diff --git a/CHANGELOG.md b/CHANGELOG.md
index e376d2b4..7ad6de7a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -27,6 +27,14 @@ list yields a list of all related PRs for each release.
   username appended at the end is created as a side-product now
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/248
 
+### Heater
+
+- Adds `HealthIF` to heaters. Heaters are own system object with queues now which allows to set them faulty.
+- SW will attempt to shut down heaters which are on but marked faulty
+- Some simplifications for `HeaterHandler`, use `std::vector` instead of `std::unordered_map` for primary container. Using the heater indexes 0 to 7 allows to use natural array indexing
+- Some additional input sanity checks in `executeAction`
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/236
+
 ## Changed
 
 - Build unittest as default side product of hosted builds
diff --git a/bsp_q7s/core/InitMission.cpp b/bsp_q7s/core/InitMission.cpp
index 2d68646a..c3954977 100644
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@@ -33,8 +33,16 @@ ObjectManagerIF* objectManager = nullptr;
 
 void initmission::initMission() {
   sif::info << "Building global objects.." << std::endl;
-  /* Instantiate global object manager and also create all objects */
-  ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
+  try {
+    /* Instantiate global object manager and also create all objects */
+    ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
+  } catch (const std::invalid_argument& e) {
+    sif::error << "initmission::initMission: Object Construction failed with an "
+                  "invalid argument: "
+               << e.what();
+    std::exit(1);
+  }
+
   sif::info << "Initializing all objects.." << std::endl;
   ObjectManager::instance()->initialize();
 
@@ -400,6 +408,10 @@ void initmission::createPusTasks(TaskFactory& factory,
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
   }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
+  }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 80b39ae6..1d084c48 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -483,7 +483,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
 
-void ObjectFactory::createHeaterComponents() {
+void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher,
+                                           HealthTableIF* healthTable) {
   using namespace gpio;
   GpioCookie* heaterGpiosCookie = new GpioCookie;
   GpiodRegularByLineName* gpio = nullptr;
@@ -524,8 +525,21 @@ void ObjectFactory::createHeaterComponents() {
                                     Levels::LOW);
   heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
 
-  new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
-                    objects::PCDU_HANDLER, pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
+  gpioIF->addGpios(heaterGpiosCookie);
+
+  HeaterHelper helper({{
+      {new HealthDevice(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
+       gpioIds::HEATER_0},
+      {new HealthDevice(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_1},
+      {new HealthDevice(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
+      {new HealthDevice(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},
+      {new HealthDevice(objects::HEATER_4_CAMERA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_4},
+      {new HealthDevice(objects::HEATER_5_STR, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_5},
+      {new HealthDevice(objects::HEATER_6_DRO, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_6},
+      {new HealthDevice(objects::HEATER_7_HPA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_7},
+  }});
+  new HeaterHandler(objects::HEATER_HANDLER, gpioIF, helper, pwrSwitcher,
+                    pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
 }
 
 void ObjectFactory::createSolarArrayDeploymentComponents() {
diff --git a/bsp_q7s/core/ObjectFactory.h b/bsp_q7s/core/ObjectFactory.h
index e2349f9b..e6a68cf2 100644
--- a/bsp_q7s/core/ObjectFactory.h
+++ b/bsp_q7s/core/ObjectFactory.h
@@ -10,7 +10,9 @@ class UartComIF;
 class SpiComIF;
 class I2cComIF;
 class PowerSwitchIF;
+class HealthTableIF;
 class AcsBoardAssembly;
+class GpioIF;
 
 namespace ObjectFactory {
 
@@ -27,7 +29,7 @@ void createTmpComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
-void createHeaterComponents();
+void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);
 void createImtqComponents(PowerSwitchIF* pwrSwitcher);
 void createBpxBatteryComponent();
 void createStrComponents(PowerSwitchIF* pwrSwitcher);
diff --git a/bsp_q7s/fmObjectFactory.cpp b/bsp_q7s/fmObjectFactory.cpp
index 2a93e07a..2feb4bc1 100644
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@@ -12,7 +12,8 @@
 
 void ObjectFactory::produce(void* args) {
   ObjectFactory::setStatics();
-  ObjectFactory::produceGenericObjects();
+  HealthTableIF* healthTable = nullptr;
+  ObjectFactory::produceGenericObjects(&healthTable);
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   UartComIF* uartComIF = nullptr;
@@ -32,7 +33,7 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_ACS_BOARD == 1
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
-  createHeaterComponents();
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
   createSolarArrayDeploymentComponents();
   createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
 #if OBSW_ADD_SYRLINKS == 1
diff --git a/common/config/commonClassIds.h b/common/config/commonClassIds.h
index d95ff67d..dc440c4d 100644
--- a/common/config/commonClassIds.h
+++ b/common/config/commonClassIds.h
@@ -6,35 +6,35 @@
 
 namespace CLASS_ID {
 enum commonClassIds: uint8_t {
-	COMMON_CLASS_ID_START = FW_CLASS_ID_COUNT,
-	PCDU_HANDLER, //PCDU
-	HEATER_HANDLER, //HEATER
-	SYRLINKS_HANDLER, //SYRLINKS
-	IMTQ_HANDLER, //IMTQ
-	RW_HANDLER, //RWHA
-	STR_HANDLER, //STRH
-	DWLPWRON_CMD, //DWLPWRON
-	MPSOC_TM, //MPTM
-	PLOC_SUPERVISOR_HANDLER, //PLSV
-	PLOC_SUPV_HELPER, //PLSPVhLP
-	SUS_HANDLER, //SUSS
-	CCSDS_IP_CORE_BRIDGE, //IPCI
-	PTME, //PTME
-	PLOC_UPDATER, //PLUD
-	STR_HELPER, //STRHLP
-    GOM_SPACE_HANDLER, //GOMS
-    PLOC_MEMORY_DUMPER, //PLMEMDUMP
-    PDEC_HANDLER, //PDEC
-    CCSDS_HANDLER, //CCSDS
-    RATE_SETTER, //RS
-    ARCSEC_JSON_BASE, //JSONBASE
-    NVM_PARAM_BASE, //NVMB
-    FILE_SYSTEM_HELPER, //FSHLP
-    PLOC_MPSOC_HELPER, // PLMPHLP
-	SA_DEPL_HANDLER, //SADPL
-	MPSOC_RETURN_VALUES_IF, //MPSOCRTVIF
-	SUPV_RETURN_VALUES_IF, //SPVRTVIF
-	COMMON_CLASS_ID_END // [EXPORT] : [END]
+  COMMON_CLASS_ID_START = FW_CLASS_ID_COUNT,
+  PCDU_HANDLER, //PCDU
+  HEATER_HANDLER, //HEATER
+  SYRLINKS_HANDLER, //SYRLINKS
+  IMTQ_HANDLER, //IMTQ
+  RW_HANDLER, //RWHA
+  STR_HANDLER, //STRH
+  DWLPWRON_CMD, //DWLPWRON
+  MPSOC_TM, //MPTM
+  PLOC_SUPERVISOR_HANDLER, //PLSV
+  PLOC_SUPV_HELPER, //PLSPVhLP
+  SUS_HANDLER, //SUSS
+  CCSDS_IP_CORE_BRIDGE, //IPCI
+  PTME, //PTME
+  PLOC_UPDATER, //PLUD
+  STR_HELPER, //STRHLP
+  GOM_SPACE_HANDLER, //GOMS
+  PLOC_MEMORY_DUMPER, //PLMEMDUMP
+  PDEC_HANDLER, //PDEC
+  CCSDS_HANDLER, //CCSDS
+  RATE_SETTER, //RS
+  ARCSEC_JSON_BASE, //JSONBASE
+  NVM_PARAM_BASE, //NVMB
+  FILE_SYSTEM_HELPER, //FSHLP
+  PLOC_MPSOC_HELPER, // PLMPHLP
+  SA_DEPL_HANDLER, //SADPL
+  MPSOC_RETURN_VALUES_IF, //MPSOCRTVIF
+  SUPV_RETURN_VALUES_IF, //SPVRTVIF
+  COMMON_CLASS_ID_END // [EXPORT] : [END]
 };
 
 }
diff --git a/common/config/commonObjects.h b/common/config/commonObjects.h
index d1d575e9..c5dd4a89 100644
--- a/common/config/commonObjects.h
+++ b/common/config/commonObjects.h
@@ -22,13 +22,6 @@ enum commonObjects: uint32_t {
     CORE_CONTROLLER = 0x43000003,
 
