diff --git a/hal/CMakeLists.txt b/hal/CMakeLists.txt
index 424a012d..7a97ae0f 100644
--- a/hal/CMakeLists.txt
+++ b/hal/CMakeLists.txt
@@ -9,6 +9,7 @@ option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod libr
 # Linux. The only exception from this is the gpiod library which requires a dedicated installation,
 # but CMake is able to determine whether this library is installed with find_library.
 option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
+option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
 
 option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
 option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
diff --git a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
index 7c81a1db..eb90629e 100644
--- a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
+++ b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
@@ -79,8 +79,8 @@ class GpiodRegularBase : public GpioBase {
 class GpiodRegularByChip : public GpiodRegularBase {
  public:
   GpiodRegularByChip()
-      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(),
-                         gpio::Direction::IN, gpio::Levels::LOW, 0) {}
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN,
+                         gpio::Levels::LOW, 0) {}
 
   GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
                      gpio::Direction direction_, gpio::Levels initValue_)
@@ -126,8 +126,8 @@ class GpiodRegularByLineName : public GpiodRegularBase {
         lineName(lineName_) {}
 
   GpiodRegularByLineName(std::string lineName_, std::string consumer_)
-      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_,
-                         gpio::Direction::IN, gpio::Levels::LOW),
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
+                         gpio::Levels::LOW),
         lineName(lineName_) {}
 
   std::string lineName;
diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
index f92f5f1f..94e1331c 100644
--- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
@@ -8,11 +8,7 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
                                        CookieIF *comCookie, uint32_t transitionDelayMs)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       transitionDelayMs(transitionDelayMs),
-      dataset(this) {
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-  debugDivider = new PeriodicOperationDivider(10);
-#endif
-}
+      dataset(this) {}
 
 GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
 
@@ -193,22 +189,22 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
 
       int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
       float temperature = 25.0 + temperaturOffset;
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-      if (debugDivider->checkAndIncrement()) {
-        /* Set terminal to utf-8 if there is an issue with micro printout. */
+      if (periodicPrintout) {
+        if (debugDivider.checkAndIncrement()) {
+          /* Set terminal to utf-8 if there is an issue with micro printout. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
-        sif::info << "X: " << angVelocX << std::endl;
-        sif::info << "Y: " << angVelocY << std::endl;
-        sif::info << "Z: " << angVelocZ << std::endl;
+          sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
+          sif::info << "X: " << angVelocX << std::endl;
+          sif::info << "Y: " << angVelocY << std::endl;
+          sif::info << "Z: " << angVelocZ << std::endl;
 #else
-        sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
-        sif::printInfo("X: %f\n", angVelocX);
-        sif::printInfo("Y: %f\n", angVelocY);
-        sif::printInfo("Z: %f\n", angVelocZ);
+          sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
+          sif::printInfo("X: %f\n", angVelocX);
+          sif::printInfo("Y: %f\n", angVelocY);
+          sif::printInfo("Z: %f\n", angVelocZ);
 #endif
+        }
       }
-#endif
 
       PoolReadGuard readSet(&dataset);
       if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
@@ -272,3 +268,8 @@ void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float lim
   this->absLimitY = limitY;
   this->absLimitZ = limitZ;
 }
+
+void GyroHandlerL3GD20H::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
+}
diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
index 784dcf4c..7c1ebdac 100644
--- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
+++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
@@ -5,7 +5,6 @@
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 
 #include "devicedefinitions/GyroL3GD20Definitions.h"
-#include "fsfw/FSFW.h"
 
 /**
  * @brief 	Device Handler for the L3GD20H gyroscope sensor
@@ -22,6 +21,8 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
                      uint32_t transitionDelayMs);
   virtual ~GyroHandlerL3GD20H();
 
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
+
   /**
    * Set the absolute limit for the values on the axis in degrees per second.
    * The dataset values will be marked as invalid if that limit is exceeded
@@ -80,9 +81,8 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
   // Set default value
   float sensitivity = L3GD20H::SENSITIVITY_00;
 
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-  PeriodicOperationDivider *debugDivider = nullptr;
-#endif
+  bool periodicPrintout = false;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
 };
 
 #endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
index cf1d934a..69f6311e 100644
--- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
@@ -12,9 +12,6 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       dataset(this),
       transitionDelay(transitionDelay) {
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-  debugDivider = new PeriodicOperationDivider(10);
-#endif
   // Set to default values right away
   registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
   registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
@@ -272,23 +269,24 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
                    MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
 
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-      if (debugDivider->checkAndIncrement()) {
+      if (periodicPrintout) {
+        if (debugDivider.checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "MGMHandlerLIS3: Magnetic field strength in"
-                     " microtesla:"
-                  << std::endl;
-        sif::info << "X: " << mgmX << " uT" << std::endl;
-        sif::info << "Y: " << mgmY << " uT" << std::endl;
-        sif::info << "Z: " << mgmZ << " uT" << std::endl;
+          sif::info << "MGMHandlerLIS3: Magnetic field strength in"
+                       " microtesla:"
+                    << std::endl;
+          sif::info << "X: " << mgmX << " uT" << std::endl;
+          sif::info << "Y: " << mgmY << " uT" << std::endl;
+          sif::info << "Z: " << mgmZ << " uT" << std::endl;
 #else
-        sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
-        sif::printInfo("X: %f uT\n", mgmX);
-        sif::printInfo("Y: %f uT\n", mgmY);
-        sif::printInfo("Z: %f uT\n", mgmZ);
+          sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
+          sif::printInfo("X: %f uT\n", mgmX);
+          sif::printInfo("Y: %f uT\n", mgmY);
+          sif::printInfo("Z: %f uT\n", mgmZ);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
+        }
       }
-#endif /* OBSW_VERBOSE_LEVEL >= 1 */
+
       PoolReadGuard readHelper(&dataset);
       if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
         if (std::abs(mgmX) < absLimitX) {
@@ -318,15 +316,16 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
     case MGMLIS3MDL::READ_TEMPERATURE: {
       int16_t tempValueRaw = packet[2] << 8 | packet[1];
       float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-      if (debugDivider->check()) {
+      if (periodicPrintout) {
+        if (debugDivider.check()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
+          sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
 #else
-        sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
+          sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
 #endif
+        }
       }
-#endif
+
       ReturnValue_t result = dataset.read();
       if (result == HasReturnvaluesIF::RETURN_OK) {
         dataset.temperature = tempValue;
@@ -484,3 +483,8 @@ void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLim
   this->absLimitY = yLimit;
   this->absLimitZ = zLimit;
 }
+
+void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
+}
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
index b7cfc378..42bd5d4c 100644
--- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
@@ -3,8 +3,8 @@
 
 #include "devicedefinitions/MgmLIS3HandlerDefs.h"
 #include "events/subsystemIdRanges.h"
-#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 
 class PeriodicOperationDivider;
 
@@ -30,6 +30,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
                     uint32_t transitionDelay);
   virtual ~MgmLIS3MDLHandler();
 
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
   /**
    * Set the absolute limit for the values on the axis in microtesla. The dataset values will
    * be marked as invalid if that limit is exceeded
@@ -167,9 +168,8 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
    */
   ReturnValue_t prepareCtrlRegisterWrite();
 
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-  PeriodicOperationDivider *debugDivider;
-#endif
+  bool periodicPrintout = false;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
 };
 
 #endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
index a2e2e85f..f9929d63 100644
--- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
@@ -10,11 +10,7 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommu
                                    CookieIF *comCookie, uint32_t transitionDelay)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       primaryDataset(this),
-      transitionDelay(transitionDelay) {
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
-  debugDivider = new PeriodicOperationDivider(10);
-#endif
-}
+      transitionDelay(transitionDelay) {}
 
 MgmRM3100Handler::~MgmRM3100Handler() {}
 
@@ -337,23 +333,23 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
   float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
 
