([0x60, 0x00, 0x00, 0x05])
 HEATER_6_DRO = bytes([0x60, 0x00, 0x00, 0x06])
-HEATER_7_HPA = bytes([0x60, 0x00, 0x00, 0x07])
+HEATER_7_SYRLINKS = bytes([0x60, 0x00, 0x00, 0x07])
 
 # RTDs
 RTD_0_PLOC_HSPD = bytes([0x44, 0x42, 0x00, 0x16])
@@ -132,10 +132,21 @@ PL_SUBSYSTEM_ID = bytes([0x73, 0x01, 0x00, 0x02])
 TCS_SUBSYSTEM_ID = bytes([0x73, 0x01, 0x00, 0x03])
 COM_SUBSYSTEM_ID = bytes([0x73, 0x01, 0x00, 0x04])
 
+# Legacy names, kept for backwards compatibility
 ACS_BOARD_ASS_ID = bytes([0x73, 0x00, 0x00, 0x01])
-SUS_BOARD_ASS_ID = bytes([0x73, 0x00, 0x00, 0x02])
 TCS_BOARD_ASS_ID = bytes([0x73, 0x00, 0x00, 0x03])
+SUS_BOARD_ASS_ID = bytes([0x73, 0x00, 0x00, 0x02])
+IMTQ_ASSEMBLY = bytes([0x73, 0x00, 0x00, 0x08])
+
+ACS_BOARD_ASSEMBLY = bytes([0x73, 0x00, 0x00, 0x01])
+SUS_BOARD_ASSEMBLY = bytes([0x73, 0x00, 0x00, 0x02])
+TCS_BOARD_ASSEMBLY = bytes([0x73, 0x00, 0x00, 0x03])
 RW_ASSEMBLY = bytes([0x73, 0x00, 0x00, 0x04])
+CAM_SWITCHER = bytes([0x73, 0x00, 0x00, 0x06])
+SYRLINKS_ASSEMBLY = bytes([0x73, 0x00, 0x00, 0x07])
+# To be removed soon..
+MGT_ASSEMBLY = bytes([0x73, 0x00, 0x00, 0x08])
+STR_ASSEMBLY = bytes([0x73, 0x00, 0x00, 0x09])
 