     /* 0x44 ('D') for device handlers */
-    P60DOCK_HANDLER = 0x44250000,
-    PDU1_HANDLER = 0x44250001,
-    PDU2_HANDLER = 0x44250002,
-    ACU_HANDLER = 0x44250003,
-    BPX_BATT_HANDLER = 0x44260000,
-    TMP1075_HANDLER_1 = 0x44420004,
-    TMP1075_HANDLER_2 = 0x44420005,
     MGM_0_LIS3_HANDLER = 0x44120006,
     MGM_1_RM3100_HANDLER = 0x44120107,
     MGM_2_LIS3_HANDLER = 0x44120208,
@@ -37,12 +30,35 @@ enum commonObjects: uint32_t {
     GYRO_1_L3G_HANDLER = 0x44120111,
     GYRO_2_ADIS_HANDLER = 0x44120212,
     GYRO_3_L3G_HANDLER = 0x44120313,
-    PLPCDU_HANDLER = 0x44300000,
+    RW1 = 0x44120047,
+    RW2 = 0x44120148,
+    RW3 = 0x44120249,
+    RW4 = 0x44120350,
+    STAR_TRACKER = 0x44130001,
+    GPS_CONTROLLER = 0x44130045,
 
     IMTQ_HANDLER = 0x44140014,
+    TMP1075_HANDLER_1 = 0x44420004,
+    TMP1075_HANDLER_2 = 0x44420005,
+    PCDU_HANDLER = 0x442000A1,
+    P60DOCK_HANDLER = 0x44250000,
+    PDU1_HANDLER = 0x44250001,
+    PDU2_HANDLER = 0x44250002,
+    ACU_HANDLER = 0x44250003,
+    BPX_BATT_HANDLER = 0x44260000,
+    PLPCDU_HANDLER = 0x44300000,
+    RAD_SENSOR = 0x443200A5,
+    PLOC_UPDATER = 0x44330000,
+    PLOC_MEMORY_DUMPER = 0x44330001,
+    STR_HELPER = 0x44330002,
+    PLOC_MPSOC_HELPER = 0x44330003,
+    AXI_PTME_CONFIG = 0x44330004,
+    PTME_CONFIG = 0x44330005,
     PLOC_MPSOC_HANDLER = 0x44330015,
     PLOC_SUPERVISOR_HANDLER = 0x44330016,
     PLOC_SUPERVISOR_HELPER = 0x44330017,
+    SOLAR_ARRAY_DEPL_HANDLER = 0x444100A2,
+    HEATER_HANDLER = 0x444100A4,
 
     /**
      * Not yet specified which pt1000 will measure which device/location in the satellite.
@@ -89,20 +105,17 @@ enum commonObjects: uint32_t {
     SUS_5_N_LOC_XFYMZB_PT_ZB = 0x44120037,
     SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043,
 
-    GPS_CONTROLLER = 0x44130045,
+    SYRLINKS_HK_HANDLER = 0x445300A3,
 
-    RW1 = 0x44120047,
-    RW2 = 0x44120148,
-    RW3 = 0x44120249,
-    RW4 = 0x44120350,
-
-    STAR_TRACKER = 0x44130001,
-
-    PLOC_MEMORY_DUMPER = 0x44330001,
-    STR_HELPER = 0x44330002,
-    PLOC_MPSOC_HELPER = 0x44330003,
-    AXI_PTME_CONFIG = 44330004,
-    PTME_CONFIG = 44330005,
+    // 0x60 for other stuff
+    HEATER_0_PLOC_PROC_BRD = 0x60000000,
+    HEATER_1_PCDU_BRD = 0x60000001,
+    HEATER_2_ACS_BRD = 0x60000002,
+    HEATER_3_OBC_BRD = 0x60000003,
+    HEATER_4_CAMERA = 0x60000004,
+    HEATER_5_STR = 0x60000005,
+    HEATER_6_DRO = 0x60000006,
+    HEATER_7_HPA = 0x60000007,
 
     // 0x73 ('s') for assemblies and system/subsystem components
     ACS_BOARD_ASS = 0x73000001,
diff --git a/common/config/devices/heaterSwitcherList.h b/common/config/devices/heaterSwitcherList.h
index 014e795c..256e5c88 100644
--- a/common/config/devices/heaterSwitcherList.h
+++ b/common/config/devices/heaterSwitcherList.h
@@ -3,16 +3,16 @@
 
 #include <cstdint>
 
-namespace heaterSwitches {
-	enum switcherList: uint8_t {
-		HEATER_0,
-		HEATER_1,
-		HEATER_2,
-		HEATER_3,
-		HEATER_4,
-		HEATER_5,
-		HEATER_6,
-		HEATER_7,
+namespace heater {
+	enum Switchers: uint8_t {
+		HEATER_0_OBC_BRD,
+		HEATER_1_PLOC_PROC_BRD,
+		HEATER_2_ACS_BRD,
+		HEATER_3_PCDU_PDU,
+		HEATER_4_CAMERA,
+		HEATER_5_STR,
+		HEATER_6_DRO,
+		HEATER_7_HPA,
 		NUMBER_OF_SWITCHES
 	};
 }
diff --git a/fsfw b/fsfw
index dafcaa60..4841d5d9 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit dafcaa60079ba8e57753d389e6a569ee3eb0b7cb
+Subproject commit 4841d5d92d721383e92b521b584c7d0e62c9873d
diff --git a/generators/bsp_q7s_events.csv b/generators/bsp_q7s_events.csv
index d596d541..34326f6b 100644
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@@ -78,14 +78,17 @@
 9700;0x25e4;TEST;INFO;;fsfw/src/fsfw/pus/Service17Test.h
 10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;;fsfw/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
-11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a swithc state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
+11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
 11303;0x2c27;FDIR_REACTION_IGNORED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
 11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;;mission/devices/HeaterHandler.h
 11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;;mission/devices/HeaterHandler.h
-11402;0x2c8a;SWITCH_ALREADY_ON;LOW;;mission/devices/HeaterHandler.h
-11403;0x2c8b;SWITCH_ALREADY_OFF;LOW;;mission/devices/HeaterHandler.h
-11404;0x2c8c;MAIN_SWITCH_TIMEOUT;LOW;;mission/devices/HeaterHandler.h
+11402;0x2c8a;HEATER_WENT_ON;INFO;;mission/devices/HeaterHandler.h
+11403;0x2c8b;HEATER_WENT_OFF;INFO;;mission/devices/HeaterHandler.h
+11404;0x2c8c;SWITCH_ALREADY_ON;LOW;;mission/devices/HeaterHandler.h
+11405;0x2c8d;SWITCH_ALREADY_OFF;LOW;;mission/devices/HeaterHandler.h
+11406;0x2c8e;MAIN_SWITCH_TIMEOUT;MEDIUM;;mission/devices/HeaterHandler.h
+11407;0x2c8f;FAULTY_HEATER_WAS_ON;LOW;;mission/devices/HeaterHandler.h
 11500;0x2cec;MAIN_SWITCH_ON_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
 11501;0x2ced;MAIN_SWITCH_OFF_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
 11502;0x2cee;DEPLOYMENT_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
@@ -106,7 +109,7 @@
 11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
 11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/IMTQHandler.h
 11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/RwDefinitions.h
-11802;0x2e1a;RESET_OCCURED;HIGH;;mission/devices/devicedefinitions/RwDefinitions.h
+11802;0x2e1a;RESET_OCCURED;LOW;;mission/devices/devicedefinitions/RwDefinitions.h
 11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
 11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
diff --git a/generators/bsp_q7s_objects.csv b/generators/bsp_q7s_objects.csv
index 3eece722..f9380ece 100644
--- a/generators/bsp_q7s_objects.csv
+++ b/generators/bsp_q7s_objects.csv
@@ -37,9 +37,12 @@
 0x44260000;BPX_BATT_HANDLER
 0x44300000;PLPCDU_HANDLER
 0x443200A5;RAD_SENSOR
+0x44330000;PLOC_UPDATER
 0x44330001;PLOC_MEMORY_DUMPER
 0x44330002;STR_HELPER
 0x44330003;PLOC_MPSOC_HELPER
+0x44330004;AXI_PTME_CONFIG
+0x44330005;PTME_CONFIG
 0x44330015;PLOC_MPSOC_HANDLER
 0x44330016;PLOC_SUPERVISOR_HANDLER
 0x44330017;PLOC_SUPERVISOR_HELPER
@@ -66,7 +69,8 @@
 0x445300A3;SYRLINKS_HK_HANDLER
 0x49000000;ARDUINO_COM_IF
 0x49010005;GPIO_IF
-0x49020004;SPI_COM_IF
+0x49020004;SPI_MAIN_COM_IF
+0x49020005;SPI_RW_COM_IF
 0x49030003;UART_COM_IF
 0x49040002;I2C_COM_IF
 0x49050001;CSP_COM_IF
@@ -108,6 +112,14 @@
 0x5400CAFE;DUMMY_INTERFACE
 0x54123456;LIBGPIOD_TEST
 0x54694269;TEST_TASK
+0x60000000;HEATER_0_PLOC_PROC_BRD
+0x60000001;HEATER_1_PCDU_BRD
+0x60000002;HEATER_2_ACS_BRD
+0x60000003;HEATER_3_OBC_BRD
+0x60000004;HEATER_4_CAMERA
+0x60000005;HEATER_5_STR
+0x60000006;HEATER_6_DRO
+0x60000007;HEATER_7_HPA
 0x73000001;ACS_BOARD_ASS
 0x73000002;SUS_BOARD_ASS
 0x73000003;TCS_BOARD_ASS
diff --git a/generators/bsp_q7s_returnvalues.csv b/generators/bsp_q7s_returnvalues.csv
index a1b8e422..faf6dd65 100644
--- a/generators/bsp_q7s_returnvalues.csv
+++ b/generators/bsp_q7s_returnvalues.csv
@@ -389,6 +389,7 @@
 0x2e03; ASC_BufferTooSmall;;0x3;fsfw/src/fsfw/globalfunctions/AsciiConverter.h;ASCII_CONVERTER
 0x1701; HHI_ObjectNotHealthy;;1;fsfw/src/fsfw/health/HasHealthIF.h;HAS_HEALTH_IF
 0x1702; HHI_InvalidHealthState;;2;fsfw/src/fsfw/health/HasHealthIF.h;HAS_HEALTH_IF
+0x1703; HHI_IsExternallyControlled;;3;fsfw/src/fsfw/health/HasHealthIF.h;HAS_HEALTH_IF
 0x3101; CF_ObjectHasNoFunctions;;1;fsfw/src/fsfw/action/CommandsActionsIF.h;COMMANDS_ACTIONS_IF
 0x3102; CF_AlreadyCommanding;;2;fsfw/src/fsfw/action/CommandsActionsIF.h;COMMANDS_ACTIONS_IF
 0x3201; HF_IsBusy;;1;fsfw/src/fsfw/action/HasActionsIF.h;HAS_ACTIONS_IF
diff --git a/generators/events/translateEvents.cpp b/generators/events/translateEvents.cpp
index d9e59cd0..08283d78 100644
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 200 translations.
+ * @brief    Auto-generated event translation file. Contains 203 translations.
  * @details
- * Generated on: 2022-05-08 13:11:24
+ * Generated on: 2022-05-12 20:45:27
  */
 #include "translateEvents.h"
 
