diff --git a/README.md b/README.md
index a03d7272..53c1cfad 100644
--- a/README.md
+++ b/README.md
@@ -79,7 +79,7 @@ wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/2Fp2ag6NGnbtAsK/downloa
 3. Run the following commands in MinGW64
 
    ```sh
-   pacman -Syuuu
+   pacman -Syu
    ```
    
    It is recommended to install the full base development toolchain
diff --git a/bsp_linux_board/ObjectFactory.cpp b/bsp_linux_board/ObjectFactory.cpp
index f4ae00bf..c5e12868 100644
--- a/bsp_linux_board/ObjectFactory.cpp
+++ b/bsp_linux_board/ObjectFactory.cpp
@@ -1,6 +1,6 @@
 #include <fsfw_hal/linux/uart/UartComIF.h>
 #include <fsfw_hal/linux/uart/UartCookie.h>
-#include <mission/devices/GPSHandler.h>
+#include <mission/devices/GPSHyperionHandler.h>
 #include "ObjectFactory.h"
 
 #include "objects/systemObjectList.h"
@@ -157,7 +157,7 @@ void ObjectFactory::produce(void* args){
             UartModes::CANONICAL, 9600, 1024);
     uartCookie->setToFlushInput(true);
     uartCookie->setReadCycles(6);
-    GPSHandler* gpsHandler = new GPSHandler(objects::GPS0_HANDLER,
+    GPSHyperionHandler* gpsHandler = new GPSHyperionHandler(objects::GPS0_HANDLER,
             objects::UART_COM_IF, uartCookie);
     gpsHandler->setStartUpImmediately();
 #endif
diff --git a/cmake/scripts/Q7S/create_cmake_debug_cfg.sh b/cmake/scripts/Q7S/make_debug_cfg.sh
similarity index 100%
rename from cmake/scripts/Q7S/create_cmake_debug_cfg.sh
rename to cmake/scripts/Q7S/make_debug_cfg.sh
diff --git a/cmake/scripts/Q7S/create_cmake_relwithdeb_cfg.sh b/cmake/scripts/Q7S/make_reldeb_cfg.sh
similarity index 100%
rename from cmake/scripts/Q7S/create_cmake_relwithdeb_cfg.sh
rename to cmake/scripts/Q7S/make_reldeb_cfg.sh
diff --git a/cmake/scripts/Q7S/create_cmake_release_cfg.sh b/cmake/scripts/Q7S/make_release_cfg.sh
similarity index 100%
rename from cmake/scripts/Q7S/create_cmake_release_cfg.sh
rename to cmake/scripts/Q7S/make_release_cfg.sh
diff --git a/cmake/scripts/Q7S/ninja_debug_cfg.sh b/cmake/scripts/Q7S/ninja_debug_cfg.sh
new file mode 100755
index 00000000..3a8ac631
--- /dev/null
+++ b/cmake/scripts/Q7S/ninja_debug_cfg.sh
@@ -0,0 +1,23 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "cmake_build_config.py not found in upper directories!"
+	exit 1
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/q7s"
+build_dir="build-Debug-Q7S"
+build_generator="Ninja"
+
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+	-l"${build_dir}"
diff --git a/cmake/scripts/RPi/create_cmake_debug_cfg.sh b/cmake/scripts/RPi/make_debug_cfg.sh
similarity index 100%
rename from cmake/scripts/RPi/create_cmake_debug_cfg.sh
rename to cmake/scripts/RPi/make_debug_cfg.sh
diff --git a/cmake/scripts/RPi/create_cmake_relwithdeb_cfg.sh b/cmake/scripts/RPi/make_reldeb_cfg.sh
similarity index 100%
rename from cmake/scripts/RPi/create_cmake_relwithdeb_cfg.sh
rename to cmake/scripts/RPi/make_reldeb_cfg.sh
diff --git a/cmake/scripts/RPi/create_cmake_release_cfg.sh b/cmake/scripts/RPi/make_release_cfg.sh
similarity index 100%
rename from cmake/scripts/RPi/create_cmake_release_cfg.sh
rename to cmake/scripts/RPi/make_release_cfg.sh
diff --git a/cmake/scripts/RPi/create_cmake_size_cfg.sh b/cmake/scripts/RPi/ninja_debug_cfg.sh
similarity index 63%
rename from cmake/scripts/RPi/create_cmake_size_cfg.sh
rename to cmake/scripts/RPi/ninja_debug_cfg.sh
index f7bad84e..c05ae446 100755
--- a/cmake/scripts/RPi/create_cmake_size_cfg.sh
+++ b/cmake/scripts/RPi/ninja_debug_cfg.sh
@@ -16,12 +16,8 @@ fi
 
 os_fsfw="linux"
 tgt_bsp="arm/raspberrypi"
-build_generator=""
-if [ "${OS}" = "Windows_NT" ]; then
-	build_generator="MinGW Makefiles"
-# Could be other OS but this works for now.
-else
-	build_generator="Unix Makefiles"
-fi
+build_generator="Ninja"
+build_dir="build-Debug-RPi"
 
