diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6d2e94db..5cceecb3 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,14 +10,30 @@ list yields a list of all related PRs for each release.
 
 # [unreleased]
 
-# [v1.14.1]
+# [v1.15.0] 27.10.2022
+
+- Consistent device file naming
+- Remove rad sensor from EM build, lead to weird bugs on EM which
+  prevented `xsc_boot_copy` from working properly
+- CFDP closure handling is now working
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/307
+- Safety mechanism for SD card handling on graceful reboots
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/308
+- Solar Array Deployment handler update
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/305
+- IMTQ updates as preparation for ACS controller expansion
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/306
+- P60 Module: Reduce number of set IDs, use same set IDs for core, auxiliary
+  and config HK set across the three PCDU modules
+
+# [v1.14.1] 11.10.2022
 
 - Various bugfixes and regression fixes
 - General file handling at program initialization now works properly again
 - Scratch buffer preferred SD card handling works again
 - Use scoped locks in TCS controller to avoid deadlocks
 
-# [v1.14.0]
+# [v1.14.0] 10.10.2022
 
 - Provide full SW update capability for the OBSW.
   This includes very basic CFDP integration, a software update
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d6a73014..38a09a9a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 1)
-set(OBSW_VERSION_MINOR_IF_GIT_FAILS 14)
-set(OBSW_VERSION_REVISION_IF_GIT_FAILS 1)
+set(OBSW_VERSION_MINOR_IF_GIT_FAILS 15)
+set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
 
 # set(CMAKE_VERBOSE TRUE)
 
@@ -98,14 +98,35 @@ set(OBSW_ADD_ACS_BOARD
 set(OBSW_ADD_GPS_CTRL
     ${INIT_VAL}
     CACHE STRING "Add GPS controllers")
+set(OBSW_ADD_CCSDS_IP_CORES
+    1
+    CACHE STRING "Add CCSDS IP cores")
+set(OBSW_TM_TO_PTME
+    1
+    CACHE STRING "Send telemetry to PTME IP core")
+set(OBSW_TC_FROM_PDEC
+    1
+    CACHE STRING "Poll telecommand from PDEC IP core")
 set(OBSW_ADD_TCS_CTRL
     ${INIT_VAL}
     CACHE STRING "Add TCS controllers")
+set(OBSW_ADD_HEATERS
+    ${INIT_VAL}
+    CACHE STRING "Add TCS heaters")
+set(OBSW_ADD_PLOC_SUPERVISOR
+    ${INIT_VAL}
+    CACHE STRING "Add PLOC supervisor handler")
+set(OBSW_ADD_SA_DEPL
+    ${INIT_VAL}
+    CACHE STRING "Add SA deployment handler")
+set(OBSW_ADD_PLOC_MPSOC
+    ${INIT_VAL}
+    CACHE STRING "Add MPSoC handler")
 set(OBSW_ADD_ACS_CTRL
     ${INIT_VAL}
     CACHE STRING "Add ACS controller")
 set(OBSW_ADD_RTD_DEVICES
-    1
+    ${INIT_VAL}
     CACHE STRING "Add RTD devices")
 set(OBSW_ADD_RAD_SENSORS
     ${INIT_VAL}
diff --git a/bsp_hosted/ObjectFactory.cpp b/bsp_hosted/ObjectFactory.cpp
index 28762871..f4607de4 100644
--- a/bsp_hosted/ObjectFactory.cpp
+++ b/bsp_hosted/ObjectFactory.cpp
@@ -54,10 +54,6 @@ void Factory::setStaticFrameworkObjectIds() {
   CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
   CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
 
-  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
-  // No storage object for now.
-  TmFunnel::storageDestination = objects::NO_OBJECT;
-
   VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
 }
 
diff --git a/bsp_hosted/fsfwconfig/OBSWConfig.h.in b/bsp_hosted/fsfwconfig/OBSWConfig.h.in
index 69029c23..b7de30f0 100644
--- a/bsp_hosted/fsfwconfig/OBSWConfig.h.in
+++ b/bsp_hosted/fsfwconfig/OBSWConfig.h.in
@@ -16,7 +16,7 @@
 debugging. */
 #define OBSW_VEBOSE_LEVEL                           1
 
-#define OBSW_USE_CCSDS_IP_CORE                      0
+#define OBSW_ADD_CCSDS_IP_CORES                     0
 // Set to 1 if all telemetry should be sent to the PTME IP Core
 #define OBSW_TM_TO_PTME                             0
 // Set to 1 if telecommands are received via the PDEC IP Core
diff --git a/bsp_hosted/fsfwconfig/objects/systemObjectList.h b/bsp_hosted/fsfwconfig/objects/systemObjectList.h
index 8b264882..703cd8b8 100644
--- a/bsp_hosted/fsfwconfig/objects/systemObjectList.h
+++ b/bsp_hosted/fsfwconfig/objects/systemObjectList.h
@@ -16,8 +16,6 @@ enum sourceObjects : uint32_t {
   PUS_SERVICE_23 = 0x51002300,
   PUS_SERVICE_201 = 0x51020100,
 
-  TM_FUNNEL = 0x52000002,
-
   /* Test Task */
 
   TEST_TASK = 0x42694269,
diff --git a/bsp_linux_board/OBSWConfig.h.in b/bsp_linux_board/OBSWConfig.h.in
index f17c3d48..04b90ed9 100644
--- a/bsp_linux_board/OBSWConfig.h.in
+++ b/bsp_linux_board/OBSWConfig.h.in
@@ -103,7 +103,7 @@
 /*******************************************************************/
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
 
-#define OBSW_USE_CCSDS_IP_CORE                      0
+#define OBSW_ADD_CCSDS_IP_CORES                     0
 // Set to 1 if all telemetry should be sent to the PTME IP Core
 #define OBSW_TM_TO_PTME                             0
 // Set to 1 if telecommands are received via the PDEC IP Core
diff --git a/bsp_q7s/OBSWConfig.h.in b/bsp_q7s/OBSWConfig.h.in
index 260ccc2d..c0c713a9 100644
--- a/bsp_q7s/OBSWConfig.h.in
+++ b/bsp_q7s/OBSWConfig.h.in
@@ -14,19 +14,12 @@
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/
 
-#define OBSW_USE_CCSDS_IP_CORE                      1
-// Set to 1 if all telemetry should be sent to the PTME IP Core
-#define OBSW_TM_TO_PTME                             0
-// Set to 1 if telecommands are received via the PDEC IP Core
-#define OBSW_TC_FROM_PDEC                           0
-
-#define OBSW_ENABLE_TIMERS                          1
 #define OBSW_ADD_GOMSPACE_PCDU                      @OBSW_ADD_GOMSPACE_PCDU@
 #define OBSW_ADD_MGT                                @OBSW_ADD_MGT@
 #define OBSW_ADD_BPX_BATTERY_HANDLER                @OBSW_ADD_BPX_BATTERY_HANDLER@
 #define OBSW_ADD_STAR_TRACKER                       @OBSW_ADD_STAR_TRACKER@
-#define OBSW_ADD_PLOC_SUPERVISOR                    1
-#define OBSW_ADD_PLOC_MPSOC                         1
+#define OBSW_ADD_PLOC_SUPERVISOR                    @OBSW_ADD_PLOC_SUPERVISOR@
+#define OBSW_ADD_PLOC_MPSOC                         @OBSW_ADD_PLOC_MPSOC@
 #define OBSW_ADD_SUN_SENSORS                        @OBSW_ADD_SUN_SENSORS@
 #define OBSW_ADD_SUS_BOARD_ASS                      @OBSW_ADD_SUS_BOARD_ASS@
 #define OBSW_ADD_ACS_BOARD                          @OBSW_ADD_ACS_BOARD@
@@ -35,13 +28,24 @@
 #define OBSW_ADD_TCS_CTRL                           @OBSW_ADD_TCS_CTRL@
 #define OBSW_ADD_RW                                 @OBSW_ADD_RW@
 #define OBSW_ADD_RTD_DEVICES                        @OBSW_ADD_RTD_DEVICES@
+#define OBSW_ADD_SA_DEPL                            @OBSW_ADD_SA_DEPL@
 #define OBSW_ADD_SCEX_DEVICE                        @OBSW_ADD_SCEX_DEVICE@
+#define OBSW_ADD_HEATERS                            @OBSW_ADD_HEATERS@
 #define OBSW_ADD_TMP_DEVICES                        @OBSW_ADD_TMP_DEVICES@
 #define OBSW_ADD_RAD_SENSORS                        @OBSW_ADD_RAD_SENSORS@
 #define OBSW_ADD_PL_PCDU                            @OBSW_ADD_PL_PCDU@
 #define OBSW_ADD_SYRLINKS                           @OBSW_ADD_SYRLINKS@
+#define OBSW_ADD_CCSDS_IP_CORES                     @OBSW_ADD_CCSDS_IP_CORES@
+// Set to 1 if all telemetry should be sent to the PTME IP Core
+#define OBSW_TM_TO_PTME                             @OBSW_TM_TO_PTME@
+// Set to 1 if telecommands are received via the PDEC IP Core
+#define OBSW_TC_FROM_PDEC                           @OBSW_TC_FROM_PDEC@
 #define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
-#define OBSW_MPSOC_JTAG_BOOT                        0
+
+// Configuration parameter which causes the core controller to try to keep at least one SD card
+// working
+#define OBSW_SD_CARD_MUST_BE_ON                     1
+#define OBSW_ENABLE_TIMERS                          1
 
 // This is a really tricky switch.. It initializes the PCDU switches to their default states
 // at powerup. I think it would be better
@@ -59,6 +63,7 @@
 #define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
 #define OBSW_PRINT_MISSED_DEADLINES                 1
 
+#define OBSW_MPSOC_JTAG_BOOT                        0
 #define OBSW_STAR_TRACKER_GROUND_CONFIG             1
 #define OBSW_SYRLINKS_SIMULATED                     1
 #define OBSW_ADD_TEST_CODE                          0
diff --git a/bsp_q7s/boardconfig/busConf.h b/bsp_q7s/boardconfig/busConf.h
index 4ccdc78d..0bd781df 100644
--- a/bsp_q7s/boardconfig/busConf.h
+++ b/bsp_q7s/boardconfig/busConf.h
@@ -3,24 +3,24 @@
 
 namespace q7s {
 
-static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
+static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi_main";
 static constexpr uint32_t SPI_MAIN_BUS_LOCK_TIMEOUT = 50;
 
-static constexpr char SPI_RW_DEV[] = "/dev/spi-rw";
+static constexpr char SPI_RW_DEV[] = "/dev/spi_rw";
 
-static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";
+static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c_eive";
 
 static constexpr char UART_GNSS_DEV[] = "/dev/gps0";
-static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul-plmpsoc";
-static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ul-plsv";
-static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul-syrlinks";
-static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ul-str";
-static constexpr char UART_SCEX_DEV[] = "/dev/ttyS-SCEX";
+static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul_plmpsoc";
+static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ul_plsv";
+static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul_syrlinks";
+static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ul_str";
+static constexpr char UART_SCEX_DEV[] = "/dev/scex";
 
-static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
-static constexpr char UIO_PTME[] = "/dev/uio1";
-static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
-static constexpr char UIO_PDEC_RAM[] = "/dev/uio3";
+static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio_pdec_regs";
+static constexpr char UIO_PTME[] = "/dev/uio_ptme";
+static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio_pdec_cfg_mem";
+static constexpr char UIO_PDEC_RAM[] = "/dev/pdec_ram";
 static constexpr int MAP_ID_PTME_CONFIG = 3;
 
 namespace uiomapids {
diff --git a/bsp_q7s/boardtest/Q7STestTask.cpp b/bsp_q7s/boardtest/Q7STestTask.cpp
index a782ff6d..50a34284 100644
--- a/bsp_q7s/boardtest/Q7STestTask.cpp
+++ b/bsp_q7s/boardtest/Q7STestTask.cpp
@@ -75,8 +75,10 @@ ReturnValue_t Q7STestTask::performOneShotAction() {
   if (doTestProtHandler) {
     testProtHandler();
   }
-  FsOpCodes opCode = FsOpCodes::CREATE_EMPTY_FILE_IN_TMP;
-  testFileSystemHandlerDirect(opCode);
+  if (DO_TEST_FS_HANDLER) {
+    FsOpCodes opCode = FsOpCodes::CREATE_EMPTY_FILE_IN_TMP;
+    testFileSystemHandlerDirect(opCode);
+  }
   return TestTask::performOneShotAction();
 }
 
diff --git a/bsp_q7s/boardtest/Q7STestTask.h b/bsp_q7s/boardtest/Q7STestTask.h
index 9e39e8b3..dcfc3e96 100644
--- a/bsp_q7s/boardtest/Q7STestTask.h
+++ b/bsp_q7s/boardtest/Q7STestTask.h
@@ -18,6 +18,7 @@ class Q7STestTask : public TestTask {
   bool doTestScratchApi = false;
   static constexpr bool DO_TEST_GOMSPACE_API = false;
   static constexpr bool DO_TEST_GOMSPACE_GET_CONFIG = false;
+  static constexpr bool DO_TEST_FS_HANDLER = false;
   bool doTestGpsShm = false;
   bool doTestGpsSocket = false;
   bool doTestProtHandler = false;
diff --git a/bsp_q7s/callbacks/rwSpiCallback.cpp b/bsp_q7s/callbacks/rwSpiCallback.cpp
index ae23d64d..74ede602 100644
--- a/bsp_q7s/callbacks/rwSpiCallback.cpp
+++ b/bsp_q7s/callbacks/rwSpiCallback.cpp
@@ -41,19 +41,19 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   uint8_t writeSize = 0;
 
   gpioId_t gpioId = cookie->getChipSelectPin();
-  GpioIF* gpioIF = comIf->getGpioInterface();
+  GpioIF& gpioIF = comIf->getGpioInterface();
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 0;
   MutexIF* mutex = comIf->getCsMutex();
   cookie->getMutexParams(timeoutType, timeoutMs);
-  if (mutex == nullptr or gpioIF == nullptr) {
+  if (mutex == nullptr) {
     sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
     return returnvalue::FAILED;
   }
 
   int fileDescriptor = 0;
   const std::string& dev = comIf->getSpiDev();
-  result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
+  result = openSpi(dev, O_RDWR, &gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
   if (result != returnvalue::OK) {
     return result;
   }
@@ -75,7 +75,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
     return RwHandler::SPI_WRITE_FAILURE;
   }
 
@@ -100,7 +100,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     }
     if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
       sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
       return RwHandler::SPI_WRITE_FAILURE;
     }
     idx++;
@@ -112,14 +112,14 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
     return RwHandler::SPI_WRITE_FAILURE;
   }
 
   uint8_t* rxBuf = nullptr;
   result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
   if (result != returnvalue::OK) {
-    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
     return result;
   }
 
@@ -127,9 +127,9 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
   // There must be a delay of at least 20 ms after sending the command.
   // Delay for 70 ms here and release the SPI bus for that duration.
-  closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+  closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
   usleep(RwDefinitions::SPI_REPLY_DELAY);
-  result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
+  result = openSpi(dev, O_RDWR, &gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
   if (result != returnvalue::OK) {
     return result;
   }
@@ -142,13 +142,13 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   for (int idx = 0; idx < 10; idx++) {
     if (read(fileDescriptor, &byteRead, 1) != 1) {
       sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
       return RwHandler::SPI_READ_FAILURE;
     }
     if (idx == 0) {
       if (byteRead != FLAG_BYTE) {
         sif::error << "Invalid data, expected start marker" << std::endl;
-        closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+        closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
         return RwHandler::NO_START_MARKER;
       }
     }
@@ -159,7 +159,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
     if (idx == 9) {
       sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
-      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
       return RwHandler::NO_REPLY;
     }
   }
@@ -199,7 +199,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
         continue;
       } else {
         sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
-        closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+        closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
         result = RwHandler::INVALID_SUBSTITUTE;
         break;
       }
@@ -233,7 +233,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
   cookie->setTransferSize(decodedFrameLen);
 
-  closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+  closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
 
   return result;
 }
diff --git a/bsp_q7s/core/CoreController.cpp b/bsp_q7s/core/CoreController.cpp
index 083aebf5..b7da3e20 100644
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@@ -3,8 +3,8 @@
 #include <fsfw/events/EventManager.h>
 #include <fsfw/filesystem/HasFileSystemIF.h>
 #include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/tasks/TaskFactory.h>
 
