diff --git a/.hgsubstate b/.hgsubstate
--- a/.hgsubstate
+++ b/.hgsubstate
@@ -1,2 +1,2 @@
 3081d1f9bb20b2b64a192585337a292a9804e0c5 LFR_basic-parameters
-c3197ff831df5057bdd145a4efd94ded0618661f header/lfr_common_headers
+81c3289ebd2a13e3b3147acdf60e34678378f905 header/lfr_common_headers
diff --git a/FSW-qt/fsw-qt.pro b/FSW-qt/fsw-qt.pro
--- a/FSW-qt/fsw-qt.pro
+++ b/FSW-qt/fsw-qt.pro
@@ -116,7 +116,6 @@ HEADERS += \
     ../header/lfr_common_headers/fsw_params.h \
     ../header/lfr_common_headers/fsw_params_nb_bytes.h \
     ../header/lfr_common_headers/fsw_params_processing.h \
-    ../header/lfr_common_headers/TC_types.h \
     ../header/lfr_common_headers/tm_byte_positions.h \
     ../LFR_basic-parameters/basic_parameters.h \
     ../LFR_basic-parameters/basic_parameters_params.h \
diff --git a/header/fsw_init.h b/header/fsw_init.h
--- a/header/fsw_init.h
+++ b/header/fsw_init.h
@@ -21,6 +21,15 @@ extern rtems_id    Task_id[20];         
 extern rtems_name timecode_timer_name;
 extern rtems_id timecode_timer_id;
 extern unsigned char pa_bia_status_info;
+extern unsigned char cp_rpw_sc_rw_f_flags;
+extern float cp_rpw_sc_rw1_f1;
+extern float cp_rpw_sc_rw1_f2;
+extern float cp_rpw_sc_rw2_f1;
+extern float cp_rpw_sc_rw2_f2;
+extern float cp_rpw_sc_rw3_f1;
+extern float cp_rpw_sc_rw3_f2;
+extern float cp_rpw_sc_rw4_f1;
+extern float cp_rpw_sc_rw4_f2;
 
 // RTEMS TASKS
 rtems_task Init( rtems_task_argument argument);
diff --git a/header/processing/fsw_processing.h b/header/processing/fsw_processing.h
--- a/header/processing/fsw_processing.h
+++ b/header/processing/fsw_processing.h
@@ -35,7 +35,7 @@ typedef struct
     unsigned char time[6];
     // AUXILIARY HEADER
     unsigned char sid;
-    unsigned char biaStatusInfo;
+    unsigned char pa_bia_status_info;
     unsigned char sy_lfr_common_parameters_spare;
     unsigned char sy_lfr_common_parameters;
     unsigned char acquisitionTime[6];
@@ -61,7 +61,7 @@ typedef struct
     unsigned char time[6];
     // AUXILIARY HEADER
     unsigned char sid;
-    unsigned char biaStatusInfo;
+    unsigned char pa_bia_status_info;
     unsigned char sy_lfr_common_parameters_spare;
     unsigned char sy_lfr_common_parameters;
     unsigned char acquisitionTime[6];
@@ -91,6 +91,9 @@ extern volatile int sm_f2[ ];
 // parameters
 extern struct param_local_str param_local;
 extern Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
+extern unsigned char rw_fbins_mask_f0[16];
+extern unsigned char rw_fbins_mask_f1[16];
+extern unsigned char rw_fbins_mask_f2[16];
 
 // registers
 extern time_management_regs_t *time_management_regs;
diff --git a/header/tc_load_dump_parameters.h b/header/tc_load_dump_parameters.h
--- a/header/tc_load_dump_parameters.h
+++ b/header/tc_load_dump_parameters.h
@@ -20,6 +20,9 @@ extern float k_coeff_intercalib_f0_sbm[ 
 extern float k_coeff_intercalib_f1_norm[ ];
 extern float k_coeff_intercalib_f1_sbm[ ];
 extern float k_coeff_intercalib_f2[ ];
+extern unsigned char rw_fbins_mask_f0[16];
+extern unsigned char rw_fbins_mask_f1[16];
+extern unsigned char rw_fbins_mask_f2[16];
 
 int action_load_common_par( ccsdsTelecommandPacket_t *TC );
 int action_load_normal_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id , unsigned char *time);
@@ -28,7 +31,7 @@ int action_load_sbm1_par(ccsdsTelecomman
 int action_load_sbm2_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id , unsigned char *time);
 int action_load_kcoefficients(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
 int action_load_fbins_mask(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
-int action_load_pas_filter_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
+int action_load_filter_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
 int action_dump_kcoefficients(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
 int action_dump_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
 
