diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index cc59baaa..770a9063 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -1,3 +1,4 @@
+#include <mission/system/objects/AcsSubsystem.h>
 #include "ObjectFactory.h"
 
 #include "OBSWConfig.h"
@@ -233,7 +234,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
 }
 
 void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
-                                             PowerSwitchIF* pwrSwitcher) {
+                                             PowerSwitchIF* pwrSwitcher, object_id_t acsSubsystemId) {
   using namespace gpio;
   GpioCookie* gpioCookieAcsBoard = new GpioCookie();
 
@@ -477,7 +478,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
       objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
       objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
       objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
-  auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
+  auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, acsSubsystemId, pwrSwitcher,
                                      acsBoardHelper, gpioComIF);
   static_cast<void>(acsAss);
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
@@ -885,7 +886,7 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
   starTracker->setPowerSwitcher(pwrSwitcher);
 }
 
-void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
+void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, object_id_t acsSubsystem) {
   I2cCookie* imtqI2cCookie =
       new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
   auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
diff --git a/bsp_q7s/core/ObjectFactory.h b/bsp_q7s/core/ObjectFactory.h
index 0b81c235..181ca6d4 100644
--- a/bsp_q7s/core/ObjectFactory.h
+++ b/bsp_q7s/core/ObjectFactory.h
@@ -28,9 +28,9 @@ void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
 void createTmpComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
-                              PowerSwitchIF* pwrSwitcher);
+                              PowerSwitchIF* pwrSwitcher, object_id_t acsSubsystemId);
 void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);
-void createImtqComponents(PowerSwitchIF* pwrSwitcher);
+void createImtqComponents(PowerSwitchIF* pwrSwitcher, object_id_t subsystemId);
 void createBpxBatteryComponent();
 void createStrComponents(PowerSwitchIF* pwrSwitcher);
 void createSolarArrayDeploymentComponents();
diff --git a/bsp_q7s/fmObjectFactory.cpp b/bsp_q7s/fmObjectFactory.cpp
index 81194754..a31775da 100644
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@@ -31,7 +31,7 @@ void ObjectFactory::produce(void* args) {
   createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
 
 #if OBSW_ADD_ACS_BOARD == 1
-  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
+  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher, objects::ACS_SUBSYSTEM);
 #endif
   createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
   createSolarArrayDeploymentComponents();
@@ -43,7 +43,7 @@ void ObjectFactory::produce(void* args) {
   createPayloadComponents(gpioComIF);
 
 #if OBSW_ADD_MGT == 1
-  createImtqComponents(pwrSwitcher);
+  createImtqComponents(pwrSwitcher, objects::ACS_SUBSYSTEM);
 #endif
   createReactionWheelComponents(gpioComIF, pwrSwitcher);
 
@@ -65,5 +65,5 @@ void ObjectFactory::produce(void* args) {
   createMiscComponents();
   createThermalController();
   createAcsController();
-  satsystem::initAcsSubsystem();
+  satsystem::initAcsSubsystem(objects::NO_OBJECT);
 }
diff --git a/fsfw b/fsfw
index c47bed07..78314ad9 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit c47bed07606548fd2510caa45bdd9fc867732065
+Subproject commit 78314ad9668a2e01408a0111f7f306bbb468a40f
diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp
index f0fbbea9..9436a688 100644
--- a/mission/system/tree/acsModeTree.cpp
+++ b/mission/system/tree/acsModeTree.cpp
@@ -73,9 +73,16 @@ auto ACS_TABLE_TARGET_PT_TRANS_0 =
 auto ACS_TABLE_TARGET_PT_TRANS_1 =
     std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
-void satsystem::initAcsSubsystem() {
+void satsystem::initAcsSubsystem(object_id_t satSystemObjId) {
   ModeListEntry entry;
-  Subsystem* acsSubsystem = new Subsystem(objects::ACS_SUBSYSTEM, objects::EIVE_SYSTEM, 12, 24);
+  Subsystem* acsSubsystem = new Subsystem(objects::ACS_SUBSYSTEM, satSystemObjId, 12, 24);
+  acsSubsystem->registerChild(objects::ACS_CONTROLLER);
+  acsSubsystem->registerChild(objects::IMTQ_HANDLER);
+  acsSubsystem->registerChild(objects::STAR_TRACKER);
+  acsSubsystem->registerChild(objects::ACS_BOARD_ASS);
+  acsSubsystem->registerChild(objects::SUS_BOARD_ASS);
+  acsSubsystem->registerChild(objects::IMTQ_HANDLER);
+  acsSubsystem->registerChild(objects::RW_ASS);
   buildOffSequence(acsSubsystem, entry);
   buildSafeSequence(acsSubsystem, entry);
   buildDetumbleSequence(acsSubsystem, entry);
diff --git a/mission/system/tree/acsModeTree.h b/mission/system/tree/acsModeTree.h
index 5ad5d7c9..1b7c31eb 100644
--- a/mission/system/tree/acsModeTree.h
+++ b/mission/system/tree/acsModeTree.h
@@ -4,6 +4,6 @@ class Subsystem;
 
 namespace satsystem {
 
-void initAcsSubsystem();
+void initAcsSubsystem(object_id_t satSystemObjId);
 
 }  // namespace satsystem