diff --git a/CHANGELOG b/CHANGELOG
index c93cd046f824169cdfa40a6ab25ae272060d15c6..ec8d0b98b25a233f5693c9a89af9c24543a082af 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -1,6 +1,6 @@
-*****************************************************************
-* ARIEL FGS HFS Repository, ARIEL-UVIE-PL-ML-001 1.3, CHANGELOG *
-*****************************************************************
+*******************************************************************
+* ARIEL FGS HFS Repository, ARIEL-UVIE-PL-ML-001 1.3.2, CHANGELOG *
+*******************************************************************
 
 ################################################################################
 V0.1:
@@ -221,4 +221,28 @@ V1.3:
 
     - fixed typos
 
-################################################################################
\ No newline at end of file
+################################################################################
+V1.3.1:
+25.July, 2024 Gerald Mösenlechner   <gerald.moesenlechner@univie.ac.at>
+
+   Fixed Issues:
+
+    - Fixed issue with normalisation of Weighting function in WCoG
+
+    - Changed TRF switch to only update when changing to Tracking
+
+    - Added bounds check on star positioning
+
+    - Updated Reset noise generation to be more performant
+
+################################################################################
+V1.3.2:
+5.August, 2024 Gerald Mösenlechner   <gerald.moesenlechner@univie.ac.at>
+
+   Fixed Issues:
+
+    - Fixed issue with state preservation when Target Position is set in Tracking
+
+    - Update Reset and Save Test to reflect fixed behaviour
+#################################################################################
+
diff --git a/Documents/ARIEL-UVIE-PL-PL-005_1r0.pdf b/Documents/ARIEL-UVIE-PL-PL-005_1r0.pdf
deleted file mode 100644
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diff --git a/Documents/ARIEL-UVIE-PL-TN-001_Iss1r3.pdf b/Documents/ARIEL-UVIE-PL-TN-001_Iss1r3.pdf
deleted file mode 100644
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diff --git a/Documents/ARIEL-UVIE-PL-TN-002_Iss1r2.pdf b/Documents/ARIEL-UVIE-PL-TN-002_Iss1r2.pdf
deleted file mode 100644
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diff --git a/JUSTIFICATION b/JUSTIFICATION
index 24f6447d98009abb84c40f27f881a851dc203f62..f4f4204361a5a511974563a7720c3dcdea5daf87 100644
--- a/JUSTIFICATION
+++ b/JUSTIFICATION
@@ -1,6 +1,6 @@
-************************************************************
-* ARIEL FGS HFS, , ARIEL-UVIE-PL-ML-001 1.3, JUSTIFICATION *
-************************************************************
+**************************************************************
+* ARIEL FGS HFS, , ARIEL-UVIE-PL-ML-001 1.3.2, JUSTIFICATION *
+**************************************************************
 
 This note describes the justification of the parameters and values
 used in the HFS.
diff --git a/MANUAL b/MANUAL
index ed7951e44f858b95bc8816a17200052bcb10d4d9..bc4b3e28e6fc4a1d2ba09e26bad845a4d7db3b2d 100644
--- a/MANUAL
+++ b/MANUAL
@@ -1,5 +1,5 @@
 *****************************************************
-* ARIEL FGS HFS, ARIEL-UVIE-PL-ML-001 1.2, MANUAL *
+* ARIEL FGS HFS, ARIEL-UVIE-PL-ML-001 1.3.2, MANUAL *
 *****************************************************
 
 The FGS HFS is based on the c++ object "FGS" defined in HFS_API.hpp. The
@@ -54,9 +54,11 @@ from of a hfs_parameters struct update. The struct is defined as follows:
   
   - int mult_shift_y: multiplicative shift of the y component of the centroid (default 1)
 
-  - int target_pos_x: Position of the FBT inside of the FBA in px in x-direction
+  - int target_pos_x: Position of the FBT inside of the FBA in px in x-direction, will only be updated on switch to
+                      Tracking
 