@@ -57,6 +60,9 @@ int set_sy_lfr_s2_bp_p1( ccsdsTelecomman
 unsigned int check_update_info_hk_lfr_mode( unsigned char mode );
 unsigned int check_update_info_hk_tds_mode( unsigned char mode );
 unsigned int check_update_info_hk_thr_mode( unsigned char mode );
+void getReactionWheelsFrequencies( ccsdsTelecommandPacket_t *TC );
+void build_rw_fbins_mask( unsigned int channel );
+void build_rw_fbins_masks();
 
 // FBINS_MASK
 int set_sy_lfr_fbins( ccsdsTelecommandPacket_t *TC );
diff --git a/src/fsw_globals.c b/src/fsw_globals.c
--- a/src/fsw_globals.c
+++ b/src/fsw_globals.c
@@ -66,6 +66,7 @@ unsigned int lastValidEnterModeTime;
 
 // HK PACKETS
 Packet_TM_LFR_HK_t housekeeping_packet;
+unsigned char cp_rpw_sc_rw_f_flags;
 // message queues occupancy
 unsigned char hk_lfr_q_sd_fifo_size_max;
 unsigned char hk_lfr_q_rv_fifo_size_max;
@@ -79,3 +80,16 @@ unsigned short sequenceCounters_TC_EXE[S
 unsigned short sequenceCounters_TM_DUMP[SEQ_CNT_NB_DEST_ID];
 unsigned short sequenceCounterHK;
 spw_stats grspw_stats;
+
+// TC_LFR_UPDATE_INFO
+float cp_rpw_sc_rw1_f1;
+float cp_rpw_sc_rw1_f2;
+float cp_rpw_sc_rw2_f1;
+float cp_rpw_sc_rw2_f2;
+float cp_rpw_sc_rw3_f1;
+float cp_rpw_sc_rw3_f2;
+float cp_rpw_sc_rw4_f1;
+float cp_rpw_sc_rw4_f2;
+unsigned char rw_fbins_mask_f0[16];
+unsigned char rw_fbins_mask_f1[16];
+unsigned char rw_fbins_mask_f2[16];
diff --git a/src/fsw_init.c b/src/fsw_init.c
--- a/src/fsw_init.c
+++ b/src/fsw_init.c
@@ -160,6 +160,15 @@ rtems_task Init( rtems_task_argument ign
     init_k_coefficients_prc1();
     init_k_coefficients_prc2();
     pa_bia_status_info = 0x00;
+    cp_rpw_sc_rw_f_flags = 0x00;
+    cp_rpw_sc_rw1_f1 = 0.0;
+    cp_rpw_sc_rw1_f2 = 0.0;
+    cp_rpw_sc_rw2_f1 = 0.0;
+    cp_rpw_sc_rw2_f2 = 0.0;
+    cp_rpw_sc_rw3_f1 = 0.0;
+    cp_rpw_sc_rw3_f2 = 0.0;
+    cp_rpw_sc_rw4_f1 = 0.0;
+    cp_rpw_sc_rw4_f2 = 0.0;
     update_last_valid_transition_date( DEFAULT_LAST_VALID_TRANSITION_DATE  );
 
     // waveform picker initialization
diff --git a/src/fsw_misc.c b/src/fsw_misc.c
--- a/src/fsw_misc.c
+++ b/src/fsw_misc.c
@@ -317,6 +317,8 @@ rtems_task hous_task(rtems_task_argument
 
             hk_lfr_le_me_he_update();
 