 # Controllers
 TCS_CONTROLLER = bytes([0x43, 0x40, 0x00, 0x01])
diff --git a/eive_tmtc/config/objects.csv b/eive_tmtc/config/objects.csv
index 7002b3a..c1171c1 100644
--- a/eive_tmtc/config/objects.csv
+++ b/eive_tmtc/config/objects.csv
@@ -142,6 +142,8 @@
 0x73000004;RW_ASSY
 0x73000006;CAM_SWITCHER
 0x73000007;SYRLINKS_ASSY
+0x73000008;IMTQ_ASSY
+0x73000009;STR_ASSY
 0x73000100;TM_FUNNEL
 0x73000101;PUS_TM_FUNNEL
 0x73000102;CFDP_TM_FUNNEL
diff --git a/eive_tmtc/config/returnvalues.csv b/eive_tmtc/config/returnvalues.csv
index aeea763..a289a76 100644
--- a/eive_tmtc/config/returnvalues.csv
+++ b/eive_tmtc/config/returnvalues.csv
@@ -1,7 +1,7 @@
 Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0000;OK;System-wide code for ok.;0;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
 0x0001;Failed;Unspecified system-wide code for failed.;1;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
-0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
+0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NvmParameterBase.h
 0x5100;IMTQ_InvalidCommandCode;No description;0;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
 0x5101;IMTQ_MgmMeasurementLowLevelError;No description;1;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
 0x5102;IMTQ_ActuateCmdLowLevelError;No description;2;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
diff --git a/eive_tmtc/pus_tm/hk_handling.py b/eive_tmtc/pus_tm/hk_handling.py
index 762a447..fc6b621 100644
--- a/eive_tmtc/pus_tm/hk_handling.py
+++ b/eive_tmtc/pus_tm/hk_handling.py
@@ -166,6 +166,8 @@ def handle_regular_hk_print(
         return handle_thermal_controller_hk_data(
             object_id=object_id, printer=printer, set_id=set_id, hk_data=hk_data
         )
+    elif objb == obj_ids.STAR_TRACKER_ID:
+        return handle_str_hk_data(set_id=set_id, hk_data=hk_data, printer=printer)
     elif objb == obj_ids.PLOC_SUPV_ID:
         return handle_supv_hk_data(set_id=set_id, hk_data=hk_data, printer=printer)
     elif objb == obj_ids.ACS_CONTROLLER:
diff --git a/eive_tmtc/tmtc/acs/imtq.py b/eive_tmtc/tmtc/acs/imtq.py
index 1c6eeff..710a608 100644
--- a/eive_tmtc/tmtc/acs/imtq.py
+++ b/eive_tmtc/tmtc/acs/imtq.py
@@ -41,7 +41,8 @@ class OpCode:
     NORMAL = "normal"
     OFF = "off"
     SET_DIPOLE = "set_dipole"
-    REQUEST_ENG_HK_NO_TORQUE = "hk_os_eng_hk"
+    REQUEST_ENG_HK_NO_TORQUE = "hk_os_eng_hk_no_torque"
+    REQUEST_ENG_HK_WITH_TORQUE = "hk_os_eng_hk_with_torque"
     REQUEST_MGM_RAW_NO_TORQUE = "hk_os_mgm_raw_no_torque"
     ENABLE_MGM_RAW_NO_TORQUE = "enb_mgm_raw_no_torque"
     DISABLE_MGM_RAW_NO_TORQUE = "dis_mgm_raw_no_torque"
@@ -50,6 +51,8 @@ class OpCode:
     DISABLE_MGM_RAW_WITH_TORQUE = "dis_mgm_raw_with_torque"
     ENABLE_ENG_HK_NO_TORQUE = "enb_eng_hk_no_torque"
     DISABLE_ENG_HK_NO_TORQUE = "dis_eng_hk_no_torque"
+    ENABLE_ENG_HK_WITH_TORQUE = "enb_eng_hk_with_torque"
+    DISABLE_ENG_HK_WITH_TORQUE = "dis_eng_hk_with_torque"
     POS_X_SELF_TEST = "self_test_pos_x"
     NEG_X_SELF_TEST = "self_test_neg_x"
     POS_Y_SELF_TEST = "self_test_pos_y"
@@ -96,6 +99,14 @@ def add_imtq_cmds(defs: TmtcDefinitionWrapper):
     oce.add(OpCode.ON, "Mode On")
     oce.add(OpCode.NORMAL, "Mode Normal")
     oce.add(OpCode.REQUEST_ENG_HK_NO_TORQUE, "Request Engineering HK One Shot")
+    oce.add(
+        OpCode.REQUEST_ENG_HK_WITH_TORQUE,
+        "Request Engineering HK One Shot during Torque",
+    )
+    oce.add(OpCode.ENABLE_ENG_HK_NO_TORQUE, "Enable ENG HK not torque")