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
-  if (debugDivider->checkAndIncrement()) {
+  if (periodicPrintout) {
+    if (debugDivider.checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::info << "MgmRM3100Handler: Magnetic field strength in"
-                 " microtesla:"
-              << std::endl;
-    sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
-    sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
-    sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
+      sif::info << "MgmRM3100Handler: Magnetic field strength in"
+                   " microtesla:"
+                << std::endl;
+      sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
+      sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
+      sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
 #else
-    sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
-    sif::printInfo("X: %f uT\n", fieldStrengthX);
-    sif::printInfo("Y: %f uT\n", fieldStrengthY);
-    sif::printInfo("Z: %f uT\n", fieldStrengthZ);
+      sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
+      sif::printInfo("X: %f uT\n", fieldStrengthX);
+      sif::printInfo("Y: %f uT\n", fieldStrengthY);
+      sif::printInfo("Z: %f uT\n", fieldStrengthZ);
 #endif
+    }
   }
-#endif
 
   // TODO: Sanity check on values?
   PoolReadGuard readGuard(&primaryDataset);
@@ -365,3 +361,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   }
   return RETURN_OK;
 }
+
+void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
+}
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
index 67362f59..d1048cb6 100644
--- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
+++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
@@ -2,12 +2,8 @@
 #define MISSION_DEVICES_MGMRM3100HANDLER_H_
 
 #include "devicedefinitions/MgmRM3100HandlerDefs.h"
-#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
-
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
-#endif
 
 /**
  * @brief 	Device Handler for the RM3100 geomagnetic magnetometer sensor
@@ -33,6 +29,7 @@ class MgmRM3100Handler : public DeviceHandlerBase {
                    uint32_t transitionDelay);
   virtual ~MgmRM3100Handler();
 
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
   /**
    * Configure device handler to go to normal mode after startup immediately
    * @param enable
@@ -98,9 +95,9 @@ class MgmRM3100Handler : public DeviceHandlerBase {
                                         size_t commandDataLen);
 
   ReturnValue_t handleDataReadout(const uint8_t *packet);
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
-  PeriodicOperationDivider *debugDivider;
-#endif
+
+  bool periodicPrintout = false;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
 };
 
 #endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */
diff --git a/hal/src/fsfw_hal/linux/CMakeLists.txt b/hal/src/fsfw_hal/linux/CMakeLists.txt
index 0fb2d385..56d4bf48 100644
--- a/hal/src/fsfw_hal/linux/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/CMakeLists.txt
@@ -9,7 +9,9 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
 )
 
 if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
+if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
 	add_subdirectory(gpio)
+endif()
 	add_subdirectory(spi)
 	add_subdirectory(i2c)
 	add_subdirectory(uart)
diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
index 9a795123..3b9a21f7 100644
--- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
+++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
@@ -163,7 +163,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
   switch (direction) {
     case (gpio::Direction::OUT): {
       result = gpiod_line_request_output(lineHandle, consumer.c_str(),
-          static_cast<int>(regularGpio.initValue));
+                                         static_cast<int>(regularGpio.initValue));
       break;
     }
     case (gpio::Direction::IN): {
diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
index d95232c1..dcf92b5d 100644
--- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
+++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
@@ -401,4 +401,12 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
   if (retval != 0) {
     utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
   }
+  // This updates the SPI clock default polarity. Only setting the mode does not update
+  // the line state, which can be an issue on mode switches because the clock line will
+  // switch the state after the chip select is pulled low
+  clockUpdateTransfer.len = 0;
+  retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
+  if (retval != 0) {
+    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
+  }
 }
diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.h b/hal/src/fsfw_hal/linux/spi/SpiComIF.h
index 1f825d52..357afa2f 100644
--- a/hal/src/fsfw_hal/linux/spi/SpiComIF.h
+++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.h
@@ -74,6 +74,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
   MutexIF* spiMutex = nullptr;
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 20;
+  spi_ioc_transfer clockUpdateTransfer = {};
 
   using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
   using SpiDeviceMapIter = SpiDeviceMap::iterator;
diff --git a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp
index d4096608..8a4ef0c3 100644
--- a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp
+++ b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp
@@ -1,7 +1,4 @@
 #include "UartComIF.h"
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface.h"
-#include "fsfw_hal/linux/utility.h"
 
 #include <errno.h>
 #include <fcntl.h>
@@ -10,6 +7,10 @@
 
 #include <cstring>
 
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw_hal/linux/utility.h"
+
 UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {}
 
 UartComIF::~UartComIF() {}
@@ -268,6 +269,50 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
       cfsetispeed(options, B460800);
       cfsetospeed(options, B460800);
       break;
+    case 500000:
+      cfsetispeed(options, B500000);
+      cfsetospeed(options, B500000);
+      break;
+    case 576000:
+      cfsetispeed(options, B576000);
+      cfsetospeed(options, B576000);
+      break;
+    case 921600:
+      cfsetispeed(options, B921600);
+      cfsetospeed(options, B921600);
+      break;
+    case 1000000:
+      cfsetispeed(options, B1000000);
+      cfsetospeed(options, B1000000);
+      break;
+    case 1152000:
+      cfsetispeed(options, B1152000);
+      cfsetospeed(options, B1152000);
+      break;
+    case 1500000:
+      cfsetispeed(options, B1500000);
+      cfsetospeed(options, B1500000);
+      break;
+    case 2000000:
+      cfsetispeed(options, B2000000);
+      cfsetospeed(options, B2000000);
+      break;
+    case 2500000:
+      cfsetispeed(options, B2500000);
+      cfsetospeed(options, B2500000);
+      break;
+    case 3000000:
+      cfsetispeed(options, B3000000);
+      cfsetospeed(options, B3000000);
+      break;
+    case 3500000:
+      cfsetispeed(options, B3500000);
+      cfsetospeed(options, B3500000);
+      break;
+    case 4000000:
+      cfsetispeed(options, B4000000);
+      cfsetospeed(options, B4000000);
+      break;
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
diff --git a/src/fsfw/FSFW.h.in b/src/fsfw/FSFW.h.in
index 28e0c0bf..45b4afc3 100644
--- a/src/fsfw/FSFW.h.in
+++ b/src/fsfw/FSFW.h.in
@@ -57,17 +57,10 @@
 #define FSFW_HAL_SPI_WIRETAPPING            0
 #endif
 
-#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
-#define FSFW_HAL_L3GD20_GYRO_DEBUG          0
-#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
-
-#ifndef FSFW_HAL_RM3100_MGM_DEBUG
-#define FSFW_HAL_RM3100_MGM_DEBUG           0
-#endif /* FSFW_HAL_RM3100_MGM_DEBUG */
-
-#ifndef FSFW_HAL_LIS3MDL_MGM_DEBUG
-#define FSFW_HAL_LIS3MDL_MGM_DEBUG          0
-#endif /* FSFW_HAL_LIS3MDL_MGM_DEBUG */
+// Can be used for low-level debugging of the I2C bus
+#ifndef FSFW_HAL_I2C_WIRETAPPING
+#define FSFW_HAL_I2C_WIRETAPPING            0
+#endif
 
 // Can be used for low-level debugging of the I2C bus
 #ifndef FSFW_HAL_I2C_WIRETAPPING
diff --git a/src/fsfw/cfdp/CFDPHandler.cpp b/src/fsfw/cfdp/CFDPHandler.cpp
index 96baa98c..09a24186 100644
--- a/src/fsfw/cfdp/CFDPHandler.cpp
+++ b/src/fsfw/cfdp/CFDPHandler.cpp
@@ -12,7 +12,9 @@ object_id_t CFDPHandler::packetDestination = 0;
 
 CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
     : SystemObject(setObjectId) {
-  requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  requestQueue = QueueFactory::instance()->createMessageQueue(
+      CFDP_HANDLER_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
   distributor = dist;
 }
 
diff --git a/src/fsfw/controller/ControllerBase.cpp b/src/fsfw/controller/ControllerBase.cpp
index 953dacb4..0e4ff970 100644
--- a/src/fsfw/controller/ControllerBase.cpp
+++ b/src/fsfw/controller/ControllerBase.cpp
@@ -13,7 +13,9 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
       submode(SUBMODE_NONE),
       modeHelper(this),
       healthHelper(this, setObjectId) {
-  commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      commandQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
diff --git a/src/fsfw/datapool/CMakeLists.txt b/src/fsfw/datapool/CMakeLists.txt
index be4606aa..535be2b0 100644
--- a/src/fsfw/datapool/CMakeLists.txt
+++ b/src/fsfw/datapool/CMakeLists.txt
@@ -1,4 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-	PoolDataSetBase.cpp
-	PoolEntry.cpp
+target_sources(${LIB_FSFW_NAME} PRIVATE 
+    PoolDataSetBase.cpp
+    PoolEntry.cpp
 )
\ No newline at end of file
diff --git a/src/fsfw/datapoollocal/StaticLocalDataSet.h b/src/fsfw/datapoollocal/StaticLocalDataSet.h
index dd264e58..59047d67 100644
--- a/src/fsfw/datapoollocal/StaticLocalDataSet.h
+++ b/src/fsfw/datapoollocal/StaticLocalDataSet.h
@@ -46,7 +46,7 @@ class StaticLocalDataSet : public LocalPoolDataSetBase {
   }
 
  private:
-  std::array<PoolVariableIF*, NUM_VARIABLES> poolVarList;
+  std::array<PoolVariableIF*, NUM_VARIABLES> poolVarList = {};
 };
 
 #endif /* FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_ */
diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
index ea1fcdf1..1e87e8a7 100644
--- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
+++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
@@ -39,8 +39,9 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
       childTransitionDelay(5000),
       transitionSourceMode(_MODE_POWER_DOWN),
       transitionSourceSubMode(SUBMODE_NONE) {
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
-      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
+      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
   insertInCommandMap(RAW_COMMAND_ID);
   cookieInfo.state = COOKIE_UNUSED;
   cookieInfo.pendingCommand = deviceCommandMap.end();
@@ -1385,6 +1386,8 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task) { executingTask = task;
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId,
                                        uint32_t parameter) {}
 
+Submode_t DeviceHandlerBase::getInitialSubmode() { return SUBMODE_NONE; }
+
 void DeviceHandlerBase::performOperationHook() {}
 
 ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -1407,7 +1410,7 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
   this->poolManager.initializeAfterTaskCreation();
 
   if (setStartupImmediately) {
-    startTransition(MODE_ON, SUBMODE_NONE);
+    startTransition(MODE_ON, getInitialSubmode());
   }
   return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h
index 037f4bd7..e8893615 100644
--- a/src/fsfw/devicehandlers/DeviceHandlerBase.h
+++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h
@@ -647,6 +647,12 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
                               uint32_t parameter = 0);
 
+  /**
+   * @brief Can be overwritten by a child to specify the initial submode when device has been set
+   *        to startup immediately.
+   */
+  virtual Submode_t getInitialSubmode();
+
  protected:
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
diff --git a/src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp b/src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp
index 48783c20..88fba19f 100644
--- a/src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp
+++ b/src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp
@@ -29,6 +29,7 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
   switch (event->getEvent()) {
     case HasModesIF::MODE_TRANSITION_FAILED:
     case HasModesIF::OBJECT_IN_INVALID_MODE:
+    case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
       // We'll try a recovery as long as defined in MAX_REBOOT.
       // Might cause some AssemblyBase cycles, so keep number low.
       handleRecovery(event->getEvent());
diff --git a/src/fsfw/devicehandlers/DeviceHandlerIF.h b/src/fsfw/devicehandlers/DeviceHandlerIF.h
index 1fc63d3b..1ea742f7 100644
--- a/src/fsfw/devicehandlers/DeviceHandlerIF.h
+++ b/src/fsfw/devicehandlers/DeviceHandlerIF.h
@@ -109,6 +109,7 @@ class DeviceHandlerIF {
   static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW);
   static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
   static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
+  static const Event DEVICE_WANTS_HARD_REBOOT = MAKE_EVENT(11, severity::HIGH);
 
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 
diff --git a/src/fsfw/devicehandlers/HealthDevice.cpp b/src/fsfw/devicehandlers/HealthDevice.cpp
index a626fa6c..5514b65f 100644
--- a/src/fsfw/devicehandlers/HealthDevice.cpp
+++ b/src/fsfw/devicehandlers/HealthDevice.cpp
@@ -8,7 +8,9 @@ HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue
       parentQueue(parentQueue),
       commandQueue(),
       healthHelper(this, setObjectId) {
-  commandQueue = QueueFactory::instance()->createMessageQueue(3);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
diff --git a/src/fsfw/events/EventManager.cpp b/src/fsfw/events/EventManager.cpp
index aaa7d6c5..824682da 100644
--- a/src/fsfw/events/EventManager.cpp
+++ b/src/fsfw/events/EventManager.cpp
@@ -18,8 +18,9 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
 EventManager::EventManager(object_id_t setObjectId)
     : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
   mutex = MutexFactory::instance()->createMutex();
-  eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
-                                                                  EventMessage::EVENT_MESSAGE_SIZE);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  eventReportQueue = QueueFactory::instance()->createMessageQueue(
+      MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
 }
 
 EventManager::~EventManager() {
@@ -46,9 +47,20 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
 
 void EventManager::notifyListeners(EventMessage* message) {
   lockMutex();
-  for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
-    if (iter->second.match(message)) {
-      MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender());
+  for (auto& listener : listenerList) {
+    if (listener.second.match(message)) {
+      ReturnValue_t result =
+          MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
+                   << std::setw(8) << listener.first << " failed with result 0x" << std::setw(4)
+                   << result << std::setfill(' ') << std::endl;
+#else
+        sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
+                        listener.first, result);
+#endif
+      }
     }
   }
   unlockMutex();
@@ -189,4 +201,19 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
   }
 }
 
+void EventManager::printListeners() {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
+  for (auto& listener : listenerList) {
+    sif::info << "0x" << std::setw(8) << listener.first << std::endl;
+  }
+  sif::info << std::dec << std::setfill(' ');
+#else
+  sif::printInfo("Event manager listener MQ IDs:\n");
+  for (auto& listener : listenerList) {
+    sif::printInfo("0x%08x\n", listener.first);
+  }
+#endif
+}
+
 #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */
diff --git a/src/fsfw/events/EventManager.h b/src/fsfw/events/EventManager.h
index f2d642ff..e2a8dd95 100644
--- a/src/fsfw/events/EventManager.h
+++ b/src/fsfw/events/EventManager.h
@@ -42,6 +42,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
                                           object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
                                           bool reporterInverted = false);
   ReturnValue_t performOperation(uint8_t opCode);
+  void printListeners();
 
  protected:
   MessageQueueIF* eventReportQueue = nullptr;
diff --git a/src/fsfw/fdir/FailureIsolationBase.cpp b/src/fsfw/fdir/FailureIsolationBase.cpp
index fedef869..5d04588f 100644
--- a/src/fsfw/fdir/FailureIsolationBase.cpp
+++ b/src/fsfw/fdir/FailureIsolationBase.cpp
@@ -9,8 +9,9 @@
 FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent,
                                            uint8_t messageDepth, uint8_t parameterDomainBase)
     : ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
-  eventQueue =
-      QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE);
+  auto mqArgs = MqArgs(owner, static_cast<void*>(this));
+  eventQueue = QueueFactory::instance()->createMessageQueue(
+      messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
 }
 
 FailureIsolationBase::~FailureIsolationBase() {
diff --git a/src/fsfw/fdir/FailureIsolationBase.h b/src/fsfw/fdir/FailureIsolationBase.h
index 85d18add..7d128083 100644
--- a/src/fsfw/fdir/FailureIsolationBase.h
+++ b/src/fsfw/fdir/FailureIsolationBase.h
@@ -14,13 +14,12 @@ class FailureIsolationBase : public HasReturnvaluesIF,
                              public HasParametersIF {
  public:
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FDIR_1;
-  static const Event FDIR_CHANGED_STATE =
-      MAKE_EVENT(1, severity::INFO);  //!< FDIR has an internal state, which changed from par2
-                                      //!< (oldState) to par1 (newState).
-  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(
-      2, severity::MEDIUM);  //!< FDIR tries to restart device. Par1: event that caused recovery.
-  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(
-      3, severity::MEDIUM);  //!< FDIR turns off device. Par1: event that caused recovery.
+  //! FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
+  static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, severity::INFO);
+  //! FDIR tries to restart device. Par1: event that caused recovery.
+  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, severity::MEDIUM);
+  //! FDIR turns off device. Par1: event that caused recovery.
+  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, severity::MEDIUM);
 