+            housekeeping_packet.hk_lfr_sc_rw_f_flags = cp_rpw_sc_rw_f_flags;
+
             // SEND PACKET
             status =  rtems_message_queue_send( queue_id, &housekeeping_packet,
                                                 PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
diff --git a/src/fsw_spacewire.c b/src/fsw_spacewire.c
--- a/src/fsw_spacewire.c
+++ b/src/fsw_spacewire.c
@@ -1021,7 +1021,7 @@ void init_header_cwf( Header_TM_LFR_SCIE
     header->time[0] = 0x00;
     // AUXILIARY DATA HEADER
     header->sid = 0x00;
-    header->hkBIA = DEFAULT_HKBIA;
+    header->pa_bia_status_info = DEFAULT_HKBIA;
     header->blkNr[0] = 0x00;
     header->blkNr[1] = 0x00;
 }
@@ -1051,7 +1051,7 @@ void init_header_swf( Header_TM_LFR_SCIE
     header->time[0] = 0x00;
     // AUXILIARY DATA HEADER
     header->sid     = 0x00;
-    header->hkBIA   = DEFAULT_HKBIA;
+    header->pa_bia_status_info   = DEFAULT_HKBIA;
     header->pktCnt  = DEFAULT_PKTCNT;  // PKT_CNT
     header->pktNr   = 0x00;
     header->blkNr[0]        = (unsigned char) (BLK_NR_CWF >> 8);
@@ -1083,7 +1083,7 @@ void init_header_asm( Header_TM_LFR_SCIE
     header->time[0] = 0x00;
     // AUXILIARY DATA HEADER
     header->sid     = 0x00;
-    header->biaStatusInfo = 0x00;
+    header->pa_bia_status_info = 0x00;
     header->pa_lfr_pkt_cnt_asm = 0x00;
     header->pa_lfr_pkt_nr_asm = 0x00;
     header->pa_lfr_asm_blk_nr[0] = 0x00;
@@ -1126,7 +1126,7 @@ int spw_send_waveform_CWF( ring_node *ri
 
     header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_336 >> 8);
     header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_336     );
-    header->hkBIA = pa_bia_status_info;
+    header->pa_bia_status_info = pa_bia_status_info;
     header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
     header->blkNr[0] = (unsigned char) (BLK_NR_CWF >> 8);
     header->blkNr[1] = (unsigned char) (BLK_NR_CWF     );
@@ -1209,7 +1209,7 @@ int spw_send_waveform_SWF( ring_node *ri
     dataPtr     = (int*) ring_node_to_send->buffer_address;
     sid = ring_node_to_send->sid;
 
-    header->hkBIA = pa_bia_status_info;
+    header->pa_bia_status_info = pa_bia_status_info;
     header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
 
     for (i=0; i<7; i++) // send waveform
@@ -1300,7 +1300,7 @@ int spw_send_waveform_CWF3_light( ring_n
 
     header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_672 >> 8);
     header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_672     );
-    header->hkBIA = pa_bia_status_info;
+    header->pa_bia_status_info = pa_bia_status_info;
     header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
     header->blkNr[0] = (unsigned char) (BLK_NR_CWF_SHORT_F3 >> 8);
     header->blkNr[1] = (unsigned char) (BLK_NR_CWF_SHORT_F3     );
@@ -1361,7 +1361,7 @@ void spw_send_asm_f0( ring_node *ring_no
     coarseTime = ring_node_to_send->coarseTime;
     fineTime = ring_node_to_send->fineTime;
 
-    header->biaStatusInfo = pa_bia_status_info;
+    header->pa_bia_status_info = pa_bia_status_info;
     header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
 
     for (i=0; i<3; i++)
@@ -1441,7 +1441,7 @@ void spw_send_asm_f1( ring_node *ring_no
     coarseTime = ring_node_to_send->coarseTime;
     fineTime = ring_node_to_send->fineTime;
 
-    header->biaStatusInfo = pa_bia_status_info;
+    header->pa_bia_status_info = pa_bia_status_info;
     header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
 
     for (i=0; i<3; i++)
@@ -1521,7 +1521,7 @@ void spw_send_asm_f2( ring_node *ring_no
     coarseTime = ring_node_to_send->coarseTime;
     fineTime = ring_node_to_send->fineTime;
 