@@ -90,9 +90,12 @@ const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
 const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED";
 const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED";
 const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED";
+const char *HEATER_WENT_ON_STRING = "HEATER_WENT_ON";
+const char *HEATER_WENT_OFF_STRING = "HEATER_WENT_OFF";
 const char *SWITCH_ALREADY_ON_STRING = "SWITCH_ALREADY_ON";
 const char *SWITCH_ALREADY_OFF_STRING = "SWITCH_ALREADY_OFF";
 const char *MAIN_SWITCH_TIMEOUT_STRING = "MAIN_SWITCH_TIMEOUT";
+const char *FAULTY_HEATER_WAS_ON_STRING = "FAULTY_HEATER_WAS_ON";
 const char *MAIN_SWITCH_ON_TIMEOUT_STRING = "MAIN_SWITCH_ON_TIMEOUT";
 const char *MAIN_SWITCH_OFF_TIMEOUT_STRING = "MAIN_SWITCH_OFF_TIMEOUT";
 const char *DEPLOYMENT_FAILED_STRING = "DEPLOYMENT_FAILED";
@@ -375,11 +378,17 @@ const char *translateEvents(Event event) {
     case (11401):
       return GPIO_PULL_LOW_FAILED_STRING;
     case (11402):
-      return SWITCH_ALREADY_ON_STRING;
+      return HEATER_WENT_ON_STRING;
     case (11403):
-      return SWITCH_ALREADY_OFF_STRING;
+      return HEATER_WENT_OFF_STRING;
     case (11404):
+      return SWITCH_ALREADY_ON_STRING;
+    case (11405):
+      return SWITCH_ALREADY_OFF_STRING;
+    case (11406):
       return MAIN_SWITCH_TIMEOUT_STRING;
+    case (11407):
+      return FAULTY_HEATER_WAS_ON_STRING;
     case (11500):
       return MAIN_SWITCH_ON_TIMEOUT_STRING;
     case (11501):
diff --git a/generators/objects/translateObjects.cpp b/generators/objects/translateObjects.cpp
index ee9b833e..fcc2c875 100644
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 117 translations.
- * Generated on: 2022-05-08 13:11:24
+ * Contains 129 translations.
+ * Generated on: 2022-05-12 20:45:27
  */
 #include "translateObjects.h"
 
@@ -45,9 +45,12 @@ const char *ACU_HANDLER_STRING = "ACU_HANDLER";
 const char *BPX_BATT_HANDLER_STRING = "BPX_BATT_HANDLER";
 const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
 const char *RAD_SENSOR_STRING = "RAD_SENSOR";
+const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
 const char *STR_HELPER_STRING = "STR_HELPER";
 const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
+const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
+const char *PTME_CONFIG_STRING = "PTME_CONFIG";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
 const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
@@ -74,7 +77,8 @@ const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
 const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
-const char *SPI_COM_IF_STRING = "SPI_COM_IF";
+const char *SPI_MAIN_COM_IF_STRING = "SPI_MAIN_COM_IF";
+const char *SPI_RW_COM_IF_STRING = "SPI_RW_COM_IF";
 const char *UART_COM_IF_STRING = "UART_COM_IF";
 const char *I2C_COM_IF_STRING = "I2C_COM_IF";
 const char *CSP_COM_IF_STRING = "CSP_COM_IF";
@@ -116,6 +120,14 @@ const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
 const char *TEST_TASK_STRING = "TEST_TASK";
+const char *HEATER_0_PLOC_PROC_BRD_STRING = "HEATER_0_PLOC_PROC_BRD";
+const char *HEATER_1_PCDU_BRD_STRING = "HEATER_1_PCDU_BRD";
+const char *HEATER_2_ACS_BRD_STRING = "HEATER_2_ACS_BRD";
+const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
+const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
+const char *HEATER_5_STR_STRING = "HEATER_5_STR";
+const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
+const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
@@ -204,12 +216,18 @@ const char *translateObject(object_id_t object) {
       return PLPCDU_HANDLER_STRING;
     case 0x443200A5:
       return RAD_SENSOR_STRING;
+    case 0x44330000:
+      return PLOC_UPDATER_STRING;
     case 0x44330001:
       return PLOC_MEMORY_DUMPER_STRING;
     case 0x44330002:
       return STR_HELPER_STRING;
     case 0x44330003:
       return PLOC_MPSOC_HELPER_STRING;
+    case 0x44330004:
+      return AXI_PTME_CONFIG_STRING;
+    case 0x44330005:
+      return PTME_CONFIG_STRING;
     case 0x44330015:
       return PLOC_MPSOC_HANDLER_STRING;
     case 0x44330016:
@@ -263,7 +281,9 @@ const char *translateObject(object_id_t object) {
     case 0x49010005:
       return GPIO_IF_STRING;
     case 0x49020004:
-      return SPI_COM_IF_STRING;
+      return SPI_MAIN_COM_IF_STRING;
+    case 0x49020005:
+      return SPI_RW_COM_IF_STRING;
     case 0x49030003:
       return UART_COM_IF_STRING;
     case 0x49040002:
@@ -346,6 +366,22 @@ const char *translateObject(object_id_t object) {
       return LIBGPIOD_TEST_STRING;
     case 0x54694269:
       return TEST_TASK_STRING;
+    case 0x60000000:
+      return HEATER_0_PLOC_PROC_BRD_STRING;
+    case 0x60000001:
+      return HEATER_1_PCDU_BRD_STRING;
+    case 0x60000002:
+      return HEATER_2_ACS_BRD_STRING;
+    case 0x60000003:
+      return HEATER_3_OBC_BRD_STRING;
+    case 0x60000004:
+      return HEATER_4_CAMERA_STRING;
+    case 0x60000005:
+      return HEATER_5_STR_STRING;
+    case 0x60000006:
+      return HEATER_6_DRO_STRING;
+    case 0x60000007:
+      return HEATER_7_HPA_STRING;
     case 0x73000001:
       return ACS_BOARD_ASS_STRING;
     case 0x73000002:
diff --git a/linux/fsfwconfig/events/translateEvents.cpp b/linux/fsfwconfig/events/translateEvents.cpp
index d9e59cd0..08283d78 100644
--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 200 translations.
+ * @brief    Auto-generated event translation file. Contains 203 translations.
  * @details
- * Generated on: 2022-05-08 13:11:24
+ * Generated on: 2022-05-12 20:45:27
  */
 #include "translateEvents.h"
 