-#include "OBSWConfig.h"
 #include "OBSWVersion.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/timemanager/Stopwatch.h"
@@ -82,6 +82,12 @@ void CoreController::performControlOperation() {
   sdStateMachine();
   performMountedSdCardOperations();
   if (sdCardCheckCd.hasTimedOut()) {
+    if (shortSdCardCdCounter < 2) {
+      shortSdCardCdCounter++;
+    }
+    if (shortSdCardCdCounter == 2) {
+      sdCardCheckCd.setTimeout(DEFAULT_SD_CARD_CHECK_TIMEOUT);
+    }
     performSdCardCheck();
     sdCardCheckCd.resetTimer();
   }
@@ -933,6 +939,9 @@ ReturnValue_t CoreController::actionReboot(const uint8_t *data, size_t size) {
 ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy,
                                                     bool &protOpPerformed) {
   sdcMan->setBlocking(true);
+  sdcMan->markUnusable();
+  // Wait two seconds to ensure no one uses the SD cards
+  TaskFactory::delayTask(2000);
   // Attempt graceful shutdown by unmounting and switching off SD cards
   sdcMan->switchOffSdCard(sd::SdCard::SLOT_0);
   sdcMan->switchOffSdCard(sd::SdCard::SLOT_1);
@@ -1241,20 +1250,20 @@ void CoreController::performMountedSdCardOperations() {
       initClockFromTimeFile();
       performRebootFileHandling(false);
     }
+    timeFileHandler();
   };
-  bool clearOneShotFlag = false;
+  bool someSdCardActive = false;
   if (sdInfo.active == sd::SdCard::SLOT_0 and sdcMan->isSdCardUsable(sd::SdCard::SLOT_0)) {
     mountedSdCardOp(sd::SdCard::SLOT_0, config::SD_0_MOUNT_POINT);
-    clearOneShotFlag = true;
+    someSdCardActive = true;
   }
   if (sdInfo.active == sd::SdCard::SLOT_1 and sdcMan->isSdCardUsable(sd::SdCard::SLOT_1)) {
     mountedSdCardOp(sd::SdCard::SLOT_1, config::SD_1_MOUNT_POINT);
-    clearOneShotFlag = true;
+    someSdCardActive = true;
   }
-  if (clearOneShotFlag) {
+  if (someSdCardActive) {
     performOneShotSdCardOpsSwitch = true;
   }
-  timeFileHandler();
 }
 
 ReturnValue_t CoreController::performSdCardCheck() {
@@ -1295,7 +1304,19 @@ ReturnValue_t CoreController::performSdCardCheck() {
   if (active.second == sd::SdState::MOUNTED) {
     sdCardCheck(sd::SdCard::SLOT_1);
   }
-
+#if OBSW_SD_CARD_MUST_BE_ON == 1
+  // This is FDIR. The core controller will attempt once to get some SD card working
+  bool someSdCardActive = false;
+  if ((sdInfo.active == sd::SdCard::SLOT_0 and sdcMan->isSdCardUsable(sd::SdCard::SLOT_0)) or
+      (sdInfo.active == sd::SdCard::SLOT_1 and sdcMan->isSdCardUsable(sd::SdCard::SLOT_1))) {
+    someSdCardActive = true;
+  }
+  if (not someSdCardActive and remountAttemptFlag) {
+    triggerEvent(NO_SD_CARD_ACTIVE);
+    initSdCardBlocking();
+    remountAttemptFlag = false;
+  }
+#endif
   return returnvalue::OK;
 }
 
diff --git a/bsp_q7s/core/CoreController.h b/bsp_q7s/core/CoreController.h
index 3c205e4a..c3c830cc 100644
--- a/bsp_q7s/core/CoreController.h
+++ b/bsp_q7s/core/CoreController.h
@@ -7,6 +7,7 @@
 #include <cstddef>
 
 #include "CoreDefinitions.h"
+#include "OBSWConfig.h"
 #include "bsp_q7s/fs/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
@@ -69,6 +70,9 @@ class CoreController : public ExtendedControllerBase {
   static constexpr char CHIP_1_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-nom-rootfs";
   static constexpr char CHIP_1_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-gold-rootfs";
 
+  static constexpr dur_millis_t INIT_SD_CARD_CHECK_TIMEOUT = 5000;
+  static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;
+
   static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
   static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
   static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
@@ -102,6 +106,9 @@ class CoreController : public ExtendedControllerBase {
       event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
   //! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
   static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
+  //! a SD card.
+  static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
 
   CoreController(object_id_t objectId);
   virtual ~CoreController();
@@ -206,6 +213,8 @@ class CoreController : public ExtendedControllerBase {
   RebootFile rebootFile = {};
   std::string currMntPrefix;
   bool performOneShotSdCardOpsSwitch = false;
+  uint8_t shortSdCardCdCounter = 0;
+  Countdown sdCardCheckCd = Countdown(INIT_SD_CARD_CHECK_TIMEOUT);
 
   /**
    * Index 0: Chip 0 Copy 0
@@ -219,9 +228,13 @@ class CoreController : public ExtendedControllerBase {
 
   core::HkSet hkSet;
 
+#if OBSW_SD_CARD_MUST_BE_ON == 1
+  bool remountAttemptFlag = true;
+#endif
+
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
-  Countdown sdCardCheckCd = Countdown(120000);
+
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
   void performMountedSdCardOperations();
diff --git a/bsp_q7s/core/InitMission.cpp b/bsp_q7s/core/InitMission.cpp
index a5cc3df9..fb75964a 100644
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@@ -67,16 +67,32 @@ void initmission::initTasks() {
   void (*missedDeadlineFunc)(void) = nullptr;
 #endif
 
-  PeriodicTaskIF* coreController = factory->createPeriodicTask(
+  PeriodicTaskIF* sysCtrlTask = factory->createPeriodicTask(
       "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
-  result = coreController->addComponent(objects::CORE_CONTROLLER);
+  result = sysCtrlTask->addComponent(objects::CORE_CONTROLLER);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
   }
+#if OBSW_ADD_SA_DEPL == 1
+  // Could add this to the core controller but the core controller does so many thing that I would
+  // prefer to have the solar array deployment in a seprate task.
+  PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
+      "SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
+  }
+#endif
 
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+#if OBSW_ADD_TCPIP_BRIDGE == 1
+  result = tmTcDistributor->addComponent(objects::TMTC_BRIDGE);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
+  }
+#endif
   result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
@@ -95,13 +111,6 @@ void initmission::initTasks() {
   }
 
 #if OBSW_ADD_TCPIP_BRIDGE == 1
-  // TMTC bridge
-  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
-      "TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
-  if (result != returnvalue::OK) {
-    initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
-  }
   PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
       "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
@@ -110,7 +119,7 @@ void initmission::initTasks() {
   }
 #endif
 
-#if OBSW_USE_CCSDS_IP_CORE == 1
+#if OBSW_ADD_CCSDS_IP_CORES == 1
   PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
       "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
@@ -127,7 +136,7 @@ void initmission::initTasks() {
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
   }
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
 
 #if OBSW_ADD_CFDP_COMPONENTS == 1
   PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
@@ -138,39 +147,39 @@ void initmission::initTasks() {
   }
 #endif
 
-  PeriodicTaskIF* acsTask = factory->createPeriodicTask(
+  PeriodicTaskIF* acsCtrlTask = factory->createPeriodicTask(
       "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
 #if OBSW_ADD_GPS_CTRL == 1
-  result = acsTask->addComponent(objects::GPS_CONTROLLER);
+  result = acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
 #endif /* OBSW_ADD_GPS_CTRL */
 
 #if OBSW_ADD_ACS_CTRL == 1
-  acsTask->addComponent(objects::ACS_CONTROLLER);
+  acsCtrlTask->addComponent(objects::ACS_CONTROLLER);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
   }
 #endif
 
-  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
+  PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
       "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
-  static_cast<void>(sysTask);
+  static_cast<void>(acsSysTask);
 #if OBSW_ADD_ACS_BOARD == 1
-  result = sysTask->addComponent(objects::ACS_BOARD_ASS);
+  result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
   }
 #endif /* OBSW_ADD_ACS_HANDLERS */
 #if OBSW_ADD_RW == 1
-  result = sysTask->addComponent(objects::RW_ASS);
+  result = acsSysTask->addComponent(objects::RW_ASS);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
   }
 #endif
 #if OBSW_ADD_SUS_BOARD_ASS == 1
-  result = sysTask->addComponent(objects::SUS_BOARD_ASS);
+  result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
   }
@@ -211,11 +220,27 @@ void initmission::initTasks() {
     tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
     tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
   }
-  tcsTask->addComponent(objects::TCS_BOARD_ASS);
-#endif /* OBSW_ADD_RTD_DEVICES */
+#endif
 
+  PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
+      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+#if OBSW_ADD_RTD_DEVICES == 1
+  result = tcsSystemTask->addComponent(objects::TCS_BOARD_ASS);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
+  }
+#endif /* OBSW_ADD_RTD_DEVICES */
 #if OBSW_ADD_TCS_CTRL == 1
-  tcsTask->addComponent(objects::THERMAL_CONTROLLER);
+  result = tcsSystemTask->addComponent(objects::THERMAL_CONTROLLER);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
+  }
+#endif
+#if OBSW_ADD_HEATERS == 1
+  result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
+  }
 #endif
 
 #if OBSW_ADD_STAR_TRACKER == 1
@@ -283,16 +308,18 @@ void initmission::initTasks() {
   tmTcDistributor->startTask();
 
 #if OBSW_ADD_TCPIP_BRIDGE == 1
-  tmtcBridgeTask->startTask();
   tmtcPollingTask->startTask();
 #endif
 
-#if OBSW_USE_CCSDS_IP_CORE == 1
+#if OBSW_ADD_CCSDS_IP_CORES == 1
   ccsdsHandlerTask->startTask();
   pdecHandlerTask->startTask();
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
-  coreController->startTask();
+  sysCtrlTask->startTask();
+#if OBSW_ADD_SA_DEPL == 1
+  solarArrayDeplTask->startTask();
+#endif
 
   taskStarter(pstTasks, "PST task vector");
   taskStarter(pusTasks, "PUS task vector");
@@ -313,12 +340,15 @@ void initmission::initTasks() {
   strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
-  acsTask->startTask();
-  sysTask->startTask();
+  acsCtrlTask->startTask();
+  acsSysTask->startTask();
 #if OBSW_ADD_RTD_DEVICES == 1
   tcsPollingTask->startTask();
   tcsTask->startTask();
 #endif /* OBSW_ADD_RTD_DEVICES == 1 */
+  if (not tcsSystemTask->isEmpty()) {
+    tcsSystemTask->startTask();
+  }
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   supvHelperTask->startTask();
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
@@ -378,18 +408,6 @@ void initmission::createPstTasks(TaskFactory& factory,
     taskVec.push_back(uartPst);
   }
 
-  FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
-      "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.2, missedDeadlineFunc);
-  result = pst::pstGpio(gpioPst);
-  if (result != returnvalue::OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "InitMission::initTasks: GPIO PST is empty" << std::endl;
-    } else {
-      sif::error << "InitMission::initTasks: Creating GPIO PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(gpioPst);
-  }
 #if OBSW_ADD_I2C_TEST_CODE == 0
   FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
       "I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 80dcb55e..82d066c8 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -47,6 +47,8 @@
 #if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
 #endif
+#include <mission/devices/ImtqHandler.h>
+
 #include <sstream>
 
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
@@ -70,7 +72,6 @@
 #include "mission/devices/BpxBatteryHandler.h"
 #include "mission/devices/GyroADIS1650XHandler.h"
 #include "mission/devices/HeaterHandler.h"
-#include "mission/devices/IMTQHandler.h"
 #include "mission/devices/Max31865PT1000Handler.h"
 #include "mission/devices/P60DockHandler.h"
 #include "mission/devices/PCDUHandler.h"
@@ -97,10 +98,10 @@ ResetArgs RESET_ARGS_GNSS;
 
 void Factory::setStaticFrameworkObjectIds() {
   PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
-  PusServiceBase::PACKET_DESTINATION = objects::TM_FUNNEL;
+  PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;
 
   CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
-  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+  CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;
 
 #if OBSW_Q7S_EM == 1
   DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
@@ -108,14 +109,6 @@ void Factory::setStaticFrameworkObjectIds() {
   DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
 #endif /* OBSW_Q7S_EM == 1 */
 
-#if OBSW_TM_TO_PTME == 1
-  TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
-#else
-  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
-#endif /* OBSW_TM_TO_PTME == 1 */
-  // No storage object for now.
-  TmFunnel::storageDestination = objects::NO_OBJECT;
-
   LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
 
   VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
@@ -152,10 +145,8 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
   new CspComIF(objects::CSP_COM_IF);
   *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
   *uartComIF = new UartComIF(objects::UART_COM_IF);
-  *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, *gpioComIF);
-  *spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, *gpioComIF);
-  /* Adding gpios for chip select decoding to the gpioComIf */
-  q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
+  *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
+  *spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
 }
 
 void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
@@ -200,8 +191,11 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
 #endif
 }
 
-void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
+ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
   using namespace gpio;
+  if (gpioComIF == nullptr) {
+    return returnvalue::FAILED;
+  }
   GpioCookie* gpioCookieRadSensor = new GpioCookie;
   std::stringstream consumer;
   consumer << "0x" << std::hex << objects::RAD_SENSOR;
@@ -227,6 +221,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
 #if OBSW_DEBUG_RAD_SENSOR == 1
   radSensor->enablePeriodicDataPrint(true);
 #endif
+  return returnvalue::OK;
 }
 
 void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
@@ -539,7 +534,8 @@ void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwi
                     pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
 }
 
-void ObjectFactory::createSolarArrayDeploymentComponents() {
+void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher,
+                                                         GpioIF& gpioIF) {
   using namespace gpio;
   GpioCookie* solarArrayDeplCookie = new GpioCookie;
   GpiodRegularByLineName* gpio = nullptr;
@@ -552,12 +548,14 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
   gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), Direction::OUT,
                                     Levels::LOW);
   solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
+  ReturnValue_t result = gpioIF.addGpios(solarArrayDeplCookie);
+  if (result != returnvalue::OK) {
+    sif::error << "Adding Solar Array Deployment GPIO cookie failed" << std::endl;
+  }
 
-  // TODO: Find out burn time. For now set to 1000 ms.
-  new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
-                                  solarArrayDeplCookie, objects::PCDU_HANDLER,
+  new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, gpioIF, pwrSwitcher,
                                   pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
-                                  gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
+                                  gpioIds::DEPLSA1, gpioIds::DEPLSA2, *SdCardManager::instance());
 }
 
 void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
@@ -886,7 +884,7 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
 void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
   I2cCookie* imtqI2cCookie =
       new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
-  auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
+  auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
                                      pcdu::Switches::PDU1_CH3_MGT_5V);
   imtqHandler->setPowerSwitcher(pwrSwitcher);
   static_cast<void>(imtqHandler);
diff --git a/bsp_q7s/core/ObjectFactory.h b/bsp_q7s/core/ObjectFactory.h
index 0b81c235..76660f30 100644
--- a/bsp_q7s/core/ObjectFactory.h
+++ b/bsp_q7s/core/ObjectFactory.h
@@ -26,14 +26,14 @@ void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
                             PowerSwitchIF* pwrSwitcher);
 void createTmpComponents();
-void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
+ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
 void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);
 void createImtqComponents(PowerSwitchIF* pwrSwitcher);
 void createBpxBatteryComponent();
 void createStrComponents(PowerSwitchIF* pwrSwitcher);
-void createSolarArrayDeploymentComponents();
+void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
 void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
 void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
diff --git a/bsp_q7s/em/emObjectFactory.cpp b/bsp_q7s/em/emObjectFactory.cpp
index b8e83862..13ae55d6 100644
--- a/bsp_q7s/em/emObjectFactory.cpp
+++ b/bsp_q7s/em/emObjectFactory.cpp
@@ -1,3 +1,4 @@
+#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
 #include <fsfw/health/HealthTableIF.h>
 #include <fsfw/power/DummyPowerSwitcher.h>
 
@@ -24,6 +25,9 @@ void ObjectFactory::produce(void* args) {
   I2cComIF* i2cComIF = nullptr;
   SpiComIF* spiRwComIF = nullptr;
   createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
+  /* Adding gpios for chip select decoding to the gpioComIf */
+  q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
+  gpioCallbacks::disableAllDecoder(gpioComIF);
 
   // Hardware is usually not connected to EM, so we need to create dummies which replace lower
   // level components.
@@ -33,8 +37,8 @@ void ObjectFactory::produce(void* args) {
 
   new CoreController(objects::CORE_CONTROLLER);
 
-  gpioCallbacks::disableAllDecoder(gpioComIF);
   PowerSwitchIF* pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+  static_cast<void>(pwrSwitcher);
 
   // Regular FM code, does not work for EM if the hardware is not connected
   // createPcduComponents(gpioComIF, &pwrSwitcher);
@@ -43,19 +47,25 @@ void ObjectFactory::produce(void* args) {
   // createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
   // createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
   // createTmpComponents();
-  createRadSensorComponent(gpioComIF);
+  // createSolarArrayDeploymentComponents();
+  // createPayloadComponents(gpioComIF);
+  // createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
+
+  // TODO: Careful! Switching this on somehow messes with the communication with the ProASIC
+  //       and will cause xsc_boot_copy commands to always boot to 0 0
+  // createRadSensorComponent(gpioComIF);
 
 #if OBSW_ADD_ACS_BOARD == 1
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
-  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
-  createSolarArrayDeploymentComponents();
-  createPayloadComponents(gpioComIF);
 
 #if OBSW_ADD_MGT == 1
   createImtqComponents(pwrSwitcher);
 #endif
+
+#if OBSW_ADD_RW == 1
   createReactionWheelComponents(gpioComIF, pwrSwitcher);
+#endif
 