-    header->biaStatusInfo = pa_bia_status_info;
+    header->pa_bia_status_info = pa_bia_status_info;
     header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
 
     for (i=0; i<3; i++)
diff --git a/src/processing/avf0_prc0.c b/src/processing/avf0_prc0.c
--- a/src/processing/avf0_prc0.c
+++ b/src/processing/avf0_prc0.c
@@ -283,7 +283,7 @@ rtems_task prc0_task( rtems_task_argumen
             // 3) send the BP1 set
             set_time( packet_sbm_bp1.time,            (unsigned char *) &incomingMsg->coarseTimeSBM );
             set_time( packet_sbm_bp1.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeSBM );
-            packet_sbm_bp1.biaStatusInfo = pa_bia_status_info;
+            packet_sbm_bp1.pa_bia_status_info = pa_bia_status_info;
             packet_sbm_bp1.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
             BP_send_s1_s2( (char *) &packet_sbm_bp1, queue_id,
                      PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F0 + PACKET_LENGTH_DELTA,
@@ -296,7 +296,7 @@ rtems_task prc0_task( rtems_task_argumen
                 // 2) send the BP2 set
                 set_time( packet_sbm_bp2.time,            (unsigned char *) &incomingMsg->coarseTimeSBM );
                 set_time( packet_sbm_bp2.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeSBM );
-                packet_sbm_bp2.biaStatusInfo = pa_bia_status_info;
+                packet_sbm_bp2.pa_bia_status_info = pa_bia_status_info;
                 packet_sbm_bp2.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 BP_send_s1_s2( (char *) &packet_sbm_bp2, queue_id,
                          PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F0 + PACKET_LENGTH_DELTA,
@@ -321,7 +321,7 @@ rtems_task prc0_task( rtems_task_argumen
             // 3) send the BP1 set
             set_time( packet_norm_bp1.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
             set_time( packet_norm_bp1.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
-            packet_norm_bp1.biaStatusInfo = pa_bia_status_info;
+            packet_norm_bp1.pa_bia_status_info = pa_bia_status_info;
             packet_norm_bp1.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
             BP_send( (char *) &packet_norm_bp1, queue_id,
                       PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F0 + PACKET_LENGTH_DELTA,
@@ -333,7 +333,7 @@ rtems_task prc0_task( rtems_task_argumen
                 // 2) send the BP2 set
                 set_time( packet_norm_bp2.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
                 set_time( packet_norm_bp2.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
-                packet_norm_bp2.biaStatusInfo = pa_bia_status_info;
+                packet_norm_bp2.pa_bia_status_info = pa_bia_status_info;
                 packet_norm_bp2.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 BP_send( (char *) &packet_norm_bp2, queue_id,
                           PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F0 + PACKET_LENGTH_DELTA,
diff --git a/src/processing/avf1_prc1.c b/src/processing/avf1_prc1.c
--- a/src/processing/avf1_prc1.c
+++ b/src/processing/avf1_prc1.c
@@ -278,7 +278,7 @@ rtems_task prc1_task( rtems_task_argumen
             // 3) send the BP1 set
             set_time( packet_sbm_bp1.time,            (unsigned char *) &incomingMsg->coarseTimeSBM );
             set_time( packet_sbm_bp1.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeSBM );
-            packet_sbm_bp1.biaStatusInfo = pa_bia_status_info;
+            packet_sbm_bp1.pa_bia_status_info = pa_bia_status_info;
             packet_sbm_bp1.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
             BP_send_s1_s2( (char *) &packet_sbm_bp1, queue_id_send,
                      PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F1 + PACKET_LENGTH_DELTA,
@@ -291,7 +291,7 @@ rtems_task prc1_task( rtems_task_argumen
                 // 2) send the BP2 set
                 set_time( packet_sbm_bp2.time,            (unsigned char *) &incomingMsg->coarseTimeSBM );
                 set_time( packet_sbm_bp2.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeSBM );
-                packet_sbm_bp2.biaStatusInfo = pa_bia_status_info;
+                packet_sbm_bp2.pa_bia_status_info = pa_bia_status_info;
                 packet_sbm_bp2.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 BP_send_s1_s2( (char *) &packet_sbm_bp2, queue_id_send,
                          PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F1 + PACKET_LENGTH_DELTA,
@@ -316,7 +316,7 @@ rtems_task prc1_task( rtems_task_argumen
             // 3) send the BP1 set
             set_time( packet_norm_bp1.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
             set_time( packet_norm_bp1.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
-            packet_norm_bp1.biaStatusInfo = pa_bia_status_info;
+            packet_norm_bp1.pa_bia_status_info = pa_bia_status_info;
             packet_norm_bp1.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
