diff --git a/src/fsfw/devicehandlers/HealthDevice.cpp b/src/fsfw/devicehandlers/HealthDevice.cpp
index 717fadd1..d3a70c77 100644
--- a/src/fsfw/devicehandlers/HealthDevice.cpp
+++ b/src/fsfw/devicehandlers/HealthDevice.cpp
@@ -29,11 +29,10 @@ ReturnValue_t HealthDevice::initialize() {
   if (result != returnvalue::OK) {
     return result;
   }
-  if (parentQueue != 0) {
+  if (parentQueue != MessageQueueIF::NO_QUEUE) {
     return healthHelper.initialize(parentQueue);
-  } else {
-    return healthHelper.initialize();
   }
+  return healthHelper.initialize();
 }
 
 MessageQueueId_t HealthDevice::getCommandQueue() const { return commandQueue->getId(); }
diff --git a/src/fsfw/devicehandlers/HealthDevice.h b/src/fsfw/devicehandlers/HealthDevice.h
index 00ea44c5..a5c28cf7 100644
--- a/src/fsfw/devicehandlers/HealthDevice.h
+++ b/src/fsfw/devicehandlers/HealthDevice.h
@@ -29,7 +29,7 @@ class HealthDevice : public SystemObject, public ExecutableObjectIF, public HasH
  protected:
   HealthState lastHealth;
 
-  MessageQueueId_t parentQueue;
+  MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
   MessageQueueIF* commandQueue;
   HealthHelper healthHelper;
 };
diff --git a/src/fsfw/subsystem/SubsystemBase.cpp b/src/fsfw/subsystem/SubsystemBase.cpp
index eccd447c..b8c09230 100644
--- a/src/fsfw/subsystem/SubsystemBase.cpp
+++ b/src/fsfw/subsystem/SubsystemBase.cpp
@@ -315,20 +315,7 @@ object_id_t SubsystemBase::getObjectId() const { return SystemObject::getObjectI
 void SubsystemBase::modeChanged() {}
 
 ReturnValue_t SubsystemBase::registerChild(const ModeTreeChildIF& child) {
-  ChildInfo info;
-
-  const HasModesIF& modeChild = child.getModeIF();
-  // intentional to force an initial command during system startup
-  info.commandQueue = modeChild.getCommandQueue();
-  info.mode = HasModesIF::MODE_UNDEFINED;
-  info.submode = SUBMODE_NONE;
-  info.healthChanged = false;
-
-  auto resultPair = childrenMap.emplace(child.getObjectId(), info);
-  if (not resultPair.second) {
-    return COULD_NOT_INSERT_CHILD;
-  }
-  return returnvalue::OK;
+  return registerChild(child.getObjectId(), child.getModeIF().getCommandQueue());
 }
 
 const HasHealthIF* SubsystemBase::getOptHealthIF() const { return this; }
@@ -336,3 +323,19 @@ const HasHealthIF* SubsystemBase::getOptHealthIF() const { return this; }
 const HasModesIF& SubsystemBase::getModeIF() const { return *this; }
 
 ModeTreeChildIF& SubsystemBase::getModeTreeChildIF() { return *this; }
+
+ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQueueId_t childQueue) {
+    ChildInfo info;
+
+  // intentional to force an initial command during system startup
+  info.commandQueue = childQueue;
+  info.mode = HasModesIF::MODE_UNDEFINED;
+  info.submode = SUBMODE_NONE;
+  info.healthChanged = false;
+
+  auto resultPair = childrenMap.emplace(childObjectId, info);
+  if (not resultPair.second) {
+    return COULD_NOT_INSERT_CHILD;
+  }
+  return returnvalue::OK;
+}
diff --git a/src/fsfw/subsystem/SubsystemBase.h b/src/fsfw/subsystem/SubsystemBase.h
index c3886d61..072b4ca4 100644
--- a/src/fsfw/subsystem/SubsystemBase.h
+++ b/src/fsfw/subsystem/SubsystemBase.h
@@ -61,6 +61,8 @@ class SubsystemBase : public SystemObject,
    *           COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap
    */
   ReturnValue_t registerChild(const ModeTreeChildIF &child) override;
+  // TODO: Add this to HasModeTreeChildrenIF.
+  ReturnValue_t registerChild(object_id_t childObjectId, MessageQueueId_t childQueue);
 
   ReturnValue_t initialize() override;