@@ -90,9 +90,12 @@ const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
 const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED";
 const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED";
 const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED";
+const char *HEATER_WENT_ON_STRING = "HEATER_WENT_ON";
+const char *HEATER_WENT_OFF_STRING = "HEATER_WENT_OFF";
 const char *SWITCH_ALREADY_ON_STRING = "SWITCH_ALREADY_ON";
 const char *SWITCH_ALREADY_OFF_STRING = "SWITCH_ALREADY_OFF";
 const char *MAIN_SWITCH_TIMEOUT_STRING = "MAIN_SWITCH_TIMEOUT";
+const char *FAULTY_HEATER_WAS_ON_STRING = "FAULTY_HEATER_WAS_ON";
 const char *MAIN_SWITCH_ON_TIMEOUT_STRING = "MAIN_SWITCH_ON_TIMEOUT";
 const char *MAIN_SWITCH_OFF_TIMEOUT_STRING = "MAIN_SWITCH_OFF_TIMEOUT";
 const char *DEPLOYMENT_FAILED_STRING = "DEPLOYMENT_FAILED";
@@ -375,11 +378,17 @@ const char *translateEvents(Event event) {
     case (11401):
       return GPIO_PULL_LOW_FAILED_STRING;
     case (11402):
-      return SWITCH_ALREADY_ON_STRING;
+      return HEATER_WENT_ON_STRING;
     case (11403):
-      return SWITCH_ALREADY_OFF_STRING;
+      return HEATER_WENT_OFF_STRING;
     case (11404):
+      return SWITCH_ALREADY_ON_STRING;
+    case (11405):
+      return SWITCH_ALREADY_OFF_STRING;
+    case (11406):
       return MAIN_SWITCH_TIMEOUT_STRING;
+    case (11407):
+      return FAULTY_HEATER_WAS_ON_STRING;
     case (11500):
       return MAIN_SWITCH_ON_TIMEOUT_STRING;
     case (11501):
diff --git a/linux/fsfwconfig/objects/systemObjectList.h b/linux/fsfwconfig/objects/systemObjectList.h
index 22527c3e..57c63863 100644
--- a/linux/fsfwconfig/objects/systemObjectList.h
+++ b/linux/fsfwconfig/objects/systemObjectList.h
@@ -51,13 +51,6 @@ enum sourceObjects : uint32_t {
   GPIO_IF = 0x49010005,
   SPI_RW_COM_IF = 0x49020005,
 
-  /* Custom device handler */
-  PCDU_HANDLER = 0x442000A1,
-  SOLAR_ARRAY_DEPL_HANDLER = 0x444100A2,
-  SYRLINKS_HK_HANDLER = 0x445300A3,
-  HEATER_HANDLER = 0x444100A4,
-  RAD_SENSOR = 0x443200A5,
-
   /* 0x54 ('T') for test handlers */
   TEST_TASK = 0x54694269,
   LIBGPIOD_TEST = 0x54123456,
diff --git a/linux/fsfwconfig/objects/translateObjects.cpp b/linux/fsfwconfig/objects/translateObjects.cpp
index ee9b833e..fcc2c875 100644
--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 117 translations.
- * Generated on: 2022-05-08 13:11:24
+ * Contains 129 translations.
+ * Generated on: 2022-05-12 20:45:27
  */
 #include "translateObjects.h"
 
@@ -45,9 +45,12 @@ const char *ACU_HANDLER_STRING = "ACU_HANDLER";
 const char *BPX_BATT_HANDLER_STRING = "BPX_BATT_HANDLER";
 const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
 const char *RAD_SENSOR_STRING = "RAD_SENSOR";
+const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
 const char *STR_HELPER_STRING = "STR_HELPER";
 const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
+const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
+const char *PTME_CONFIG_STRING = "PTME_CONFIG";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
 const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
@@ -74,7 +77,8 @@ const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
 const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
-const char *SPI_COM_IF_STRING = "SPI_COM_IF";
+const char *SPI_MAIN_COM_IF_STRING = "SPI_MAIN_COM_IF";
+const char *SPI_RW_COM_IF_STRING = "SPI_RW_COM_IF";
 const char *UART_COM_IF_STRING = "UART_COM_IF";
 const char *I2C_COM_IF_STRING = "I2C_COM_IF";
 const char *CSP_COM_IF_STRING = "CSP_COM_IF";
@@ -116,6 +120,14 @@ const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
 const char *TEST_TASK_STRING = "TEST_TASK";
+const char *HEATER_0_PLOC_PROC_BRD_STRING = "HEATER_0_PLOC_PROC_BRD";
+const char *HEATER_1_PCDU_BRD_STRING = "HEATER_1_PCDU_BRD";
+const char *HEATER_2_ACS_BRD_STRING = "HEATER_2_ACS_BRD";
+const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
+const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
+const char *HEATER_5_STR_STRING = "HEATER_5_STR";
+const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
+const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
@@ -204,12 +216,18 @@ const char *translateObject(object_id_t object) {
       return PLPCDU_HANDLER_STRING;
     case 0x443200A5:
       return RAD_SENSOR_STRING;
+    case 0x44330000:
+      return PLOC_UPDATER_STRING;
     case 0x44330001:
       return PLOC_MEMORY_DUMPER_STRING;
     case 0x44330002:
       return STR_HELPER_STRING;
     case 0x44330003:
       return PLOC_MPSOC_HELPER_STRING;
+    case 0x44330004:
+      return AXI_PTME_CONFIG_STRING;
+    case 0x44330005:
+      return PTME_CONFIG_STRING;
     case 0x44330015:
       return PLOC_MPSOC_HANDLER_STRING;
     case 0x44330016:
@@ -263,7 +281,9 @@ const char *translateObject(object_id_t object) {
     case 0x49010005:
       return GPIO_IF_STRING;
     case 0x49020004:
-      return SPI_COM_IF_STRING;
+      return SPI_MAIN_COM_IF_STRING;
+    case 0x49020005:
+      return SPI_RW_COM_IF_STRING;
     case 0x49030003:
       return UART_COM_IF_STRING;
     case 0x49040002:
@@ -346,6 +366,22 @@ const char *translateObject(object_id_t object) {
       return LIBGPIOD_TEST_STRING;
     case 0x54694269:
       return TEST_TASK_STRING;
+    case 0x60000000:
+      return HEATER_0_PLOC_PROC_BRD_STRING;
+    case 0x60000001:
+      return HEATER_1_PCDU_BRD_STRING;
+    case 0x60000002:
+      return HEATER_2_ACS_BRD_STRING;
+    case 0x60000003:
+      return HEATER_3_OBC_BRD_STRING;
+    case 0x60000004:
+      return HEATER_4_CAMERA_STRING;
+    case 0x60000005:
+      return HEATER_5_STR_STRING;
+    case 0x60000006:
+      return HEATER_6_DRO_STRING;
+    case 0x60000007:
+      return HEATER_7_HPA_STRING;
     case 0x73000001:
       return ACS_BOARD_ASS_STRING;
     case 0x73000002:
diff --git a/misc/eclipse/.cproject b/misc/eclipse/.cproject
index f40535b7..d30ef1ec 100644
--- a/misc/eclipse/.cproject
+++ b/misc/eclipse/.cproject
@@ -57,7 +57,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -119,7 +119,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -187,7 +187,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -255,7 +255,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
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 				</configuration>
 			</storageModule>
@@ -750,7 +750,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|cmake-build-debug-q7s-em|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|cmake-build-debug-q7s-em|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -851,7 +851,7 @@
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.1492082603" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/>
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.1972256057" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.200467200" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
-							<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/build-Release-Q7S}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1351628857" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
+							<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/cmake-build-release-q7s}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1351628857" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
 							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.978063851" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
 								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.92793277" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths.1389893710" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths" valueType="includePath">
@@ -917,7 +917,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|cmake-build-debug-q7s-em|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="cmake-build-release-q7s/_deps/etl-src/uml|cmake-build-release-q7s/_deps/etl-src/test|cmake-build-release-q7s/_deps/etl-src/temp|cmake-build-release-q7s/_deps/etl-src/support|cmake-build-release-q7s/_deps/etl-src/subprojects|cmake-build-release-q7s/_deps/etl-src/scripts|cmake-build-release-q7s/_deps/etl-src/images|cmake-build-release-q7s/_deps/etl-src/examples|cmake-build-release-q7s/_deps/etl-src/cmake|cmake-build-release-q7s/_deps/etl-src/arduino|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|cmake-build-debug-q7s-em|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -1084,7 +1084,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -1149,7 +1149,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -1317,7 +1317,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -1386,7 +1386,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp
index d2db67fd..fdf21541 100644
--- a/mission/core/GenericFactory.cpp
+++ b/mission/core/GenericFactory.cpp
@@ -4,6 +4,7 @@
 #include <fsfw/health/HealthTable.h>
 #include <fsfw/internalerror/InternalErrorReporter.h>
 #include <fsfw/pus/CService200ModeCommanding.h>
+#include <fsfw/pus/CService201HealthCommanding.h>
 #include <fsfw/pus/Service17Test.h>
 #include <fsfw/pus/Service1TelecommandVerification.h>
 #include <fsfw/pus/Service20ParameterManagement.h>
@@ -44,10 +45,13 @@
 #define OBSW_TM_TO_PTME 0
 #endif
 