   FailureIsolationBase(object_id_t owner, object_id_t parent = objects::NO_OBJECT,
                        uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0);
diff --git a/src/fsfw/health/HasHealthIF.h b/src/fsfw/health/HasHealthIF.h
index 41abeef3..bdd1ce96 100644
--- a/src/fsfw/health/HasHealthIF.h
+++ b/src/fsfw/health/HasHealthIF.h
@@ -23,19 +23,15 @@ class HasHealthIF {
   static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO);
   static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO);
   static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
-  static const Event OVERWRITING_HEALTH =
-      MAKE_EVENT(9, severity::LOW);  //!< Assembly overwrites health information of children to keep
-                                     //!< satellite alive.
-  static const Event TRYING_RECOVERY =
-      MAKE_EVENT(10, severity::MEDIUM);  //!< Someone starts a recovery of a component (typically
-                                         //!< power-cycle). No parameters.
-  static const Event RECOVERY_STEP =
-      MAKE_EVENT(11, severity::MEDIUM);  //!< Recovery is ongoing. Comes twice during recovery. P1:
-                                         //!< 0 for the first, 1 for the second event. P2: 0
-  static const Event RECOVERY_DONE = MAKE_EVENT(
-      12,
-      severity::MEDIUM);  //!< Recovery was completed. Not necessarily successful. No parameters.
-
+  //! Assembly overwrites health information of children to keep satellite alive.
+  static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW);
+  //! Someone starts a recovery of a component (typically power-cycle). No parameters.
+  static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM);
+  //! Recovery is ongoing. Comes twice during recovery.
+  //! P1: 0 for the first, 1 for the second event. P2: 0
+  static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM);
+  //! Recovery was completed. Not necessarily successful. No parameters.
+  static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM);
   virtual ~HasHealthIF() {}
 
   virtual MessageQueueId_t getCommandQueue() const = 0;
diff --git a/src/fsfw/internalerror/InternalErrorReporter.cpp b/src/fsfw/internalerror/InternalErrorReporter.cpp
index e7088e2c..3faadc1e 100644
--- a/src/fsfw/internalerror/InternalErrorReporter.cpp
+++ b/src/fsfw/internalerror/InternalErrorReporter.cpp
@@ -7,11 +7,13 @@
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
     : SystemObject(setObjectId),
-      commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)),
       poolManager(this, commandQueue),
       internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
       internalErrorDataset(this) {
   mutex = MutexFactory::instance()->createMutex();
+  auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
@@ -36,15 +38,14 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
     if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::debug << "InternalErrorReporter::performOperation: Errors "
-                 << "occured!" << std::endl;
-      sif::debug << "Queue errors: " << newQueueHits << std::endl;
-      sif::debug << "TM errors: " << newTmHits << std::endl;
-      sif::debug << "Store errors: " << newStoreHits << std::endl;
+                 << "occured: Queue | TM | Store : " << newQueueHits << " | " << newTmHits << " | "
+                 << newStoreHits << std::endl;
 #else
-      sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n");
-      sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits));
-      sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
-      sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits));
+      sif::printDebug(
+          "InternalErrorReporter::performOperation: Errors occured: Queue | TM | Store: %lu | %lu "
+          "| %lu\n",
+          static_cast<unsigned int>(newQueueHits), static_cast<unsigned int>(newTmHits),
+          static_cast<unsigned int>(newStoreHits));
 #endif
     }
   }
diff --git a/src/fsfw/ipc/QueueFactory.h b/src/fsfw/ipc/QueueFactory.h
index 864c456d..8069d836 100644
--- a/src/fsfw/ipc/QueueFactory.h
+++ b/src/fsfw/ipc/QueueFactory.h
@@ -5,6 +5,7 @@
 
 #include "MessageQueueIF.h"
 #include "MessageQueueMessage.h"
+#include "definitions.h"
 
 /**
  * Creates message queues.
@@ -22,7 +23,8 @@ class QueueFactory {
   static QueueFactory* instance();
 
   MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3,
-                                     size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+                                     size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+                                     MqArgs* args = nullptr);
 
   void deleteMessageQueue(MessageQueueIF* queue);
 
diff --git a/src/fsfw/ipc/definitions.h b/src/fsfw/ipc/definitions.h
new file mode 100644
index 00000000..1cc7a3c4
--- /dev/null
+++ b/src/fsfw/ipc/definitions.h
@@ -0,0 +1,12 @@
+#ifndef FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
+#define FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
+#include <fsfw/objectmanager/SystemObjectIF.h>
+
+struct MqArgs {
+  MqArgs(){};
+  MqArgs(object_id_t objectId, void* args = nullptr) : objectId(objectId), args(args) {}
+  object_id_t objectId = 0;
+  void* args = nullptr;
+};
+
+#endif /* FSFW_SRC_FSFW_IPC_DEFINITIONS_H_ */
diff --git a/src/fsfw/modes/HasModesIF.h b/src/fsfw/modes/HasModesIF.h
index 0ebe77d8..850d4349 100644
--- a/src/fsfw/modes/HasModesIF.h
+++ b/src/fsfw/modes/HasModesIF.h
@@ -19,32 +19,29 @@ class HasModesIF {
   static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER;
-  static const Event CHANGING_MODE =
-      MAKE_EVENT(0, severity::INFO);  //!< An object announces changing the mode. p1: target mode.
-                                      //!< p2: target submode
-  static const Event MODE_INFO = MAKE_EVENT(
-      1,
-      severity::INFO);  //!< An Object announces its mode; parameter1 is mode, parameter2 is submode
+  //! An object announces changing the mode. p1: target mode. p2: target submode
+  static const Event CHANGING_MODE = MAKE_EVENT(0, severity::INFO);
+  //! An Object announces its mode; parameter1 is mode, parameter2 is submode
+  static const Event MODE_INFO = MAKE_EVENT(1, severity::INFO);
   static const Event FALLBACK_FAILED = MAKE_EVENT(2, severity::HIGH);
   static const Event MODE_TRANSITION_FAILED = MAKE_EVENT(3, severity::LOW);
   static const Event CANT_KEEP_MODE = MAKE_EVENT(4, severity::HIGH);
-  static const Event OBJECT_IN_INVALID_MODE =
-      MAKE_EVENT(5, severity::LOW);  //!< Indicates a bug or configuration failure: Object is in a
-                                     //!< mode it should never be in.
-  static const Event FORCING_MODE = MAKE_EVENT(
-      6, severity::MEDIUM);  //!< The mode is changed, but for some reason, the change is forced,
-                             //!< i.e. EXTERNAL_CONTROL ignored. p1: target mode. p2: target submode
-  static const Event MODE_CMD_REJECTED =
-      MAKE_EVENT(7, severity::LOW);  //!< A mode command was rejected by the called object. Par1:
-                                     //!< called object id, Par2: return code.
+  //! Indicates a bug or configuration failure: Object is in a mode it should never be in.
+  static const Event OBJECT_IN_INVALID_MODE = MAKE_EVENT(5, severity::LOW);
+  //! The mode is changed, but for some reason, the change is forced, i.e. EXTERNAL_CONTROL ignored.
+  //! p1: target mode. p2: target submode
+  static const Event FORCING_MODE = MAKE_EVENT(6, severity::MEDIUM);
+  //! A mode command was rejected by the called object. Par1: called object id, Par2: return code.
+  static const Event MODE_CMD_REJECTED = MAKE_EVENT(7, severity::LOW);
 