+    oce.add(OpCode.ENABLE_ENG_HK_WITH_TORQUE, "Enable ENG HK with torque")
+    oce.add(OpCode.DISABLE_ENG_HK_NO_TORQUE, "Disable ENG HK not torque")
+    oce.add(OpCode.DISABLE_ENG_HK_WITH_TORQUE, "Disable ENG HK with torque")
     oce.add(
         OpCode.REQUEST_MGM_RAW_NO_TORQUE, "Request MGM Raw Without Torque HK One Shot"
     )
@@ -250,8 +261,35 @@ def pack_imtq_test_into(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_cod
                 True, make_sid(object_id.as_bytes, ImtqSetId.ENG_HK_NO_TORQUE)
             )
         )
+    if op_code == OpCode.REQUEST_ENG_HK_WITH_TORQUE:
+        q.add_log_cmd("IMTQ: Get engineering hk set with torque")
+        q.add_pus_tc(
+            create_request_one_diag_command(
+                sid=make_sid(
+                    object_id=object_id.as_bytes,
+                    set_id=ImtqSetId.ENG_HK_SET_WITH_TORQUE,
+                )
+            )
+        )
+    if op_code == OpCode.ENABLE_ENG_HK_WITH_TORQUE:
+        q.add_log_cmd("IMTQ: Enable ENG HK with torque")
+        interval = float(input("Please enter collection interval in seconds: "))
+        cmds = create_enable_periodic_hk_command_with_interval(
+            diag=True,
+            sid=make_sid(object_id.as_bytes, ImtqSetId.ENG_HK_SET_WITH_TORQUE),
+            interval_seconds=interval,
+        )
+        for cmd in cmds:
+            q.add_pus_tc(cmd)
+    if op_code == OpCode.DISABLE_ENG_HK_WITH_TORQUE:
+        q.add_log_cmd("IMTQ: Disable ENG HK with Torque")
+        q.add_pus_tc(
+            create_disable_periodic_hk_command(
+                True, make_sid(object_id.as_bytes, ImtqSetId.ENG_HK_SET_WITH_TORQUE)
+            )
+        )
     if op_code == OpCode.REQUEST_ENG_HK_NO_TORQUE:
-        q.add_log_cmd("IMTQ: Get engineering hk set")
+        q.add_log_cmd("IMTQ: Get engineering hk set (no torque)")
         q.add_pus_tc(
             generate_one_diag_command(
                 sid=make_sid(
@@ -392,19 +430,17 @@ def handle_imtq_hk(printer: FsfwTmTcPrinter, hk_data: bytes, set_id: int):
     if (set_id >= ImtqSetId.POSITIVE_X_TEST) and (set_id <= ImtqSetId.NEGATIVE_Z_TEST):
         return handle_self_test_data(printer, hk_data)
     elif set_id == ImtqSetId.ENG_HK_NO_TORQUE:
-        _LOGGER.info("Found engineering HK without torque")
-        return handle_eng_set(printer, hk_data)
+        return handle_eng_set(printer, hk_data, False)
     elif set_id == ImtqSetId.ENG_HK_SET_WITH_TORQUE:
-        _LOGGER.info("Found engineering HK during torque")
-        return handle_eng_set(printer, hk_data)
+        return handle_eng_set(printer, hk_data, True)
     elif set_id == ImtqSetId.CAL_MTM_SET:
         return handle_calibrated_mtm_measurement(printer, hk_data)
     elif set_id == ImtqSetId.RAW_MTM_NO_TORQUE:
-        _LOGGER.info("Found raw MTM measurement without torque")
-        return handle_raw_mtm_measurement(printer, hk_data)
+        return handle_raw_mtm_measurement(printer, hk_data, False)
     elif set_id == ImtqSetId.RAW_MTM_WITH_TORQUE:
-        _LOGGER.info("Found raw MTM measurement during torque")
-        return handle_raw_mtm_measurement(printer, hk_data)
+        return handle_raw_mtm_measurement(printer, hk_data, True)
+    elif set_id == ImtqSetId.DIPOLES:
+        return handle_dipole_set(printer, hk_data)
     elif set_id == ImtqSetId.STATUS_SET:
         return handle_status_set(printer, hk_data)
     else:
@@ -421,6 +457,21 @@ def unpack_status_set(hk_data: bytes) -> List:
     return [status_mode, status_error, status_conf, status_uptime]
 