-void ObjectFactory::produceGenericObjects() {
+void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
   // Framework objects
   new EventManager(objects::EVENT_MANAGER);
-  new HealthTable(objects::HEALTH_TABLE);
+  auto healthTable = new HealthTable(objects::HEALTH_TABLE);
+  if (healthTable != nullptr) {
+    *healthTable_ = healthTable;
+  }
   new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
   new TimeStamper(objects::TIME_STAMPER);
 
@@ -96,8 +100,9 @@ void ObjectFactory::produceGenericObjects() {
   new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS, apid::EIVE_OBSW,
                                    pus::PUS_SERVICE_20);
   new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, apid::EIVE_OBSW,
-                                pus::PUS_SERVICE_200, 8, config::LONGEST_MODE_TIMEOUT_SECONDS);
-
+                                pus::PUS_SERVICE_200, 8);
+  new CService201HealthCommanding(objects::PUS_SERVICE_201_HEALTH, apid::EIVE_OBSW,
+                                  pus::PUS_SERVICE_201);
 #if OBSW_ADD_TCPIP_BRIDGE == 1
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
   auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
diff --git a/mission/core/GenericFactory.h b/mission/core/GenericFactory.h
index 1a3b1300..4bc6695d 100644
--- a/mission/core/GenericFactory.h
+++ b/mission/core/GenericFactory.h
@@ -1,9 +1,11 @@
 #ifndef MISSION_CORE_GENERICFACTORY_H_
 #define MISSION_CORE_GENERICFACTORY_H_
 
+class HealthTableIF;
+
 namespace ObjectFactory {
 
-void produceGenericObjects();
+void produceGenericObjects(HealthTableIF** healthTable = nullptr);
 
 }
 
diff --git a/mission/devices/HeaterHandler.cpp b/mission/devices/HeaterHandler.cpp
index 5e78bc0e..6953dc54 100644
--- a/mission/devices/HeaterHandler.cpp
+++ b/mission/devices/HeaterHandler.cpp
@@ -1,21 +1,38 @@
 #include "HeaterHandler.h"
 
+#include <fsfw/health/HealthTableIF.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw_hal/common/gpio/GpioCookie.h>
 
+#include <stdexcept>
+
 #include "devices/gpioIds.h"
 #include "devices/powerSwitcherList.h"
 
-HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
-                             CookieIF* gpioCookie_, object_id_t mainLineSwitcherObjectId_,
-                             uint8_t mainLineSwitch_)
+HeaterHandler::HeaterHandler(object_id_t setObjectId_, GpioIF* gpioInterface_, HeaterHelper helper,
+                             PowerSwitchIF* mainLineSwitcher_, power::Switch_t mainLineSwitch_)
     : SystemObject(setObjectId_),
-      gpioDriverId(gpioDriverId_),
-      gpioCookie(gpioCookie_),
-      mainLineSwitcherObjectId(mainLineSwitcherObjectId_),
+      helper(helper),
+      gpioInterface(gpioInterface_),
+      mainLineSwitcher(mainLineSwitcher_),
       mainLineSwitch(mainLineSwitch_),
       actionHelper(this, nullptr) {
+  for (const auto& heater : helper.heaters) {
+    if (heater.first == nullptr) {
+      throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid Heater Object");
+    }
+  }
+  if (gpioInterface_ == nullptr) {
+    throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid Gpio IF");
+  }
+  if (mainLineSwitcher == nullptr) {
+    throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid PowerSwitchIF");
+  }
+  heaterMutex = MutexFactory::instance()->createMutex();
+  if (heaterMutex == nullptr) {
+    throw std::runtime_error("HeaterHandler::HeaterHandler: Creating Mutex failed");
+  }
   auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
       cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
@@ -24,10 +41,16 @@ HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_
 HeaterHandler::~HeaterHandler() {}
 
 ReturnValue_t HeaterHandler::performOperation(uint8_t operationCode) {
-  if (operationCode == DeviceHandlerIF::PERFORM_OPERATION) {
+  try {
     readCommandQueue();
-    handleActiveCommands();
-    return RETURN_OK;
+    for (const auto& heater : helper.heaters) {
+      heater.first->performOperation(0);
+    }
+    handleSwitchHandling();
+  } catch (const std::out_of_range& e) {
+    sif::warning << "HeaterHandler::performOperation: "
+                    "Out of range error | "
+                 << e.what() << std::endl;
   }
   return RETURN_OK;
 }
@@ -43,33 +66,12 @@ ReturnValue_t HeaterHandler::initialize() {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
-  gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioDriverId);
-  if (gpioInterface == nullptr) {
-    sif::error << "HeaterHandler::initialize: Invalid Gpio interface." << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  result = gpioInterface->addGpios(dynamic_cast<GpioCookie*>(gpioCookie));
-  if (result != RETURN_OK) {
-    sif::error << "HeaterHandler::initialize: Failed to initialize Gpio interface" << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-  if (IPCStore == nullptr) {
+  ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+  if (ipcStore == nullptr) {
     sif::error << "HeaterHandler::initialize: IPC store not set up in factory." << std::endl;
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
-  if (mainLineSwitcherObjectId != objects::NO_OBJECT) {
-    mainLineSwitcher = ObjectManager::instance()->get<PowerSwitchIF>(mainLineSwitcherObjectId);
-    if (mainLineSwitcher == nullptr) {
-      sif::error << "HeaterHandler::initialize: Failed to get main line switcher. Make sure "
-                 << "main line switcher object is initialized." << std::endl;
-      return ObjectManagerIF::CHILD_INIT_FAILED;
-    }
-  }
-
   result = actionHelper.initialize(commandQueue);
   if (result != RETURN_OK) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
@@ -79,81 +81,97 @@ ReturnValue_t HeaterHandler::initialize() {
 }
 
 ReturnValue_t HeaterHandler::initializeHeaterMap() {
-  HeaterCommandInfo_t heaterCommandInfo;
-  for (switchNr_t switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) {
-    std::pair status = heaterMap.emplace(switchNr, heaterCommandInfo);
-    if (status.second == false) {
-      sif::error << "HeaterHandler::initializeHeaterMap: Failed to initialize heater map"
-                 << std::endl;
-      return RETURN_FAILED;
-    }
+  for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
+    heaterVec.push_back(HeaterWrapper(helper.heaters[switchNr], SwitchState::OFF));
   }
   return RETURN_OK;
 }
 