-  static const Mode_t MODE_ON =
-      1;  //!< The device is powered and ready to perform operations. In this mode, no commands are
-          //!< sent by the device handler itself, but direct commands van be commanded and will be
-          //!< interpreted
-  static const Mode_t MODE_OFF = 0;  //!< The device is powered off. The only command accepted in
-                                     //!< this mode is a mode change to on.
-  static const Submode_t SUBMODE_NONE = 0;  //!< To avoid checks against magic number "0".
+  //! The device is powered and ready to perform operations. In this mode, no commands are
+  //! sent by the device handler itself, but direct commands van be commanded and will be
+  //! interpreted
+  static const Mode_t MODE_ON = 1;
+  //! The device is powered off. The only command accepted in this mode is a mode change to on.
+  static const Mode_t MODE_OFF = 0;
+  //! To avoid checks against magic number "0".
+  static const Submode_t SUBMODE_NONE = 0;
 
   virtual ~HasModesIF() {}
   virtual MessageQueueId_t getCommandQueue() const = 0;
diff --git a/src/fsfw/objectmanager/ObjectManager.cpp b/src/fsfw/objectmanager/ObjectManager.cpp
index 2017938a..39fef5b5 100644
--- a/src/fsfw/objectmanager/ObjectManager.cpp
+++ b/src/fsfw/objectmanager/ObjectManager.cpp
@@ -95,13 +95,16 @@ void ObjectManager::initialize() {
   for (auto const& it : objectList) {
     result = it.second->initialize();
     if (result != RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      object_id_t var = it.first;
       sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8)
-                 << std::setfill('0') << var
-                 << " failed to "
-                    "initialize with code 0x"
-                 << result << std::dec << std::setfill(' ') << std::endl;
+                 << std::setfill('0') << it.first << " failed to initialize with code 0x" << result
+                 << std::dec << std::setfill(' ') << std::endl;
+#else
+      sif::printError(
+          "ObjectManager::initialize: Object 0x%08x failed to initialize with code 0x%04x\n", var,
+          it.first);
+#endif
 #endif
       errorCount++;
     }
diff --git a/src/fsfw/osal/freertos/MessageQueue.cpp b/src/fsfw/osal/freertos/MessageQueue.cpp
index a8333fe5..927d7820 100644
--- a/src/fsfw/osal/freertos/MessageQueue.cpp
+++ b/src/fsfw/osal/freertos/MessageQueue.cpp
@@ -4,7 +4,7 @@
 #include "fsfw/osal/freertos/QueueMapManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
     : maxMessageSize(maxMessageSize) {
   handle = xQueueCreate(messageDepth, maxMessageSize);
   if (handle == nullptr) {
diff --git a/src/fsfw/osal/freertos/MessageQueue.h b/src/fsfw/osal/freertos/MessageQueue.h
index 1cb343d1..fc1d78e5 100644
--- a/src/fsfw/osal/freertos/MessageQueue.h
+++ b/src/fsfw/osal/freertos/MessageQueue.h
@@ -7,6 +7,7 @@
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw/ipc/MessageQueueMessageIF.h"
+#include "fsfw/ipc/definitions.h"
 #include "queue.h"
 
 /**
@@ -53,7 +54,8 @@ class MessageQueue : public MessageQueueIF {
    * This should be left default.
    */
   MessageQueue(size_t messageDepth = 3,
-               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+               MqArgs* args = nullptr);
 
   /** Copying message queues forbidden */
   MessageQueue(const MessageQueue&) = delete;
diff --git a/src/fsfw/osal/freertos/QueueFactory.cpp b/src/fsfw/osal/freertos/QueueFactory.cpp
index f4941481..8424123c 100644
--- a/src/fsfw/osal/freertos/QueueFactory.cpp
+++ b/src/fsfw/osal/freertos/QueueFactory.cpp
@@ -22,8 +22,9 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
-  return new MessageQueue(messageDepth, maxMessageSize);
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
+                                                 MqArgs* args) {
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }
diff --git a/src/fsfw/osal/host/MessageQueue.cpp b/src/fsfw/osal/host/MessageQueue.cpp
index db66b671..eed29555 100644
--- a/src/fsfw/osal/host/MessageQueue.cpp
+++ b/src/fsfw/osal/host/MessageQueue.cpp
@@ -8,7 +8,7 @@
 #include "fsfw/osal/host/QueueMapManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
     : messageSize(maxMessageSize), messageDepth(messageDepth) {
   queueLock = MutexFactory::instance()->createMutex();
   auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
diff --git a/src/fsfw/osal/host/MessageQueue.h b/src/fsfw/osal/host/MessageQueue.h
index 49375bb5..d090d269 100644
--- a/src/fsfw/osal/host/MessageQueue.h
+++ b/src/fsfw/osal/host/MessageQueue.h
@@ -8,6 +8,7 @@
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw/ipc/MutexIF.h"
+#include "fsfw/ipc/definitions.h"
 #include "fsfw/timemanager/Clock.h"
 
 /**
@@ -54,7 +55,8 @@ class MessageQueue : public MessageQueueIF {
    * This should be left default.
    */
   MessageQueue(size_t messageDepth = 3,
-               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+               MqArgs* args = nullptr);
 
   /** Copying message queues forbidden */
   MessageQueue(const MessageQueue&) = delete;
diff --git a/src/fsfw/osal/host/QueueFactory.cpp b/src/fsfw/osal/host/QueueFactory.cpp
index 3c63e6c9..732892ca 100644
--- a/src/fsfw/osal/host/QueueFactory.cpp
+++ b/src/fsfw/osal/host/QueueFactory.cpp
@@ -27,12 +27,13 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
+                                                 MqArgs* args) {
   // A thread-safe queue can be implemented  by using a combination
   // of std::queue and std::mutex. This uses dynamic memory allocation
   // which could be alleviated by using a custom allocator, external library
   // (etl::queue) or simply using std::queue, we're on a host machine anyway.
-  return new MessageQueue(messageDepth, maxMessageSize);
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }
diff --git a/src/fsfw/osal/linux/MessageQueue.cpp b/src/fsfw/osal/linux/MessageQueue.cpp
index f876ec6e..bfc1d0f7 100644
--- a/src/fsfw/osal/linux/MessageQueue.cpp
+++ b/src/fsfw/osal/linux/MessageQueue.cpp
@@ -11,7 +11,7 @@
 #include "fsfw/osal/linux/unixUtility.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize)
+MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args)
     : id(MessageQueueIF::NO_QUEUE),
       lastPartner(MessageQueueIF::NO_QUEUE),
       defaultDestination(MessageQueueIF::NO_QUEUE),
@@ -37,6 +37,9 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize)
     // Successful mq_open call
     this->id = tempId;
   }
+  if (args != nullptr) {
+    this->mqArgs = *args;
+  }
 }
 
 MessageQueue::~MessageQueue() {
@@ -240,9 +243,9 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
                                                         bool ignoreFault) {
   if (message == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr!" << std::endl;
+    sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr" << std::endl;
 #else
-    sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr!\n");
+    sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr\n");
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
@@ -256,7 +259,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
     if (!ignoreFault) {
       InternalErrorReporterIF* internalErrorReporter =
           ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
-      if (internalErrorReporter != NULL) {
+      if (internalErrorReporter != nullptr) {
         internalErrorReporter->queueMessageNotSent();
       }
     }
diff --git a/src/fsfw/osal/linux/MessageQueue.h b/src/fsfw/osal/linux/MessageQueue.h
index dbf6555e..58afccd6 100644
--- a/src/fsfw/osal/linux/MessageQueue.h
+++ b/src/fsfw/osal/linux/MessageQueue.h
@@ -6,6 +6,7 @@
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
+#include "fsfw/ipc/definitions.h"
 /**
  * @brief		This class manages sending and receiving of message queue messages.
  *
@@ -42,7 +43,8 @@ class MessageQueue : public MessageQueueIF {
    * 							This should be left default.
    */
   MessageQueue(uint32_t messageDepth = 3,
-               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+               MqArgs* args = nullptr);
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
@@ -184,6 +186,8 @@ class MessageQueue : public MessageQueueIF {
    */
   char name[16];
 