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
   createBpxBatteryComponent();
@@ -64,14 +74,16 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_STAR_TRACKER == 1
   createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
-#if OBSW_USE_CCSDS_IP_CORE == 1
+#if OBSW_ADD_CCSDS_IP_CORES == 1
   createCcsdsComponents(gpioComIF);
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
   /* Test Task */
 #if OBSW_ADD_TEST_CODE == 1
   createTestComponents(gpioComIF);
 #endif /* OBSW_ADD_TEST_CODE == 1 */
-
-  createMiscComponents();
+#if OBSW_ADD_SCEX_DEVICE == 1
+  createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), true,
+                       std::nullopt);
+#endif
   createAcsController();
 }
diff --git a/bsp_q7s/fmObjectFactory.cpp b/bsp_q7s/fmObjectFactory.cpp
index 1746c048..57023c3c 100644
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@@ -1,3 +1,4 @@
+#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 
 #include "OBSWConfig.h"
@@ -23,10 +24,11 @@ void ObjectFactory::produce(void* args) {
   PowerSwitchIF* pwrSwitcher = nullptr;
   SpiComIF* spiRwComIF = nullptr;
   createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
-  createTmpComponents();
-  new CoreController(objects::CORE_CONTROLLER);
-
+  /* Adding gpios for chip select decoding to the gpioComIf */
+  q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
   gpioCallbacks::disableAllDecoder(gpioComIF);
+
+  new CoreController(objects::CORE_CONTROLLER);
   createPcduComponents(gpioComIF, &pwrSwitcher);
   createRadSensorComponent(gpioComIF);
   createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
@@ -35,7 +37,10 @@ void ObjectFactory::produce(void* args) {
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
   createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
-  createSolarArrayDeploymentComponents();
+#if OBSW_ADD_TMP_DEVICES == 1
+  createTmpComponents();
+#endif
+  createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
   createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
 #if OBSW_ADD_SYRLINKS == 1
   createSyrlinksComponents(pwrSwitcher);
@@ -55,9 +60,9 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_STAR_TRACKER == 1
   createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
-#if OBSW_USE_CCSDS_IP_CORE == 1
+#if OBSW_ADD_CCSDS_IP_CORES == 1
   createCcsdsComponents(gpioComIF);
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
 #if OBSW_ADD_SCEX_DEVICE == 1
   createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
diff --git a/bsp_q7s/fs/SdCardManager.cpp b/bsp_q7s/fs/SdCardManager.cpp
index 42182829..9d5fcd6e 100644
--- a/bsp_q7s/fs/SdCardManager.cpp
+++ b/bsp_q7s/fs/SdCardManager.cpp
@@ -459,7 +459,14 @@ void SdCardManager::setBlocking(bool blocking) { this->blocking = blocking; }
 
 void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = print; }
 
-bool SdCardManager::isSdCardUsable(sd::SdCard sdCard) {
+bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
+  {
+    MutexGuard mg(mutex);
+    if (markedUnusable) {
+      return false;
+    }
+  }
+
   SdCardManager::SdStatePair active;
   ReturnValue_t result = this->getSdCardsStatus(active);
 
@@ -467,20 +474,30 @@ bool SdCardManager::isSdCardUsable(sd::SdCard sdCard) {
     sif::debug << "SdCardManager::isSdCardMounted: Failed to get SD card active state";
     return false;
   }
+  if (not sdCard) {
+    if (active.first == sd::MOUNTED or active.second == sd::MOUNTED) {
+      return true;
+    }
+    return false;
+  }
   if (sdCard == sd::SLOT_0) {
     if (active.first == sd::MOUNTED) {
       return true;
     } else {
       return false;
     }
-  } else if (sdCard == sd::SLOT_1) {
+  }
+  if (sdCard == sd::SLOT_1) {
     if (active.second == sd::MOUNTED) {
       return true;
     } else {
       return false;
     }
-  } else {
-    sif::debug << "SdCardManager::isSdCardMounted: Unknown SD card specified" << std::endl;
+  }
+  if (sdCard == sd::BOTH) {
+    if (active.first == sd::MOUNTED && active.second == sd::MOUNTED) {
+      return true;
+    }
   }
   return false;
 }
@@ -560,5 +577,13 @@ void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
 
 std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
   MutexGuard mg(mutex);
+  if (markedUnusable) {
+    return std::nullopt;
+  }
   return sdInfo.active;
 }
+
+void SdCardManager::markUnusable() {
+  MutexGuard mg(mutex);
+  markedUnusable = true;
+}
diff --git a/bsp_q7s/fs/SdCardManager.h b/bsp_q7s/fs/SdCardManager.h
index 52c8ed9b..749cae62 100644
--- a/bsp_q7s/fs/SdCardManager.h
+++ b/bsp_q7s/fs/SdCardManager.h
@@ -206,7 +206,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    *
    * @return  true if mounted, otherwise false
    */
-  bool isSdCardUsable(sd::SdCard sdCard) override;
+  bool isSdCardUsable(std::optional<sd::SdCard> sdCard) override;
 
   ReturnValue_t isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly);
 
@@ -214,12 +214,15 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
 
   ReturnValue_t performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError);
 
+  void markUnusable();
+
  private:
   CommandExecutor cmdExecutor;
   Operations currentOp = Operations::IDLE;
   bool blocking = false;
   bool sdCardActive = true;
   bool printCmdOutput = true;
+  bool markedUnusable = false;
   MutexIF* mutex = nullptr;
 
   SdCardManager();
diff --git a/bsp_te0720_1cfa/InitMission.cpp b/bsp_te0720_1cfa/InitMission.cpp
index b7c6b683..a3e3a004 100644
--- a/bsp_te0720_1cfa/InitMission.cpp
+++ b/bsp_te0720_1cfa/InitMission.cpp
@@ -107,7 +107,7 @@ void initmission::initTasks() {
   }
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
 
-#if OBSW_USE_CCSDS_IP_CORE == 1
+#if OBSW_ADD_CCSDS_IP_CORES == 1
   PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
       "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
@@ -124,7 +124,7 @@ void initmission::initTasks() {
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
   }
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
   auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
     for (const auto& task : taskVector) {
@@ -140,10 +140,10 @@ void initmission::initTasks() {
   tmtcDistributor->startTask();
   tmtcBridgeTask->startTask();
   tmtcPollingTask->startTask();
-#if OBSW_USE_CCSDS_IP_CORE == 1
+#if OBSW_ADD_CCSDS_IP_CORE == 1
   pdecHandlerTask->startTask();
   ccsdsHandlerTask->startTask();
-#endif /* #if OBSW_USE_CCSDS_IP_CORE == 1 */
+#endif /* #if OBSW_ADD_CCSDS_IP_CORE == 1 */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   supvHelperTask->startTask();
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
diff --git a/bsp_te0720_1cfa/OBSWConfig.h.in b/bsp_te0720_1cfa/OBSWConfig.h.in
index 2f887daa..d2efda38 100644
--- a/bsp_te0720_1cfa/OBSWConfig.h.in
+++ b/bsp_te0720_1cfa/OBSWConfig.h.in
@@ -13,7 +13,7 @@
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/
 
-#define OBSW_USE_CCSDS_IP_CORE                      0
+#define OBSW_ADD_CCSDS_IP_CORE                      0
 // Set to 1 if all telemetry should be sent to the PTME IP Core
 #define OBSW_TM_TO_PTME                             0
 // Set to 1 if telecommands are received via the PDEC IP Core
diff --git a/common/config/devConf.h b/common/config/devConf.h
index 68a3e199..88e78e1e 100644
--- a/common/config/devConf.h
+++ b/common/config/devConf.h
@@ -55,7 +55,7 @@ namespace uart {
 
 static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
 static constexpr UartBaudRate SYRLINKS_BAUD = UartBaudRate::RATE_38400;
-static constexpr UartBaudRate SCEX_BAUD = UartBaudRate::RATE_57600;
+static constexpr UartBaudRate SCEX_BAUD = UartBaudRate::RATE_38400;
 static constexpr UartBaudRate GNSS_BAUD = UartBaudRate::RATE_9600;
 static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200;
 static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_115200;
diff --git a/common/config/eive/definitions.h b/common/config/eive/definitions.h
index 1e8faad9..33d37812 100644
--- a/common/config/eive/definitions.h
+++ b/common/config/eive/definitions.h
@@ -34,6 +34,15 @@ static constexpr uint8_t LIVE_TM = 0;
 static constexpr uint32_t MAX_PATH_SIZE = 100;
 static constexpr uint32_t MAX_FILENAME_SIZE = 50;
 
+static constexpr uint32_t SA_DEPL_INIT_BUFFER_SECS = 120;
+// Burn time for autonomous deployment
+static constexpr uint32_t SA_DEPL_BURN_TIME_SECS = 180;
+static constexpr uint32_t SA_DEPL_WAIT_TIME_SECS = 45 * 60;
+// HW constraints (current limit) mean that the GPIO channels need to be switched on in alternation
+static constexpr uint32_t SA_DEPL_CHANNEL_ALTERNATION_INTERVAL_SECS = 5;
+// Maximum allowed burn time allowed by the software.
+static constexpr uint32_t SA_DEPL_MAX_BURN_TIME = 180;
+
 }  // namespace config
 
 #endif /* COMMON_CONFIG_DEFINITIONS_H_ */
diff --git a/common/config/eive/objects.h b/common/config/eive/objects.h
index 67fb36d2..25bebe25 100644
--- a/common/config/eive/objects.h
+++ b/common/config/eive/objects.h
@@ -128,7 +128,10 @@ enum commonObjects : uint32_t {
   TCS_BOARD_ASS = 0x73000003,
   RW_ASS = 0x73000004,
   CFDP_HANDLER = 0x73000005,
-  CFDP_DISTRIBUTOR = 0x73000006
+  CFDP_DISTRIBUTOR = 0x73000006,
+  TM_FUNNEL = 0x73000100,
+  PUS_TM_FUNNEL = 0x73000101,
+  CFDP_TM_FUNNEL = 0x73000102,
 };
 }
 
diff --git a/dummies/CMakeLists.txt b/dummies/CMakeLists.txt
index 4cb05289..677120fb 100644
--- a/dummies/CMakeLists.txt
+++ b/dummies/CMakeLists.txt
@@ -12,6 +12,7 @@ target_sources(
          AcuDummy.cpp
          PduDummy.cpp
          P60DockDummy.cpp
+         SaDeploymentDummy.cpp
          GyroAdisDummy.cpp
          GyroL3GD20Dummy.cpp
          MgmLIS3MDLDummy.cpp
diff --git a/dummies/ImtqDummy.cpp b/dummies/ImtqDummy.cpp
index 6dc451b3..aad1478b 100644
--- a/dummies/ImtqDummy.cpp
+++ b/dummies/ImtqDummy.cpp
@@ -1,6 +1,6 @@
 #include "ImtqDummy.h"
 
-#include <mission/devices/devicedefinitions/IMTQHandlerDefinitions.h>
+#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
 
 ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
diff --git a/dummies/SaDeploymentDummy.cpp b/dummies/SaDeploymentDummy.cpp
new file mode 100644
index 00000000..28588ea7
--- /dev/null
+++ b/dummies/SaDeploymentDummy.cpp
@@ -0,0 +1,7 @@
+#include "SaDeploymentDummy.h"
+
+SaDeplDummy::SaDeplDummy(object_id_t objectId) : SystemObject(objectId) {}
+
+SaDeplDummy::~SaDeplDummy() = default;
+
+ReturnValue_t SaDeplDummy::performOperation(uint8_t opCode) { return returnvalue::OK; }
diff --git a/dummies/SaDeploymentDummy.h b/dummies/SaDeploymentDummy.h
new file mode 100644
index 00000000..a9b72391
--- /dev/null
+++ b/dummies/SaDeploymentDummy.h
@@ -0,0 +1,19 @@
+
+#ifndef DUMMIES_SADEPLOYMENT_H_
+#define DUMMIES_SADEPLOYMENT_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+#include "SaDeploymentDummy.h"
+
+class SaDeplDummy : public SystemObject, public ExecutableObjectIF {
+ public:
+  SaDeplDummy(object_id_t objectId);
+  virtual ~SaDeplDummy();
+
+  ReturnValue_t performOperation(uint8_t opCode) override;
+
+ protected:
+};
+
+#endif /* DUMMIES_SADEPLOYMENT_H_ */
diff --git a/dummies/helpers.cpp b/dummies/helpers.cpp
index 8eb73250..2b18cffd 100644
--- a/dummies/helpers.cpp
+++ b/dummies/helpers.cpp
@@ -14,6 +14,7 @@
 #include <dummies/PduDummy.h>
 #include <dummies/PlPcduDummy.h>
 #include <dummies/RwDummy.h>
+#include <dummies/SaDeploymentDummy.h>
 #include <dummies/StarTrackerDummy.h>
 #include <dummies/SusDummy.h>
 #include <dummies/SyrlinksDummy.h>
@@ -35,6 +36,7 @@ void dummy::createDummies(DummyCfg cfg) {
   new RwDummy(objects::RW2, objects::DUMMY_COM_IF, comCookieDummy);
   new RwDummy(objects::RW3, objects::DUMMY_COM_IF, comCookieDummy);
   new RwDummy(objects::RW4, objects::DUMMY_COM_IF, comCookieDummy);
+  new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
   new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
   new SyrlinksDummy(objects::SYRLINKS_HK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
diff --git a/fsfw b/fsfw
index 692be9df..1b7e94d7 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 692be9df8d06beb3bfc83aad77cefd727d8f7c35
+Subproject commit 1b7e94d718ba8f526dd53324d33d0e577cbfc81b
diff --git a/generators/bsp_q7s_events.csv b/generators/bsp_q7s_events.csv
index 49cdc610..b3f2fc73 100644
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@@ -80,6 +80,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 9100;0x238c;TC_DELETION_FAILED;MEDIUM;Deletion of a TC from the map failed. P1: First 32 bit of request ID, P2. Last 32 bit of Request ID;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 9700;0x25e4;TEST;INFO;;fsfw/src/fsfw/pus/Service17Test.h
 10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
+10800;0x2a30;STORE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
+10801;0x2a31;MSG_QUEUE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
+10802;0x2a32;SERIALIZATION_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.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 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
@@ -92,25 +95,29 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 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
-11503;0x2cef;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
-11504;0x2cf0;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11500;0x2cec;BURN_PHASE_START;INFO;P1: Burn duration in milliseconds, P2: Dry run flag;mission/devices/SolarArrayDeploymentHandler.h
+11501;0x2ced;BURN_PHASE_DONE;INFO;P1: Burn duration in milliseconds, P2: Dry run flag;mission/devices/SolarArrayDeploymentHandler.h
+11502;0x2cee;MAIN_SWITCH_ON_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
+11503;0x2cef;MAIN_SWITCH_OFF_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
+11504;0x2cf0;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11505;0x2cf1;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11506;0x2cf2;DEPL_SA1_GPIO_SWTICH_OFF_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11507;0x2cf3;DEPL_SA2_GPIO_SWTICH_OFF_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11508;0x2cf4;AUTONOMOUS_DEPLOYMENT_COMPLETED;INFO;;mission/devices/SolarArrayDeploymentHandler.h
 11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/devices/ploc/PlocMPSoCHandler.h
 11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
 11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
 11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/devices/ploc/PlocMPSoCHandler.h
 11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHandler.h
 11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/devices/ploc/PlocMPSoCHandler.h
-11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure 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
-11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. 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
-11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. 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
-11704;0x2db8;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. 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
-11705;0x2db9;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) 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
-11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were 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
-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
+11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure 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
+11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. 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
+11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. 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
+11704;0x2db8;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. 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
+11705;0x2db9;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) 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
+11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were 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
+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;LOW;;mission/devices/devicedefinitions/RwDefinitions.h
 11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
@@ -216,6 +223,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13701;0x3585;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
 13702;0x3586;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
 13703;0x3587;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
+13704;0x3588;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
 13800;0x35e8;MISSING_PACKET;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
 13801;0x35e9;EXPERIMENT_TIMEDOUT;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
 13802;0x35ea;MULTI_PACKET_COMMAND_DONE;INFO;;mission/devices/devicedefinitions/ScexDefinitions.h
diff --git a/generators/bsp_q7s_objects.csv b/generators/bsp_q7s_objects.csv
index 94f508bc..1e44c67b 100644
--- a/generators/bsp_q7s_objects.csv
+++ b/generators/bsp_q7s_objects.csv
@@ -134,5 +134,7 @@
 0x73000005;CFDP_HANDLER
 0x73000006;CFDP_DISTRIBUTOR
 0x73000100;TM_FUNNEL
+0x73000101;PUS_TM_FUNNEL
+0x73000102;CFDP_TM_FUNNEL
 0x73500000;CCSDS_IP_CORE_BRIDGE
 0xFFFFFFFF;NO_OBJECT
diff --git a/generators/bsp_q7s_returnvalues.csv b/generators/bsp_q7s_returnvalues.csv
index 7fccee95..fe4c5cfc 100644
--- a/generators/bsp_q7s_returnvalues.csv
+++ b/generators/bsp_q7s_returnvalues.csv
@@ -1,14 +1,13 @@
 Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0000;OK;System-wide code for ok.;0;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
 0x0001;Failed;Unspecified system-wide code for failed.;1;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
-0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
-0x58a0;SUSS_ErrorUnlockMutex;;160;SUS_HANDLER;mission/devices/SusHandler.h
-0x58a1;SUSS_ErrorLockMutex;;161;SUS_HANDLER;mission/devices/SusHandler.h
-0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a1;SADPL_DeploymentAlreadyExecuting;;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a3;SADPL_SwitchingDeplSa1Failed;;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a4;SADPL_SwitchingDeplSa2Failed;;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CCSDSHandler.h
+0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x52b0;RWHA_SpiWriteFailure;;176;RW_HANDLER;mission/devices/RwHandler.h
 0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/RwHandler.h
 0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/RwHandler.h
@@ -21,20 +20,21 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x52a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;RW_HANDLER;mission/devices/RwHandler.h
 0x52a3;RWHA_ExecutionFailed;Command execution failed;163;RW_HANDLER;mission/devices/RwHandler.h
 0x52a4;RWHA_CrcError;Reaction wheel reply has invalid crc;164;RW_HANDLER;mission/devices/RwHandler.h
-0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x51a0;IMTQ_InvalidCommandCode;;160;IMTQ_HANDLER;mission/devices/IMTQHandler.h
-0x51a1;IMTQ_ParameterMissing;;161;IMTQ_HANDLER;mission/devices/IMTQHandler.h
-0x51a2;IMTQ_ParameterInvalid;;162;IMTQ_HANDLER;mission/devices/IMTQHandler.h
-0x51a3;IMTQ_CcUnavailable;;163;IMTQ_HANDLER;mission/devices/IMTQHandler.h
-0x51a4;IMTQ_InternalProcessingError;;164;IMTQ_HANDLER;mission/devices/IMTQHandler.h
-0x51a5;IMTQ_RejectedWithoutReason;;165;IMTQ_HANDLER;mission/devices/IMTQHandler.h
-0x51a6;IMTQ_CmdErrUnknown;;166;IMTQ_HANDLER;mission/devices/IMTQHandler.h
-0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/IMTQHandler.h
+0x4fa1;HEATER_CommandNotSupported;;161;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa2;HEATER_InitFailed;;162;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa3;HEATER_InvalidSwitchNr;;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa4;HEATER_MainSwitchSetTimeout;;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa5;HEATER_CommandAlreadyWaiting;;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x58a0;SUSS_ErrorUnlockMutex;;160;SUS_HANDLER;mission/devices/SusHandler.h
+0x58a1;SUSS_ErrorLockMutex;;161;SUS_HANDLER;mission/devices/SusHandler.h
+0x51a0;IMTQ_InvalidCommandCode;;160;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a1;IMTQ_ParameterMissing;;161;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a2;IMTQ_ParameterInvalid;;162;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a3;IMTQ_CcUnavailable;;163;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a4;IMTQ_InternalProcessingError;;164;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a5;IMTQ_RejectedWithoutReason;;165;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a6;IMTQ_CmdErrUnknown;;166;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/ImtqHandler.h
 0x50a0;SYRLINKS_CrcFailure;;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
 0x50a1;SYRLINKS_UartFraminOrParityErrorAck;;161;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
 0x50a2;SYRLINKS_BadCharacterAck;;162;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
@@ -44,115 +44,130 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x50a6;SYRLINKS_BadCrcAck;;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
 0x50a7;SYRLINKS_ReplyWrongSize;;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
 0x50a8;SYRLINKS_MissingStartFrameCharacter;;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
-0x4fa1;HEATER_CommandNotSupported;;161;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa2;HEATER_InitFailed;;162;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa3;HEATER_InvalidSwitchNr;;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa4;HEATER_MainSwitchSetTimeout;;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa5;HEATER_CommandAlreadyWaiting;;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CCSDSHandler.h
-0x4500;HSPI_OpeningFileFailed;;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4501;HSPI_FullDuplexTransferFailed;;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4502;HSPI_HalfDuplexTransferFailed;;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4801;HGIO_UnknownGpioId;;1;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4802;HGIO_DriveGpioFailure;;2;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4803;HGIO_GpioTypeFailure;;3;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4804;HGIO_GpioInvalidInstance;;4;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4805;HGIO_GpioDuplicateDetected;;5;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4806;HGIO_GpioInitFailed;;6;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4807;HGIO_GpioGetValueFailed;;7;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4601;HURT_UartReadFailure;;1;HAL_UART;fsfw/src/fsfw_hal/linux/uart/UartComIF.h
-0x4602;HURT_UartReadSizeMissmatch;;2;HAL_UART;fsfw/src/fsfw_hal/linux/uart/UartComIF.h
-0x4603;HURT_UartRxBufferTooSmall;;3;HAL_UART;fsfw/src/fsfw_hal/linux/uart/UartComIF.h
-0x4400;UXOS_ExecutionFinished;Execution of the current command has finished;0;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4401;UXOS_CommandPending;Command is pending. This will also be returned if the user tries to load another command but a command is still pending;1;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4402;UXOS_BytesRead;Some bytes have been read from the executing process;2;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4406;UXOS_PcloseCallError;;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x2801;SM_DataTooLarge;;1;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2802;SM_DataStorageFull;;2;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2803;SM_IllegalStorageId;;3;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2804;SM_DataDoesNotExist;;4;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2805;SM_IllegalAddress;;5;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2806;SM_PoolTooLarge;;6;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x0601;PP_DoItMyself;;1;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0602;PP_PointsToVariable;;2;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0603;PP_PointsToMemory;;3;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0604;PP_ActivityCompleted;;4;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0605;PP_PointsToVectorUint8;;5;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0606;PP_PointsToVectorUint16;;6;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0607;PP_PointsToVectorUint32;;7;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0608;PP_PointsToVectorFloat;;8;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06a0;PP_DumpNotSupported;;160;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e0;PP_InvalidSize;;224;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e1;PP_InvalidAddress;;225;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e2;PP_InvalidContent;;226;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e3;PP_UnalignedAccess;;227;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e4;PP_WriteProtected;;228;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x13e0;MH_UnknownCmd;;224;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e1;MH_InvalidAddress;;225;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e2;MH_InvalidSize;;226;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e3;MH_StateMismatch;;227;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x38a1;SGP4_InvalidEccentricity;;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a2;SGP4_InvalidMeanMotion;;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a3;SGP4_InvalidPerturbationElements;;163;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a4;SGP4_InvalidSemiLatusRectum;;164;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a5;SGP4_InvalidEpochElements;;165;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a6;SGP4_SatelliteHasDecayed;;166;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38b1;SGP4_TleTooOld;;177;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38b2;SGP4_TleNotInitialized;;178;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x1101;AL_Full;;1;ARRAY_LIST;fsfw/src/fsfw/container/ArrayList.h
-0x1501;FM_KeyAlreadyExists;;1;FIXED_MAP;fsfw/src/fsfw/container/FixedMap.h
-0x1502;FM_MapFull;;2;FIXED_MAP;fsfw/src/fsfw/container/FixedMap.h
-0x1503;FM_KeyDoesNotExist;;3;FIXED_MAP;fsfw/src/fsfw/container/FixedMap.h
-0x1801;FF_Full;;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
-0x1802;FF_Empty;;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
-0x1601;FMM_MapFull;;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
-0x1602;FMM_KeyDoesNotExist;;2;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
-0x3901;MUX_NotEnoughResources;;1;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3902;MUX_InsufficientMemory;;2;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3903;MUX_NoPrivilege;;3;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3904;MUX_WrongAttributeSetting;;4;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3905;MUX_MutexAlreadyLocked;;5;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3906;MUX_MutexNotFound;;6;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3907;MUX_MutexMaxLocks;;7;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3908;MUX_CurrThreadAlreadyOwnsMutex;;8;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3909;MUX_CurrThreadDoesNotOwnMutex;;9;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390a;MUX_MutexTimeout;;10;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390b;MUX_MutexInvalidId;;11;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390c;MUX_MutexDestroyedWhileWaiting;;12;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3a01;MQI_Empty;;1;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x0f01;CM_UnknownCommand;;1;COMMAND_MESSAGE;fsfw/src/fsfw/ipc/CommandMessageIF.h
+0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a1;SADPL_DeploymentAlreadyExecuting;;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a3;SADPL_SwitchingDeplSa1Failed;;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a4;SADPL_SwitchingDeplSa2Failed;;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
+0x2c01;CCS_BcIsSetVrCommand;;1;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2c02;CCS_BcIsUnlockCommand;;2;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cb0;CCS_BcIllegalCommand;;176;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cb1;CCS_BoardReadingNotFinished;;177;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf0;CCS_NsPositiveW;;240;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf1;CCS_NsNegativeW;;241;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf2;CCS_NsLockout;;242;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf3;CCS_FarmInLockout;;243;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf4;CCS_FarmInWait;;244;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce0;CCS_WrongSymbol;;224;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce1;CCS_DoubleStart;;225;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce2;CCS_StartSymbolMissed;;226;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce3;CCS_EndWithoutStart;;227;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce4;CCS_TooLarge;;228;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce5;CCS_TooShort;;229;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce6;CCS_WrongTfVersion;;230;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce7;CCS_WrongSpacecraftId;;231;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce8;CCS_NoValidFrameType;;232;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce9;CCS_CrcFailed;;233;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cea;CCS_VcNotFound;;234;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ceb;CCS_ForwardingFailed;;235;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cec;CCS_ContentTooLarge;;236;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ced;CCS_ResidualData;;237;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cee;CCS_DataCorrupted;;238;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cef;CCS_IllegalSegmentationFlag;;239;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd0;CCS_IllegalFlagCombination;;208;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd1;CCS_ShorterThanHeader;;209;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd2;CCS_TooShortBlockedPacket;;210;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd3;CCS_TooShortMapExtraction;;211;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x3b00;SPH_ConnBroken;;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
+0x2a01;IEC_NoConfigurationTable;;1;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a02;IEC_NoCpuTable;;2;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a03;IEC_InvalidWorkspaceAddress;;3;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a04;IEC_TooLittleWorkspace;;4;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a05;IEC_WorkspaceAllocation;;5;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a06;IEC_InterruptStackTooSmall;;6;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a07;IEC_ThreadExitted;;7;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a08;IEC_InconsistentMpInformation;;8;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a09;IEC_InvalidNode;;9;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0a;IEC_NoMpci;;10;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0b;IEC_BadPacket;;11;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0c;IEC_OutOfPackets;;12;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0d;IEC_OutOfGlobalObjects;;13;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0e;IEC_OutOfProxies;;14;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0f;IEC_InvalidGlobalId;;15;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a10;IEC_BadStackHook;;16;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a11;IEC_BadAttributes;;17;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a12;IEC_ImplementationKeyCreateInconsistency;;18;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a13;IEC_ImplementationBlockingOperationCancel;;19;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a14;IEC_MutexObtainFromBadState;;20;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a15;IEC_UnlimitedAndMaximumIs0;;21;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
 0x0e01;HM_InvalidMode;;1;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
 0x0e02;HM_TransNotAllowed;;2;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
 0x0e03;HM_InTransition;;3;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
 0x0e04;HM_InvalidSubmode;;4;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
-0x0c02;MS_InvalidEntry;;2;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0c03;MS_TooManyElements;;3;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0c04;MS_CantStoreEmpty;;4;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0b01;SB_ChildNotFound;;1;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b02;SB_ChildInfoUpdated;;2;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b03;SB_ChildDoesntHaveModes;;3;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b04;SB_CouldNotInsertChild;;4;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b05;SB_TableContainsInvalidObjectId;;5;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0d01;SS_SequenceAlreadyExists;;1;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d02;SS_TableAlreadyExists;;2;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d03;SS_TableDoesNotExist;;3;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d04;SS_TableOrSequenceLengthInvalid;;4;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d05;SS_SequenceDoesNotExist;;5;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d06;SS_TableContainsInvalidObjectId;;6;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d07;SS_FallbackSequenceDoesNotExist;;7;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d08;SS_NoTargetTable;;8;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d09;SS_SequenceOrTableTooLong;;9;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0b;SS_IsFallbackSequence;;11;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0c;SS_AccessDenied;;12;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0e;SS_TableInUse;;14;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0da1;SS_TargetTableNotReached;;161;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0da2;SS_TableCheckFailed;;162;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x2501;EV_ListenerNotFound;;1;EVENT_MANAGER_IF;fsfw/src/fsfw/events/EventManagerIF.h
+0x2e01;HPA_InvalidIdentifierId;;1;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e02;HPA_InvalidDomainId;;2;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e03;HPA_InvalidValue;;3;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e05;HPA_ReadOnly;;5;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2d01;PAW_UnknownDatatype;;1;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d02;PAW_DatatypeMissmatch;;2;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d03;PAW_Readonly;;3;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d04;PAW_TooBig;;4;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d05;PAW_SourceNotSet;;5;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d06;PAW_OutOfBounds;;6;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d07;PAW_NotSet;;7;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d08;PAW_ColumnOrRowsZero;;8;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x3201;CF_ObjectHasNoFunctions;;1;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
+0x3202;CF_AlreadyCommanding;;2;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
+0x3301;HF_IsBusy;;1;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3302;HF_InvalidParameters;;2;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3303;HF_ExecutionFinished;;3;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3304;HF_InvalidActionId;;4;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x0201;OM_InsertionFailed;;1;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0202;OM_NotFound;;2;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0203;OM_ChildInitFailed;;3;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0204;OM_InternalErrReporterUninit;;4;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x2600;FDI_YourFault;;0;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2601;FDI_MyFault;;1;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2602;FDI_ConfirmLater;;2;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2201;TMF_Busy;;1;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2202;TMF_LastPacketFound;;2;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2203;TMF_StopFetch;;3;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2204;TMF_Timeout;;4;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2205;TMF_TmChannelFull;;5;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2206;TMF_NotStored;;6;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2207;TMF_AllDeleted;;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2208;TMF_InvalidData;;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2209;TMF_NotReady;;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2101;TMB_Busy;;1;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2102;TMB_Full;;2;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2103;TMB_Empty;;3;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2104;TMB_NullRequested;;4;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2105;TMB_TooLarge;;5;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2106;TMB_NotReady;;6;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2107;TMB_DumpError;;7;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2108;TMB_CrcError;;8;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2109;TMB_Timeout;;9;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210a;TMB_IdlePacketFound;;10;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210b;TMB_TelecommandFound;;11;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210c;TMB_NoPusATm;;12;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210d;TMB_TooSmall;;13;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210e;TMB_BlockNotFound;;14;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210f;TMB_InvalidRequest;;15;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x1c01;TCD_PacketLost;;1;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1c02;TCD_DestinationNotFound;;2;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1c03;TCD_ServiceIdAlreadyExists;;3;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1b00;TCC_NoDestinationFound;;0;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b01;TCC_InvalidCcsdsVersion;;1;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b02;TCC_InvalidApid;;2;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b03;TCC_InvalidPacketType;;3;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b04;TCC_InvalidSecHeaderField;;4;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b05;TCC_IncorrectPrimaryHeader;;5;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b07;TCC_IncompletePacket;;7;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b08;TCC_InvalidPusVersion;;8;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b09;TCC_IncorrectChecksum;;9;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b0a;TCC_IllegalPacketSubtype;;10;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b0b;TCC_IncorrectSecondaryHeader;;11;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
 0x04e1;RMP_CommandNoDescriptorsAvailable;;225;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x04e2;RMP_CommandBufferFull;;226;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x04e3;RMP_CommandChannelOutOfRange;;227;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
@@ -193,9 +208,95 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x040a;RMP_ReplyCommandNotImplementedOrNotAuthorised;;10;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x040b;RMP_ReplyRmwDataLengthError;;11;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x040c;RMP_ReplyInvalidTargetLogicalAddress;;12;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x1401;SE_BufferTooShort;;1;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
-0x1402;SE_StreamTooShort;;2;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
-0x1403;SE_TooManyElements;;3;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x2801;SM_DataTooLarge;;1;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2802;SM_DataStorageFull;;2;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2803;SM_IllegalStorageId;;3;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2804;SM_DataDoesNotExist;;4;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2805;SM_IllegalAddress;;5;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2806;SM_PoolTooLarge;;6;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x38a1;SGP4_InvalidEccentricity;;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a2;SGP4_InvalidMeanMotion;;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a3;SGP4_InvalidPerturbationElements;;163;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a4;SGP4_InvalidSemiLatusRectum;;164;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a5;SGP4_InvalidEpochElements;;165;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a6;SGP4_SatelliteHasDecayed;;166;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38b1;SGP4_TleTooOld;;177;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38b2;SGP4_TleNotInitialized;;178;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x2401;MT_NoPacketFound;;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x2402;MT_PossiblePacketLoss;;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x2403;MT_NoMatch;;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2404;MT_Full;;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2405;MT_NewNodeCreated;;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x3f01;DLEE_StreamTooShort;;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
+0x3f02;DLEE_DecodingError;;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
+0x2f01;ASC_TooLongForTargetType;;1;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x2f02;ASC_InvalidCharacters;;2;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x2f03;ASC_BufferTooSmall;;3;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x0f01;CM_UnknownCommand;;1;COMMAND_MESSAGE;fsfw/src/fsfw/ipc/CommandMessageIF.h
+0x3a01;MQI_Empty;;1;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3901;MUX_NotEnoughResources;;1;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3902;MUX_InsufficientMemory;;2;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3903;MUX_NoPrivilege;;3;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3904;MUX_WrongAttributeSetting;;4;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3905;MUX_MutexAlreadyLocked;;5;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3906;MUX_MutexNotFound;;6;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3907;MUX_MutexMaxLocks;;7;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3908;MUX_CurrThreadAlreadyOwnsMutex;;8;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3909;MUX_CurrThreadDoesNotOwnMutex;;9;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390a;MUX_MutexTimeout;;10;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390b;MUX_MutexInvalidId;;11;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390c;MUX_MutexDestroyedWhileWaiting;;12;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3b01;SPH_SemaphoreTimeout;;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x3b02;SPH_SemaphoreNotOwned;;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x3b03;SPH_SemaphoreInvalid;;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x1e00;PUS_InvalidPusVersion;;0;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
+0x1e01;PUS_InvalidCrc16;;1;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
+0x3601;CFDP_InvalidTlvType;;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3602;CFDP_InvalidDirectiveField;;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3603;CFDP_InvalidPduDatafieldLen;;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3604;CFDP_InvalidAckDirectiveFields;;4;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3605;CFDP_MetadataCantParseOptions;;5;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3606;CFDP_NakCantParseOptions;;6;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3607;CFDP_FinishedCantParseFsResponses;;7;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3608;CFDP_FilestoreRequiresSecondFile;;8;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3609;CFDP_FilestoreResponseCantParseFsMessage;;9;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x360a;CFDP_InvalidPduFormat;;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x2901;TC_InvalidTargetState;;1;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x29f1;TC_AboveOperationalLimit;;241;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x29f2;TC_BelowOperationalLimit;;242;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x0c02;MS_InvalidEntry;;2;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0c03;MS_TooManyElements;;3;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0c04;MS_CantStoreEmpty;;4;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0d01;SS_SequenceAlreadyExists;;1;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d02;SS_TableAlreadyExists;;2;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d03;SS_TableDoesNotExist;;3;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d04;SS_TableOrSequenceLengthInvalid;;4;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d05;SS_SequenceDoesNotExist;;5;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d06;SS_TableContainsInvalidObjectId;;6;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d07;SS_FallbackSequenceDoesNotExist;;7;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d08;SS_NoTargetTable;;8;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d09;SS_SequenceOrTableTooLong;;9;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0b;SS_IsFallbackSequence;;11;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0c;SS_AccessDenied;;12;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0e;SS_TableInUse;;14;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0da1;SS_TargetTableNotReached;;161;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0da2;SS_TableCheckFailed;;162;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0b01;SB_ChildNotFound;;1;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b02;SB_ChildInfoUpdated;;2;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b03;SB_ChildDoesntHaveModes;;3;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b04;SB_CouldNotInsertChild;;4;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b05;SB_TableContainsInvalidObjectId;;5;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x3e00;HKM_QueueOrDestinationInvalid;;0;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e01;HKM_WrongHkPacketType;;1;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e02;HKM_ReportingStatusUnchanged;;2;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e03;HKM_PeriodicHelperInvalid;;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e04;HKM_PoolobjectNotFound;;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e05;HKM_DatasetNotFound;;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3c00;LPIF_PoolEntryNotFound;;0;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
+0x3c01;LPIF_PoolEntryTypeConflict;;1;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
 0x3da0;PVA_InvalidReadWriteMode;;160;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
 0x3da1;PVA_InvalidPoolEntry;;161;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
 0x0801;DPS_InvalidParameterDefinition;;1;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
@@ -204,20 +305,39 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0804;DPS_DataSetUninitialised;;4;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
 0x0805;DPS_DataSetFull;;5;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
 0x0806;DPS_PoolVarNull;;6;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
-0x1c01;TCD_PacketLost;;1;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1c02;TCD_DestinationNotFound;;2;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1c03;TCD_ServiceIdAlreadyExists;;3;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1b00;TCC_NoDestinationFound;;0;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b01;TCC_InvalidCcsdsVersion;;1;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b02;TCC_InvalidApid;;2;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b03;TCC_InvalidPacketType;;3;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b04;TCC_InvalidSecHeaderField;;4;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b05;TCC_IncorrectPrimaryHeader;;5;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b07;TCC_IncompletePacket;;7;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b08;TCC_InvalidPusVersion;;8;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b09;TCC_IncorrectChecksum;;9;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b0a;TCC_IllegalPacketSubtype;;10;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b0b;TCC_IncorrectSecondaryHeader;;11;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1000;TIM_UnsupportedTimeFormat;;0;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1001;TIM_NotEnoughInformationForTargetFormat;;1;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1002;TIM_LengthMismatch;;2;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1003;TIM_InvalidTimeFormat;;3;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1004;TIM_InvalidDayOfYear;;4;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1005;TIM_TimeDoesNotFitFormat;;5;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x3701;TSI_BadTimestamp;;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
+0x1d01;ATC_ActivityStarted;;1;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d02;ATC_InvalidSubservice;;2;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d03;ATC_IllegalApplicationData;;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d04;ATC_SendTmFailed;;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d05;ATC_Timeout;;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x4c00;SPPA_NoPacketFound;;0;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
+0x4c01;SPPA_SplitPacket;;1;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
+0x2001;CSB_ExecutionComplete;;1;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2002;CSB_NoStepMessage;;2;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2003;CSB_ObjectBusy;;3;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2004;CSB_Busy;;4;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2005;CSB_InvalidTc;;5;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2006;CSB_InvalidObject;;6;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2007;CSB_InvalidReply;;7;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x1101;AL_Full;;1;ARRAY_LIST;fsfw/src/fsfw/container/ArrayList.h
+0x1801;FF_Full;;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
+0x1802;FF_Empty;;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
+0x1601;FMM_MapFull;;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
+0x1602;FMM_KeyDoesNotExist;;2;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
+0x1501;FM_KeyAlreadyExists;;1;FIXED_MAP;fsfw/src/fsfw/container/FixedMap.h
+0x1502;FM_MapFull;;2;FIXED_MAP;fsfw/src/fsfw/container/FixedMap.h
+0x1503;FM_KeyDoesNotExist;;3;FIXED_MAP;fsfw/src/fsfw/container/FixedMap.h
+0x2501;EV_ListenerNotFound;;1;EVENT_MANAGER_IF;fsfw/src/fsfw/events/EventManagerIF.h
+0x1701;HHI_ObjectNotHealthy;;1;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x1702;HHI_InvalidHealthState;;2;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x1703;HHI_IsExternallyControlled;;3;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
 0x3001;POS_InPowerTransition;;1;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
 0x3002;POS_SwitchStateMismatch;;2;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
 0x0501;PS_SwitchOn;;1;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
@@ -225,76 +345,23 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0502;PS_SwitchTimeout;;2;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
 0x0503;PS_FuseOn;;3;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
 0x0504;PS_FuseOff;;4;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
-0x3b00;SPH_ConnBroken;;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
-0x2a01;IEC_NoConfigurationTable;;1;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a02;IEC_NoCpuTable;;2;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a03;IEC_InvalidWorkspaceAddress;;3;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a04;IEC_TooLittleWorkspace;;4;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a05;IEC_WorkspaceAllocation;;5;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a06;IEC_InterruptStackTooSmall;;6;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a07;IEC_ThreadExitted;;7;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a08;IEC_InconsistentMpInformation;;8;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a09;IEC_InvalidNode;;9;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0a;IEC_NoMpci;;10;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0b;IEC_BadPacket;;11;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0c;IEC_OutOfPackets;;12;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0d;IEC_OutOfGlobalObjects;;13;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0e;IEC_OutOfProxies;;14;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0f;IEC_InvalidGlobalId;;15;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a10;IEC_BadStackHook;;16;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a11;IEC_BadAttributes;;17;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a12;IEC_ImplementationKeyCreateInconsistency;;18;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a13;IEC_ImplementationBlockingOperationCancel;;19;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a14;IEC_MutexObtainFromBadState;;20;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a15;IEC_UnlimitedAndMaximumIs0;;21;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2600;FDI_YourFault;;0;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
-0x2601;FDI_MyFault;;1;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
-0x2602;FDI_ConfirmLater;;2;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
-0x1e00;PUS_InvalidPusVersion;;0;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
-0x1e01;PUS_InvalidCrc16;;1;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
-0x0201;OM_InsertionFailed;;1;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x0202;OM_NotFound;;2;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x0203;OM_ChildInitFailed;;3;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x0204;OM_InternalErrReporterUninit;;4;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x2201;TMF_Busy;;1;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2202;TMF_LastPacketFound;;2;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2203;TMF_StopFetch;;3;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2204;TMF_Timeout;;4;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2205;TMF_TmChannelFull;;5;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2206;TMF_NotStored;;6;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2207;TMF_AllDeleted;;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2208;TMF_InvalidData;;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2209;TMF_NotReady;;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2101;TMB_Busy;;1;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2102;TMB_Full;;2;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2103;TMB_Empty;;3;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2104;TMB_NullRequested;;4;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2105;TMB_TooLarge;;5;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2106;TMB_NotReady;;6;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2107;TMB_DumpError;;7;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2108;TMB_CrcError;;8;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2109;TMB_Timeout;;9;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210a;TMB_IdlePacketFound;;10;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210b;TMB_TelecommandFound;;11;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210c;TMB_NoPusATm;;12;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210d;TMB_TooSmall;;13;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210e;TMB_BlockNotFound;;14;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210f;TMB_InvalidRequest;;15;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2d01;PAW_UnknownDatatype;;1;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d02;PAW_DatatypeMissmatch;;2;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d03;PAW_Readonly;;3;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d04;PAW_TooBig;;4;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d05;PAW_SourceNotSet;;5;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d06;PAW_OutOfBounds;;6;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d07;PAW_NotSet;;7;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d08;PAW_ColumnOrRowsZero;;8;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2e01;HPA_InvalidIdentifierId;;1;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x2e02;HPA_InvalidDomainId;;2;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x2e03;HPA_InvalidValue;;3;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x2e05;HPA_ReadOnly;;5;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x3b01;SPH_SemaphoreTimeout;;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
-0x3b02;SPH_SemaphoreNotOwned;;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
-0x3b03;SPH_SemaphoreInvalid;;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x4300;FILS_GenericFileError;;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4301;FILS_GenericDirError;;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4302;FILS_FilesystemInactive;;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4303;FILS_GenericRenameError;;3;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4304;FILS_IsBusy;;4;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4305;FILS_InvalidParameters;;5;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430a;FILS_FileDoesNotExist;;10;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430b;FILS_FileAlreadyExists;;11;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430c;FILS_NotAFile;;12;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430d;FILS_FileLocked;;13;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430e;FILS_PermissionDenied;;14;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4315;FILS_DirectoryDoesNotExist;;21;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4316;FILS_DirectoryAlreadyExists;;22;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4317;FILS_NotADirectory;;23;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4318;FILS_DirectoryNotEmpty;;24;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x431e;FILS_SequencePacketMissingWrite;;30;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x431f;FILS_SequencePacketMissingRead;;31;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
 0x1a01;TRC_NotEnoughSensors;;1;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
 0x1a02;TRC_LowestValueOol;;2;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
 0x1a03;TRC_HighestValueOol;;3;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
@@ -313,71 +380,34 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x31e2;LIM_WrongPid;;226;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
 0x31e3;LIM_WrongLimitId;;227;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
 0x31ee;LIM_MonitorNotFound;;238;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
-0x3601;CFDP_InvalidTlvType;;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3602;CFDP_InvalidDirectiveField;;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3603;CFDP_InvalidPduDatafieldLen;;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3604;CFDP_InvalidAckDirectiveFields;;4;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3605;CFDP_MetadataCantParseOptions;;5;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3606;CFDP_NakCantParseOptions;;6;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3607;CFDP_FinishedCantParseFsResponses;;7;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3608;CFDP_FilestoreRequiresSecondFile;;8;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3609;CFDP_FilestoreResponseCantParseFsMessage;;9;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x360a;CFDP_InvalidPduFormat;;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x4300;FILS_GenericFileError;;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4301;FILS_GenericDirError;;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4303;FILS_GenericRenameError;;3;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4304;FILS_IsBusy;;4;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4305;FILS_InvalidParameters;;5;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430a;FILS_FileDoesNotExist;;10;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430b;FILS_FileAlreadyExists;;11;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430c;FILS_NotAFile;;12;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430d;FILS_FileLocked;;13;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430e;FILS_PermissionDenied;;14;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4315;FILS_DirectoryDoesNotExist;;21;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4316;FILS_DirectoryAlreadyExists;;22;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4317;FILS_NotADirectory;;23;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4318;FILS_DirectoryNotEmpty;;24;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x431e;FILS_SequencePacketMissingWrite;;30;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x431f;FILS_SequencePacketMissingRead;;31;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x2c01;CCS_BcIsSetVrCommand;;1;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2c02;CCS_BcIsUnlockCommand;;2;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cb0;CCS_BcIllegalCommand;;176;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cb1;CCS_BoardReadingNotFinished;;177;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf0;CCS_NsPositiveW;;240;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf1;CCS_NsNegativeW;;241;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf2;CCS_NsLockout;;242;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf3;CCS_FarmInLockout;;243;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf4;CCS_FarmInWait;;244;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce0;CCS_WrongSymbol;;224;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce1;CCS_DoubleStart;;225;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce2;CCS_StartSymbolMissed;;226;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce3;CCS_EndWithoutStart;;227;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce4;CCS_TooLarge;;228;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce5;CCS_TooShort;;229;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce6;CCS_WrongTfVersion;;230;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce7;CCS_WrongSpacecraftId;;231;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce8;CCS_NoValidFrameType;;232;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce9;CCS_CrcFailed;;233;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cea;CCS_VcNotFound;;234;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ceb;CCS_ForwardingFailed;;235;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cec;CCS_ContentTooLarge;;236;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ced;CCS_ResidualData;;237;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cee;CCS_DataCorrupted;;238;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cef;CCS_IllegalSegmentationFlag;;239;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd0;CCS_IllegalFlagCombination;;208;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd1;CCS_ShorterThanHeader;;209;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd2;CCS_TooShortBlockedPacket;;210;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd3;CCS_TooShortMapExtraction;;211;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
 0x4201;PUS11_InvalidTypeTimeWindow;;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4202;PUS11_InvalidTimeWindow;;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4203;PUS11_TimeshiftingNotPossible;;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4204;PUS11_InvalidRelativeTime;;4;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
-0x3401;DC_NoReplyReceived;;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3402;DC_ProtocolError;;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3403;DC_Nullpointer;;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3404;DC_InvalidCookieType;;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3405;DC_NotActive;;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3406;DC_TooMuchData;;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x0601;PP_DoItMyself;;1;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0602;PP_PointsToVariable;;2;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0603;PP_PointsToMemory;;3;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0604;PP_ActivityCompleted;;4;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0605;PP_PointsToVectorUint8;;5;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0606;PP_PointsToVectorUint16;;6;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0607;PP_PointsToVectorUint32;;7;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0608;PP_PointsToVectorFloat;;8;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06a0;PP_DumpNotSupported;;160;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e0;PP_InvalidSize;;224;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e1;PP_InvalidAddress;;225;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e2;PP_InvalidContent;;226;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e3;PP_UnalignedAccess;;227;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e4;PP_WriteProtected;;228;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x13e0;MH_UnknownCmd;;224;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e1;MH_InvalidAddress;;225;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e2;MH_InvalidSize;;226;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e3;MH_StateMismatch;;227;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x1201;AB_NeedSecondStep;;1;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1202;AB_NeedToReconfigure;;2;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1203;AB_ModeFallback;;3;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1204;AB_ChildNotCommandable;;4;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1205;AB_NeedToChangeHealth;;5;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x12a1;AB_NotEnoughChildrenInCorrectState;;161;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
 0x03a0;DHB_InvalidChannel;;160;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03b0;DHB_AperiodicReply;;176;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03b1;DHB_IgnoreReplyData;;177;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
@@ -387,12 +417,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x03d0;DHB_NoSwitch;;208;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03e0;DHB_ChildTimeout;;224;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03e1;DHB_SwitchFailed;;225;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
-0x1201;AB_NeedSecondStep;;1;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1202;AB_NeedToReconfigure;;2;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1203;AB_ModeFallback;;3;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1204;AB_ChildNotCommandable;;4;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1205;AB_NeedToChangeHealth;;5;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x12a1;AB_NotEnoughChildrenInCorrectState;;161;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x3401;DC_NoReplyReceived;;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3402;DC_ProtocolError;;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3403;DC_Nullpointer;;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3404;DC_InvalidCookieType;;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3405;DC_NotActive;;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3406;DC_TooMuchData;;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x27a0;DHI_NoCommandData;;160;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27a1;DHI_CommandNotSupported;;161;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27a2;DHI_CommandAlreadySent;;162;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
@@ -414,58 +444,28 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x27c3;DHI_DeviceReplyInvalid;;195;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27d0;DHI_InvalidCommandParameter;;208;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27d1;DHI_InvalidNumberOrLengthOfParameters;;209;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x2401;MT_TooDetailedRequest;;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2402;MT_TooGeneralRequest;;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2403;MT_NoMatch;;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2404;MT_Full;;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2405;MT_NewNodeCreated;;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x3f01;DLEE_NoPacketFound;;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x3f02;DLEE_PossiblePacketLoss;;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x2f01;ASC_TooLongForTargetType;;1;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x2f02;ASC_InvalidCharacters;;2;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x2f03;ASC_BufferTooSmall;;3;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x1701;HHI_ObjectNotHealthy;;1;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x1702;HHI_InvalidHealthState;;2;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x1703;HHI_IsExternallyControlled;;3;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x3201;CF_ObjectHasNoFunctions;;1;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
-0x3202;CF_AlreadyCommanding;;2;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
-0x3301;HF_IsBusy;;1;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x3302;HF_InvalidParameters;;2;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x3303;HF_ExecutionFinished;;3;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x3304;HF_InvalidActionId;;4;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x1000;TIM_UnsupportedTimeFormat;;0;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1001;TIM_NotEnoughInformationForTargetFormat;;1;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1002;TIM_LengthMismatch;;2;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1003;TIM_InvalidTimeFormat;;3;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1004;TIM_InvalidDayOfYear;;4;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1005;TIM_TimeDoesNotFitFormat;;5;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x3701;TSI_BadTimestamp;;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
-0x3c00;LPIF_PoolEntryNotFound;;0;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
-0x3c01;LPIF_PoolEntryTypeConflict;;1;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
-0x3e00;HKM_QueueOrDestinationInvalid;;0;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e01;HKM_WrongHkPacketType;;1;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e02;HKM_ReportingStatusUnchanged;;2;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e03;HKM_PeriodicHelperInvalid;;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e04;HKM_PoolobjectNotFound;;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e05;HKM_DatasetNotFound;;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x2901;TC_InvalidTargetState;;1;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x29f1;TC_AboveOperationalLimit;;241;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x29f2;TC_BelowOperationalLimit;;242;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x2001;CSB_ExecutionComplete;;1;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2002;CSB_NoStepMessage;;2;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2003;CSB_ObjectBusy;;3;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2004;CSB_Busy;;4;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2005;CSB_InvalidTc;;5;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2006;CSB_InvalidObject;;6;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2007;CSB_InvalidReply;;7;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x4c00;SPPA_NoPacketFound;;0;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
-0x4c01;SPPA_SplitPacket;;1;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
-0x1d01;ATC_ActivityStarted;;1;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d02;ATC_InvalidSubservice;;2;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d03;ATC_IllegalApplicationData;;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d04;ATC_SendTmFailed;;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d05;ATC_Timeout;;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x6b00;SCBU_KeyNotFound;;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
+0x1401;SE_BufferTooShort;;1;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x1402;SE_StreamTooShort;;2;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x1403;SE_TooManyElements;;3;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x4500;HSPI_HalTimeoutRetval;;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4501;HSPI_HalBusyRetval;;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4502;HSPI_HalErrorRetval;;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4601;HURT_UartReadFailure;;1;HAL_UART;fsfw/src/fsfw_hal/linux/uart/UartComIF.h
+0x4602;HURT_UartReadSizeMissmatch;;2;HAL_UART;fsfw/src/fsfw_hal/linux/uart/UartComIF.h
+0x4603;HURT_UartRxBufferTooSmall;;3;HAL_UART;fsfw/src/fsfw_hal/linux/uart/UartComIF.h
+0x4801;HGIO_UnknownGpioId;;1;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4802;HGIO_DriveGpioFailure;;2;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4803;HGIO_GpioTypeFailure;;3;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4804;HGIO_GpioInvalidInstance;;4;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4805;HGIO_GpioDuplicateDetected;;5;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4806;HGIO_GpioInitFailed;;6;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4807;HGIO_GpioGetValueFailed;;7;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4400;UXOS_ExecutionFinished;Execution of the current command has finished;0;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4401;UXOS_CommandPending;Command is pending. This will also be returned if the user tries to load another command but a command is still pending;1;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4402;UXOS_BytesRead;Some bytes have been read from the executing process;2;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4406;UXOS_PcloseCallError;;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x64a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;160;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
 0x64a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;161;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
 0x6a00;SDMA_OpOngoing;;0;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
@@ -478,3 +478,4 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x6a0d;SDMA_UnmountError;;13;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
 0x6a0e;SDMA_SystemCallError;;14;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
 0x6a0f;SDMA_PopenCallError;;15;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6b00;SCBU_KeyNotFound;;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
diff --git a/generators/events/translateEvents.cpp b/generators/events/translateEvents.cpp
index 8711750b..c49fa15a 100644
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 225 translations.
+ * @brief    Auto-generated event translation file. Contains 233 translations.
  * @details
- * Generated on: 2022-10-10 11:15:49
+ * Generated on: 2022-10-27 09:03:07
  */
 #include "translateEvents.h"
 