-python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "size" -t "${tgt_bsp}"
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+		-l"${build_dir}"
diff --git a/common/config/commonObjects.h b/common/config/commonObjects.h
index 1651f6a0..1fb755e3 100644
--- a/common/config/commonObjects.h
+++ b/common/config/commonObjects.h
@@ -6,51 +6,77 @@
 namespace objects {
 enum commonObjects: uint32_t {
 	/* First Byte 0x50-0x52 reserved for PUS Services **/
-	CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
-	PUS_PACKET_DISTRIBUTOR = 0x50000200,
-	UDP_BRIDGE = 0x50000300,
-	UDP_POLLING_TASK = 0x50000400,
+    CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
+    PUS_PACKET_DISTRIBUTOR = 0x50000200,
+    UDP_BRIDGE = 0x50000300,
+    UDP_POLLING_TASK = 0x50000400,
 
     /* 0x43 ('C') for Controllers */
-    THERMAL_CONTROLLER = 0x43001000,
-    ATTITUDE_CONTROLLER = 0x43002000,
-    ACS_CONTROLLER = 0x43003000,
-    CORE_CONTROLLER = 0x43004000,
+    THERMAL_CONTROLLER = 0x43400001,
+    ACS_CONTROLLER = 0x43100002,
+    CORE_CONTROLLER = 0x43000003,
 
-	/* 0x44 ('D') for device handlers */
-	P60DOCK_HANDLER = 0x44000001,
-	PDU1_HANDLER = 0x44000002,
-	PDU2_HANDLER = 0x44000003,
-	ACU_HANDLER = 0x44000004,
-	TMP1075_HANDLER_1 = 0x44000005,
-	TMP1075_HANDLER_2 = 0x44000006,
-    MGM_0_LIS3_HANDLER = 0x44000007,
-	MGM_1_RM3100_HANDLER = 0x44000008,
-	MGM_2_LIS3_HANDLER = 0x44000009,
-	MGM_3_RM3100_HANDLER = 0x44000010,
-	GYRO_0_ADIS_HANDLER = 0x44000011,
-	GYRO_1_L3G_HANDLER = 0x44000012,
-	GYRO_2_L3G_HANDLER = 0x44000013,
+    /* 0x44 ('D') for device handlers */
+    P60DOCK_HANDLER = 0x44250000,
+    PDU1_HANDLER = 0x44250001,
+    PDU2_HANDLER = 0x44250002,
+    ACU_HANDLER = 0x44250003,
+    TMP1075_HANDLER_1 = 0x44420004,
+    TMP1075_HANDLER_2 = 0x44420005,
+    MGM_0_LIS3_HANDLER = 0x44120006,
+    MGM_1_RM3100_HANDLER = 0x44120107,
+    MGM_2_LIS3_HANDLER = 0x44120208,
+    MGM_3_RM3100_HANDLER = 0x44120309,
+    GYRO_0_ADIS_HANDLER = 0x44120010,
+    GYRO_1_L3G_HANDLER = 0x44120111,
+    GYRO_2_ADIS_HANDLER = 0x44120212,
+    GYRO_3_L3G_HANDLER = 0x44120313,
 
-	IMTQ_HANDLER = 0x44000014,
-	PLOC_HANDLER = 0x44000015,
+    IMTQ_HANDLER = 0x44140014,
+    PLOC_HANDLER = 0x44330015,
 