 
+def handle_dipole_set(printer: FsfwTmTcPrinter, hk_data: bytes):
+    pw = PrintWrapper(printer)
+    pw.dlog("Received iMTQ dipole set")
+    fmt_str = "!hhhH"
+    fmt_len = struct.calcsize(fmt_str)
+    (dipole_x, dipole_y, dipole_z, current_torque_duration) = struct.unpack(
+        fmt_str, hk_data[0:8]
+    )
+    pw.dlog(f"Dipole X: {dipole_x}")
+    pw.dlog(f"Dipole Y: {dipole_y}")
+    pw.dlog(f"Dipole Z: {dipole_z}")
+    pw.dlog(f"Current torque duration: {current_torque_duration}")
+    pw.printer.print_validity_buffer(hk_data[fmt_len:], 2)
+
+
 def unpack_eng_hk(hk_data: bytes) -> List:
     digital_voltage = struct.unpack("!H", hk_data[0:2])[0]
     analog_voltage = struct.unpack("!H", hk_data[2:4])[0]
@@ -449,8 +500,9 @@ def unpack_eng_hk(hk_data: bytes) -> List:
     return content_list
 
 
-def handle_eng_set(printer: FsfwTmTcPrinter, hk_data: bytes):
+def handle_eng_set(printer: FsfwTmTcPrinter, hk_data: bytes, torque_on: bool):
     pw = PrintWrapper(printer)
+    pw.dlog(f"Found engineering HK. Torque Status: {torque_on}")
     content_list = unpack_eng_hk(hk_data)
     validity_buffer = hk_data[32:]
 
@@ -491,8 +543,11 @@ def handle_calibrated_mtm_measurement(printer: FsfwTmTcPrinter, hk_data: bytes):
     printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
 
 
-def handle_raw_mtm_measurement(printer: FsfwTmTcPrinter, hk_data: bytes):
+def handle_raw_mtm_measurement(
+    printer: FsfwTmTcPrinter, hk_data: bytes, torque_status: bool
+):
     pw = PrintWrapper(printer)
+    pw.dlog(f"Found raw MTM measurement. Torque Status: {torque_status}")
     header_list = [
         "Raw MTM X [nT]",
         "Raw MTM Y [nT]",
diff --git a/eive_tmtc/tmtc/acs/star_tracker.py b/eive_tmtc/tmtc/acs/star_tracker.py
index 70c00fb..cafa2e2 100644
--- a/eive_tmtc/tmtc/acs/star_tracker.py
+++ b/eive_tmtc/tmtc/acs/star_tracker.py
@@ -5,11 +5,13 @@
 @author J. Meier
 @date   14.08.2021
 """
+import datetime
 import enum
 import logging
 import struct
 
 from eive_tmtc.config.definitions import CustomServiceList
+from eive_tmtc.pus_tm.defs import PrintWrapper
 from spacepackets.ecss.tc import PusTelecommand
 from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
 from tmtccmd.config.tmtc import tmtc_definitions_provider
@@ -18,7 +20,7 @@ from tmtccmd.tc.pus_200_fsfw_mode import pack_mode_data, Mode
 from tmtccmd.tc import DefaultPusQueueHelper
 from tmtccmd.util import ObjectIdU32
 from eive_tmtc.utility.input_helper import InputHelper
-
+from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
 
 _LOGGER = logging.getLogger(__name__)
 