             BP_send( (char *) &packet_norm_bp1, queue_id_send,
                      PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F1 + PACKET_LENGTH_DELTA,
@@ -328,7 +328,7 @@ rtems_task prc1_task( rtems_task_argumen
                 // 2) send the BP2 set
                 set_time( packet_norm_bp2.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
                 set_time( packet_norm_bp2.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
-                packet_norm_bp2.biaStatusInfo = pa_bia_status_info;
+                packet_norm_bp2.pa_bia_status_info = pa_bia_status_info;
                 packet_norm_bp2.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 BP_send( (char *) &packet_norm_bp2, queue_id_send,
                          PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F1 + PACKET_LENGTH_DELTA,
diff --git a/src/processing/avf2_prc2.c b/src/processing/avf2_prc2.c
--- a/src/processing/avf2_prc2.c
+++ b/src/processing/avf2_prc2.c
@@ -200,7 +200,7 @@ rtems_task prc2_task( rtems_task_argumen
             // 2) send the BP1 set
             set_time( packet_norm_bp1.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
             set_time( packet_norm_bp1.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
-            packet_norm_bp1.biaStatusInfo = pa_bia_status_info;
+            packet_norm_bp1.pa_bia_status_info = pa_bia_status_info;
             packet_norm_bp1.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
             BP_send( (char *) &packet_norm_bp1, queue_id_send,
                      PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F2 + PACKET_LENGTH_DELTA,
@@ -214,7 +214,7 @@ rtems_task prc2_task( rtems_task_argumen
             // 2) send the BP2 set
             set_time( packet_norm_bp2.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
             set_time( packet_norm_bp2.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
-            packet_norm_bp2.biaStatusInfo = pa_bia_status_info;
+            packet_norm_bp2.pa_bia_status_info = pa_bia_status_info;
             packet_norm_bp2.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
             BP_send( (char *) &packet_norm_bp2, queue_id_send,
                      PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F2 + PACKET_LENGTH_DELTA,
diff --git a/src/processing/fsw_processing.c b/src/processing/fsw_processing.c
--- a/src/processing/fsw_processing.c
+++ b/src/processing/fsw_processing.c
@@ -378,7 +378,7 @@ void BP_init_header( bp_packet *packet,
     packet->time[5] = 0x00;
     // AUXILIARY DATA HEADER
     packet->sid = sid;
-    packet->biaStatusInfo = 0x00;
+    packet->pa_bia_status_info = 0x00;
     packet->sy_lfr_common_parameters_spare = 0x00;
     packet->sy_lfr_common_parameters = 0x00;
     packet->acquisitionTime[0] = 0x00;
@@ -412,7 +412,7 @@ void BP_init_header_with_spare( bp_packe
     packet->destinationID = TM_DESTINATION_ID_GROUND;
     // AUXILIARY DATA HEADER
     packet->sid = sid;
-    packet->biaStatusInfo = 0x00;
+    packet->pa_bia_status_info = 0x00;
     packet->sy_lfr_common_parameters_spare = 0x00;
     packet->sy_lfr_common_parameters = 0x00;
     packet->time[0] = 0x00;
diff --git a/src/tc_acceptance.c b/src/tc_acceptance.c
--- a/src/tc_acceptance.c
+++ b/src/tc_acceptance.c
@@ -230,7 +230,7 @@ int tc_check_type_subtype( unsigned char
              || (packetSubType == TC_SUBTYPE_EN_CAL)    || (packetSubType == TC_SUBTYPE_DIS_CAL)
              || (packetSubType == TC_SUBTYPE_LOAD_K)    || (packetSubType == TC_SUBTYPE_DUMP_K)
              || (packetSubType == TC_SUBTYPE_LOAD_FBINS)
-             || (packetSubType == TC_SUBTYPE_LOAD_PAS_FILTER_PAR))
+             || (packetSubType == TC_SUBTYPE_LOAD_FILTER_PAR))
         {
             status = CCSDS_TM_VALID;
         }
@@ -416,8 +416,8 @@ int tc_check_length( unsigned char packe
             status = CCSDS_TM_VALID;
         }
         break;
-    case TC_SUBTYPE_LOAD_PAS_FILTER_PAR:
-        if (length!=(TC_LEN_LOAD_PAS_FILTER_PAR-CCSDS_TC_TM_PACKET_OFFSET)) {
+    case TC_SUBTYPE_LOAD_FILTER_PAR:
+        if (length!=(TC_LEN_LOAD_FILTER_PAR-CCSDS_TC_TM_PACKET_OFFSET)) {
             status = WRONG_LEN_PKT;
         }
         else {
diff --git a/src/tc_handler.c b/src/tc_handler.c
--- a/src/tc_handler.c
+++ b/src/tc_handler.c
@@ -123,8 +123,8 @@ rtems_task actn_task( rtems_task_argumen
                 result = action_load_fbins_mask( &TC, queue_snd_id, time );
                 close_action( &TC, result, queue_snd_id );
                 break;
-            case TC_SUBTYPE_LOAD_PAS_FILTER_PAR:
-                result = action_load_pas_filter_par( &TC, queue_snd_id, time );
+            case TC_SUBTYPE_LOAD_FILTER_PAR:
+                result = action_load_filter_par( &TC, queue_snd_id, time );
                 close_action( &TC, result, queue_snd_id );
                 break;
             case TC_SUBTYPE_UPDT_TIME:
@@ -294,6 +294,11 @@ int action_update_info(ccsdsTelecommandP
     pa_bia_status_info = pa_bia_status_info
             | (bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET1 ] & 0x1);
 