-void HeaterHandler::setInitialSwitchStates() {
-  for (switchNr_t switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) {
-    switchStates[switchNr] = OFF;
-  }
-}
-
 void HeaterHandler::readCommandQueue() {
+  ReturnValue_t result = RETURN_OK;
   CommandMessage command;
-  ReturnValue_t result = commandQueue->receiveMessage(&command);
-  if (result != RETURN_OK) {
-    return;
-  }
-
-  result = actionHelper.handleActionMessage(&command);
-  if (result == RETURN_OK) {
-    return;
-  }
+  do {
+    result = commandQueue->receiveMessage(&command);
+    if (result == MessageQueueIF::EMPTY) {
+      break;
+    } else if (result != RETURN_OK) {
+      sif::warning << "HeaterHandler::readCommandQueue: Message reception error" << std::endl;
+    }
+    result = actionHelper.handleActionMessage(&command);
+    if (result == RETURN_OK) {
+      continue;
+    }
+  } while (result == RETURN_OK);
 }
 
 ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                            const uint8_t* data, size_t size) {
-  ReturnValue_t result;
-  if (actionId != SWITCH_HEATER) {
-    result = COMMAND_NOT_SUPPORTED;
-  } else {
-    switchNr_t switchNr = *data;
-    HeaterMapIter heaterMapIter = heaterMap.find(switchNr);
-    if (heaterMapIter != heaterMap.end()) {
-      if (heaterMapIter->second.active) {
-        return COMMAND_ALREADY_WAITING;
-      }
-      heaterMapIter->second.action = *(data + 1);
-      heaterMapIter->second.active = true;
-      heaterMapIter->second.replyQueue = commandedBy;
-    } else {
-      sif::error << "HeaterHandler::executeAction: Invalid switchNr" << std::endl;
-      return INVALID_SWITCH_NR;
-    }
-    result = RETURN_OK;
+  if (data == nullptr or size < 3) {
+    return HasActionsIF::INVALID_PARAMETERS;
   }
-  return result;
+  if (actionId != SWITCH_HEATER) {
+    return COMMAND_NOT_SUPPORTED;
+  }
+  auto switchNr = data[0];
+  if (switchNr > 7) {
+    return HasActionsIF::INVALID_PARAMETERS;
+  }
+  auto& heater = heaterVec.at(switchNr);
+
+  auto actionRaw = data[1];
+  if (actionRaw != 0 and actionRaw != 1) {
+    return HasActionsIF::INVALID_PARAMETERS;
+  }
+  auto action = static_cast<SwitchAction>(data[1]);
+  // Always accepts OFF commands
+  if (action == SwitchAction::SET_SWITCH_ON) {
+    HasHealthIF::HealthState health = heater.healthDevice->getHealth();
+    if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY or
+        health == HasHealthIF::NEEDS_RECOVERY) {
+      return HasHealthIF::OBJECT_NOT_HEALTHY;
+    }
+    CmdSourceParam cmdSource = CmdSourceParam::EXTERNAL;
+    uint8_t cmdSourceRaw = data[2];
+    if (cmdSourceRaw > 1) {
+      return HasActionsIF::INVALID_PARAMETERS;
+    }
+    cmdSource = static_cast<CmdSourceParam>(data[2]);
+    if (health == HasHealthIF::EXTERNAL_CONTROL and cmdSource == CmdSourceParam::INTERNAL) {
+      return HasHealthIF::IS_EXTERNALLY_CONTROLLED;
+    }
+  }
+
+  if (heater.cmdActive) {
+    return COMMAND_ALREADY_WAITING;
+  }
+  heater.action = action;
+  heater.cmdActive = true;
+  heater.replyQueue = commandedBy;
+  return RETURN_OK;
 }
 
 ReturnValue_t HeaterHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
   ReturnValue_t result;
   store_address_t storeAddress;
-  uint8_t commandData[2];
+  uint8_t commandData[3] = {};
 
   switch (onOff) {
     case PowerSwitchIF::SWITCH_ON:
       commandData[0] = switchNr;
       commandData[1] = SET_SWITCH_ON;
+      commandData[2] = CmdSourceParam::INTERNAL;
       break;
     case PowerSwitchIF::SWITCH_OFF:
       commandData[0] = switchNr;
       commandData[1] = SET_SWITCH_OFF;
+      commandData[2] = CmdSourceParam::INTERNAL;
       break;
     default:
       sif::error << "HeaterHandler::sendSwitchCommand: Invalid switch request" << std::endl;
       break;
   }
 
-  result = IPCStore->addData(&storeAddress, commandData, sizeof(commandData));
+  result = ipcStore->addData(&storeAddress, commandData, sizeof(commandData));
   if (result == RETURN_OK) {
     CommandMessage message;
     ActionMessage::setCommand(&message, SWITCH_HEATER, storeAddress);
@@ -167,16 +185,27 @@ ReturnValue_t HeaterHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t o
   return result;
 }
 
-void HeaterHandler::handleActiveCommands() {
-  HeaterMapIter heaterMapIter = heaterMap.begin();
-  for (; heaterMapIter != heaterMap.end(); heaterMapIter++) {
-    if (heaterMapIter->second.active) {
-      switch (heaterMapIter->second.action) {
+void HeaterHandler::handleSwitchHandling() {
+  for (uint8_t idx = 0; idx < heater::NUMBER_OF_SWITCHES; idx++) {
+    auto health = heaterVec[idx].healthDevice->getHealth();
+    if (heaterVec[idx].switchState == SwitchState::ON) {
+      // If a heater is still on but the device was marked faulty by the operator, the SW
+      // will shut down the heater
+      if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY) {
+        heaterVec[idx].cmdActive = true;
+        heaterVec[idx].action = SET_SWITCH_OFF;
+        triggerEvent(FAULTY_HEATER_WAS_ON, idx, 0);
+        handleSwitchOffCommand(static_cast<heater::Switchers>(idx));
+        continue;
+      }
+    }
+    if (heaterVec[idx].cmdActive) {
+      switch (heaterVec[idx].action) {
         case SET_SWITCH_ON:
-          handleSwitchOnCommand(heaterMapIter);
+          handleSwitchOnCommand(static_cast<heater::Switchers>(idx));
           break;
         case SET_SWITCH_OFF:
-          handleSwitchOffCommand(heaterMapIter);
+          handleSwitchOffCommand(static_cast<heater::Switchers>(idx));
           break;
         default:
           sif::error << "HeaterHandler::handleActiveCommands: Invalid action commanded"
@@ -187,162 +216,139 @@ void HeaterHandler::handleActiveCommands() {
   }
 }
 
-void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
+void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
   ReturnValue_t result = RETURN_OK;
-  switchNr_t switchNr;
-
+  auto& heater = heaterVec.at(heaterIdx);
   /* Check if command waits for main switch being set on and whether the timeout has expired */
-  if (heaterMapIter->second.waitMainSwitchOn &&
-      heaterMapIter->second.mainSwitchCountdown.hasTimedOut()) {
+  if (heater.waitMainSwitchOn && heater.mainSwitchCountdown.hasTimedOut()) {
     // TODO - This requires the initiation of an FDIR procedure
     triggerEvent(MAIN_SWITCH_TIMEOUT);
     sif::error << "HeaterHandler::handleSwitchOnCommand: Main switch setting on timeout"
                << std::endl;
-    heaterMapIter->second.active = false;
-    heaterMapIter->second.waitMainSwitchOn = false;
-    if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
-      actionHelper.finish(false, heaterMapIter->second.replyQueue, heaterMapIter->second.action,
-                          MAIN_SWITCH_SET_TIMEOUT);
+    heater.cmdActive = false;
+    heater.waitMainSwitchOn = false;
+    if (heater.replyQueue != commandQueue->getId()) {
+      actionHelper.finish(false, heater.replyQueue, heater.action, MAIN_SWITCH_SET_TIMEOUT);
     }
     return;
   }
 