-    SUS_1 = 0x44000016,
-    SUS_2 = 0x44000017,
-    SUS_3 = 0x44000018,
-    SUS_4 = 0x44000019,
-    SUS_5 = 0x4400001A,
-    SUS_6 = 0x4400001B,
-    SUS_7 = 0x4400001C,
-    SUS_8 = 0x4400001D,
-    SUS_9 = 0x4400001E,
-    SUS_10 = 0x4400001F,
-    SUS_11 = 0x44000021,
-    SUS_12 = 0x44000022,
-    SUS_13 = 0x44000023,
+    /**
+     * Not yet specified which pt1000 will measure which device/location in the satellite.
+     * Therefore object ids are named according to the IC naming of the RTDs in the schematic.
+     */
+    RTD_IC3 = 0x44420016,
+    RTD_IC4 = 0x44420017,
+    RTD_IC5 = 0x44420018,
+    RTD_IC6 = 0x44420019,
+    RTD_IC7 = 0x44420020,
+    RTD_IC8 = 0x44420021,
+    RTD_IC9 = 0x44420022,
+    RTD_IC10 = 0x44420023,
+    RTD_IC11 = 0x44420024,
+    RTD_IC12 = 0x44420025,
+    RTD_IC13 = 0x44420026,
+    RTD_IC14 = 0x44420027,
+    RTD_IC15 = 0x44420028,
+    RTD_IC16 = 0x44420029,
+    RTD_IC17 = 0x44420030,
+    RTD_IC18 = 0x44420031,
 
-    GPS0_HANDLER = 0x44001000,
-    GPS1_HANDLER = 0x44002000
+    SUS_1 = 0x44120032,
+    SUS_2 = 0x44120033,
+    SUS_3 = 0x44120034,
+    SUS_4 = 0x44120035,
+    SUS_5 = 0x44120036,
+    SUS_6 = 0x44120037,
+    SUS_7 = 0x44120038,
+    SUS_8 = 0x44120039,
+    SUS_9 = 0x44120040,
+    SUS_10 = 0x44120041,
+    SUS_11 = 0x44120042,
+    SUS_12 = 0x44120043,
+    SUS_13 = 0x44120044,
+
+    GPS0_HANDLER = 0x44130045,
+    GPS1_HANDLER = 0x44130146,
+
+    RW1 = 0x44210001,
+    RW2 = 0x44210002,
+    RW3 = 0x44210003,
+    RW4 = 0x44210004
 };
 }
 
diff --git a/linux/fsfwconfig/devices/addresses.h b/linux/fsfwconfig/devices/addresses.h
index e4dc4979..9d620475 100644
--- a/linux/fsfwconfig/devices/addresses.h
+++ b/linux/fsfwconfig/devices/addresses.h
@@ -17,7 +17,8 @@ namespace addresses {
 
 		GYRO_0_ADIS = objects::GYRO_0_ADIS_HANDLER,
 		GYRO_1_L3G = objects::GYRO_1_L3G_HANDLER,
-		GYRO_2_L3G = objects::GYRO_2_L3G_HANDLER,
+		GYRO_2_ADIS = objects::GYRO_2_ADIS_HANDLER,
+		GYRO_3_L3G = objects::GYRO_3_L3G_HANDLER,
 
 		RAD_SENSOR = objects::RAD_SENSOR,
 
diff --git a/linux/fsfwconfig/objects/systemObjectList.h b/linux/fsfwconfig/objects/systemObjectList.h
index 643cbc8f..eb5333c2 100644
--- a/linux/fsfwconfig/objects/systemObjectList.h
+++ b/linux/fsfwconfig/objects/systemObjectList.h
@@ -6,72 +6,64 @@
 #include <cstdint>
 
 // The objects will be instantiated in the ID order
+// For naming scheme see flight manual
+/*
+https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/EIVE_Project_IDs
+
+Second byte first four bits is the subsystem:
+OBDH 0x0
+ACS  0x1
+EPS  0x2
+PL   0x3
+TCS  0x4
+COM  0x5
+
+Second byte last four bits is the bus:
+None 0x0
+GPIO 0x1
+SPI  0x2
+UART 0x3
+I2C  0x4
+CAN  0x5
+
+Third byte is an assembly counter if there are multiple redundant devices.
+Fourth byte is a unique counter.
+
+ */
 namespace objects {
-	enum sourceObjects: uint32_t {
-	    /* 0x53 reserved for FSFW */
-	    FW_ADDRESS_START = PUS_SERVICE_1_VERIFICATION,
-	    FW_ADDRESS_END = TIME_STAMPER,
+enum sourceObjects: uint32_t {
+    /* 0x53 reserved for FSFW */
+    FW_ADDRESS_START = PUS_SERVICE_1_VERIFICATION,
+    FW_ADDRESS_END = TIME_STAMPER,
+    PUS_SERVICE_6 = 0x51000500,
 