+    // REACTION_WHEELS_FREQUENCY, copy the incoming parameters in the local variable (to be copied in HK packets)
+    cp_rpw_sc_rw_f_flags = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW_F_FLAGS ];
+    getReactionWheelsFrequencies( TC );
+    build_rw_fbins_masks();
+
     result = status;
 
     return result;
diff --git a/src/tc_load_dump_parameters.c b/src/tc_load_dump_parameters.c
--- a/src/tc_load_dump_parameters.c
+++ b/src/tc_load_dump_parameters.c
@@ -310,7 +310,7 @@ int action_load_fbins_mask(ccsdsTelecomm
     return flag;
 }
 
-int action_load_pas_filter_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
+int action_load_filter_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
 {
     /** This function updates the LFR registers with the incoming sbm2 parameters.
      *
@@ -327,10 +327,21 @@ int action_load_pas_filter_par(ccsdsTele
 
     if (flag  == LFR_SUCCESSFUL)
     {
-        parameter_dump_packet.spare_sy_lfr_pas_filter_enabled = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_ENABLED ];
-        parameter_dump_packet.sy_lfr_pas_filter_modulus = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_MODULUS ];
-        parameter_dump_packet.sy_lfr_pas_filter_nstd = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_NSTD ];
-        parameter_dump_packet.sy_lfr_pas_filter_offset = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_OFFSET ];
+        parameter_dump_packet.spare_sy_lfr_pas_filter_enabled   = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_ENABLED ];
+        parameter_dump_packet.sy_lfr_pas_filter_modulus         = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_MODULUS ];
+        parameter_dump_packet.sy_lfr_pas_filter_tbad[0]         = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD + 0 ];
+        parameter_dump_packet.sy_lfr_pas_filter_tbad[1]         = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD + 1 ];
+        parameter_dump_packet.sy_lfr_pas_filter_tbad[2]         = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD + 2 ];
+        parameter_dump_packet.sy_lfr_pas_filter_tbad[3]         = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD + 3 ];
+        parameter_dump_packet.sy_lfr_pas_filter_offset          = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_OFFSET ];
+        parameter_dump_packet.sy_lfr_pas_filter_shift[0]        = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT + 0 ];
+        parameter_dump_packet.sy_lfr_pas_filter_shift[1]        = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT + 1 ];
+        parameter_dump_packet.sy_lfr_pas_filter_shift[2]        = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT + 2 ];
+        parameter_dump_packet.sy_lfr_pas_filter_shift[3]        = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT + 3 ];
+        parameter_dump_packet.sy_lfr_sc_rw_delta_f[0]           = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F + 0 ];
+        parameter_dump_packet.sy_lfr_sc_rw_delta_f[1]           = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F + 1 ];
+        parameter_dump_packet.sy_lfr_sc_rw_delta_f[2]           = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F + 2 ];
+        parameter_dump_packet.sy_lfr_sc_rw_delta_f[3]           = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F + 3 ];
     }
 