-  - int target_pos_y: Position of the FBT inside of the FBA in px in y-direction
+  - int target_pos_y: Position of the FBT inside of the FBA in px in y-direction, will only be updated on switch to
+                      Tracking
 
   - unsigned int validation_signal: Signal used for target identification [ADU/s]
 
@@ -95,7 +97,7 @@ cnetroid packet struct with following attributes:
                             106: Validity index is below the given threshold
                             107: No star matched the defined signal
                             108: The identified star is partially cut off (Acquistion only)
-                            109: The image is saturated
+                            109: The image is saturated (Tracking only)
 
     - unsigned int magnitude: magnitude of the star in ADU
 
diff --git a/README b/README
index 96994aa821f7c47a4cb972cc555fbf2f5844654c..f70d979153929e2cab2e9b5363f5ae3ca7fc26e6 100644
--- a/README
+++ b/README
@@ -1,6 +1,6 @@
-******************************************************
-* ARIEL FGS HFS Repository, ARIEL-UVIE-PL-ML-001 1.3 *
-******************************************************
+********************************************************
+* ARIEL FGS HFS Repository, ARIEL-UVIE-PL-ML-001 1.3.2 *
+********************************************************
 
 This repository contains the HFS, the simulator SW used to simulate the
 behaviour of the FGS IASW for the AOCS closed loop test.
@@ -70,4 +70,4 @@ Run test cases:
 The software provided here is ©University of Vienna.
 
 
-GM 08th July, 2024
+GM 5th August, 2024
diff --git a/matlab_model/HFS_Wrapper.m b/matlab_model/HFS_Wrapper.m
index 7beab77829d547ce69b67ebac61dc36a506ac520..e14a81e96534842d41ad2255a4d7bdab1fd13c7e 100644
--- a/matlab_model/HFS_Wrapper.m
+++ b/matlab_model/HFS_Wrapper.m
@@ -153,13 +153,13 @@ set_param([sys '/BC1'],'OutDataTypeStr','Bus: hfs_parameters');
 
 posOut = [xOut yOut-155+h/4 xOut+5 yOut+155+h*.75];
 add_block('simulink/Commonly Used Blocks/Bus Selector', [sys '/BS1'],'Position',posOut)
-set_param([sys '/BS1'],'OutputSignals','x,y,time,validity_flag,validity_index,magnitude,channel,mode,failedState,xErr,yErr')
+set_param([sys '/BS1'],'OutputSignals','x,y,time,integration_start,validity_flag,validity_index,magnitude,channel,mode,failedState,xErr,yErr')
 
 xOut = xOut + 100;
 
 posOut = [xOut yOut-155+h/4 xOut+5 yOut+60+h*.75];
 add_block('simulink/Commonly Used Blocks/Bus Creator', [sys '/BC2'],'Position',posOut)
-set_param([sys '/BC2'],'Inputs','8')
+set_param([sys '/BC2'],'Inputs','9')
 set_param([sys '/BC2'],'OutDataTypeStr','Bus: centroid_packet');
 
 posOut = [xOut yOut+115+h/4 xOut+5 yOut+160+h*.75];
@@ -221,18 +221,19 @@ add_line(sys, 'FGS_HFS/1', 'BS1/1');
 centroidXHandle = add_line(sys, 'BS1/1', 'BC2/1');
 centroidYHandle = add_line(sys, 'BS1/2', 'BC2/2');
 centroidTimeHandle = add_line(sys, 'BS1/3', 'BC2/3');
-centroidFlagHandle = add_line(sys, 'BS1/4', 'BC2/4');
-centroidIndexHandle = add_line(sys, 'BS1/5', 'BC2/5');
-centroidMagHandle = add_line(sys, 'BS1/6', 'BC2/6');
-centroidChannelHandle = add_line(sys, 'BS1/7', 'BC2/7');
-centroidModeHandle = add_line(sys, 'BS1/8', 'BC2/8');
+centroidIntStartHandle = add_line(sys, 'BS1/4', 'BC2/4')
+centroidFlagHandle = add_line(sys, 'BS1/5', 'BC2/5');
+centroidIndexHandle = add_line(sys, 'BS1/6', 'BC2/6');
+centroidMagHandle = add_line(sys, 'BS1/7', 'BC2/7');
+centroidChannelHandle = add_line(sys, 'BS1/8', 'BC2/8');
+centroidModeHandle = add_line(sys, 'BS1/9', 'BC2/9');
 
 add_line(sys, 'BC2/1', 'centroid_packet/1');
 
