diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp
index 1ef14d41..e17c4daa 100644
--- a/bsp_q7s/core/scheduling.cpp
+++ b/bsp_q7s/core/scheduling.cpp
@@ -68,7 +68,6 @@ void scheduling::initTasks() {
 #else
   void (*missedDeadlineFunc)(void) = nullptr;
 #endif
-  RR_SCHEDULING.policy = SchedulingPolicy::RR;
 
 #if OBSW_ADD_SA_DEPL == 1
   // Could add this to the core controller but the core controller does so many thing that I would
@@ -91,7 +90,7 @@ void scheduling::initTasks() {
 
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-      "TC_DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "TC_DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc, &RR_SCHEDULING);
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
   result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
@@ -121,16 +120,18 @@ void scheduling::initTasks() {
 
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
-  PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
-      "UDP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  PeriodicTaskIF* udpPollingTask =
+      factory->createPeriodicTask("UDP_TMTC_POLLING", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
   }
 #endif
 #if OBSW_ADD_TMTC_TCP_SERVER == 1
-  PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
-      "TCP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  PeriodicTaskIF* tcpPollingTask =
+      factory->createPeriodicTask("TCP_TMTC_POLLING", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
@@ -138,8 +139,9 @@ void scheduling::initTasks() {
 #endif
 #endif
 
-  PeriodicTaskIF* genericSysTask = factory->createPeriodicTask(
-      "SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+  PeriodicTaskIF* genericSysTask =
+      factory->createPeriodicTask("SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = genericSysTask->addComponent(objects::EIVE_SYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM);
@@ -173,7 +175,7 @@ void scheduling::initTasks() {
 
   // Runs in IRQ mode, frequency does not really matter
   PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
-      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
   result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
@@ -181,50 +183,53 @@ void scheduling::initTasks() {
 
 #endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
   // All the TM store tasks run in permanent loops, frequency does not matter
-  PeriodicTaskIF* liveTmTask =
-      factory->createPeriodicTask("LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+  PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
+      "LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
   result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
   }
   PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
-      "LOG_PSTORE", 120, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+      "LOG_PSTORE", -10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &NORMAL_SCHEDULING);
   result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
   }
   PeriodicTaskIF* hkTmTask = factory->createPeriodicTask(
-      "HK_PSTORE", 120, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+      "HK_PSTORE", -10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &NORMAL_SCHEDULING);
   result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
   }
   PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
-      "CFDP_PSTORE", 120, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+      "CFDP_PSTORE", -5, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &NORMAL_SCHEDULING);
   result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
   }
 
 #if OBSW_ADD_CFDP_COMPONENTS == 1
-  PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
-      "CFDP_HANDLER", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* cfdpTask =
+      factory->createPeriodicTask("CFDP_HANDLER", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = cfdpTask->addComponent(objects::CFDP_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
   }
 #endif
 
-  PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
-      "GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* gpsTask =
+      factory->createPeriodicTask("GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = gpsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
 
 #if OBSW_ADD_ACS_BOARD == 1
-  PeriodicTaskIF* acsBrdPolling = factory->createPeriodicTask(
-      "ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* acsBrdPolling =
+      factory->createPeriodicTask("ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK);
@@ -232,16 +237,18 @@ void scheduling::initTasks() {
 #endif
 
 #if OBSW_ADD_RW == 1
-  PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
-      "RW_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* rwPolling =
+      factory->createPeriodicTask("RW_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = rwPolling->addComponent(objects::RW_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
   }
 #endif
 #if OBSW_ADD_MGT == 1
-  PeriodicTaskIF* imtqPolling = factory->createPeriodicTask(
-      "IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* imtqPolling =
+      factory->createPeriodicTask("IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = imtqPolling->addComponent(objects::IMTQ_POLLING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING);
@@ -249,16 +256,18 @@ void scheduling::initTasks() {
 #endif
 
 #if OBSW_ADD_SUN_SENSORS == 1
-  PeriodicTaskIF* susPolling = factory->createPeriodicTask(
-      "SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* susPolling =
+      factory->createPeriodicTask("SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = susPolling->addComponent(objects::SUS_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK);
   }
 #endif
 
-  PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
-      "ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* acsSysTask =
+      factory->createPeriodicTask("ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
@@ -285,7 +294,7 @@ void scheduling::initTasks() {
   }
 
   PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
-      "TCS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+      "TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
   scheduling::scheduleRtdSensors(tcsSystemTask);
   result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
   if (result != returnvalue::OK) {
@@ -310,8 +319,9 @@ void scheduling::initTasks() {
 
 #if OBSW_ADD_STAR_TRACKER == 1
   // Relatively high priority to make sure STR COM works well.
-  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
-      "STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  PeriodicTaskIF* strHelperTask =
+      factory->createPeriodicTask("STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = strHelperTask->addComponent(objects::STR_COM_IF);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF);
@@ -319,8 +329,9 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
 #if OBSW_ADD_PLOC_MPSOC == 1
-  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
-      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  PeriodicTaskIF* mpsocHelperTask =
+      factory->createPeriodicTask("PLOC_MPSOC_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                  missedDeadlineFunc, &NORMAL_SCHEDULING);
   result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
@@ -328,8 +339,9 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_PLOC_MPSOC */
 
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
-  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
-      "PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  PeriodicTaskIF* supvHelperTask =
+      factory->createPeriodicTask("PLOC_SUPV_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0,
+                                  missedDeadlineFunc, &NORMAL_SCHEDULING);
   result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
@@ -337,7 +349,7 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */
 
   PeriodicTaskIF* plTask = factory->createPeriodicTask(
-      "PL_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+      "PL_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc, &RR_SCHEDULING);
   plTask->addComponent(objects::CAM_SWITCHER);
   scheduling::addMpsocSupvHandlers(plTask);
   scheduling::scheduleScexDev(plTask);
@@ -458,8 +470,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #else
   static constexpr float acsPstPeriod = 0.4;
 #endif
-  FixedTimeslotTaskIF* acsTcsPst = factory.createFixedTimeslotTask(
-      "ACS_TCS_PST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
+  FixedTimeslotTaskIF* acsTcsPst =
+      factory.createFixedTimeslotTask("ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                      acsPstPeriod, missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstTcsAndAcs(acsTcsPst, cfg);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -473,8 +486,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 
   /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
-  FixedTimeslotTaskIF* syrlinksPst = factory.createFixedTimeslotTask(
-      "SYRLINKS", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  FixedTimeslotTaskIF* syrlinksPst =
+      factory.createFixedTimeslotTask("SYRLINKS", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5,
+                                      missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstSyrlinks(syrlinksPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -488,8 +502,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #endif
 
 #if OBSW_ADD_I2C_TEST_CODE == 0
-  FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.4, missedDeadlineFunc);
+  FixedTimeslotTaskIF* i2cPst =
+      factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
+                                      missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstI2cProcessingSystem(i2cPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -502,8 +517,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   }
 #endif
 
-  FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
-      "GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  FixedTimeslotTaskIF* gomSpacePstTask =
+      factory.createFixedTimeslotTask("GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4,
+                                      0.5, missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstGompaceCan(gomSpacePstTask);
   if (result != returnvalue::OK) {
     if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -517,8 +533,9 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
                                 std::vector<PeriodicTaskIF*>& taskVec) {
   ReturnValue_t result = returnvalue::OK;
   /* PUS Services */
-  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
-      "PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  PeriodicTaskIF* pusHighPrio =
+      factory.createPeriodicTask("PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                 missedDeadlineFunc, &RR_SCHEDULING);
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
@@ -537,8 +554,9 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   }
   taskVec.push_back(pusHighPrio);
 
-  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
-      "PUS_MED_PRIO", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  PeriodicTaskIF* pusMedPrio =
+      factory.createPeriodicTask("PUS_MED_PRIO", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8,
+                                 missedDeadlineFunc, &RR_SCHEDULING);
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
diff --git a/fsfw b/fsfw
index e704295c..4415dc24 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit e704295cce76048d65bbb8893840b9ecedb05c94
+Subproject commit 4415dc24e1bee0252e5282b583fcade7f37a97bf
diff --git a/linux/scheduling.cpp b/linux/scheduling.cpp
index d3b88661..d1b7853f 100644
--- a/linux/scheduling.cpp
+++ b/linux/scheduling.cpp
@@ -8,6 +8,9 @@
 #include "ObjectFactory.h"
 #include "eive/objects.h"
 
+PosixThreadArgs scheduling::RR_SCHEDULING = {.policy = SchedulingPolicy::RR};
+PosixThreadArgs scheduling::NORMAL_SCHEDULING;
+
 void scheduling::scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask) {
   using namespace scheduling;
   ReturnValue_t result = returnvalue::OK;