-		CCSDS_IP_CORE_BRIDGE = 0x50000500,
+    CCSDS_IP_CORE_BRIDGE = 0x73500000,
+    TM_FUNNEL = 0x73000100,
 
-		PUS_SERVICE_6 = 0x51000500,
+    /* 0x49 ('I') for Communication Interfaces **/
+    ARDUINO_COM_IF = 0x49000000,
+    CSP_COM_IF = 0x49050001,
+    I2C_COM_IF = 0x49040002,
+    UART_COM_IF = 0x49030003,
+    SPI_COM_IF = 0x49020004,
+    GPIO_IF = 0x49010005,
 
-		TM_FUNNEL = 0x52000002,
+    /* Custom device handler */
+    PCDU_HANDLER = 0x442000A1,
+    SOLAR_ARRAY_DEPL_HANDLER = 0x444100A2,
+    SYRLINKS_HK_HANDLER = 0x445300A3,
+    HEATER_HANDLER = 0x444100A4,
+    RAD_SENSOR = 0x443200A5,
 
-		/* 0x49 ('I') for Communication Interfaces **/
-		ARDUINO_COM_IF = 0x49000001,
-		CSP_COM_IF = 0x49000002,
-		I2C_COM_IF = 0x49000003,
-		UART_COM_IF = 0x49000004,
-		SPI_COM_IF = 0x49000005,
-
-		/* 0x47 ('G') for Gpio Interfaces */
-		GPIO_IF = 0x47000001,
-
-		/* Custom device handler */
-		PCDU_HANDLER = 0x44001000,
-		SOLAR_ARRAY_DEPL_HANDLER = 0x44001001,
-		SYRLINKS_HK_HANDLER = 0x44001002,
-
-		/* 0x54 ('T') for thermal objects */
-		HEATER_HANDLER = 0x54000003,
-		/**
-		 * Not yet specified which pt1000 will measure which device/location in the satellite.
-		 * Therefore object ids are named according to the IC naming of the RTDs in the schematic.
-		 */
-		RTD_IC3 = 0x54000004,
-		RTD_IC4 = 0x54000005,
-		RTD_IC5 = 0x54000006,
-		RTD_IC6 = 0x54000007,
-		RTD_IC7 = 0x54000008,
-		RTD_IC8 = 0x54000009,
-		RTD_IC9 = 0x5400000A,
-		RTD_IC10 = 0x5400000B,
-		RTD_IC11 = 0x5400000C,
-		RTD_IC12 = 0x5400000D,
-		RTD_IC13 = 0x5400000E,
-		RTD_IC14 = 0x5400000F,
-		RTD_IC15 = 0x5400001F,
-		RTD_IC16 = 0x5400002F,
-		RTD_IC17 = 0x5400003F,
-		RTD_IC18 = 0x5400004F,
-
-		RAD_SENSOR = 0x54000050,
-
-		RW1 = 0x54000051,
-		RW2 = 0x54000052,
-		RW3 = 0x54000053,
-		RW4 = 0x54000054,
-
-		/* 0x54 ('T') for test handlers */
-        TEST_TASK = 0x54694269,
-        LIBGPIOD_TEST = 0x54123456,
-        SPI_TEST = 0x54000010,
-        UART_TEST = 0x54000020,
-        DUMMY_INTERFACE = 0x5400CAFE,
-        DUMMY_HANDLER = 0x5400AFFE,
-        P60DOCK_TEST_TASK = 0x00005060
-	};
+    /* 0x54 ('T') for test handlers */
+    TEST_TASK = 0x54694269,
+    LIBGPIOD_TEST = 0x54123456,
+    SPI_TEST = 0x54000010,
+    UART_TEST = 0x54000020,
+    DUMMY_INTERFACE = 0x5400CAFE,
+    DUMMY_HANDLER = 0x5400AFFE,
+    P60DOCK_TEST_TASK = 0x00005060
+};
 }
 