-targetFailedStateHandle = add_line(sys, 'BS1/9', 'failedState/1');
+targetFailedStateHandle = add_line(sys, 'BS1/10', 'failedState/1');
 
-errorXHandle = add_line(sys, 'BS1/10', 'BC3/1')
-errorYHandle = add_line(sys, 'BS1/11', 'BC3/2')
+errorXHandle = add_line(sys, 'BS1/11', 'BC3/1')
+errorYHandle = add_line(sys, 'BS1/12', 'BC3/2')
 
 targetErrorHandle = add_line(sys, 'BC3/1', 'error/1');
 
diff --git a/matlab_model/HFS_bus.mat b/matlab_model/HFS_bus.mat
index 444489477f57825c3ff7561c2b911d35e328c3bf..89321a23c1607e676e7006a2eeef7959b9bd9158 100644
Binary files a/matlab_model/HFS_bus.mat and b/matlab_model/HFS_bus.mat differ
diff --git a/matlab_model/HFS_config.xml b/matlab_model/HFS_config.xml
index ed105d997c279c6ab524d7683a8db61ff892769b..d9fdf61c10ee594e8cd76823fb2a9e04b4dea480 100644
--- a/matlab_model/HFS_config.xml
+++ b/matlab_model/HFS_config.xml
@@ -1,8 +1,10 @@
 <HFS_MetaInfo>
   <simulation_time>0.0</simulation_time>
 
+  <internal_time>0.0</internal_time>
+
   <!--  Global timestep of the matlab simulink model.
-        Default: 0.0125 (60Hz)-->
+        Default: 0.0125 (80Hz)-->
   <timestep>0.0125</timestep>
 
   <!-- 	Random seed used in the noise generation -->
@@ -35,7 +37,7 @@
         second. Deefault: 1 -->
   <dark_average>1</dark_average>
   
-  <!--  The gain of the the detectors. Default: 0.655 -->
+  <!--  The gain to the detectors. Default: 0.655 -->
   <gain>0.655</gain>
   
   <!--  The full well capacity of the detector in e-. Default: 100000  -->
@@ -49,8 +51,8 @@
         jitter during the integration period in mas. -->
   <jitter_error_std>5.0</jitter_error_std>
 
-  <!--  Duration of the simulated FCU reset in s -->
-  <reset_duration>0.5</reset_duration>
+  <!--  Duration of the simulated FCU reset in s, No value available, Default 5s -->
+  <reset_duration>5</reset_duration>
 
   <!--  State variable denoting end of ongoing reset, Default: 0-->
   <reset_end>0</reset_end>
@@ -59,12 +61,18 @@
         and transitions, Default: 0.005-->
   <timing_tolerance>0.005</timing_tolerance>
 
+  <!--  Mean Timing Drift of the DCU Clock, Default: 1.8e-5-->
+  <timing_jitter>0.05</timing_jitter>
+
+  <!--  Timing Drift Jitter of the DCU Clock, Default: 2e-6-->
+  <timing_drift>0.005</timing_drift>
+
   <!--  relative path of the Psf input files. The psfs are given as 40x40px
         arrays that are stored in the C array format -->
 
-  <FGS1_Psf>../FGS1_270nm.txt</FGS1_Psf>
+  <FGS1_Psf>./FGS1_270nm.txt</FGS1_Psf>
 
-  <FGS2_Psf>../FGS2_270nm.txt</FGS2_Psf>
+  <FGS2_Psf>./FGS2_270nm.txt</FGS2_Psf>
 
