diff --git a/CommunicationSystemsSubmodule b/CommunicationSystemsSubmodule
index 9fb7b8a..df4e123 160000
--- a/CommunicationSystemsSubmodule
+++ b/CommunicationSystemsSubmodule
@@ -1 +1 @@
-Subproject commit 9fb7b8a5c4e1b40baff4d47704290b106aa0e2cc
+Subproject commit df4e1239a4470632f1339133de7ac1fe27f974b1
diff --git a/Components/Communication/CANMessageHandler.cpp b/Components/Communication/CANMessageHandler.cpp
index 8fa8801..9a73231 100644
--- a/Components/Communication/CANMessageHandler.cpp
+++ b/Components/Communication/CANMessageHandler.cpp
@@ -89,5 +89,15 @@ bool CANTask::HandleCANCommands() {
 		}
 	}
 
+	{
+		RPB_IRCTRAMP_SET_COMMAND cmd;
+		if(dau.ReadMessageByLogIndex(_RPB_IRCTRAMP_SET_COMMAND_LOGINDEX, (uint8_t*)&cmd,sizeof(cmd))) {
+			SOAR_PRINT("got irc tramp cmd\n");
+			Command cm = {TASK_SPECIFIC_COMMAND,CAMERA_COMMAND_IRC_TRAMP};
+			cm.CopyDataToCommand((uint8_t*)&cmd, sizeof(cmd));
+			CameraTask::Inst().SendCommandReference(cm);
+		}
+	}
+
 	return foundone;
 };
diff --git a/Components/PeriphTasks/CameraTask.cpp b/Components/PeriphTasks/CameraTask.cpp
index c014eaa..0bd3120 100644
--- a/Components/PeriphTasks/CameraTask.cpp
+++ b/Components/PeriphTasks/CameraTask.cpp
@@ -78,8 +78,10 @@ void CameraTask::Run(void *pvParams)
 	osdDriver.OSD_WriteCustomCharacter(0xE3, callsign_tile_3);
 	osdDriver.OSD_WriteCustomCharacter(0xE4, callsign_tile_4);
 
+
 	muxDriver.Enable();
 	muxDriver.Select(Camera::CAMERA2);
+
 	while (1)
 	{
 		/* Process commands */
@@ -245,6 +247,17 @@ void CameraTask::HandleCommand(Command &cm)
 			}
 			break;
 		}
+		case CAMERA_COMMAND_IRC_TRAMP: {
+			RPB_IRCTRAMP_SET_COMMAND cmd = *(RPB_IRCTRAMP_SET_COMMAND*)cm.GetDataPointer();
+			if(cmd.setFreq) {
+				IRCTramp::SetVTXFrequency(cmd.freq, UART5);
+				osDelay(10);
+			}
+			if(cmd.setPower) {
+				IRCTramp::SetVTXPower(cmd.power, UART5);
+			}
+			break;
+		}
 		default:
 			SOAR_PRINT("CameraTask - Received Unsupported Task Command {%d}\n", cm.GetTaskCommand());
 			break;
diff --git a/Components/PeriphTasks/Inc/CameraTask.hpp b/Components/PeriphTasks/Inc/CameraTask.hpp
index 5f7ffc3..9369e62 100644
--- a/Components/PeriphTasks/Inc/CameraTask.hpp
+++ b/Components/PeriphTasks/Inc/CameraTask.hpp
@@ -27,7 +27,8 @@ enum CAMERA_TASK_COMMANDS
 	CAMERA_COMMAND_START_RECORDING,
 	CAMERA_COMMAND_STOP_RECORDING,
 	CAMERA_COMMAND_POWER_ON,
-	CAMERA_COMMAND_POWER_OFF
+	CAMERA_COMMAND_POWER_OFF,
+	CAMERA_COMMAND_IRC_TRAMP
 };
 
 /* Macros ------------------------------------------------------------------*/
diff --git a/Core/Src/main.c b/Core/Src/main.c
index c1af1b0..9c765a5 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -530,7 +530,7 @@ static void MX_UART5_Init(void)
 
   /* USER CODE END UART5_Init 1 */
   USART_InitStruct.PrescalerValue = LL_USART_PRESCALER_DIV1;
-  USART_InitStruct.BaudRate = 115200;
+  USART_InitStruct.BaudRate = 9600;
   USART_InitStruct.DataWidth = LL_USART_DATAWIDTH_8B;
   USART_InitStruct.StopBits = LL_USART_STOPBITS_1;
   USART_InitStruct.Parity = LL_USART_PARITY_NONE;
diff --git a/RPB.ioc b/RPB.ioc
index 5ef3241..f05d09e 100644
--- a/RPB.ioc
+++ b/RPB.ioc
@@ -347,6 +347,8 @@ SPI2.VirtualType=VM_MASTER
 TIM3.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM3.IPParameters=Channel-PWM Generation1 CH1,Prescaler
 TIM3.Prescaler=16
+UART5.BaudRate=9600
+UART5.IPParameters=BaudRate
 USART1.IPParameters=VirtualMode-Asynchronous
 USART1.VirtualMode-Asynchronous=VM_ASYNC
 USART2.IPParameters=VirtualMode-Asynchronous
diff --git a/SoarDrivers b/SoarDrivers
index f3b1e9d..f8ed3ba 160000
--- a/SoarDrivers
+++ b/SoarDrivers
@@ -1 +1 @@
-Subproject commit f3b1e9de3797ff512853d1f1efc6139afaf4dad1
+Subproject commit f8ed3ba7c6b90ecd2a3c24916e28a4542f567056