@@ -677,6 +679,80 @@ def get_upload_image() -> str:
     return image
 
 
+def handle_str_hk_data(set_id: int, hk_data: bytes, printer: FsfwTmTcPrinter):
+    pw = PrintWrapper(printer)
+    pw.dlog(f"Received STR HK set with set ID {set_id}")
+    if set_id == SetId.SOLUTION:
+        handle_solution_set(hk_data, pw)
+    else:
+        _LOGGER.warning(f"HK parsing for Star Tracker set ID {set_id} unimplemented")
+
+
+def handle_solution_set(hk_data: bytes, pw: PrintWrapper):
+    pw.dlog("Received solution set")
+    ticks_time_fmt = "!IQ"
+    current_idx = 0
+    fmt_len = struct.calcsize(ticks_time_fmt)
+    (ticks, unix_time) = struct.unpack(
+        ticks_time_fmt, hk_data[current_idx : current_idx + fmt_len]
+    )
+    unix_as_dt = datetime.datetime.fromtimestamp(unix_time, tz=datetime.timezone.utc)
+    pw.dlog(f"Ticks: {ticks} | UNIX time: {unix_time}")
+    pw.dlog(f"UNIX as datetime: {unix_as_dt}")
+    current_idx += fmt_len
+    calib_quaternions_fmt = "!ffff"
+    fmt_len = struct.calcsize(calib_quaternions_fmt)
+    (calib_q_w, calib_q_x, calib_q_y, calib_q_z) = struct.unpack(
+        calib_quaternions_fmt, hk_data[current_idx : current_idx + fmt_len]
+    )
+    pw.dlog("Calibrated Quaternions")
+    pw.dlog(f"Quaternion w: {calib_q_w}")
+    pw.dlog(f"Quaternion x: {calib_q_x}")
+    pw.dlog(f"Quaternion y: {calib_q_y}")
+    pw.dlog(f"Quaternion z: {calib_q_z}")
+    current_idx += fmt_len
+    track_fmt = "!fffff"
+    fmt_len = struct.calcsize(track_fmt)
+    (track_confidence, track_q_w, track_q_x, track_q_y, track_q_z) = struct.unpack(
+        track_fmt, hk_data[current_idx : current_idx + fmt_len]
+    )
+    pw.dlog(f"Track Confidence: {track_confidence}")
+    pw.dlog(f"Track QW: {track_q_w}")
+    pw.dlog(f"Track QX: {track_q_x}")
+    pw.dlog(f"Track QY: {track_q_y}")
+    pw.dlog(f"Track QZ: {track_q_z}")
+    current_idx += fmt_len
+    track_removed = hk_data[current_idx]
+    pw.dlog(f"Number of stars removed from tracking solution: {track_removed}")
+    current_idx += 1
+    stars_centroided = hk_data[current_idx]
+    pw.dlog(f"Centroided stars: {stars_centroided}")
+    current_idx += 1
+    stars_matched_database = hk_data[current_idx]
+    pw.dlog(f"Stars matched: {stars_matched_database}")
+    current_idx += 1
+    # Result of LISA: Lost in space algorithm
+    lisa_fmt = "!fffffB"
+    fmt_len = struct.calcsize(track_fmt)
+    (lisa_q_w, lisa_q_x, lisa_q_y, lisa_q_z) = struct.unpack(
+        lisa_fmt, hk_data[current_idx : current_idx + fmt_len]
+    )
+    pw.dlog(f"LISA QW: {lisa_q_w}")
+    pw.dlog(f"LISA QX: {lisa_q_x}")
+    pw.dlog(f"LISA QY: {lisa_q_y}")
+    pw.dlog(f"LISA QZ: {lisa_q_z}")
+    current_idx += fmt_len
+    is_trusworthy = hk_data[current_idx]
+    pw.dlog(f"Trustworthy solution: {is_trusworthy}")
+    current_idx += 1
+    stable_count = struct.unpack("!I", hk_data[current_idx : current_idx + 4])
+    pw.dlog(f"Stable count: {stable_count}")
+    current_idx += 4
+    solution_strategy = hk_data[current_idx]
+    pw.dlog(f"Solution strategy: {solution_strategy}")
+    pw.printer.print_validity_buffer(hk_data[current_idx:], 23)
+
+
 @tmtc_definitions_provider
 def add_str_cmds(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
diff --git a/eive_tmtc/tmtc/health.py b/eive_tmtc/tmtc/health.py
index 4195004..c99351e 100644
--- a/eive_tmtc/tmtc/health.py
+++ b/eive_tmtc/tmtc/health.py
@@ -1,4 +1,7 @@
+import struct
+
 from eive_tmtc.config.definitions import CustomServiceList
+from eive_tmtc.tmtc.obj_prompt import prompt_object
 from spacepackets.ecss import PusTelecommand
 from tmtccmd.config.tmtc import (
     tmtc_definitions_provider,
@@ -6,33 +9,58 @@ from tmtccmd.config.tmtc import (
     OpCodeEntry,
 )
 from tmtccmd.tc import service_provider
-from tmtccmd.pus.s201_fsfw_health import Subservice
+from tmtccmd.pus.s201_fsfw_health import Subservice, FsfwHealth
 from tmtccmd.tc.decorator import ServiceProviderParams
 
 
 class OpCode:
+    SET_HEALTH = "set_health"
     ANNOUNCE_HEALTH_ALL = "read_health_all"
     ANNOUNCE_HEALTH = "read_health"
 
 
 class Info:
+    SET_HEALTH = "Set health of specific object"
     ANNOUNCE_HEALTH_ALL = "Read all health states"
     ANNOUNCE_HEALTH = "Read health state of one object"
 