@@ -86,6 +86,9 @@ const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
 const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
 const char *TEST_STRING = "TEST";
 const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
+const char *STORE_ERROR_STRING = "STORE_ERROR";
+const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
+const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -98,11 +101,15 @@ 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 *BURN_PHASE_START_STRING = "BURN_PHASE_START";
+const char *BURN_PHASE_DONE_STRING = "BURN_PHASE_DONE";
 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";
 const char *DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA1_GPIO_SWTICH_ON_FAILED";
 const char *DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_ON_FAILED";
+const char *DEPL_SA1_GPIO_SWTICH_OFF_FAILED_STRING = "DEPL_SA1_GPIO_SWTICH_OFF_FAILED";
+const char *DEPL_SA2_GPIO_SWTICH_OFF_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_OFF_FAILED";
+const char *AUTONOMOUS_DEPLOYMENT_COMPLETED_STRING = "AUTONOMOUS_DEPLOYMENT_COMPLETED";
 const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE";
 const char *ACK_FAILURE_STRING = "ACK_FAILURE";
 const char *EXE_FAILURE_STRING = "EXE_FAILURE";
@@ -218,6 +225,7 @@ const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
 const char *REBOOT_SW_STRING = "REBOOT_SW";
 const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
 const char *REBOOT_HW_STRING = "REBOOT_HW";
+const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
 const char *MISSING_PACKET_STRING = "MISSING_PACKET";
 const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
 const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
@@ -391,6 +399,12 @@ const char *translateEvents(Event event) {
       return TEST_STRING;
     case (10600):
       return CHANGE_OF_SETUP_PARAMETER_STRING;
+    case (10800):
+      return STORE_ERROR_STRING;
+    case (10801):
+      return MSG_QUEUE_ERROR_STRING;
+    case (10802):
+      return SERIALIZATION_ERROR_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -416,15 +430,23 @@ const char *translateEvents(Event event) {
     case (11407):
       return FAULTY_HEATER_WAS_ON_STRING;
     case (11500):
-      return MAIN_SWITCH_ON_TIMEOUT_STRING;
+      return BURN_PHASE_START_STRING;
     case (11501):
-      return MAIN_SWITCH_OFF_TIMEOUT_STRING;
+      return BURN_PHASE_DONE_STRING;
     case (11502):
-      return DEPLOYMENT_FAILED_STRING;
+      return MAIN_SWITCH_ON_TIMEOUT_STRING;
     case (11503):
-      return DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING;
+      return MAIN_SWITCH_OFF_TIMEOUT_STRING;
     case (11504):
+      return DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING;
+    case (11505):
       return DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING;
+    case (11506):
+      return DEPL_SA1_GPIO_SWTICH_OFF_FAILED_STRING;
+    case (11507):
+      return DEPL_SA2_GPIO_SWTICH_OFF_FAILED_STRING;
+    case (11508):
+      return AUTONOMOUS_DEPLOYMENT_COMPLETED_STRING;
     case (11601):
       return MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (11602):
@@ -655,6 +677,8 @@ const char *translateEvents(Event event) {
       return REBOOT_MECHANISM_TRIGGERED_STRING;
     case (13703):
       return REBOOT_HW_STRING;
+    case (13704):
+      return NO_SD_CARD_ACTIVE_STRING;
     case (13800):
       return MISSING_PACKET_STRING;
     case (13801):
diff --git a/generators/objects/translateObjects.cpp b/generators/objects/translateObjects.cpp
index 910fe8fd..157ad167 100644
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 138 translations.
- * Generated on: 2022-10-10 11:15:49
+ * Contains 140 translations.
+ * Generated on: 2022-10-27 09:03:07
  */
 #include "translateObjects.h"
 
