diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 59388646..b33df028 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -474,7 +474,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
       objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
   auto acsAss =
       new AcsBoardAssembly(objects::ACS_BOARD_ASS, pwrSwitcher, acsBoardHelper, gpioComIF);
-  acsAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
   static_cast<void>(acsAss);
   for (auto& assChild : assemblyChildren) {
     ReturnValue_t result = assChild.get().connectModeTreeParent(*acsAss);
@@ -483,6 +482,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
           assChild.get().getObjectId() << " failed" << std::endl;
     }
   }
+  gpsCtrl->connectModeTreeParent(*acsAss);
+  acsAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
 
@@ -692,7 +693,7 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
   }
 
   RwHelper rwHelper(rwIds);
-  auto* rwAss = new RwAssembly(objects::RW_ASS, objects::NO_OBJECT, pwrSwitcher,
+  auto* rwAss = new RwAssembly(objects::RW_ASS, pwrSwitcher,
                                pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
   for (uint8_t idx = 0; idx < rws.size(); idx++) {
     ReturnValue_t result = rws[idx]->connectModeTreeParent(*rwAss);
diff --git a/fsfw b/fsfw
index 10dd8552..acab5f6b 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 10dd8552446e409e40d830e25fb0eed927995764
+Subproject commit acab5f6bceef581fae64d1c16af19482ec72abcb
diff --git a/linux/devices/GPSHyperionLinuxController.cpp b/linux/devices/GPSHyperionLinuxController.cpp
index 84200baf..a72f671c 100644
--- a/linux/devices/GPSHyperionLinuxController.cpp
+++ b/linux/devices/GPSHyperionLinuxController.cpp
@@ -18,7 +18,7 @@
 
 GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                                                        bool debugHyperionGps)
-    : ExtendedControllerBase(objectId, objects::NO_OBJECT),
+    : ExtendedControllerBase(objectId),
       gpsSet(this),
       debugHyperionGps(debugHyperionGps) {
   timeUpdateCd.resetTimer();
diff --git a/mission/system/objects/RwAssembly.cpp b/mission/system/objects/RwAssembly.cpp
index 0438ff03..8d86bed8 100644
--- a/mission/system/objects/RwAssembly.cpp
+++ b/mission/system/objects/RwAssembly.cpp
@@ -1,8 +1,8 @@
 #include "RwAssembly.h"
 
-RwAssembly::RwAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
                        power::Switch_t switcher, RwHelper helper)
-    : AssemblyBase(objectId, parentId), helper(helper), switcher(pwrSwitcher, switcher) {
+    : AssemblyBase(objectId), helper(helper), switcher(pwrSwitcher, switcher) {
   ModeListEntry entry;
   for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
     entry.setObject(helper.rwIds[idx]);
diff --git a/mission/system/objects/RwAssembly.h b/mission/system/objects/RwAssembly.h
index 482a18a3..5db6b7d6 100644
--- a/mission/system/objects/RwAssembly.h
+++ b/mission/system/objects/RwAssembly.h
@@ -12,7 +12,7 @@ struct RwHelper {
 
 class RwAssembly : public AssemblyBase {
  public:
-  RwAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+  RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
              power::Switch_t switcher, RwHelper helper);
 
  private:
diff --git a/mission/system/objects/TcsBoardAssembly.cpp b/mission/system/objects/TcsBoardAssembly.cpp
index 23a202be..5c419390 100644
--- a/mission/system/objects/TcsBoardAssembly.cpp
+++ b/mission/system/objects/TcsBoardAssembly.cpp
@@ -90,15 +90,7 @@ ReturnValue_t TcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t su
 }
 
 ReturnValue_t TcsBoardAssembly::initialize() {
-  ReturnValue_t result = returnvalue::OK;
-  // TODO: Fix this
-  //  for (const auto& obj : helper.rtdInfos) {
-  //    result = registerChild(obj.first);
-  //    if (result != returnvalue::OK) {
-  //      return result;
-  //    }
-  //  }
-  return SubsystemBase::initialize();
+  return AssemblyBase::initialize();
 }
 
 void TcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
diff --git a/tmtc b/tmtc
index c8eaf180..8c48255e 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit c8eaf180dc724ccd8eab54a66109d861ce14a2d1
+Subproject commit 8c48255eb34bb26f7626b53474a1af7e71717c5d