 #endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */
diff --git a/mission/devices/CMakeLists.txt b/mission/devices/CMakeLists.txt
index 544bbd14..78d54185 100644
--- a/mission/devices/CMakeLists.txt
+++ b/mission/devices/CMakeLists.txt
@@ -1,6 +1,5 @@
 target_sources(${TARGET_NAME} PUBLIC
-	GPSHandler.cpp
-	# GyroL3GD20Handler.cpp
+	GPSHyperionHandler.cpp
 	MGMHandlerLIS3MDL.cpp
 	MGMHandlerRM3100.cpp
 	GomspaceDeviceHandler.cpp
diff --git a/mission/devices/GPSHandler.cpp b/mission/devices/GPSHandler.cpp
deleted file mode 100644
index 3fdb6ab1..00000000
--- a/mission/devices/GPSHandler.cpp
+++ /dev/null
@@ -1,98 +0,0 @@
-#include "GPSHandler.h"
-#include "devicedefinitions/GPSDefinitions.h"
-
-#include "lwgps/lwgps.h"
-
-GPSHandler::GPSHandler(object_id_t objectId, object_id_t deviceCommunication,
-		CookieIF *comCookie):
-		DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
-    lwgps_init(&gpsData);
-}
-
-GPSHandler::~GPSHandler() {}
-
-void GPSHandler::doStartUp() {
-    if(internalState == InternalStates::NONE) {
-        commandExecuted = false;
-        internalState = InternalStates::WAIT_FIRST_MESSAGE;
-    }
-
-    if(internalState == InternalStates::WAIT_FIRST_MESSAGE) {
-        if(commandExecuted) {
-            internalState = InternalStates::IDLE;
-            setMode(MODE_ON);
-            commandExecuted = false;
-        }
-    }
-}
-
-void GPSHandler::doShutDown() {
-    internalState = InternalStates::NONE;
-    commandExecuted = false;
-    setMode(MODE_OFF);
-}
-
-ReturnValue_t GPSHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t GPSHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t GPSHandler::buildCommandFromCommand(
-		DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-		size_t commandDataLen) {
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t GPSHandler::scanForReply(const uint8_t *start, size_t len,
-		DeviceCommandId_t *foundId, size_t *foundLen) {
-    // Pass data to GPS library
-    if(len > 0) {
-        sif::info << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
-        if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
-            // TODO: Check whether data is valid by chcking whether NMEA start string is valid
-            commandExecuted = true;
-        }
-        int result = lwgps_process(&gpsData, start, len);
-        if(result != 1) {
-            sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps"
-                    << std::endl;
-        }
-        else {
-            sif::info << "GPS Data" << std::endl;
-            // Print messages
-            printf("Valid status: %d\n", gpsData.is_valid);
-            printf("Latitude: %f degrees\n", gpsData.latitude);
-            printf("Longitude: %f degrees\n", gpsData.longitude);
-            printf("Altitude: %f meters\n", gpsData.altitude);
-        }
-        *foundLen = len;
-    }
-	return HasReturnvaluesIF::RETURN_OK;
-
-}
-
-ReturnValue_t GPSHandler::interpretDeviceReply(DeviceCommandId_t id,
-		const uint8_t *packet) {
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t GPSHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
-	return 5000;
-}
-
-ReturnValue_t GPSHandler::initializeLocalDataPool(
-		localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-void GPSHandler::fillCommandAndReplyMap() {
-    // Reply length does not matter, packets should always arrive periodically
-    insertInReplyMap(GpsHyperion::GPS_REPLY, 4, nullptr, 0, true);
-}
-
-void GPSHandler::modeChanged() {
-    internalState = InternalStates::NONE;
-}
diff --git a/mission/devices/GPSHyperionHandler.cpp b/mission/devices/GPSHyperionHandler.cpp
new file mode 100644
index 00000000..1f68881c
--- /dev/null
+++ b/mission/devices/GPSHyperionHandler.cpp
@@ -0,0 +1,150 @@
+#include "GPSHyperionHandler.h"
+#include "devicedefinitions/GPSDefinitions.h"
+
+#include "fsfw/datapool/PoolReadGuard.h"
+#include "fsfw/timemanager/Clock.h"
+
+#include "lwgps/lwgps.h"
+
+GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
+		CookieIF *comCookie):
+		DeviceHandlerBase(objectId, deviceCommunication, comCookie), gpsSet(this) {
+    lwgps_init(&gpsData);
+}
+
+GPSHyperionHandler::~GPSHyperionHandler() {}
+
+void GPSHyperionHandler::doStartUp() {
+    if(internalState == InternalStates::NONE) {
+        commandExecuted = false;
+        internalState = InternalStates::WAIT_FIRST_MESSAGE;
+    }
+
+    if(internalState == InternalStates::WAIT_FIRST_MESSAGE) {
+        if(commandExecuted) {
+            internalState = InternalStates::IDLE;
+            setMode(MODE_ON);
+            commandExecuted = false;
+        }
+    }
+}
+
+void GPSHyperionHandler::doShutDown() {
+    internalState = InternalStates::NONE;
+    commandExecuted = false;
+    setMode(MODE_OFF);
+}
+
+ReturnValue_t GPSHyperionHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