   <!-- Plate scale of FGS1 in mas/px, Default: 173 -->
   <FGS1_PS>173.0</FGS1_PS>
@@ -92,7 +100,7 @@
   <FGS2_Offset_Y>400</FGS2_Offset_Y>
 
   <!--  Starting channel of the Simulator: 1 or 2 -->
-  <FGS_channel>1</FGS_channel>
+  <FGS_channel>2</FGS_channel>
 
   <!--  Starting operational mode of the Simulator. Possible entries are:
         - Tracking
@@ -109,7 +117,7 @@
   <FWHM_FGS2_x>10</FWHM_FGS2_x>
   <FWHM_FGS2_y>10</FWHM_FGS2_y>
 
-  <!-- Time delay causes by the channel switch in s. -->
+  <!-- Time delay causes by the channel switch in s. Worst case unknown, assumed 1 s -->
   <transition_delay_channel>1</transition_delay_channel>
 
   <!-- Time delay causes by the mode switch in s. Worst Case: 2s -->
@@ -127,7 +135,7 @@
   <!--  Threshold for the Pearson correlation used as the validity index.
         Index can range from -1 to 1. A value of 0.5 to 0.6 serves as a
         decent cutoff for invalid measurements-->
-  <validation_pearson_limit>0.5</validation_pearson_limit>
+  <validation_pearson_limit>0.6</validation_pearson_limit>
 
   <!-- default failed status of the HFS -->
   <failed_status>0</failed_status>
@@ -140,28 +148,28 @@
   
   <!-- Maximum ramp length. Default: 150 -->
   <max_ramp>150</max_ramp>
-  
+
   <!-- Limit for staturated pixels in an image. At this limit, the centroid will be set invalid. 
   Used for the Snowball detection. Default: 25 -->
   <saturation_limit>25</saturation_limit>
-
+  
   <!-- Calibration and hot pixel map that replaces the first sample of a ramp for FGS1 -->
-  <reset_calibration_FGS1>../Calibration_FGS1.txt</reset_calibration_FGS1>
+  <reset_calibration_FGS1>./Calibration_FGS1.txt</reset_calibration_FGS1>
 
   <!-- Calibration and hot pixel map that replaces the first sample of a ramp for FGS2 -->
-  <reset_calibration_FGS2>../Calibration_FGS2.txt</reset_calibration_FGS2>
+  <reset_calibration_FGS2>./Calibration_FGS2.txt</reset_calibration_FGS2>
   
   <!--  Name of the Hot and Dead Pixel input map to be used by the HFS for FGS2 -->
-  <hp_map_FGS1>../hotPixels_FGS1.txt</hp_map_FGS1>
+  <hp_map_FGS1>./hotPixels_FGS1.txt</hp_map_FGS1>
 
   <!--  Name of the Hot and Dead Pixel input map to be used by the HFS for FGS2 --> 
-  <hp_map_FGS2>../hotPixels_FGS2.txt</hp_map_FGS2>
+  <hp_map_FGS2>./hotPixels_FGS2.txt</hp_map_FGS2>
 
-  <!-- Noise of the reset anomaly -->
-  <reset_noise>10</reset_noise>
+  <!-- Noise of the reset anomaly, Unknown, Default 20 e- -->
+  <reset_noise>20</reset_noise>
 
   <!--  The radius of the circular field of view in arcsec. set to zero for full FoV. 
-   Default: 11 -->
+   Default: 11 arcsec -->
   <circular_fov_radius>11</circular_fov_radius>
 