+  MqArgs mqArgs = {};
+
   static uint16_t queueCounter;
   const size_t maxMessageSize;
 
diff --git a/src/fsfw/osal/linux/QueueFactory.cpp b/src/fsfw/osal/linux/QueueFactory.cpp
index d1b1cfdb..24ace1ae 100644
--- a/src/fsfw/osal/linux/QueueFactory.cpp
+++ b/src/fsfw/osal/linux/QueueFactory.cpp
@@ -28,8 +28,9 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
-  return new MessageQueue(messageDepth, maxMessageSize);
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
+                                                 MqArgs* args) {
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }
diff --git a/src/fsfw/osal/rtems/MessageQueue.cpp b/src/fsfw/osal/rtems/MessageQueue.cpp
index e45679d5..87073067 100644
--- a/src/fsfw/osal/rtems/MessageQueue.cpp
+++ b/src/fsfw/osal/rtems/MessageQueue.cpp
@@ -6,7 +6,7 @@
 #include "fsfw/osal/rtems/RtemsBasic.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size)
+MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, MqArgs* args)
     : id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) {
   rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
   rtems_status_code status =
diff --git a/src/fsfw/osal/rtems/MessageQueue.h b/src/fsfw/osal/rtems/MessageQueue.h
index 89aae2ad..0f1ee6ee 100644
--- a/src/fsfw/osal/rtems/MessageQueue.h
+++ b/src/fsfw/osal/rtems/MessageQueue.h
@@ -5,6 +5,7 @@
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
+#include "fsfw/ipc/definitions.h"
 
 /**
  *	@brief		This class manages sending and receiving of message queue messages.
@@ -34,7 +35,8 @@ class MessageQueue : public MessageQueueIF {
    * 							This should be left default.
    */
   MessageQueue(size_t message_depth = 3,
-               size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
+               MqArgs* args = nullptr);
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
diff --git a/src/fsfw/osal/rtems/QueueFactory.cpp b/src/fsfw/osal/rtems/QueueFactory.cpp
index 3d517f60..2519f444 100644
--- a/src/fsfw/osal/rtems/QueueFactory.cpp
+++ b/src/fsfw/osal/rtems/QueueFactory.cpp
@@ -49,8 +49,9 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
-  return new MessageQueue(messageDepth, maxMessageSize);
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
+                                                 MqArgs* args) {
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }
diff --git a/src/fsfw/power/Fuse.h b/src/fsfw/power/Fuse.h
index e6f9c149..0b57a6a9 100644
--- a/src/fsfw/power/Fuse.h
+++ b/src/fsfw/power/Fuse.h
@@ -34,14 +34,14 @@ class Fuse : public SystemObject,
   };
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
-  static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(
-      1, severity::LOW);  //!< PSS detected that current on a fuse is totally out of bounds.
-  static const Event FUSE_WENT_OFF =
-      MAKE_EVENT(2, severity::LOW);  //!< PSS detected a fuse that went off.
-  static const Event POWER_ABOVE_HIGH_LIMIT =
-      MAKE_EVENT(4, severity::LOW);  //!< PSS detected a fuse that violates its limits.
-  static const Event POWER_BELOW_LOW_LIMIT =
-      MAKE_EVENT(5, severity::LOW);  //!< PSS detected a fuse that violates its limits.
+  //! PSS detected that current on a fuse is totally out of bounds.
+  static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, severity::LOW);
+  //! PSS detected a fuse that went off.
+  static const Event FUSE_WENT_OFF = MAKE_EVENT(2, severity::LOW);
+  //! PSS detected a fuse that violates its limits.
+  static const Event POWER_ABOVE_HIGH_LIMIT = MAKE_EVENT(4, severity::LOW);
+  //! PSS detected a fuse that violates its limits.
+  static const Event POWER_BELOW_LOW_LIMIT = MAKE_EVENT(5, severity::LOW);
 
   typedef std::list<PowerComponentIF *> DeviceList;
   Fuse(object_id_t fuseObjectId, uint8_t fuseId, sid_t variableSet, VariableIds ids,
diff --git a/src/fsfw/power/PowerSensor.cpp b/src/fsfw/power/PowerSensor.cpp
index 08ff4724..1936e8ee 100644
--- a/src/fsfw/power/PowerSensor.cpp
+++ b/src/fsfw/power/PowerSensor.cpp
@@ -15,7 +15,9 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
                    limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh),
       voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
                    limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
-  commandQueue = QueueFactory::instance()->createMessageQueue();
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
diff --git a/src/fsfw/pus/Service1TelecommandVerification.cpp b/src/fsfw/pus/Service1TelecommandVerification.cpp
index 13d6a1c4..772137dd 100644
--- a/src/fsfw/pus/Service1TelecommandVerification.cpp
+++ b/src/fsfw/pus/Service1TelecommandVerification.cpp
@@ -16,7 +16,9 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
       apid(apid),
       serviceId(serviceId),
       targetDestination(targetDestination) {
-  tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  tmQueue = QueueFactory::instance()->createMessageQueue(
+      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 Service1TelecommandVerification::~Service1TelecommandVerification() {
diff --git a/src/fsfw/pus/Service5EventReporting.cpp b/src/fsfw/pus/Service5EventReporting.cpp
index 4517bc26..a2407945 100644
--- a/src/fsfw/pus/Service5EventReporting.cpp
+++ b/src/fsfw/pus/Service5EventReporting.cpp
@@ -12,7 +12,9 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, uint16_t ap
                                                uint32_t messageQueueDepth)
     : PusServiceBase(objectId, apid, serviceId),
       maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
-  eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  eventQueue = QueueFactory::instance()->createMessageQueue(
+      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 Service5EventReporting::~Service5EventReporting() {
@@ -36,9 +38,6 @@ ReturnValue_t Service5EventReporting::performService() {
       }
     }
   }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Service5EventReporting::generateEventReport: Too many events" << std::endl;
-#endif
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -87,7 +86,7 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
 // to be registered to the event manager to listen for events.
 ReturnValue_t Service5EventReporting::initialize() {
   EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
-  if (manager == NULL) {
+  if (manager == nullptr) {
     return RETURN_FAILED;
   }
   // register Service 5 as listener for events
diff --git a/src/fsfw/pus/Service5EventReporting.h b/src/fsfw/pus/Service5EventReporting.h
index 74264130..c1032d18 100644
--- a/src/fsfw/pus/Service5EventReporting.h
+++ b/src/fsfw/pus/Service5EventReporting.h
@@ -41,7 +41,7 @@
 class Service5EventReporting : public PusServiceBase {
  public:
   Service5EventReporting(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                         size_t maxNumberReportsPerCycle = 10, uint32_t messageQueueDepth = 10);
+                         size_t maxNumberReportsPerCycle, uint32_t messageQueueDepth);
   virtual ~Service5EventReporting();
 
   /***
diff --git a/src/fsfw/pus/Service9TimeManagement.h b/src/fsfw/pus/Service9TimeManagement.h
index 9369e207..1bea2f51 100644
--- a/src/fsfw/pus/Service9TimeManagement.h
+++ b/src/fsfw/pus/Service9TimeManagement.h
@@ -6,10 +6,10 @@
 class Service9TimeManagement : public PusServiceBase {
  public:
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
-  static constexpr Event CLOCK_SET =
-      MAKE_EVENT(0, severity::INFO);  //!< Clock has been set. P1: New Uptime. P2: Old Uptime
-  static constexpr Event CLOCK_SET_FAILURE =
-      MAKE_EVENT(1, severity::LOW);  //!< Clock could not be set. P1: Returncode.
+  //!< Clock has been set. P1: New Uptime. P2: Old Uptime
+  static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO);
+  //!< Clock could not be set. P1: Returncode.
+  static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, severity::LOW);
 