 
+def prompt_health() -> FsfwHealth:
+    for item in FsfwHealth:
+        print(f"{item}: {item.name}")
+    health_idx = int(input("Please enter health by index: "))
+    return FsfwHealth(health_idx)
+
+
 @service_provider(CustomServiceList.HEALTH)
 def pack_test_command(p: ServiceProviderParams):
     o = p.op_code
     q = p.queue_helper
-    if o == OpCode.ANNOUNCE_HEALTH:
-        raise NotImplementedError()
+    if o == OpCode.SET_HEALTH:
+        app_data = bytearray(prompt_object())
+        health = prompt_health()
+        app_data.append(health)
+        q.add_log_cmd(Info.SET_HEALTH)
+        q.add_pus_tc(
+            PusTelecommand(
+                service=201, subservice=Subservice.TC_SET_HEALTH, app_data=app_data
+            )
+        )
+    elif o == OpCode.ANNOUNCE_HEALTH:
+        app_data = bytearray(prompt_object())
+        q.add_log_cmd(Info.ANNOUNCE_HEALTH)
+        q.add_pus_tc(
+            PusTelecommand(
+                service=201, subservice=Subservice.TC_ANNOUNCE_HEALTH, app_data=app_data
+            )
+        )
     elif o == OpCode.ANNOUNCE_HEALTH_ALL:
         q.add_log_cmd(Info.ANNOUNCE_HEALTH_ALL)
         q.add_pus_tc(
             PusTelecommand(service=201, subservice=Subservice.TC_ANNOUNCE_HEALTH_ALL)
         )
-        return
-    raise ValueError(f"unknown op code {o} for service {CustomServiceList.HEALTH}")
+    else:
+        raise ValueError(f"unknown op code {o} for service {CustomServiceList.HEALTH}")
 
 
 @tmtc_definitions_provider
@@ -40,4 +68,5 @@ def add_health_cmd_defs(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
     oce.add(OpCode.ANNOUNCE_HEALTH_ALL, Info.ANNOUNCE_HEALTH_ALL)
     oce.add(OpCode.ANNOUNCE_HEALTH, Info.ANNOUNCE_HEALTH)
+    oce.add(OpCode.SET_HEALTH, Info.SET_HEALTH)
     defs.add_service(CustomServiceList.HEALTH, info="Health Service", op_code_entry=oce)
diff --git a/eive_tmtc/tmtc/obj_prompt.py b/eive_tmtc/tmtc/obj_prompt.py
new file mode 100644
index 0000000..f364f36
--- /dev/null
+++ b/eive_tmtc/tmtc/obj_prompt.py
@@ -0,0 +1,43 @@
+from eive_tmtc.config.object_ids import (
+    ACS_SUBSYSTEM_ID,
+    ACS_CONTROLLER,
+    IMTQ_HANDLER_ID,
+    GYRO_0_ADIS_HANDLER_ID,
+    GYRO_1_L3G_HANDLER_ID,
+    ACS_BOARD_ASS_ID,
+    RW_ASSEMBLY,
+    SUS_BOARD_ASS_ID,
+)
+
+SUBSYSTEM_DICT = {
+    0: "acs",
+    1: "tcs",
+    2: "com",
+}
+
+ACS_OBJ_DICT = {
+    0: ("Subsystem", ACS_SUBSYSTEM_ID),
+    1: ("SUS Assembly", SUS_BOARD_ASS_ID),
+    2: ("ACS Board Assembly", ACS_BOARD_ASS_ID),
+    3: ("RW Assembly", RW_ASSEMBLY),
+    4: ("iMTQ MGT", IMTQ_HANDLER_ID),
+    5: ("GYR 0 ADIS", GYRO_0_ADIS_HANDLER_ID),
+    6: ("GYR 1 L3G", GYRO_1_L3G_HANDLER_ID),
+}
+
+
+def prompt_object() -> bytes:
+    for k, v in SUBSYSTEM_DICT.items():
+        print(f"{k}: {v}")
+    subsystem_key = int(input("Please specify target subsystem by key: "))
+    subsystem = SUBSYSTEM_DICT[subsystem_key]
+    if subsystem is None:
+        raise ValueError("invalid key")
+    if subsystem == "acs":
+        for k, v in ACS_OBJ_DICT.items():
+            print(f"{k}: {v[0]}")
+        obj_key = int(input("Please specify target object by key: "))
+        acs_obj = ACS_OBJ_DICT[obj_key]
+        if acs_obj is None:
+            raise ValueError("invalid key")
+        return acs_obj[1]
diff --git a/eive_tmtc/tmtc/tcs/heater.py b/eive_tmtc/tmtc/tcs/heater.py
index 34cf89d..d814c9b 100644
--- a/eive_tmtc/tmtc/tcs/heater.py
+++ b/eive_tmtc/tmtc/tcs/heater.py
@@ -21,26 +21,26 @@ from spacepackets.ecss.tc import PusTelecommand
 