+		DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+		size_t commandDataLen) {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
+		DeviceCommandId_t *foundId, size_t *foundLen) {
+    // Pass data to GPS library
+    if(len > 0) {
+        sif::info << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
+        if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
+            // TODO: Check whether data is valid by chcking whether NMEA start string is valid
+            commandExecuted = true;
+        }
+        int result = lwgps_process(&gpsData, start, len);
+        if(result != 1) {
+            sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps"
+                    << std::endl;
+        }
+        else {
+            // The data from the device will generally be read all at once. Therefore, we
+            // can set all field here
+            PoolReadGuard pg(&gpsSet);
+            if(pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+                sif::warning << "GPSHyperionHandler::scanForReply: Reading dataset failed"
+                        << std::endl;
+#endif
+            }
+            // Print messages
+            if(gpsData.is_valid) {
+                // Set all entries valid now, set invalid on case basis if values are sanitized
+                gpsSet.setValidity(true, true);
+            }
+            // Negative latitude -> South direction
+            gpsSet.latitude.value = gpsData.latitude;
+            // Negative longitude -> West direction
+            gpsSet.longitude.value = gpsData.latitude;
+            gpsSet.fixMode.value = gpsData.fix_mode;
+            gpsSet.satInUse.value = gpsData.sats_in_use;
+            Clock::TimeOfDay_t timeStruct = {};
+            timeStruct.day = gpsData.date;
+            timeStruct.hour = gpsData.hours;
+            timeStruct.minute = gpsData.minutes;
+            timeStruct.month = gpsData.month;
+            timeStruct.second = gpsData.seconds;
+            // Convert two-digit year to full year (AD)
+            timeStruct.year = gpsData.year + 2000;
+            timeval timeval = {};
+            Clock::convertTimeOfDayToTimeval(&timeStruct, &timeval);
+            gpsSet.year = timeStruct.year;
+            gpsSet.month = gpsData.month;
+            gpsSet.day = gpsData.date;
+            gpsSet.hours = gpsData.hours;
+            gpsSet.minutes = gpsData.minutes;
+            gpsSet.seconds = gpsData.seconds;
+#if FSFW_HAL_DEBUG_HYPERION_GPS == 1
+            sif::info << "GPS Data" << std::endl;
+            printf("Valid status: %d\n", gpsData.is_valid);
+            printf("Latitude: %f degrees\n", gpsData.latitude);
+            printf("Longitude: %f degrees\n", gpsData.longitude);
+            printf("Altitude: %f meters\n", gpsData.altitude);
+#endif
+        }
+        *foundLen = len;
+    }
+	return HasReturnvaluesIF::RETURN_OK;
+
+}
+
+ReturnValue_t GPSHyperionHandler::interpretDeviceReply(DeviceCommandId_t id,
+		const uint8_t *packet) {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t GPSHyperionHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
+	return 5000;
+}
+
+ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(
+		localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+    localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
+    localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
+    localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}));
+    localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>());
+    localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>());
+    localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>());
+    localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>());
+    localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>());
+    localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>());
+    localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>());
+    localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
+    localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void GPSHyperionHandler::fillCommandAndReplyMap() {
+    // Reply length does not matter, packets should always arrive periodically
+    insertInReplyMap(GpsHyperion::GPS_REPLY, 4, nullptr, 0, true);
+}
+
+void GPSHyperionHandler::modeChanged() {
+    internalState = InternalStates::NONE;
+}
diff --git a/mission/devices/GPSHandler.h b/mission/devices/GPSHyperionHandler.h
similarity index 72%
rename from mission/devices/GPSHandler.h
rename to mission/devices/GPSHyperionHandler.h
index 298871e4..5685ac86 100644
--- a/mission/devices/GPSHandler.h
+++ b/mission/devices/GPSHyperionHandler.h
@@ -1,20 +1,25 @@
-#ifndef MISSION_DEVICES_GPSHANDLER_H_
-#define MISSION_DEVICES_GPSHANDLER_H_
+#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
+#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
 