     return flag;
@@ -790,7 +801,7 @@ int set_sy_lfr_s1_bp_p1( ccsdsTelecomman
 
 //*********************
 // SBM2 MODE PARAMETERS
-int set_sy_lfr_s2_bp_p0(ccsdsTelecommandPacket_t *TC)
+int set_sy_lfr_s2_bp_p0( ccsdsTelecommandPacket_t *TC )
 {
     /** This function sets the time between two basic parameter sets, in s (SY_LFR_S2_BP_P0).
      *
@@ -882,6 +893,149 @@ unsigned int check_update_info_hk_thr_mo
     return status;
 }
 
+void getReactionWheelsFrequencies( ccsdsTelecommandPacket_t *TC )
+{
+    /** This function get the reaction wheels frequencies in the incoming TC_LFR_UPDATE_INFO and copy the values locally.
+     *
+     * @param TC points to the TeleCommand packet that is being processed
+     *
+     */
+
+    unsigned char * bytePosPtr; // pointer to the beginning of the incoming TC packet
+    unsigned char * floatPtr;   // pointer to the Most Significant Byte of the considered float
+
+    bytePosPtr = (unsigned char *) &TC->packetID;
+
+    // cp_rpw_sc_rw1_f1
+    floatPtr = (unsigned char *) &cp_rpw_sc_rw1_f1;
+    floatPtr[0] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F1 ];
+    floatPtr[1] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F1 + 1 ];
+    floatPtr[2] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F1 + 2 ];
+    floatPtr[3] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F1 + 3 ];
+    // cp_rpw_sc_rw1_f2
+    floatPtr = (unsigned char *) &cp_rpw_sc_rw1_f2;
+    floatPtr[0] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F2 ];
+    floatPtr[1] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F2 + 1 ];
+    floatPtr[2] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F2 + 2 ];
+    floatPtr[3] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F2 + 3 ];
+    // cp_rpw_sc_rw2_f1
+    floatPtr = (unsigned char *) &cp_rpw_sc_rw2_f1;
+    floatPtr[0] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F1 ];
+    floatPtr[1] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F1 + 1 ];
+    floatPtr[2] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F1 + 2 ];
+    floatPtr[3] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F1 + 3 ];
+    // cp_rpw_sc_rw2_f2
+    floatPtr = (unsigned char *) &cp_rpw_sc_rw2_f2;
+    floatPtr[0] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F2 ];
+    floatPtr[1] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F2 + 1 ];
+    floatPtr[2] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F2 + 2 ];
+    floatPtr[3] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F2 + 3 ];
+    // cp_rpw_sc_rw3_f1
+    floatPtr = (unsigned char *) &cp_rpw_sc_rw3_f1;
+    floatPtr[0] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F1 ];
+    floatPtr[1] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F1 + 1 ];
+    floatPtr[2] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F1 + 2 ];
+    floatPtr[3] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F1 + 3 ];
+    // cp_rpw_sc_rw3_f2
+    floatPtr = (unsigned char *) &cp_rpw_sc_rw3_f2;
+    floatPtr[0] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F2 ];
+    floatPtr[1] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F2 + 1 ];
+    floatPtr[2] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F2 + 2 ];
+    floatPtr[3] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F2 + 3 ];
+    // cp_rpw_sc_rw4_f1
+    floatPtr = (unsigned char *) &cp_rpw_sc_rw4_f1;
+    floatPtr[0] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F1 ];
+    floatPtr[1] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F1 + 1 ];
+    floatPtr[2] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F1 + 2 ];
+    floatPtr[3] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F1 + 3 ];
+    // cp_rpw_sc_rw4_f2
+    floatPtr = (unsigned char *) &cp_rpw_sc_rw4_f2;
+    floatPtr[0] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F2 ];
+    floatPtr[1] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F2 + 1 ];
+    floatPtr[2] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F2 + 2 ];
+    floatPtr[3] = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F2 + 3 ];
+}
+
+void setFBinMask( unsigned char *fbins_mask, float freq, unsigned char deltaFreq, unsigned char flag )
+{
+    unsigned int fBelow;
+
+    // compute the index of the frequency immediately below the reaction wheel frequency
+    fBelow = (unsigned int) ( floor( ((double) cp_rpw_sc_rw1_f1) / ((double) deltaFreq)) );
+
+    if (fBelow < 127) // if fbelow is greater than 127 or equal to 127, this means that the reaction wheel frequency is outside the frequency range
+    {
+        if (flag == 1)
+        {
+//            rw_fbins_mask[k] = (1 << fBelow) | (1 << fAbove);
+        }
+    }
+}
+
+void build_rw_fbins_mask( unsigned int channel )
+{
+    unsigned char rw_fbins_mask[16];
+    unsigned char *maskPtr;
+    double deltaF;
+    unsigned k;
+
+    k = 0;
+
+    switch (channel)
+    {
+    case 0:
+        maskPtr = rw_fbins_mask_f0;
+        deltaF = 96.;
+        break;
+    case 1:
+        maskPtr = rw_fbins_mask_f1;
+        deltaF = 16.;
+        break;
+    case 2:
+        maskPtr = rw_fbins_mask_f2;
+        deltaF = 1.;
+        break;
+    default:
+        break;
+    }
+
+    for (k = 0; k < 16; k++)
+    {
+        rw_fbins_mask[k] = 0x00;
+    }
+
+    // RW1 F1
+//    setFBinMask( rw_fbins_mask, fBelow );
+
+    // RW1 F2
+
+    // RW2 F1
+
+    // RW2 F2
+
+    // RW3 F1
+
+    // RW3 F2
+
+    // RW4 F1
+
+    // RW4 F2
+
+
+    // update the value of the fbins related to reaction wheels frequency filtering
+    for (k = 0; k < 16; k++)
+    {
+        maskPtr[k] = rw_fbins_mask[k];
+    }
+}
+
+void build_rw_fbins_masks()
+{
+    build_rw_fbins_mask( 0 );
+    build_rw_fbins_mask( 1 );
+    build_rw_fbins_mask( 2 );
+}
+
 //***********
 // FBINS MASK
 