@@ -142,6 +142,8 @@ const char *RW_ASS_STRING = "RW_ASS";
 const char *CFDP_HANDLER_STRING = "CFDP_HANDLER";
 const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
+const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
+const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
@@ -419,6 +421,10 @@ const char *translateObject(object_id_t object) {
       return CFDP_DISTRIBUTOR_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
+    case 0x73000101:
+      return PUS_TM_FUNNEL_STRING;
+    case 0x73000102:
+      return CFDP_TM_FUNNEL_STRING;
     case 0x73500000:
       return CCSDS_IP_CORE_BRIDGE_STRING;
     case 0xFFFFFFFF:
diff --git a/linux/devices/ScexUartReader.cpp b/linux/devices/ScexUartReader.cpp
index 24461395..d128fa63 100644
--- a/linux/devices/ScexUartReader.cpp
+++ b/linux/devices/ScexUartReader.cpp
@@ -118,10 +118,7 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
   tty.c_cc[VTIME] = 0;
   tty.c_cc[VMIN] = 0;
 
-  // The SCEX experiment has a fixed baud rate.
-  if (cfsetispeed(&tty, B38400) != 0) {
-    sif::warning << "ScexUartReader::initializeInterface: Setting baud rate failed" << std::endl;
-  }
+  uart::setBaudrate(tty, uartCookie->getBaudrate());
   if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
     sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error ["
                  << errno << ", " << strerror(errno) << std::endl;
diff --git a/linux/devices/ploc/PlocSupervisorHandler.cpp b/linux/devices/ploc/PlocSupervisorHandler.cpp
index f36c5a8d..dcdff2c3 100644
--- a/linux/devices/ploc/PlocSupervisorHandler.cpp
+++ b/linux/devices/ploc/PlocSupervisorHandler.cpp
@@ -1917,6 +1917,11 @@ ReturnValue_t PlocSupervisorHandler::checkMramPacketApid() {
 }
 
 ReturnValue_t PlocSupervisorHandler::handleMramDumpFile(DeviceCommandId_t id) {
+#ifdef XIPHOS_Q7S
+  if (not sdcMan->getActiveSdCard()) {
+    return HasFileSystemIF::FILESYSTEM_INACTIVE;
+  }
+#endif
   ReturnValue_t result = returnvalue::OK;
   uint16_t packetLen = readSpacePacketLength(spacePacketBuffer);
   uint8_t sequenceFlags = readSequenceFlags(spacePacketBuffer);
diff --git a/linux/devices/ploc/PlocSupvHelper.cpp b/linux/devices/ploc/PlocSupvHelper.cpp
index f0f94635..186eef6b 100644
--- a/linux/devices/ploc/PlocSupvHelper.cpp
+++ b/linux/devices/ploc/PlocSupvHelper.cpp
@@ -1,6 +1,7 @@
 #include "PlocSupvHelper.h"
 
 #include <etl/crc16_ccitt.h>
+#include <fsfw/filesystem/HasFileSystemIF.h>
 
 #include <cmath>
 #include <filesystem>
@@ -748,6 +749,11 @@ uint32_t PlocSupvHelper::getFileSize(std::string filename) {
 
 ReturnValue_t PlocSupvHelper::handleEventBufferReception(ploc::SpTmReader& reader) {
   ReturnValue_t result = returnvalue::OK;
+#ifdef XIPHOS_Q7S
+  if (not sdcMan->getActiveSdCard()) {
+    return HasFileSystemIF::FILESYSTEM_INACTIVE;
+  }
+#endif
   std::string filename = Filenaming::generateAbsoluteFilename(
       eventBufferReq.path, eventBufferReq.filename, timestamping);
   std::ofstream file(filename, std::ios_base::app | std::ios_base::out);
diff --git a/linux/devices/startracker/StrHelper.cpp b/linux/devices/startracker/StrHelper.cpp
index 685cf3b3..1f6472bb 100644
--- a/linux/devices/startracker/StrHelper.cpp
+++ b/linux/devices/startracker/StrHelper.cpp
@@ -1,5 +1,7 @@
 #include "StrHelper.h"
 
+#include <fsfw/filesystem/HasFileSystemIF.h>
+
 #include <filesystem>
 #include <fstream>
 
@@ -176,6 +178,11 @@ void StrHelper::disableTimestamping() { timestamping = false; }
 void StrHelper::enableTimestamping() { timestamping = true; }
 
 ReturnValue_t StrHelper::performImageDownload() {
+#ifdef XIPHOS_Q7S
+  if (not sdcMan->getActiveSdCard()) {
+    return HasFileSystemIF::FILESYSTEM_INACTIVE;
+  }
+#endif
   ReturnValue_t result;
 #if OBSW_DEBUG_STARTRACKER == 1
   ProgressPrinter progressPrinter("Image download", ImageDownload::LAST_POSITION);
@@ -244,6 +251,11 @@ ReturnValue_t StrHelper::performImageUpload() {
   uint32_t imageSize = 0;
   struct UploadActionRequest uploadReq;
   uploadReq.position = 0;
+#ifdef XIPHOS_Q7S
+  if (not sdcMan->getActiveSdCard()) {
+    return HasFileSystemIF::FILESYSTEM_INACTIVE;
+  }
+#endif
   std::memset(&uploadReq.data, 0, sizeof(uploadReq.data));
   if (not std::filesystem::exists(uploadImage.uploadFile)) {
     triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
@@ -315,6 +327,11 @@ ReturnValue_t StrHelper::performFirmwareUpdate() {
 }
 
 ReturnValue_t StrHelper::performFlashWrite() {
+#ifdef XIPHOS_Q7S
+  if (not sdcMan->getActiveSdCard()) {
+    return HasFileSystemIF::FILESYSTEM_INACTIVE;
+  }
+#endif
   ReturnValue_t result = returnvalue::OK;
   uint32_t size = 0;
   uint32_t bytesWritten = 0;
@@ -394,6 +411,11 @@ ReturnValue_t StrHelper::performFlashWrite() {
 }
 
 ReturnValue_t StrHelper::performFlashRead() {
+#ifdef XIPHOS_Q7S
+  if (not sdcMan->getActiveSdCard()) {
+    return HasFileSystemIF::FILESYSTEM_INACTIVE;
+  }
+#endif
   ReturnValue_t result;
 #if OBSW_DEBUG_STARTRACKER == 1
   ProgressPrinter progressPrinter("Flash read", flashRead.size);
diff --git a/linux/fsfwconfig/events/translateEvents.cpp b/linux/fsfwconfig/events/translateEvents.cpp
index 8711750b..c49fa15a 100644
--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 225 translations.
+ * @brief    Auto-generated event translation file. Contains 233 translations.
  * @details
- * Generated on: 2022-10-10 11:15:49
+ * Generated on: 2022-10-27 09:03:07
  */
 #include "translateEvents.h"
 
@@ -86,6 +86,9 @@ const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
 const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
 const char *TEST_STRING = "TEST";
 const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
+const char *STORE_ERROR_STRING = "STORE_ERROR";
+const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
+const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -98,11 +101,15 @@ 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 *BURN_PHASE_START_STRING = "BURN_PHASE_START";
+const char *BURN_PHASE_DONE_STRING = "BURN_PHASE_DONE";
 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";
 const char *DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA1_GPIO_SWTICH_ON_FAILED";
 const char *DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_ON_FAILED";
+const char *DEPL_SA1_GPIO_SWTICH_OFF_FAILED_STRING = "DEPL_SA1_GPIO_SWTICH_OFF_FAILED";
+const char *DEPL_SA2_GPIO_SWTICH_OFF_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_OFF_FAILED";
+const char *AUTONOMOUS_DEPLOYMENT_COMPLETED_STRING = "AUTONOMOUS_DEPLOYMENT_COMPLETED";
 const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE";
 const char *ACK_FAILURE_STRING = "ACK_FAILURE";
 const char *EXE_FAILURE_STRING = "EXE_FAILURE";
@@ -218,6 +225,7 @@ const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
 const char *REBOOT_SW_STRING = "REBOOT_SW";
 const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
 const char *REBOOT_HW_STRING = "REBOOT_HW";
+const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
 const char *MISSING_PACKET_STRING = "MISSING_PACKET";
 const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
 const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
@@ -391,6 +399,12 @@ const char *translateEvents(Event event) {
       return TEST_STRING;
     case (10600):
       return CHANGE_OF_SETUP_PARAMETER_STRING;
+    case (10800):
+      return STORE_ERROR_STRING;
+    case (10801):
+      return MSG_QUEUE_ERROR_STRING;
+    case (10802):
+      return SERIALIZATION_ERROR_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -416,15 +430,23 @@ const char *translateEvents(Event event) {
     case (11407):
       return FAULTY_HEATER_WAS_ON_STRING;
     case (11500):
-      return MAIN_SWITCH_ON_TIMEOUT_STRING;
+      return BURN_PHASE_START_STRING;
     case (11501):
-      return MAIN_SWITCH_OFF_TIMEOUT_STRING;
+      return BURN_PHASE_DONE_STRING;
     case (11502):
-      return DEPLOYMENT_FAILED_STRING;
+      return MAIN_SWITCH_ON_TIMEOUT_STRING;
     case (11503):
-      return DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING;
+      return MAIN_SWITCH_OFF_TIMEOUT_STRING;
     case (11504):
+      return DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING;
+    case (11505):
       return DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING;
+    case (11506):
+      return DEPL_SA1_GPIO_SWTICH_OFF_FAILED_STRING;
+    case (11507):
+      return DEPL_SA2_GPIO_SWTICH_OFF_FAILED_STRING;
+    case (11508):
+      return AUTONOMOUS_DEPLOYMENT_COMPLETED_STRING;
     case (11601):
       return MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (11602):
@@ -655,6 +677,8 @@ const char *translateEvents(Event event) {
       return REBOOT_MECHANISM_TRIGGERED_STRING;
     case (13703):
       return REBOOT_HW_STRING;
+    case (13704):
+      return NO_SD_CARD_ACTIVE_STRING;
     case (13800):
       return MISSING_PACKET_STRING;
     case (13801):
diff --git a/linux/fsfwconfig/objects/systemObjectList.h b/linux/fsfwconfig/objects/systemObjectList.h
index 51f6b919..dba8c630 100644
--- a/linux/fsfwconfig/objects/systemObjectList.h
+++ b/linux/fsfwconfig/objects/systemObjectList.h
@@ -40,7 +40,6 @@ enum sourceObjects : uint32_t {
   PUS_SERVICE_6 = 0x51000500,
 
