diff --git a/bsp_q7s/core/InitMission.cpp b/bsp_q7s/core/InitMission.cpp
index 4a0dbeff..9740912a 100644
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@@ -278,6 +278,13 @@ void initmission::initTasks() {
   }
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */
 
+  PeriodicTaskIF* plTask = factory->createPeriodicTask(
+      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
+  }
+
 #if OBSW_TEST_CCSDS_BRIDGE == 1
   PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
       "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 3f6b2ac6..13998027 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -1,5 +1,7 @@
 #include "ObjectFactory.h"
 
+#include <mission/system/objects/CamSwitcher.h>
+
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
@@ -583,9 +585,10 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
 #endif
 }
 
-void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
+void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitch) {
   using namespace gpio;
   std::stringstream consumer;
+  new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, pcdu::PDU2_CH8_PAYLOAD_CAMERA);
 #if OBSW_ADD_PLOC_MPSOC == 1
   consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
   auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
diff --git a/bsp_q7s/core/ObjectFactory.h b/bsp_q7s/core/ObjectFactory.h
index 3737db92..40a4e2ed 100644
--- a/bsp_q7s/core/ObjectFactory.h
+++ b/bsp_q7s/core/ObjectFactory.h
@@ -38,7 +38,7 @@ void createBpxBatteryComponent();
 void createStrComponents(PowerSwitchIF* pwrSwitcher);
 void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
 void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
-void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
+void createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
 ReturnValue_t createCcsdsComponents(LinuxLibgpioIF* gpioComIF, CcsdsIpCoreHandler** ipCoreHandler);
 void createMiscComponents();
diff --git a/bsp_q7s/fmObjectFactory.cpp b/bsp_q7s/fmObjectFactory.cpp
index ac5037ec..6ac2498a 100644
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@@ -49,7 +49,7 @@ void ObjectFactory::produce(void* args) {
   createSyrlinksComponents(pwrSwitcher);
 #endif /* OBSW_ADD_SYRLINKS == 1 */
   createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
-  createPayloadComponents(gpioComIF);
+  createPayloadComponents(gpioComIF, *pwrSwitcher);
 
 #if OBSW_ADD_MGT == 1
   createImtqComponents(pwrSwitcher);
@@ -67,7 +67,7 @@ void ObjectFactory::produce(void* args) {
   CcsdsIpCoreHandler* ipCoreHandler = nullptr;
   createCcsdsComponents(gpioComIF, &ipCoreHandler);
 #if OBSW_TM_TO_PTME == 1
-  ObjectFactory::addTmtcIpCoresToFunnels(*ipCoreHandler, *pusFunnel, *cfdpFunnel);
+  addTmtcIpCoresToFunnels(*ipCoreHandler, *pusFunnel, *cfdpFunnel);
 #endif
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
diff --git a/mission/system/objects/CamSwitcher.cpp b/mission/system/objects/CamSwitcher.cpp
index 459065ce..b995e211 100644
--- a/mission/system/objects/CamSwitcher.cpp
+++ b/mission/system/objects/CamSwitcher.cpp
@@ -1,5 +1,5 @@
 #include "CamSwitcher.h"
 
-CamSwitcher::CamSwitcher(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
+CamSwitcher::CamSwitcher(object_id_t objectId, PowerSwitchIF &pwrSwitcher,
                          power::Switch_t pwrSwitch)
-    : PowerSwitcherComponent(objectId, pwrSwitcher, pwrSwitch) {}
+    : PowerSwitcherComponent(objectId, &pwrSwitcher, pwrSwitch) {}
diff --git a/mission/system/objects/CamSwitcher.h b/mission/system/objects/CamSwitcher.h
index c762d5da..672b884b 100644
--- a/mission/system/objects/CamSwitcher.h
+++ b/mission/system/objects/CamSwitcher.h
@@ -5,7 +5,7 @@
 
 class CamSwitcher : public PowerSwitcherComponent {
  public:
-  CamSwitcher(object_id_t objectId, PowerSwitchIF *pwrSwitcher, power::Switch_t pwrSwitch);
+  CamSwitcher(object_id_t objectId, PowerSwitchIF &pwrSwitcher, power::Switch_t pwrSwitch);
 
  private:
 };