@@ -921,8 +1075,10 @@ int check_sy_lfr_pas_filter_parameters( 
 
     unsigned char sy_lfr_pas_filter_enabled;
     unsigned char sy_lfr_pas_filter_modulus;
-    unsigned char sy_lfr_pas_filter_nstd;
+    float sy_lfr_pas_filter_tbad;
     unsigned char sy_lfr_pas_filter_offset;
+    float sy_lfr_pas_filtershift;
+    float sy_lfr_sc_rw_delta_f;
 
     flag = LFR_SUCCESSFUL;
 
@@ -930,7 +1086,7 @@ int check_sy_lfr_pas_filter_parameters( 
     // get parameters
     sy_lfr_pas_filter_enabled = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_ENABLED ] & 0x01;   // [0000 0001]
     sy_lfr_pas_filter_modulus = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_MODULUS ];
-    sy_lfr_pas_filter_nstd = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_NSTD ];
+
     sy_lfr_pas_filter_offset = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_OFFSET ];
 
     //******************
@@ -942,15 +1098,7 @@ int check_sy_lfr_pas_filter_parameters( 
         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_PAS_FILTER_MODULUS+10, sy_lfr_pas_filter_modulus );
         flag = WRONG_APP_DATA;
     }
-    // sy_lfr_pas_filter_nstd
-    if (flag == LFR_SUCCESSFUL)
-    {
-        if ( sy_lfr_pas_filter_nstd > 8 )
-        {
-            status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_PAS_FILTER_NSTD+10, sy_lfr_pas_filter_nstd );
-            flag = WRONG_APP_DATA;
-        }
-    }
+    // sy_lfr_pas_filter_tbad
     // sy_lfr_pas_filter_offset
     if (flag == LFR_SUCCESSFUL)
     {
@@ -960,6 +1108,8 @@ int check_sy_lfr_pas_filter_parameters( 
             flag = WRONG_APP_DATA;
         }
     }
+    // sy_lfr_pas_filtershift
+    // sy_lfr_sc_rw_delta_f
 
     return flag;
 }