   CCSDS_IP_CORE_BRIDGE = 0x73500000,
-  TM_FUNNEL = 0x73000100,
 
   /* 0x49 ('I') for Communication Interfaces **/
   ARDUINO_COM_IF = 0x49000000,
diff --git a/linux/fsfwconfig/objects/translateObjects.cpp b/linux/fsfwconfig/objects/translateObjects.cpp
index 910fe8fd..157ad167 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 138 translations.
- * Generated on: 2022-10-10 11:15:49
+ * Contains 140 translations.
+ * Generated on: 2022-10-27 09:03:07
  */
 #include "translateObjects.h"
 
@@ -142,6 +142,8 @@ const char *RW_ASS_STRING = "RW_ASS";
 const char *CFDP_HANDLER_STRING = "CFDP_HANDLER";
 const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
+const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
+const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
@@ -419,6 +421,10 @@ const char *translateObject(object_id_t object) {
       return CFDP_DISTRIBUTOR_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
+    case 0x73000101:
+      return PUS_TM_FUNNEL_STRING;
+    case 0x73000102:
+      return CFDP_TM_FUNNEL_STRING;
     case 0x73500000:
       return CCSDS_IP_CORE_BRIDGE_STRING;
     case 0xFFFFFFFF:
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index e11632c8..f0a1c2fb 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -15,22 +15,6 @@
 #define RPI_TEST_GPS_HANDLER 0
 #endif
 
-ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) {
-  // Length of a communication cycle
-  uint32_t length = thisSequence->getPeriodMs();
-
-  thisSequence->addSlot(objects::HEATER_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::SOLAR_ARRAY_DEPL_HANDLER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-
-  if (thisSequence->checkSequence() == returnvalue::OK) {
-    return returnvalue::OK;
-  }
-
-  sif::error << "PollingSequence::initialize has errors!" << std::endl;
-  return returnvalue::FAILED;
-}
-
 ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
   static_cast<void>(length);
@@ -446,11 +430,21 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
   static_cast<void>(length);
 #if OBSW_ADD_MGT == 1
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_READ);
 #endif
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
   thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -466,20 +460,18 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
 ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
   // Length of a communication cycle
   uint32_t length = thisSequence->getPeriodMs();
-  bool uartPstEmpty = true;
-
+  static_cast<void>(length);
 #if OBSW_ADD_PLOC_MPSOC == 1
-  uartPstEmpty = false;
   thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
                         DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
   thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
   thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
   thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
-
   thisSequence->addSlot(objects::PLOC_MEMORY_DUMPER, length * 0,
                         DeviceHandlerIF::PERFORM_OPERATION);
+#endif
+
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
                         DeviceHandlerIF::PERFORM_OPERATION);
@@ -491,7 +483,6 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
 #endif
 
 #if OBSW_ADD_SYRLINKS == 1
-  uartPstEmpty = false;
   thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
                         DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
@@ -501,22 +492,13 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
 #endif
 
 #if OBSW_ADD_STAR_TRACKER == 1
-  uartPstEmpty = false;
   thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::STAR_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
   thisSequence->addSlot(objects::STAR_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
   thisSequence->addSlot(objects::STAR_TRACKER, length * 0.6, DeviceHandlerIF::SEND_READ);
   thisSequence->addSlot(objects::STAR_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
-  static_cast<void>(length);
-  if (uartPstEmpty) {
-    return returnvalue::OK;
-  }
-  if (thisSequence->checkSequence() != returnvalue::OK) {
-    sif::error << "UART PST initialization failed" << std::endl;
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
+  return thisSequence->checkSequence();
 }
 
 ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
index 960820b5..1b585d81 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
@@ -31,9 +31,6 @@ class FixedTimeslotTaskIF;
  */
 namespace pst {
 
-/* 0.4 second period init*/
-ReturnValue_t pstGpio(FixedTimeslotTaskIF* thisSequence);
-
 /**
  * @brief	This function creates the PST for all gomspace devices.
  * @details
diff --git a/linux/obc/PdecHandler.cpp b/linux/obc/PdecHandler.cpp
index 6199853f..ebd17957 100644
--- a/linux/obc/PdecHandler.cpp
+++ b/linux/obc/PdecHandler.cpp
@@ -88,7 +88,7 @@ void PdecHandler::writePdecConfig() {
 
   // Configure all MAP IDs as invalid
   for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
-    *(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + idx + 1 / 4) =
+    *(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + idx / 4) =
         NO_DESTINATION << 24 | NO_DESTINATION << 16 | NO_DESTINATION << 8 | NO_DESTINATION;
   }
 
diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 09e91e26..c94a2cb6 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -2,6 +2,8 @@
 
 #include <fsfw/datapool/PoolReadGuard.h>
 
+#include "mission/devices/torquer.h"
+
 AcsController::AcsController(object_id_t objectId)
     : ExtendedControllerBase(objectId, objects::NO_OBJECT), mgmData(this) {}
 
@@ -29,6 +31,15 @@ void AcsController::performControlOperation() {
       break;
   }
 
+  {
+      // TODO: Calculate actuator output
+      //    PoolReadGuard pg(&dipoleSet);
+      //    MutexGuard mg(torquer::lazyLock());
+      //    torquer::NEW_ACTUATION_FLAG = true;
+      // TODO: Insert correct values here
+      // dipoleSet.setDipoles(500, 500, 500, 150);
+  }
+
   {
     PoolReadGuard pg(&mgmData);
     if (pg.getReadResult() == returnvalue::OK) {
diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index c20ae94d..0cf38bc7 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -7,8 +7,8 @@
 #include "eive/objects.h"
 #include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
 #include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
-#include "mission/devices/devicedefinitions/IMTQHandlerDefinitions.h"
 #include "mission/devices/devicedefinitions/SusDefinitions.h"
+#include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
 
 class AcsController : public ExtendedControllerBase {
  public:
@@ -20,7 +20,6 @@ class AcsController : public ExtendedControllerBase {
   enum class InternalState { STARTUP, INITIAL_DELAY, READY };
 
   InternalState internalState = InternalState::STARTUP;
-
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
 
@@ -44,6 +43,7 @@ class AcsController : public ExtendedControllerBase {
   RM3100::Rm3100PrimaryDataset mgm3Rm3100Set =
       RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
   IMTQ::RawMtmMeasurementSet imtqMgmSet = IMTQ::RawMtmMeasurementSet(objects::IMTQ_HANDLER);
+  IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
 
   PoolEntry<float> mgm0PoolVec = PoolEntry<float>(3);
   PoolEntry<float> mgm1PoolVec = PoolEntry<float>(3);
diff --git a/mission/controller/ThermalController.cpp b/mission/controller/ThermalController.cpp
index 10c74fca..174d1e9f 100644
--- a/mission/controller/ThermalController.cpp
+++ b/mission/controller/ThermalController.cpp
@@ -8,9 +8,9 @@
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 #include <mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h>
 #include <mission/devices/devicedefinitions/GyroL3GD20Definitions.h>
-#include <mission/devices/devicedefinitions/IMTQHandlerDefinitions.h>
 #include <mission/devices/devicedefinitions/RwDefinitions.h>
 #include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
+#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
 #include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
 #include <objects/systemObjectList.h>
 
@@ -235,7 +235,7 @@ ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode
 
 void ThermalController::copySensors() {
   {
-    PoolReadGuard pg0(&max31865Set0);
+    PoolReadGuard pg0(&max31865Set0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg0.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_ploc_heatspreader.value = max31865Set0.temperatureCelcius.value;
       sensorTemperatures.sensor_ploc_heatspreader.setValid(
@@ -247,7 +247,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg1(&max31865Set1);
+    PoolReadGuard pg1(&max31865Set1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg1.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_ploc_missionboard.value = max31865Set1.temperatureCelcius.value;
       sensorTemperatures.sensor_ploc_missionboard.setValid(
@@ -259,7 +259,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg2(&max31865Set2);
+    PoolReadGuard pg2(&max31865Set2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg2.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_4k_camera.value = max31865Set2.temperatureCelcius.value;
       sensorTemperatures.sensor_4k_camera.setValid(max31865Set2.temperatureCelcius.isValid());
@@ -270,7 +270,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg3(&max31865Set3);
+    PoolReadGuard pg3(&max31865Set3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg3.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_dac_heatspreader.value = max31865Set3.temperatureCelcius.value;
       sensorTemperatures.sensor_dac_heatspreader.setValid(
@@ -282,7 +282,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg4(&max31865Set4);
+    PoolReadGuard pg4(&max31865Set4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg4.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_startracker.value = max31865Set4.temperatureCelcius.value;
       sensorTemperatures.sensor_startracker.setValid(max31865Set4.temperatureCelcius.isValid());
@@ -293,7 +293,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg5(&max31865Set5);
+    PoolReadGuard pg5(&max31865Set5, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg5.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_rw1.value = max31865Set5.temperatureCelcius.value;
       sensorTemperatures.sensor_rw1.setValid(max31865Set5.temperatureCelcius.isValid());
@@ -304,7 +304,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg6(&max31865Set6);
+    PoolReadGuard pg6(&max31865Set6, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg6.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_dro.value = max31865Set6.temperatureCelcius.value;
       sensorTemperatures.sensor_dro.setValid(max31865Set6.temperatureCelcius.isValid());
@@ -315,7 +315,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg7(&max31865Set7);
+    PoolReadGuard pg7(&max31865Set7, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg7.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_scex.value = max31865Set7.temperatureCelcius.value;
       sensorTemperatures.sensor_scex.setValid(max31865Set7.temperatureCelcius.isValid());
@@ -326,7 +326,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg8(&max31865Set8);
+    PoolReadGuard pg8(&max31865Set8, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg8.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_x8.value = max31865Set8.temperatureCelcius.value;
       sensorTemperatures.sensor_x8.setValid(max31865Set8.temperatureCelcius.isValid());
@@ -337,7 +337,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg9(&max31865Set9);
+    PoolReadGuard pg9(&max31865Set9, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg9.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_hpa.value = max31865Set9.temperatureCelcius.value;
       sensorTemperatures.sensor_hpa.setValid(max31865Set9.temperatureCelcius.isValid());
@@ -348,7 +348,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg10(&max31865Set10);
+    PoolReadGuard pg10(&max31865Set10, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg10.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_tx_modul.value = max31865Set10.temperatureCelcius.value;
       sensorTemperatures.sensor_tx_modul.setValid(max31865Set10.temperatureCelcius.isValid());
@@ -359,7 +359,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg11(&max31865Set11);
+    PoolReadGuard pg11(&max31865Set11, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg11.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_mpa.value = max31865Set11.temperatureCelcius.value;
       sensorTemperatures.sensor_mpa.setValid(max31865Set11.temperatureCelcius.isValid());
@@ -370,7 +370,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg12(&max31865Set12);
+    PoolReadGuard pg12(&max31865Set12, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg12.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_acu.value = max31865Set12.temperatureCelcius.value;
       sensorTemperatures.sensor_acu.setValid(max31865Set12.temperatureCelcius.isValid());
@@ -381,7 +381,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg13(&max31865Set13);
+    PoolReadGuard pg13(&max31865Set13, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg13.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_plpcdu_heatspreader.value = max31865Set13.temperatureCelcius.value;
       sensorTemperatures.sensor_plpcdu_heatspreader.setValid(
@@ -393,7 +393,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg14(&max31865Set14);
+    PoolReadGuard pg14(&max31865Set14, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg14.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_tcs_board.value = max31865Set14.temperatureCelcius.value;
       sensorTemperatures.sensor_tcs_board.setValid(max31865Set14.temperatureCelcius.isValid());
@@ -404,7 +404,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg15(&max31865Set15);
+    PoolReadGuard pg15(&max31865Set15, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg15.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_magnettorquer.value = max31865Set15.temperatureCelcius.value;
       sensorTemperatures.sensor_magnettorquer.setValid(max31865Set15.temperatureCelcius.isValid());
@@ -415,7 +415,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg111(&tmp1075Set1);
+    PoolReadGuard pg111(&tmp1075Set1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg111.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_tmp1075_1.value = tmp1075Set1.temperatureCelcius.value;
       sensorTemperatures.sensor_tmp1075_1.setValid(tmp1075Set1.temperatureCelcius.isValid());
@@ -426,7 +426,7 @@ void ThermalController::copySensors() {
   }
 
   {
-    PoolReadGuard pg112(&tmp1075Set2);
+    PoolReadGuard pg112(&tmp1075Set2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg112.getReadResult() == returnvalue::OK) {
       sensorTemperatures.sensor_tmp1075_2.value = tmp1075Set2.temperatureCelcius.value;
       sensorTemperatures.sensor_tmp1075_2.setValid(tmp1075Set2.temperatureCelcius.isValid());
@@ -439,7 +439,7 @@ void ThermalController::copySensors() {
 
 void ThermalController::copySus() {
   {
-    PoolReadGuard pg0(&susSet0);
+    PoolReadGuard pg0(&susSet0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg0.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_0_n_loc_xfyfzm_pt_xf.value = susSet0.temperatureCelcius.value;
       susTemperatures.sus_0_n_loc_xfyfzm_pt_xf.setValid(susSet0.temperatureCelcius.isValid());
@@ -450,7 +450,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg1(&susSet1);
+    PoolReadGuard pg1(&susSet1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg1.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_6_r_loc_xfybzm_pt_xf.value = susSet1.temperatureCelcius.value;
       susTemperatures.sus_6_r_loc_xfybzm_pt_xf.setValid(susSet1.temperatureCelcius.isValid());
@@ -461,7 +461,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg2(&susSet2);
+    PoolReadGuard pg2(&susSet2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg2.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_1_n_loc_xbyfzm_pt_xb.value = susSet2.temperatureCelcius.value;
       susTemperatures.sus_1_n_loc_xbyfzm_pt_xb.setValid(susSet2.temperatureCelcius.isValid());
@@ -472,7 +472,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg3(&susSet3);
+    PoolReadGuard pg3(&susSet3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg3.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_7_r_loc_xbybzm_pt_xb.value = susSet3.temperatureCelcius.value;
       susTemperatures.sus_7_r_loc_xbybzm_pt_xb.setValid(susSet3.temperatureCelcius.isValid());
@@ -483,7 +483,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg4(&susSet4);
+    PoolReadGuard pg4(&susSet4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg4.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_2_n_loc_xfybzb_pt_yb.value = susSet4.temperatureCelcius.value;
       susTemperatures.sus_2_n_loc_xfybzb_pt_yb.setValid(susSet4.temperatureCelcius.isValid());
@@ -494,7 +494,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg5(&susSet5);
+    PoolReadGuard pg5(&susSet5, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg5.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_8_r_loc_xbybzb_pt_yb.value = susSet5.temperatureCelcius.value;
       susTemperatures.sus_8_r_loc_xbybzb_pt_yb.setValid(susSet5.temperatureCelcius.isValid());
@@ -505,7 +505,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg6(&susSet6);
+    PoolReadGuard pg6(&susSet6, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg6.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_3_n_loc_xfybzf_pt_yf.value = susSet6.temperatureCelcius.value;
       susTemperatures.sus_3_n_loc_xfybzf_pt_yf.setValid(susSet6.temperatureCelcius.isValid());
@@ -516,7 +516,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg7(&susSet7);
+    PoolReadGuard pg7(&susSet7, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg7.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_9_r_loc_xbybzb_pt_yf.value = susSet7.temperatureCelcius.value;
       susTemperatures.sus_9_r_loc_xbybzb_pt_yf.setValid(susSet7.temperatureCelcius.isValid());
@@ -527,7 +527,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg8(&susSet8);
+    PoolReadGuard pg8(&susSet8, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg8.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_4_n_loc_xmyfzf_pt_zf.value = susSet8.temperatureCelcius.value;
       susTemperatures.sus_4_n_loc_xmyfzf_pt_zf.setValid(susSet8.temperatureCelcius.isValid());
@@ -538,7 +538,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg9(&susSet9);
+    PoolReadGuard pg9(&susSet9, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg9.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_10_n_loc_xmybzf_pt_zf.value = susSet9.temperatureCelcius.value;
       susTemperatures.sus_10_n_loc_xmybzf_pt_zf.setValid(susSet9.temperatureCelcius.isValid());
@@ -549,7 +549,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg10(&susSet10);
+    PoolReadGuard pg10(&susSet10, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg10.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_5_n_loc_xfymzb_pt_zb.value = susSet10.temperatureCelcius.value;
       susTemperatures.sus_5_n_loc_xfymzb_pt_zb.setValid(susSet10.temperatureCelcius.isValid());
@@ -560,7 +560,7 @@ void ThermalController::copySus() {
   }
 
   {
-    PoolReadGuard pg11(&susSet11);
+    PoolReadGuard pg11(&susSet11, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg11.getReadResult() == returnvalue::OK) {
       susTemperatures.sus_11_r_loc_xbymzb_pt_zb.value = susSet11.temperatureCelcius.value;
       susTemperatures.sus_11_r_loc_xbymzb_pt_zb.setValid(susSet11.temperatureCelcius.isValid());
diff --git a/mission/controller/ThermalController.h b/mission/controller/ThermalController.h
index 29661d5e..7ca517cb 100644
--- a/mission/controller/ThermalController.h
+++ b/mission/controller/ThermalController.h
@@ -75,6 +75,7 @@ class ThermalController : public ExtendedControllerBase {
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(DELAY);
 