   <!--  Configuration of the Tracking procedure -->
@@ -172,12 +180,17 @@
     <median_filter>1</median_filter>
     <!--  Toogle thresholding -->
     <thresholding>2</thresholding>
-    <!--  Delay of the centroid packet in seconds.
-          Note: must be lower than the integration time (0.1 s) Worst case: 20 ms -->
-    <delay>0.02</delay>
+    <!--  Mean Delay of the centroid packet in seconds, worst case: 50ms, Default: 40 -->
+    <delay_mean>0.05</delay_mean>
+    <!--  Std Delay of the centroid packet in seconds, Default: 10ms -->
+    <delay_std>0.01</delay_std>
+    <!--  Minumum Delay of the centroid packet in seconds, Default 35ms -->
+    <delay_min>0.03</delay_min>
+    <!--  Maximum Delay of the centroid packet in seconds, Default: 50ms -->
+    <delay_max>0.07</delay_max>
     <!-- Exposure time for mode Tracking in s, default: 0.1 -->
     <exposure_time>0.1</exposure_time>
-    <!--  Brightness tolerance for Validation default is 40% -->
+    <!--  Brightness tolerance for Validation default is 30% -->
     <tolerance>40</tolerance>
     <!-- Dimension of the Tracking window in px, default: 64 -->
     <dim>64</dim>
@@ -191,25 +204,30 @@
     <median_filter>1</median_filter>
     <!--  Toogle thresholding -->
     <thresholding>2</thresholding>
-    <!--  Delay of the centroid packet in seconds.
-          Note: must be lower than the integration time (0.5 s) Worst case: 150  ms -->
-    <delay>0.1</delay>
+    <!--  Mean Delay of the centroid packet in seconds, worst case: 150ms, Default 125  -->
+    <delay_mean>0.05</delay_mean>
+    <!--  Std Delay of the centroid packet in seconds, Default 50ms -->
+    <delay_std>0.01</delay_std>
+    <!--  Minimum Delay of the centroid packet in seconds, Default: 100ms -->
+    <delay_min>0.03</delay_min>
+    <!--  Maximum Delay of the centroid packet in seconds, Default: 150ms -->
+    <delay_max>0.07</delay_max>
     <!-- Exposure time for mode Acquisition in s, default: 0.5 -->
     <exposure_time>0.5</exposure_time>
-    <!--  Brightness tolerance for target identification default is 40% -->
-    <tolerance>40</tolerance>
+    <!--  Brightness tolerance for target identification default is 30% -->
+    <tolerance>30</tolerance>
     <!-- Dimensiton of the Acquisition window for FGS1, default: 177px -->
     <FGS1_dim>177</FGS1_dim>
     <!-- Dimensiton of the Acquisition window for FGS2, default: 177px -->
     <FGS2_dim>177</FGS2_dim>
     <!-- Limit of brightest sources to be considered in the source extraction. Default: 25-->
     <target_limit>25</target_limit>
-    <!-- Signal Sigma Limit for Source extent check. Default: 500. Possible cause for 107 / 108 error if set too high-->
+    <!-- Signal Sigma Limit for Source extent check. Default: 500. Possible cause for 107 error if set too high-->
     <extension_sigma>500</extension_sigma>
   </Acquisition>
 
   <!--  Relative path to the star catalogue -->
-  <Star_catalogue>../src/Star_catalogue.csv</Star_catalogue>
+  <Star_catalogue>./src/Star_catalogue.csv</Star_catalogue>
 
   <!-- 	Flag indicating if images features shall be generated from existing files. 
   	Only applicable for saved states-->
@@ -223,15 +241,12 @@
 
   <previous_image>./previous_image.txt</previous_image>
 
+  <centroid_queue>./centroid_queue.txt</centroid_queue>
+
   <smear_x>0.0</smear_x>
   <smear_y>0.0</smear_y>
-  
-  <centroid_x>0</centroid_x>
-  <centroid_y>0</centroid_y>
-  <centroid_time>0</centroid_time>
-  <centroid_valid>0</centroid_valid>
-  <centroid_index>0</centroid_index>
-  <centroid_mag>0</centroid_mag>
-  <centroid_send>0</centroid_send>
 
+  <trf_x>0</trf_x>
+  <trf_y>0</trf_y>
+  
 </HFS_MetaInfo>
diff --git a/matlab_model/Test_cases/Acquisition_Target_switch_Output.mldatx b/matlab_model/Test_cases/Acquisition_Target_switch_Output.mldatx
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