-#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "devicedefinitions/GPSDefinitions.h"
 #include "lwgps/lwgps.h"
 
+#ifndef FSFW_HAL_DEBUG_HYPERION_GPS
+#define FSFW_HAL_DEBUG_HYPERION_GPS     0
+#endif
+
 /**
  * @brief   Device handler for the Hyperion HT-GPS200 device
  * @details
  * Flight manual:
  * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
  */
-class GPSHandler: public DeviceHandlerBase {
+class GPSHyperionHandler: public DeviceHandlerBase {
 public:
-	GPSHandler(object_id_t objectId, object_id_t deviceCommunication,
+	GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
 	        CookieIF* comCookie);
-	virtual ~GPSHandler();
+	virtual ~GPSHyperionHandler();
 
 protected:
 	enum class InternalStates {
@@ -48,6 +53,7 @@ protected:
 
 private:
 	lwgps_t gpsData = {};
+	GpsPrimaryDataset gpsSet;
 };
 
-#endif /* MISSION_DEVICES_GPSHANDLER_H_ */
+#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */
diff --git a/mission/devices/MGMHandlerLIS3MDL.cpp b/mission/devices/MGMHandlerLIS3MDL.cpp
index 15f6e325..85cb3407 100644
--- a/mission/devices/MGMHandlerLIS3MDL.cpp
+++ b/mission/devices/MGMHandlerLIS3MDL.cpp
@@ -1,7 +1,9 @@
-#include <fsfw/datapool/PoolReadGuard.h>
 #include "MGMHandlerLIS3MDL.h"
 
-#include <fsfw/datapool/PoolReadGuard.h>
+#include "fsfw/datapool/PoolReadGuard.h"
+#if OBSW_VERBOSE_LEVEL >= 1
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
+#endif
 
 MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
         object_id_t deviceCommunication, CookieIF* comCookie):
@@ -300,9 +302,9 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
             sif::printInfo("X: %f " "\xC2\xB5" "T\n", mgmX);
             sif::printInfo("Y: %f " "\xC2\xB5" "T\n", mgmY);
             sif::printInfo("Z: %f " "\xC2\xB5" "T\n", mgmZ);
-#endif
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
         }
-#endif
+#endif /* OBSW_VERBOSE_LEVEL >= 1 */
         PoolReadGuard readHelper(&dataset);
         if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
             dataset.fieldStrengthX = mgmX;
@@ -482,6 +484,3 @@ ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
             new PoolEntry<float>({0.0}));
     return HasReturnvaluesIF::RETURN_OK;
 }
-
-void MGMHandlerLIS3MDL::performOperationHook() {
-}
diff --git a/mission/devices/MGMHandlerLIS3MDL.h b/mission/devices/MGMHandlerLIS3MDL.h
index 3cc08a6b..5d8364ee 100644
--- a/mission/devices/MGMHandlerLIS3MDL.h
+++ b/mission/devices/MGMHandlerLIS3MDL.h
@@ -1,13 +1,13 @@
 #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 
+#include "OBSWConfig.h"
 #include "devicedefinitions/MGMHandlerLIS3Definitions.h"
+#include "events/subsystemIdRanges.h"
 
-#include <OBSWConfig.h>
-#include <events/subsystemIdRanges.h>
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
-#include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
+class PeriodicOperationDivider;
 
 /**
  * @brief   Device handler object for the LIS3MDL 3-axis magnetometer
@@ -162,9 +162,6 @@ private:
 #if OBSW_VERBOSE_LEVEL >= 1
     PeriodicOperationDivider* debugDivider;
 #endif
-
-    void performOperationHook() override;
-
 };
 
 #endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */
diff --git a/mission/devices/MGMHandlerRM3100.cpp b/mission/devices/MGMHandlerRM3100.cpp
index 4fd654d3..0f7fc729 100644
--- a/mission/devices/MGMHandlerRM3100.cpp
+++ b/mission/devices/MGMHandlerRM3100.cpp
@@ -1,10 +1,10 @@
-#include <fsfw/datapool/PoolReadGuard.h>
 #include "MGMHandlerRM3100.h"
 
-#include <fsfw/globalfunctions/bitutility.h>
-#include <fsfw/devicehandlers/DeviceHandlerMessage.h>
-#include <fsfw/objectmanager/SystemObjectIF.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "fsfw/datapool/PoolReadGuard.h"
+#include "fsfw/globalfunctions/bitutility.h"
+#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
+#include "fsfw/objectmanager/SystemObjectIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 
 MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
diff --git a/mission/devices/MGMHandlerRM3100.h b/mission/devices/MGMHandlerRM3100.h
index 95175b47..48173e65 100644
--- a/mission/devices/MGMHandlerRM3100.h
+++ b/mission/devices/MGMHandlerRM3100.h
@@ -1,13 +1,12 @@
 #ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
 #define MISSION_DEVICES_MGMRM3100HANDLER_H_
 