   static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
 
diff --git a/src/fsfw/rmap/RMAP.h b/src/fsfw/rmap/RMAP.h
index 7c654262..d274fb15 100644
--- a/src/fsfw/rmap/RMAP.h
+++ b/src/fsfw/rmap/RMAP.h
@@ -169,8 +169,8 @@ class RMAP : public HasReturnvaluesIF {
    * @param buffer the data to write
    * @param length length of data
    * @return
-   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL
-   * in write command
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was ==
+   * NULL in write command
    *      - return codes of RMAPChannelIF::sendCommand()
    */
   static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, const uint8_t *buffer, size_t length);
@@ -205,8 +205,8 @@ class RMAP : public HasReturnvaluesIF {
    * @param cookie to cookie to read from
    * @param expLength the expected maximum length of the reply
    * @return
-   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL
-   * in write command, or nullpointer in read command
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was ==
+   * NULL in write command, or nullpointer in read command
    *      - return codes of RMAPChannelIF::sendCommand()
    */
   static ReturnValue_t sendReadCommand(RMAPCookie *cookie, uint32_t expLength);
diff --git a/src/fsfw/rmap/RMAPChannelIF.h b/src/fsfw/rmap/RMAPChannelIF.h
index 7dab07c1..752400e5 100644
--- a/src/fsfw/rmap/RMAPChannelIF.h
+++ b/src/fsfw/rmap/RMAPChannelIF.h
@@ -75,11 +75,21 @@ class RMAPChannelIF {
    *      - @c RETURN_OK
    *      - @c COMMAND_NO_DESCRIPTORS_AVAILABLE 	no descriptors available for sending
    * command; command was not sent
-   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for expected
+<<<<<<< HEAD
+   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for
+expected
    * len; command was not sent
-   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too long for the
+   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too long for
+the
    * hw to handle (write command) or the expected len was bigger than maximal expected len (read
    * command) command was not sent
+=======
+   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for
+   * expected len; command was not sent
+   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too
+   * long for the hw to handle (write command) or the expected len was bigger than maximal expected
+   * len (read command) command was not sent
+>>>>>>> origin/eive/develop
    *      - @c COMMAND_CHANNEL_DEACTIVATED		the channel has no port set
    *      - @c NOT_SUPPORTED						if you dont feel like
    * implementing something...
@@ -97,8 +107,14 @@ class RMAPChannelIF {
    *      - @c REPLY_NO_REPLY				no reply was received
    *      - @c REPLY_NOT_SENT				command was not sent, implies no reply
    *      - @c REPLY_NOT_YET_SENT			command is still waiting to be sent
-   *      - @c WRITE_REPLY_INTERFACE_BUSY			Interface is busy (transmission buffer
+<<<<<<< HEAD
+   *      - @c WRITE_REPLY_INTERFACE_BUSY			Interface is busy (transmission
+buffer
    * still being processed)
+=======
+   *      - @c WRITE_REPLY_INTERFACE_BUSY			Interface is busy (transmission
+   * buffer still being processed)
+>>>>>>> origin/eive/develop
    *      - @c WRITE_REPLY_TRANSMISSION_ERROR		Interface encountered errors during last
    * operation, data could not be processed. (transmission error)
    *      - @c WRITE_REPLY_INVALID_DATA			Invalid data (amount / value)
diff --git a/src/fsfw/subsystem/SubsystemBase.cpp b/src/fsfw/subsystem/SubsystemBase.cpp
index 104db3c3..f177ecd4 100644
--- a/src/fsfw/subsystem/SubsystemBase.cpp
+++ b/src/fsfw/subsystem/SubsystemBase.cpp
@@ -8,11 +8,13 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t
                              uint16_t commandQueueDepth)
     : SystemObject(setObjectId),
       mode(initialMode),
-      commandQueue(QueueFactory::instance()->createMessageQueue(commandQueueDepth,
-                                                                CommandMessage::MAX_MESSAGE_SIZE)),
       healthHelper(this, setObjectId),
       modeHelper(this),
-      parentId(parent) {}
+      parentId(parent) {
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
+}
 
 SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
 
diff --git a/src/fsfw/tcdistribution/TcDistributor.cpp b/src/fsfw/tcdistribution/TcDistributor.cpp
index a650546c..408e736e 100644
--- a/src/fsfw/tcdistribution/TcDistributor.cpp
+++ b/src/fsfw/tcdistribution/TcDistributor.cpp
@@ -5,7 +5,9 @@
 #include "fsfw/tmtcservices/TmTcMessage.h"
 
 TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) {
-  tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS);
+  auto mqArgs = MqArgs(objectId);
+  tcQueue = QueueFactory::instance()->createMessageQueue(
+      DISTRIBUTER_MAX_PACKETS, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); }
diff --git a/src/fsfw/thermal/AbstractTemperatureSensor.cpp b/src/fsfw/thermal/AbstractTemperatureSensor.cpp
index 68cd3aca..f7b31386 100644
--- a/src/fsfw/thermal/AbstractTemperatureSensor.cpp
+++ b/src/fsfw/thermal/AbstractTemperatureSensor.cpp
@@ -4,14 +4,13 @@
 
 AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid,
                                                      ThermalModuleIF *thermalModule)
-    : SystemObject(setObjectid),
-      commandQueue(NULL),
-      healthHelper(this, setObjectid),
-      parameterHelper(this) {
-  if (thermalModule != NULL) {
+    : SystemObject(setObjectid), healthHelper(this, setObjectid), parameterHelper(this) {
+  if (thermalModule != nullptr) {
     thermalModule->registerSensor(this);
   }
-  commandQueue = QueueFactory::instance()->createMessageQueue();
+  auto mqArgs = MqArgs(setObjectid, static_cast<void *>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 AbstractTemperatureSensor::~AbstractTemperatureSensor() {
diff --git a/src/fsfw/thermal/AbstractTemperatureSensor.h b/src/fsfw/thermal/AbstractTemperatureSensor.h
index 0c6493fe..b790b0ca 100644
--- a/src/fsfw/thermal/AbstractTemperatureSensor.h
+++ b/src/fsfw/thermal/AbstractTemperatureSensor.h
@@ -51,7 +51,7 @@ class AbstractTemperatureSensor : public HasHealthIF,
   HasHealthIF::HealthState getHealth();
 
  protected:
-  MessageQueueIF* commandQueue;
+  MessageQueueIF* commandQueue = nullptr;
   HealthHelper healthHelper;
   ParameterHelper parameterHelper;
 