-  switchNr = heaterMapIter->first;
-  /* Check state of main line switch */
+  // Check state of main line switch
   ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch);
   if (mainSwitchState == PowerSwitchIF::SWITCH_ON) {
-    if (!checkSwitchState(switchNr)) {
-      gpioId_t gpioId = getGpioIdFromSwitchNr(switchNr);
+    if (checkSwitchState(heaterIdx) == SwitchState::OFF) {
+      gpioId_t gpioId = heater.gpioId;
       result = gpioInterface->pullHigh(gpioId);
       if (result != RETURN_OK) {
         sif::error << "HeaterHandler::handleSwitchOnCommand: Failed to pull gpio with id " << gpioId
                    << " high" << std::endl;
         triggerEvent(GPIO_PULL_HIGH_FAILED, result);
       } else {
-        switchStates[switchNr] = ON;
+        triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
+        heater.switchState = ON;
       }
     } else {
-      triggerEvent(SWITCH_ALREADY_ON, switchNr);
+      triggerEvent(SWITCH_ALREADY_ON, heaterIdx);
     }
-    /* There is no need to send action finish replies if the sender was the
-     * HeaterHandler itself. */
-    if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
+    // There is no need to send action finish replies if the sender was the
+    // HeaterHandler itself
+    if (heater.replyQueue != commandQueue->getId()) {
       if (result == RETURN_OK) {
-        actionHelper.finish(true, heaterMapIter->second.replyQueue, heaterMapIter->second.action,
-                            result);
+        actionHelper.finish(true, heater.replyQueue, heater.action, result);
       } else {
-        actionHelper.finish(false, heaterMapIter->second.replyQueue, heaterMapIter->second.action,
-                            result);
+        actionHelper.finish(false, heater.replyQueue, heater.action, result);
       }
     }
-    heaterMapIter->second.active = false;
-    heaterMapIter->second.waitMainSwitchOn = false;
-  } else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF &&
-             heaterMapIter->second.waitMainSwitchOn) {
-    /* Just waiting for the main switch being set on */
+    heater.cmdActive = false;
+    heater.waitMainSwitchOn = false;
+  } else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF && heater.waitMainSwitchOn) {
+    // Just waiting for the main switch being set on
     return;
   } else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF) {
     mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
-    heaterMapIter->second.mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
-    heaterMapIter->second.waitMainSwitchOn = true;
+    heater.mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
+    heater.waitMainSwitchOn = true;
   } else {
-    sif::debug << "HeaterHandler::handleActiveCommands: Failed to get state of"
+    sif::debug << "HeaterHandler::handleSwitchHandling: Failed to get state of"
                << " main line switch" << std::endl;
-    if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
-      actionHelper.finish(false, heaterMapIter->second.replyQueue, heaterMapIter->second.action,
-                          mainSwitchState);
+    if (heater.replyQueue != commandQueue->getId()) {
+      actionHelper.finish(false, heater.replyQueue, heater.action, mainSwitchState);
     }
-    heaterMapIter->second.active = false;
+    heater.cmdActive = false;
   }
 }
 
-void HeaterHandler::handleSwitchOffCommand(HeaterMapIter heaterMapIter) {
+void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
   ReturnValue_t result = RETURN_OK;
-  switchNr_t switchNr = heaterMapIter->first;
-  /* Check whether switch is already off */
-  if (checkSwitchState(switchNr)) {
-    gpioId_t gpioId = getGpioIdFromSwitchNr(switchNr);
+  auto& heater = heaterVec.at(heaterIdx);
+  // Check whether switch is already off
+  if (checkSwitchState(heaterIdx)) {
+    gpioId_t gpioId = heater.gpioId;
     result = gpioInterface->pullLow(gpioId);
     if (result != RETURN_OK) {
       sif::error << "HeaterHandler::handleSwitchOffCommand: Failed to pull gpio with id" << gpioId
                  << " low" << std::endl;
       triggerEvent(GPIO_PULL_LOW_FAILED, result);
     } else {
-      switchStates[switchNr] = OFF;
-      /* When all switches are off, also main line switch will be turned off */
+      auto result = heaterMutex->lockMutex();
+      heater.switchState = OFF;
+      if (result == HasReturnvaluesIF::RETURN_OK) {
+        heaterMutex->unlockMutex();
+      }
+      triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
+      // When all switches are off, also main line switch will be turned off
       if (allSwitchesOff()) {
         mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
       }
     }
   } else {
     sif::info << "HeaterHandler::handleSwitchOffCommand: Switch already off" << std::endl;
-    triggerEvent(SWITCH_ALREADY_OFF, switchNr);
+    triggerEvent(SWITCH_ALREADY_OFF, heaterIdx);
   }
-  if (heaterMapIter->second.replyQueue != NO_COMMANDER) {
-    /* Report back switch command reply if necessary */
+  if (heater.replyQueue != NO_COMMANDER) {
+    // Report back switch command reply if necessary
     if (result == HasReturnvaluesIF::RETURN_OK) {
-      actionHelper.finish(true, heaterMapIter->second.replyQueue, heaterMapIter->second.action,
-                          result);
+      actionHelper.finish(true, heater.replyQueue, heater.action, result);
     } else {
-      actionHelper.finish(false, heaterMapIter->second.replyQueue, heaterMapIter->second.action,
-                          result);
+      actionHelper.finish(false, heater.replyQueue, heater.action, result);
     }
   }
-  heaterMapIter->second.active = false;
+  heater.cmdActive = false;
 }
 
-bool HeaterHandler::checkSwitchState(int switchNr) { return switchStates[switchNr]; }
+HeaterHandler::SwitchState HeaterHandler::checkSwitchState(heater::Switchers switchNr) const {
+  MutexGuard mg(heaterMutex);
+  return heaterVec.at(switchNr).switchState;
+}
 
 bool HeaterHandler::allSwitchesOff() {
   bool allSwitchesOrd = false;
+  MutexGuard mg(heaterMutex);
   /* Or all switches. As soon one switch is on, allSwitchesOrd will be true */
-  for (switchNr_t switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) {
-    allSwitchesOrd = allSwitchesOrd || switchStates[switchNr];
+  for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
+    allSwitchesOrd = allSwitchesOrd || heaterVec.at(switchNr).switchState;
   }
   return !allSwitchesOrd;
 }
 
-gpioId_t HeaterHandler::getGpioIdFromSwitchNr(int switchNr) {
-  gpioId_t gpioId = 0xFFFF;
-  switch (switchNr) {
-    case heaterSwitches::HEATER_0:
-      gpioId = gpioIds::HEATER_0;
-      break;
-    case heaterSwitches::HEATER_1:
-      gpioId = gpioIds::HEATER_1;
-      break;
-    case heaterSwitches::HEATER_2:
-      gpioId = gpioIds::HEATER_2;
-      break;
-    case heaterSwitches::HEATER_3:
-      gpioId = gpioIds::HEATER_3;
-      break;
-    case heaterSwitches::HEATER_4:
-      gpioId = gpioIds::HEATER_4;
-      break;
-    case heaterSwitches::HEATER_5:
-      gpioId = gpioIds::HEATER_5;
-      break;
-    case heaterSwitches::HEATER_6:
-      gpioId = gpioIds::HEATER_6;
-      break;
-    case heaterSwitches::HEATER_7:
-      gpioId = gpioIds::HEATER_7;
-      break;
-    default:
-      sif::error << "HeaterHandler::getGpioIdFromSwitchNr: Unknown heater switch number"
-                 << std::endl;
-      break;
-  }
-  return gpioId;
-}
-
 MessageQueueId_t HeaterHandler::getCommandQueue() const { return commandQueue->getId(); }
 
 ReturnValue_t HeaterHandler::sendFuseOnCommand(uint8_t fuseNr) { return RETURN_OK; }
 
-ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const { return 0; }
+ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const {
+  ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch);
+  if (mainSwitchState == PowerSwitchIF::SWITCH_OFF) {
+    return PowerSwitchIF::SWITCH_OFF;
+  }
+  if (switchNr > 7) {
+    return PowerSwitchIF::RETURN_FAILED;
+  }
+  if (checkSwitchState(static_cast<heater::Switchers>(switchNr)) == SwitchState::ON) {
+    return PowerSwitchIF::SWITCH_ON;
+  }
+  return PowerSwitchIF::SWITCH_OFF;
+}
 
 ReturnValue_t HeaterHandler::getFuseState(uint8_t fuseNr) const { return 0; }
 
-uint32_t HeaterHandler::getSwitchDelayMs(void) const { return 0; }
+uint32_t HeaterHandler::getSwitchDelayMs(void) const { return 2000; }
diff --git a/mission/devices/HeaterHandler.h b/mission/devices/HeaterHandler.h
index 18b821ec..85583591 100644
--- a/mission/devices/HeaterHandler.h
+++ b/mission/devices/HeaterHandler.h
@@ -4,6 +4,9 @@
 #include <fsfw/action/HasActionsIF.h>
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/devicehandlers/HealthDevice.h>
+#include <fsfw/health/HasHealthIF.h>
+#include <fsfw/health/HealthHelper.h>
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/power/PowerSwitchIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
@@ -11,10 +14,20 @@
 #include <fsfw/timemanager/Countdown.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>
 
-#include <unordered_map>
+#include <vector>
 
 #include "devices/heaterSwitcherList.h"
 