+#include "OBSWConfig.h"
 #include "devicedefinitions/MGMHandlerRM3100Definitions.h"
-#include <fsfw/devicehandlers/DeviceHandlerBase.h>
-
-#include <OBSWConfig.h>
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
 #if OBSW_VERBOSE_LEVEL >= 1
-#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 #endif
 
 /**
@@ -21,11 +20,11 @@ class MGMHandlerRM3100: public DeviceHandlerBase {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
 
-	//! P1: TMRC value which was set, P2: 0
+	//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
 	static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
 			0x00, severity::INFO);
 
-	//! P1: First two bytes new Cycle Count X
+	//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
 	//! P1: Second two bytes new Cycle Count Y
 	//! P2: New cycle count Z
 	static constexpr Event cycleCountersSet = event::makeEvent(
diff --git a/mission/devices/devicedefinitions/GPSDefinitions.h b/mission/devices/devicedefinitions/GPSDefinitions.h
index cb3cfd1a..8f147651 100644
--- a/mission/devices/devicedefinitions/GPSDefinitions.h
+++ b/mission/devices/devicedefinitions/GPSDefinitions.h
@@ -1,21 +1,65 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_
 
-#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include "fsfw/devicehandlers/DeviceHandlerIF.h"
+#include "fsfw/datapoollocal/StaticLocalDataSet.h"
 
 namespace GpsHyperion {
 
 static constexpr DeviceCommandId_t GPS_REPLY = 0;
 
-enum GpsPoolIds: lp_id_t {
+static constexpr uint32_t DATASET_ID = 0;
 
+enum GpsPoolIds: lp_id_t {
+    LATITUDE = 0,
+    LONGITUDE = 1,
+    ALTITUDE = 2,
+    FIX_MODE = 3,
+    SATS_IN_USE = 4,
+    UNIX_SECONDS = 5,
+    YEAR = 6,
+    MONTH = 7,
+    DAY = 8,
+    HOURS = 9,
+    MINUTES = 10,
+    SECONDS = 11
+};
+
+enum GpsFixModes: uint8_t {
+    INVALID = 0,
+    NO_FIX = 1,
+    FIX_2D = 2,
+    FIX_3D = 3
 };
 
 }
 
-class GpsPrimaryDataset: public StaticLocalDataSet<5> {
+class GpsPrimaryDataset: public StaticLocalDataSet<18> {
 public:
+    GpsPrimaryDataset(object_id_t gpsId):
+        StaticLocalDataSet(sid_t(gpsId, GpsHyperion::DATASET_ID)) {
+        setAllVariablesReadOnly();
+    }
+
+    lp_var_t<double> latitude = lp_var_t<double>(sid.objectId,
+            GpsHyperion::LATITUDE, this);
+    lp_var_t<double> longitude = lp_var_t<double>(sid.objectId,
+            GpsHyperion::LONGITUDE, this);
+    lp_var_t<double> altitude = lp_var_t<double>(sid.objectId, GpsHyperion::ALTITUDE, this);
+    lp_var_t<uint8_t> fixMode = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::FIX_MODE, this);
+    lp_var_t<uint8_t> satInUse = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::SATS_IN_USE, this);
+    lp_var_t<uint16_t> year = lp_var_t<uint16_t>(sid.objectId, GpsHyperion::YEAR, this);
+    lp_var_t<uint8_t> month = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::MONTH, this);
+    lp_var_t<uint8_t> day = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::DAY, this);
+    lp_var_t<uint8_t> hours = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::HOURS, this);
+    lp_var_t<uint8_t> minutes = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::MINUTES, this);
+    lp_var_t<uint8_t> seconds = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::SECONDS, this);
+    lp_var_t<uint32_t> unixSeconds = lp_var_t<uint32_t>(sid.objectId,
+            GpsHyperion::UNIX_SECONDS, this);
 private:
+    friend class GPSHyperionHandler;
+    GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+        StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
 };
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_ */
diff --git a/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h b/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h
index f58d6f03..c15b60ef 100644
--- a/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h
+++ b/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h
@@ -20,8 +20,8 @@ static constexpr size_t MAX_BUFFER_SIZE = 16;
 
 static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
 
-static const DeviceCommandId_t SETUP_MGM = 0x00;
-static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x01;
+static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x00;
+static const DeviceCommandId_t SETUP_MGM = 0x01;
 static const DeviceCommandId_t READ_TEMPERATURE = 0x02;
 static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
 static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04;