diff --git a/src/fsfw/thermal/Heater.cpp b/src/fsfw/thermal/Heater.cpp
index 4f0f8060..46f5c822 100644
--- a/src/fsfw/thermal/Heater.cpp
+++ b/src/fsfw/thermal/Heater.cpp
@@ -12,7 +12,9 @@ Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1)
       switch1(switch1),
       heaterOnCountdown(10800000) /*about two orbits*/,
       parameterHelper(this) {
-  eventQueue = QueueFactory::instance()->createMessageQueue();
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  eventQueue = QueueFactory::instance()->createMessageQueue(
+      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 Heater::~Heater() { QueueFactory::instance()->deleteMessageQueue(eventQueue); }
diff --git a/src/fsfw/tmstorage/TmStoreBackendIF.h b/src/fsfw/tmstorage/TmStoreBackendIF.h
index d9f1a17b..1e08342a 100644
--- a/src/fsfw/tmstorage/TmStoreBackendIF.h
+++ b/src/fsfw/tmstorage/TmStoreBackendIF.h
@@ -33,50 +33,47 @@ class TmStoreBackendIF : public HasParametersIF {
   static const ReturnValue_t INVALID_REQUEST = MAKE_RETURN_CODE(15);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MEMORY;
-  static const Event STORE_SEND_WRITE_FAILED =
-      MAKE_EVENT(0, severity::LOW);  //!< Initiating sending data to store failed. Low, par1:
-                                     //!< returnCode, par2: integer (debug info)
-  static const Event STORE_WRITE_FAILED = MAKE_EVENT(
-      1, severity::LOW);  //!< Data was sent, but writing failed. Low, par1: returnCode, par2: 0
-  static const Event STORE_SEND_READ_FAILED =
-      MAKE_EVENT(2, severity::LOW);  //!< Initiating reading data from store failed. Low, par1:
-                                     //!< returnCode, par2: 0
-  static const Event STORE_READ_FAILED = MAKE_EVENT(
-      3, severity::LOW);  //!< Data was requested, but access failed. Low, par1: returnCode, par2: 0
-  static const Event UNEXPECTED_MSG =
-      MAKE_EVENT(4, severity::LOW);  //!< An unexpected TM packet or data message occurred. Low,
-                                     //!< par1: 0, par2: integer (debug info)
-  static const Event STORING_FAILED = MAKE_EVENT(
-      5, severity::LOW);  //!< Storing data failed. May simply be a full store. Low, par1:
-                          //!< returnCode, par2: integer (sequence count of failed packet).
-  static const Event TM_DUMP_FAILED =
-      MAKE_EVENT(6, severity::LOW);  //!< Dumping retrieved data failed. Low, par1: returnCode,
-                                     //!< par2: integer (sequence count of failed packet).
-  static const Event STORE_INIT_FAILED =
-      MAKE_EVENT(7, severity::LOW);  //!< Corrupted init data or read error. Low, par1: returnCode,
-                                     //!< par2: integer (debug info)
-  static const Event STORE_INIT_EMPTY = MAKE_EVENT(
-      8, severity::INFO);  //!< Store was not initialized. Starts empty. Info, parameters both zero.
-  static const Event STORE_CONTENT_CORRUPTED =
-      MAKE_EVENT(9, severity::LOW);  //!< Data was read out, but it is inconsistent. Low par1:
-                                     //!< Memory address of corruption, par2: integer (debug info)
-  static const Event STORE_INITIALIZE =
-      MAKE_EVENT(10, severity::INFO);  //!< Info event indicating the store will be initialized,
-                                       //!< either at boot or after IOB switch. Info. pars: 0
-  static const Event INIT_DONE = MAKE_EVENT(
-      11, severity::INFO);  //!< Info event indicating the store was successfully initialized,
-                            //!< either at boot or after IOB switch. Info. pars: 0
-  static const Event DUMP_FINISHED = MAKE_EVENT(
-      12, severity::INFO);  //!< Info event indicating that dumping finished successfully. par1:
-                            //!< Number of dumped packets. par2: APID/SSC (16bits each)
-  static const Event DELETION_FINISHED = MAKE_EVENT(
-      13, severity::INFO);  //!< Info event indicating that deletion finished successfully. par1:
-                            //!< Number of deleted packets. par2: APID/SSC (16bits each)
-  static const Event DELETION_FAILED = MAKE_EVENT(
-      14,
-      severity::LOW);  //!< Info event indicating that something went wrong during deletion. pars: 0
-  static const Event AUTO_CATALOGS_SENDING_FAILED =
-      MAKE_EVENT(15, severity::INFO);  //!< Info that the a auto catalog report failed
+  //! Initiating sending data to store failed. Low, par1:
+  //! returnCode, par2: integer (debug info)
+  static const Event STORE_SEND_WRITE_FAILED = MAKE_EVENT(0, severity::LOW);
+  //! Data was sent, but writing failed. Low, par1: returnCode, par2: 0
+  static const Event STORE_WRITE_FAILED = MAKE_EVENT(1, severity::LOW);
+  //! Initiating reading data from store failed. Low, par1: returnCode, par2: 0
+  static const Event STORE_SEND_READ_FAILED = MAKE_EVENT(2, severity::LOW);
+  //! Data was requested, but access failed. Low, par1: returnCode, par2: 0
+  static const Event STORE_READ_FAILED = MAKE_EVENT(3, severity::LOW);
+  //! An unexpected TM packet or data message occurred. Low, par1: 0, par2: integer (debug info)
+  static const Event UNEXPECTED_MSG = MAKE_EVENT(4, severity::LOW);
+  //! Storing data failed. May simply be a full store. Low, par1: returnCode,
+  //! par2: integer (sequence count of failed packet).
+  static const Event STORING_FAILED = MAKE_EVENT(5, severity::LOW);
+  //! Dumping retrieved data failed. Low, par1: returnCode,
+  //! par2: integer (sequence count of failed packet).
+  static const Event TM_DUMP_FAILED = MAKE_EVENT(6, severity::LOW);
+  //! Corrupted init data or read error. Low, par1: returnCode, par2: integer (debug info)
+  //! Store was not initialized. Starts empty. Info, parameters both zero.
+  static const Event STORE_INIT_FAILED = MAKE_EVENT(7, severity::LOW);
+  //! Data was read out, but it is inconsistent. Low par1:
+  //! Memory address of corruption, par2: integer (debug info)
+  static const Event STORE_INIT_EMPTY = MAKE_EVENT(8, severity::INFO);
+
+  static const Event STORE_CONTENT_CORRUPTED = MAKE_EVENT(9, severity::LOW);
+  //! Info event indicating the store will be initialized, either at boot or after IOB switch.
+  //! Info. pars: 0
+  static const Event STORE_INITIALIZE = MAKE_EVENT(10, severity::INFO);
+  //! Info event indicating the store was successfully initialized, either at boot or after
+  //! IOB switch. Info. pars: 0
+  static const Event INIT_DONE = MAKE_EVENT(11, severity::INFO);
+  //! Info event indicating that dumping finished successfully.
+  //! par1: Number of dumped packets. par2: APID/SSC (16bits each)
+  static const Event DUMP_FINISHED = MAKE_EVENT(12, severity::INFO);
+  //! Info event indicating that deletion finished successfully.
+  //! par1:Number of deleted packets. par2: APID/SSC (16bits each)
+  static const Event DELETION_FINISHED = MAKE_EVENT(13, severity::INFO);
+  //! Info event indicating that something went wrong during deletion. pars: 0
+  static const Event DELETION_FAILED = MAKE_EVENT(14, severity::LOW);
+  //! Info that the a auto catalog report failed
+  static const Event AUTO_CATALOGS_SENDING_FAILED = MAKE_EVENT(15, severity::INFO);
 
   virtual ~TmStoreBackendIF() {}
 
diff --git a/src/fsfw/tmtcservices/CommandingServiceBase.cpp b/src/fsfw/tmtcservices/CommandingServiceBase.cpp
index bbdf8d2a..1bbd7fd1 100644
--- a/src/fsfw/tmtcservices/CommandingServiceBase.cpp
+++ b/src/fsfw/tmtcservices/CommandingServiceBase.cpp
@@ -20,8 +20,10 @@ CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t a
       service(service),
       timeoutSeconds(commandTimeoutSeconds),
       commandMap(numberOfParallelCommands) {
-  commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
-  requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  size_t mqSz = MessageQueueMessage::MAX_MESSAGE_SIZE;
+  commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
+  requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
 }
 
 void CommandingServiceBase::setPacketSource(object_id_t packetSource) {
diff --git a/src/fsfw/tmtcservices/PusServiceBase.cpp b/src/fsfw/tmtcservices/PusServiceBase.cpp
index 3af2b82c..565ac5cd 100644
--- a/src/fsfw/tmtcservices/PusServiceBase.cpp
+++ b/src/fsfw/tmtcservices/PusServiceBase.cpp
@@ -13,7 +13,9 @@ object_id_t PusServiceBase::packetDestination = 0;
 
 PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId)
     : SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
-  requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  requestQueue = QueueFactory::instance()->createMessageQueue(
+      PUS_SERVICE_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 PusServiceBase::~PusServiceBase() { QueueFactory::instance()->deleteMessageQueue(requestQueue); }
diff --git a/src/fsfw/tmtcservices/TmTcBridge.cpp b/src/fsfw/tmtcservices/TmTcBridge.cpp
index bacadd6d..cc6ec599 100644
--- a/src/fsfw/tmtcservices/TmTcBridge.cpp
+++ b/src/fsfw/tmtcservices/TmTcBridge.cpp
@@ -15,7 +15,9 @@ TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_i
       tcDestination(tcDestination)
 
 {
-  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(
+      TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); }
diff --git a/tests/src/fsfw_tests/integration/task/TestTask.cpp b/tests/src/fsfw_tests/integration/task/TestTask.cpp
index 65e444e3..765f780e 100644
--- a/tests/src/fsfw_tests/integration/task/TestTask.cpp
+++ b/tests/src/fsfw_tests/integration/task/TestTask.cpp
@@ -3,7 +3,6 @@
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
-bool TestTask::oneShotAction = true;
 MutexIF* TestTask::testLock = nullptr;
 
 TestTask::TestTask(object_id_t objectId) : SystemObject(objectId), testMode(testModes::A) {
diff --git a/tests/src/fsfw_tests/integration/task/TestTask.h b/tests/src/fsfw_tests/integration/task/TestTask.h
index 557b50b2..cd630ee3 100644
--- a/tests/src/fsfw_tests/integration/task/TestTask.h
+++ b/tests/src/fsfw_tests/integration/task/TestTask.h
@@ -29,7 +29,7 @@ class TestTask : public SystemObject, public ExecutableObjectIF, public HasRetur
   bool testFlag = false;
 
  private:
-  static bool oneShotAction;
+  bool oneShotAction = true;
   static MutexIF* testLock;
   StorageManagerIF* IPCStore;
 };