+class PowerSwitchIF;
+class HealthTableIF;
+
+using HeaterPair = std::pair<HealthDevice*, gpioId_t>;
+
+struct HeaterHelper {
+ public:
+  HeaterHelper(std::array<HeaterPair, heater::NUMBER_OF_SWITCHES> heaters) : heaters(heaters) {}
+  std::array<HeaterPair, heater::NUMBER_OF_SWITCHES> heaters = {};
+};
 /**
  * @brief	This class intends the control of heaters.
  *
@@ -33,42 +46,49 @@ class HeaterHandler : public ExecutableObjectIF,
   static const ReturnValue_t MAIN_SWITCH_SET_TIMEOUT = MAKE_RETURN_CODE(0xA4);
   static const ReturnValue_t COMMAND_ALREADY_WAITING = MAKE_RETURN_CODE(0xA5);
 
+  enum CmdSourceParam : uint8_t { INTERNAL = 0, EXTERNAL = 1 };
+
   /** Device command IDs */
   static const DeviceCommandId_t SWITCH_HEATER = 0x0;
 
-  HeaterHandler(object_id_t setObjectId, object_id_t gpioDriverId, CookieIF* gpioCookie,
-                object_id_t mainLineSwitcherObjectId, uint8_t mainLineSwitch);
+  HeaterHandler(object_id_t setObjectId, GpioIF* gpioInterface_, HeaterHelper helper,
+                PowerSwitchIF* mainLineSwitcherObjectId, power::Switch_t mainLineSwitch);
 
   virtual ~HeaterHandler();
 
-  virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
-  virtual ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
-  virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
+  ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
+  ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
   /**
    * @brief	This function will be called from the Heater object to check
    * 			the current switch state.
    */
-  virtual ReturnValue_t getSwitchState(uint8_t switchNr) const override;
-  virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
-  virtual uint32_t getSwitchDelayMs(void) const override;
+  ReturnValue_t getSwitchState(uint8_t switchNr) const override;
+  ReturnValue_t getFuseState(uint8_t fuseNr) const override;
+  uint32_t getSwitchDelayMs(void) const override;
 
-  virtual MessageQueueId_t getCommandQueue() const override;
-  virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                      const uint8_t* data, size_t size) override;
-  virtual ReturnValue_t initialize() override;
+  MessageQueueId_t getCommandQueue() const override;
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
+  ReturnValue_t initialize() override;
 
  private:
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER_HANDLER;
-  static const Event GPIO_PULL_HIGH_FAILED = MAKE_EVENT(0, severity::LOW);
-  static const Event GPIO_PULL_LOW_FAILED = MAKE_EVENT(1, severity::LOW);
-  static const Event SWITCH_ALREADY_ON = MAKE_EVENT(2, severity::LOW);
-  static const Event SWITCH_ALREADY_OFF = MAKE_EVENT(3, severity::LOW);
-  static const Event MAIN_SWITCH_TIMEOUT = MAKE_EVENT(4, severity::LOW);
+  static constexpr Event GPIO_PULL_HIGH_FAILED = MAKE_EVENT(0, severity::LOW);
+  static constexpr Event GPIO_PULL_LOW_FAILED = MAKE_EVENT(1, severity::LOW);
+  static constexpr Event HEATER_WENT_ON = event::makeEvent(SUBSYSTEM_ID, 2, severity::INFO);
+  static constexpr Event HEATER_WENT_OFF = event::makeEvent(SUBSYSTEM_ID, 3, severity::INFO);
+  static constexpr Event SWITCH_ALREADY_ON = MAKE_EVENT(4, severity::LOW);
+  static constexpr Event SWITCH_ALREADY_OFF = MAKE_EVENT(5, severity::LOW);
+  static constexpr Event MAIN_SWITCH_TIMEOUT = MAKE_EVENT(6, severity::MEDIUM);
+  //! A faulty heater was one. The SW will autonomously attempt to shut it down. P1: Heater Index
+  static constexpr Event FAULTY_HEATER_WAS_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
 
   static const MessageQueueId_t NO_COMMANDER = 0;
 
   enum SwitchState : bool { ON = true, OFF = false };
+  enum SwitchAction : uint8_t { SET_SWITCH_OFF, SET_SWITCH_ON, NONE };
 
   /**
    * @brief   Struct holding information about a heater command to execute.
@@ -80,54 +100,46 @@ class HeaterHandler : public ExecutableObjectIF,
    * @param waitSwitchOn  True if the command is waiting for the main switch being set on.
    * @param mainSwitchCountdown   Sets timeout to wait for main switch being set on.
    */
-  typedef struct HeaterCommandInfo {
-    uint8_t action;
-    MessageQueueId_t replyQueue;
-    bool active = false;
+  struct HeaterWrapper {
+    HeaterWrapper(HeaterPair pair, SwitchState initState)
+        : healthDevice(pair.first), gpioId(pair.second), switchState(initState) {}
+    HealthDevice* healthDevice = nullptr;
+    gpioId_t gpioId = gpio::NO_GPIO;
+    SwitchAction action = SwitchAction::NONE;
+    MessageQueueId_t replyQueue = MessageQueueIF::NO_QUEUE;
+    bool cmdActive = false;
+    SwitchState switchState = SwitchState::OFF;
     bool waitMainSwitchOn = false;
     Countdown mainSwitchCountdown;
-  } HeaterCommandInfo_t;
+  };
 
-  enum SwitchAction { SET_SWITCH_OFF, SET_SWITCH_ON };
+  using HeaterMap = std::vector<HeaterWrapper>;
 
-  using switchNr_t = uint8_t;
-  using HeaterMap = std::unordered_map<switchNr_t, HeaterCommandInfo_t>;
-  using HeaterMapIter = HeaterMap::iterator;
+  HeaterMap heaterVec = {};
 
-  HeaterMap heaterMap;
+  MutexIF* heaterMutex = nullptr;
 
-  bool switchStates[heaterSwitches::NUMBER_OF_SWITCHES];
+  HeaterHelper helper;
 
   /** Size of command queue */
   size_t cmdQueueSize = 20;
 
-  /**
-   * The object ID of the GPIO driver which enables and disables the
-   * heaters.
-   */
-  object_id_t gpioDriverId;
-
-  CookieIF* gpioCookie;
-
   GpioIF* gpioInterface = nullptr;
 
   /** Queue to receive messages from other objects. */
   MessageQueueIF* commandQueue = nullptr;
 
-  object_id_t mainLineSwitcherObjectId;
-
-  /** Switch number of the heater power supply switch */
-  uint8_t mainLineSwitch;
-
   /**
    * Power switcher object which controls the 8V main line of the heater
    * logic on the TCS board.
    */
   PowerSwitchIF* mainLineSwitcher = nullptr;
+  /** Switch number of the heater power supply switch */
+  power::Switch_t mainLineSwitch;
 
   ActionHelper actionHelper;
 
-  StorageManagerIF* IPCStore = nullptr;
+  StorageManagerIF* ipcStore = nullptr;
 
   void readCommandQueue();
 
@@ -135,18 +147,12 @@ class HeaterHandler : public ExecutableObjectIF,
    * @brief   Returns the state of a switch (ON - true, or OFF - false).
    * @param switchNr  The number of the switch to check.
    */
-  bool checkSwitchState(int switchNr);
-
-  /**
-   * @brief   Returns the ID of the GPIO related to a heater identified by the switch number
-   *          which is defined in the heaterSwitches list.
-   */
-  gpioId_t getGpioIdFromSwitchNr(int switchNr);
+  SwitchState checkSwitchState(heater::Switchers switchNr) const;
 
   /**
    * @brief	This function runs commands waiting for execution.
    */
-  void handleActiveCommands();
+  void handleSwitchHandling();
 
   ReturnValue_t initializeHeaterMap();
 
@@ -155,9 +161,9 @@ class HeaterHandler : public ExecutableObjectIF,
    */
   void setInitialSwitchStates();
 
-  void handleSwitchOnCommand(HeaterMapIter heaterMapIter);
+  void handleSwitchOnCommand(heater::Switchers heaterIdx);
 
-  void handleSwitchOffCommand(HeaterMapIter heaterMapIter);
+  void handleSwitchOffCommand(heater::Switchers heaterIdx);
 
   /**
    * @brief   Checks if all switches are off.
diff --git a/tmtc b/tmtc
index a6818502..b81f756e 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit a681850248fdf33c948b8cbda84acdf268d28669
+Subproject commit b81f756e4b70e55a443cba50bab0a519a0dc3591