 
 class Heater(enum.IntEnum):
-    HEATER_0_OBC_BRD = 0
-    HEATER_1_PLOC_PROC_BRD = 1
+    HEATER_0_PLOC_PROC_BRD = 0
+    HEATER_1_PCDU_BRD = 1
     HEATER_2_ACS_BRD = 2
-    HEATER_3_PCDU_PDU = 3
+    HEATER_3_OBC_BRD = 3
     HEATER_4_CAMERA = 4
     HEATER_5_STR = 5
     HEATER_6_DRO = 6
-    HEATER_7_HPA = 7
+    HEATER_7_SYRLINKS = 7
     NUMBER_OF_SWITCHES = 8
 
 
 HEATER_LOCATION = [
-    "OBC Board",
     "PLOC Processing Board",
-    "ACS Board",
     "PCDU PDU",
+    "ACS Board",
+    "OBC Board",
     "Camera",
     "Startracker",
     "DRO",
-    "HPA",
+    "Syrlinks",
 ]
 
 
@@ -135,25 +135,25 @@ def pack_heater_cmds(object_id: bytearray, op_code: str, q: DefaultPusQueueHelpe
 
 def heater_idx_to_obj(heater: int) -> ObjectIdU32:
     from eive_tmtc.config.object_ids import (
-        HEATER_0_OBC_BRD,
-        HEATER_1_PLOC_PROC_BRD,
+        HEATER_0_PLOC_PROC_BRD,
+        HEATER_1_PCDU_BRD,
         HEATER_2_ACS_BRD,
-        HEATER_3_PCDU_BRD,
+        HEATER_3_OBC_BRD,
         HEATER_4_CAMERA,
         HEATER_5_STR,
         HEATER_6_DRO,
-        HEATER_7_HPA,
+        HEATER_7_SYRLINKS,
     )
 
     obj_id_array = [
-        HEATER_0_OBC_BRD,
-        HEATER_1_PLOC_PROC_BRD,
+        HEATER_0_PLOC_PROC_BRD,
+        HEATER_1_PCDU_BRD,
         HEATER_2_ACS_BRD,
-        HEATER_3_PCDU_BRD,
+        HEATER_3_OBC_BRD,
         HEATER_4_CAMERA,
         HEATER_5_STR,
         HEATER_6_DRO,
-        HEATER_7_HPA,
+        HEATER_7_SYRLINKS,
     ]
     obj_dict = get_object_ids()
     obj_id_obj = obj_dict.get(obj_id_array[heater])
diff --git a/eive_tmtc/tmtc/tcs/tmp1075.py b/eive_tmtc/tmtc/tcs/tmp1075.py
index dbd1d85..6f3f3fc 100644
--- a/eive_tmtc/tmtc/tcs/tmp1075.py
+++ b/eive_tmtc/tmtc/tcs/tmp1075.py
@@ -40,7 +40,7 @@ class Tmp1075ActionId(enum.IntEnum):
 
 
 class SetId:
-    TMEPERATURE = 1
+    TEMPERATURE = 1
 
 
 def pack_tmp1075_test_into(
@@ -64,7 +64,7 @@ def pack_tmp1075_test_into(
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
     if op_code == OpCode.HK:
         q.add_log_cmd("TMP1075: Request One-Shot HK")
-        q.add_pus_tc(create_request_one_hk_command(make_sid(obyt, SetId.TMEPERATURE)))
+        q.add_pus_tc(create_request_one_hk_command(make_sid(obyt, SetId.TEMPERATURE)))
     return q