+  static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
   void copySensors();
   void copySus();
   void copyDevices();
diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp
index 24870504..e81818e9 100644
--- a/mission/core/GenericFactory.cpp
+++ b/mission/core/GenericFactory.cpp
@@ -22,6 +22,8 @@
 #include <fsfw/tcdistribution/PusDistributor.h>
 #include <fsfw/timemanager/CdsShortTimeStamper.h>
 #include <fsfw_hal/host/HostFilesystem.h>
+#include <mission/tmtc/CfdpTmFunnel.h>
+#include <mission/tmtc/PusTmFunnel.h>
 #include <mission/tmtc/TmFunnel.h>
 
 #include "OBSWConfig.h"
@@ -94,6 +96,26 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
     new PoolManager(objects::IPC_STORE, poolCfg);
   }
 
+#if OBSW_ADD_TCPIP_BRIDGE == 1
+#if OBSW_USE_TMTC_TCP_BRIDGE == 0
+  auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+  new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
+  sif::info << "Created UDP server for TMTC commanding with listener port "
+            << udpBridge->getUdpPort() << std::endl;
+#else
+  auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+  auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
+  // TCP is stream based. Use packet ID as start marker when parsing for space packets
+  tcpServer->setSpacePacketParsingOptions({common::PUS_PACKET_ID, common::CFDP_PACKET_ID});
+  sif::info << "Created TCP server for TMTC commanding with listener port "
+            << tcpServer->getTcpPort() << std::endl;
+#if OBSW_TCP_SERVER_WIRETAPPING == 1
+  tcpServer->enableWiretapping(true);
+#endif /* OBSW_TCP_SERVER_WIRETAPPING == 1 */
+#endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
+  tmtcBridge->setMaxNumberOfPacketsStored(300);
+#endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */
+
   auto* ccsdsDistrib =
       new CcsdsDistributor(config::EIVE_PUS_APID, objects::CCSDS_PACKET_DISTRIBUTOR);
   new PusDistributor(config::EIVE_PUS_APID, objects::PUS_PACKET_DISTRIBUTOR, ccsdsDistrib);
@@ -102,12 +124,16 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
 #if OBSW_TM_TO_PTME == 1
   vc = config::LIVE_TM;
 #endif
+  auto* cfdpFunnel =
+      new CfdpTmFunnel(objects::CFDP_TM_FUNNEL, config::EIVE_CFDP_APID, *tmtcBridge, *tmStore, vc);
+  auto* pusFunnel =
+      new PusTmFunnel(objects::PUS_TM_FUNNEL, *tmtcBridge, *timeStamper, *tmStore, vc);
   // Every TM packet goes through this funnel
-  auto* funnel = new TmFunnel(objects::TM_FUNNEL, *timeStamper, 50, vc);
+  new TmFunnel(objects::TM_FUNNEL, *pusFunnel, *cfdpFunnel);
 
   // PUS service stack
   new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, config::EIVE_PUS_APID,
-                                      pus::PUS_SERVICE_1, objects::TM_FUNNEL, 20);
+                                      pus::PUS_SERVICE_1, objects::PUS_TM_FUNNEL, 20);
   new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, config::EIVE_PUS_APID,
                            pus::PUS_SERVICE_2, 3, 10);
   new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, config::EIVE_PUS_APID,
@@ -131,25 +157,6 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
                                 pus::PUS_SERVICE_200, 8);
   new CService201HealthCommanding(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID,
                                   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);
-  new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
-  sif::info << "Created UDP server for TMTC commanding with listener port "
-            << udpBridge->getUdpPort() << std::endl;
-#else
-  auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
-  auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
-  // TCP is stream based. Use packet ID as start marker when parsing for space packets
-  tcpServer->setSpacePacketParsingOptions({common::PUS_PACKET_ID, common::CFDP_PACKET_ID});
-  sif::info << "Created TCP server for TMTC commanding with listener port "
-            << tcpServer->getTcpPort() << std::endl;
-#if OBSW_TCP_SERVER_WIRETAPPING == 1
-  tcpServer->enableWiretapping(true);
-#endif /* OBSW_TCP_SERVER_WIRETAPPING == 1 */
-#endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
-  tmtcBridge->setMaxNumberOfPacketsStored(300);
-#endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */
 
 #if OBSW_ADD_CFDP_COMPONENTS == 1
   using namespace cfdp;
@@ -158,7 +165,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
   new CfdpDistributor(distribCfg);
 
   auto* msgQueue = QueueFactory::instance()->createMessageQueue(32);
-  FsfwHandlerParams params(objects::CFDP_HANDLER, HOST_FS, *funnel, *tcStore, *tmStore, *msgQueue);
+  FsfwHandlerParams params(objects::CFDP_HANDLER, HOST_FS, *cfdpFunnel, *tcStore, *tmStore,
+                           *msgQueue);
   cfdp::IndicationCfg indicationCfg;
   UnsignedByteField<uint16_t> apid(config::EIVE_LOCAL_CFDP_ENTITY_ID);
   cfdp::EntityId localId(apid);
diff --git a/mission/devices/CMakeLists.txt b/mission/devices/CMakeLists.txt
index 56184ea4..b8fb326c 100644
--- a/mission/devices/CMakeLists.txt
+++ b/mission/devices/CMakeLists.txt
@@ -11,7 +11,7 @@ target_sources(
           SyrlinksHkHandler.cpp
           Max31865PT1000Handler.cpp
           Max31865EiveHandler.cpp
-          IMTQHandler.cpp
+          ImtqHandler.cpp
           HeaterHandler.cpp
           RadiationSensorHandler.cpp
           GyroADIS1650XHandler.cpp
@@ -20,6 +20,7 @@ target_sources(
           SusHandler.cpp
           PayloadPcduHandler.cpp
           SolarArrayDeploymentHandler.cpp
-          ScexDeviceHandler.cpp)
+          ScexDeviceHandler.cpp
+          torquer.cpp)
 
 add_subdirectory(devicedefinitions)
diff --git a/mission/devices/GyroADIS1650XHandler.cpp b/mission/devices/GyroADIS1650XHandler.cpp
index 5ff84a96..79e529b6 100644
--- a/mission/devices/GyroADIS1650XHandler.cpp
+++ b/mission/devices/GyroADIS1650XHandler.cpp
@@ -422,12 +422,12 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
       cookie->setTransferSize(2);
 
       gpioId_t gpioId = cookie->getChipSelectPin();
-      GpioIF *gpioIF = comIf->getGpioInterface();
+      GpioIF &gpioIF = comIf->getGpioInterface();
       MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
       uint32_t timeoutMs = 0;
       MutexIF *mutex = comIf->getCsMutex();
       cookie->getMutexParams(timeoutType, timeoutMs);
-      if (mutex == nullptr or gpioIF == nullptr) {
+      if (mutex == nullptr) {
 #if OBSW_VERBOSE_LEVEL >= 1
         sif::warning << "GyroADIS16507Handler::spiSendCallback: "
                         "Mutex or GPIO interface invalid"
@@ -453,7 +453,7 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
       while (idx < sendLen) {
         // Pull SPI CS low. For now, no support for active high given
         if (gpioId != gpio::NO_GPIO) {
-          gpioIF->pullLow(gpioId);
+          gpioIF.pullLow(gpioId);
         }
 
         // Execute transfer
@@ -468,7 +468,7 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
 
         if (gpioId != gpio::NO_GPIO) {
-          gpioIF->pullHigh(gpioId);
+          gpioIF.pullHigh(gpioId);
         }
 
         idx += 2;
diff --git a/mission/devices/IMTQHandler.cpp b/mission/devices/ImtqHandler.cpp
similarity index 92%
rename from mission/devices/IMTQHandler.cpp
rename to mission/devices/ImtqHandler.cpp
index 6ab5ed48..a0e717f8 100644
--- a/mission/devices/IMTQHandler.cpp
+++ b/mission/devices/ImtqHandler.cpp
@@ -1,18 +1,41 @@
-#include "IMTQHandler.h"
-
+#include <bits/stdint-intn.h>
+#include <commonConfig.h>
+#include <fsfw/datapool/PoolEntry.h>
 #include <fsfw/datapool/PoolReadGuard.h>
-#include <fsfw/globalfunctions/CRC.h>
+#include <fsfw/datapoollocal/LocalDataPoolManager.h>
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/datapoollocal/ProvidesDataPoolSubscriptionIF.h>
+#include <fsfw/datapoollocal/localPoolDefinitions.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/ipc/MutexFactory.h>
+#include <fsfw/ipc/MutexGuard.h>
+#include <fsfw/ipc/messageQueueDefinitions.h>
+#include <fsfw/modes/ModeMessage.h>
+#include <fsfw/objectmanager/SystemObjectIF.h>
+#include <fsfw/power/definitions.h>
+#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/serialize/SerializeAdapter.h>
+#include <fsfw/serialize/SerializeIF.h>
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Countdown.h>
+#include <fsfw/timemanager/clockDefinitions.h>
+#include <mission/devices/ImtqHandler.h>
 
 #include <cmath>
+#include <fsfw/datapoollocal/LocalPoolVariable.tpp>
 
-#include "OBSWConfig.h"
+#include "mission/devices/torquer.h"
 
-IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+static constexpr bool ACTUATION_WIRETAPPING = false;
+
+ImtqHandler::ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
                          power::Switch_t pwrSwitcher)
     : DeviceHandlerBase(objectId, comIF, comCookie),
       engHkDataset(this),
       calMtmMeasurementSet(this),
       rawMtmMeasurementSet(this),
+      dipoleSet(*this),
       posXselfTestDataset(this),
       negXselfTestDataset(this),
       posYselfTestDataset(this),
@@ -25,9 +48,9 @@ IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF* comC
   }
 }
 
-IMTQHandler::~IMTQHandler() {}
+ImtqHandler::~ImtqHandler() = default;
 
-void IMTQHandler::doStartUp() {
+void ImtqHandler::doStartUp() {
   if (goToNormalMode) {
     setMode(MODE_NORMAL);
   } else {
@@ -35,9 +58,11 @@ void IMTQHandler::doStartUp() {
   }
 }
 
-void IMTQHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
+void ImtqHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
 
-ReturnValue_t IMTQHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+  bool buildCommand = true;
+  // Depending on the normal polling mode configuration, 3-4 communication steps are recommended
   switch (communicationStep) {
     case CommunicationStep::GET_ENG_HK_DATA:
       *id = IMTQ::GET_ENG_HK_DATA;
@@ -45,29 +70,61 @@ ReturnValue_t IMTQHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
       break;
     case CommunicationStep::START_MTM_MEASUREMENT:
       *id = IMTQ::START_MTM_MEASUREMENT;
-      communicationStep = CommunicationStep::GET_CAL_MTM_MEASUREMENT;
-      break;
-    case CommunicationStep::GET_CAL_MTM_MEASUREMENT:
-      *id = IMTQ::GET_CAL_MTM_MEASUREMENT;
-      communicationStep = CommunicationStep::GET_RAW_MTM_MEASUREMENT;
+      if (pollingMode == NormalPollingMode::BOTH or
+          pollingMode == NormalPollingMode::UNCALIBRATED) {
+        communicationStep = CommunicationStep::GET_RAW_MTM_MEASUREMENT;
+      } else {
+        communicationStep = CommunicationStep::GET_CAL_MTM_MEASUREMENT;
+      }
       break;
     case CommunicationStep::GET_RAW_MTM_MEASUREMENT:
+      if (integrationTimeCd.getRemainingMillis() > 0) {
+        TaskFactory::delayTask(integrationTimeCd.getRemainingMillis());
+      }
       *id = IMTQ::GET_RAW_MTM_MEASUREMENT;
+      if (pollingMode == NormalPollingMode::BOTH) {
+        communicationStep = CommunicationStep::GET_CAL_MTM_MEASUREMENT;
+      } else {
+        communicationStep = CommunicationStep::DIPOLE_ACTUATION;
+      }
+      break;
+    case CommunicationStep::GET_CAL_MTM_MEASUREMENT:
+      if (integrationTimeCd.getRemainingMillis() > 0) {
+        TaskFactory::delayTask(integrationTimeCd.getRemainingMillis());
+      }
+      *id = IMTQ::GET_CAL_MTM_MEASUREMENT;
+      communicationStep = CommunicationStep::DIPOLE_ACTUATION;
+      break;
+    case CommunicationStep::DIPOLE_ACTUATION: {
+      // If the dipole is not commanded but set by the ACS control algorithm,
+      // the dipoles will be set by the ACS controller directly using the dipole local pool set.
+      // This set has a flag to determine whether the ACS controller actually set any new input.
+      MutexGuard mg(torquer::lazyLock());
+      if (torquer::NEW_ACTUATION_FLAG) {
+        *id = IMTQ::START_ACTUATION_DIPOLE;
+        torquer::NEW_ACTUATION_FLAG = false;
+      } else {
+        buildCommand = false;
+      }
       communicationStep = CommunicationStep::GET_ENG_HK_DATA;
       break;
+    }
     default:
       sif::debug << "IMTQHandler::buildNormalDeviceCommand: Invalid communication step"
                  << std::endl;
       break;
   }
-  return buildCommandFromCommand(*id, NULL, 0);
-}
-
-ReturnValue_t IMTQHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  if (buildCommand) {
+    return buildCommandFromCommand(*id, nullptr, 0);
+  }
   return NOTHING_TO_SEND;
 }
 
-ReturnValue_t IMTQHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+ReturnValue_t ImtqHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                    const uint8_t* commandData,
                                                    size_t commandDataLen) {
   switch (deviceCommand) {
@@ -122,20 +179,36 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
     case (IMTQ::START_ACTUATION_DIPOLE): {
       /* IMTQ expects low byte first */
       commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE;
-      if (commandData == nullptr) {
+      if (commandData != nullptr && commandDataLen < 8) {
         return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
       }
-      commandBuffer[1] = commandData[1];
-      commandBuffer[2] = commandData[0];
-      commandBuffer[3] = commandData[3];
-      commandBuffer[4] = commandData[2];
-      commandBuffer[5] = commandData[5];
-      commandBuffer[6] = commandData[4];
-      commandBuffer[7] = commandData[7];
-      commandBuffer[8] = commandData[6];
-      rawPacket = commandBuffer;
-      rawPacketLen = 9;
-      return returnvalue::OK;
+      ReturnValue_t result;
+      // Commands override anything which was set in the software
+      if (commandData != nullptr) {
+        dipoleSet.setValidityBufferGeneration(false);
+        result =
+            dipoleSet.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::NETWORK);
+        dipoleSet.setValidityBufferGeneration(true);
+        if (result != returnvalue::OK) {
+          return result;
+        }
+      } else {
+        // Read set dipole values from local pool
+        PoolReadGuard pg(&dipoleSet);
+      }
+      if (ACTUATION_WIRETAPPING) {
+        sif::debug << "Actuating IMTQ with parameters x = " << dipoleSet.xDipole.value
+                   << ", y = " << dipoleSet.yDipole.value << ", z = " << dipoleSet.zDipole.value
+                   << ", duration = " << dipoleSet.currentTorqueDurationMs.value << std::endl;
+      }
+      result = buildDipoleActuationCommand();
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      MutexGuard mg(torquer::lazyLock());
+      torquer::TORQUEING = true;
+      torquer::TORQUE_COUNTDOWN.setTimeout(dipoleSet.currentTorqueDurationMs.value);
+      return result;
     }
     case (IMTQ::GET_ENG_HK_DATA): {
       commandBuffer[0] = IMTQ::CC::GET_ENG_HK_DATA;
@@ -151,6 +224,7 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
     }
     case (IMTQ::START_MTM_MEASUREMENT): {
       commandBuffer[0] = IMTQ::CC::START_MTM_MEASUREMENT;
+      integrationTimeCd.resetTimer();
       rawPacket = commandBuffer;
       rawPacketLen = 1;
       return returnvalue::OK;
@@ -173,30 +247,42 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
   return returnvalue::FAILED;
 }
 
-void IMTQHandler::fillCommandAndReplyMap() {
-  this->insertInCommandAndReplyMap(IMTQ::POS_X_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
-  this->insertInCommandAndReplyMap(IMTQ::NEG_X_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
-  this->insertInCommandAndReplyMap(IMTQ::POS_Y_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
-  this->insertInCommandAndReplyMap(IMTQ::NEG_Y_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
-  this->insertInCommandAndReplyMap(IMTQ::POS_Z_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
-  this->insertInCommandAndReplyMap(IMTQ::NEG_Z_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
-  this->insertInCommandAndReplyMap(IMTQ::GET_SELF_TEST_RESULT, 1, nullptr,
-                                   IMTQ::SIZE_SELF_TEST_RESULTS);
-  this->insertInCommandAndReplyMap(IMTQ::START_ACTUATION_DIPOLE, 1, nullptr,
-                                   IMTQ::SIZE_STATUS_REPLY);
-  this->insertInCommandAndReplyMap(IMTQ::GET_ENG_HK_DATA, 1, &engHkDataset,
-                                   IMTQ::SIZE_ENG_HK_DATA_REPLY);
-  this->insertInCommandAndReplyMap(IMTQ::GET_COMMANDED_DIPOLE, 1, nullptr,
-                                   IMTQ::SIZE_GET_COMMANDED_DIPOLE_REPLY);
-  this->insertInCommandAndReplyMap(IMTQ::START_MTM_MEASUREMENT, 1, nullptr,
-                                   IMTQ::SIZE_STATUS_REPLY);
-  this->insertInCommandAndReplyMap(IMTQ::GET_CAL_MTM_MEASUREMENT, 1, &calMtmMeasurementSet,
-                                   IMTQ::SIZE_GET_CAL_MTM_MEASUREMENT);
-  this->insertInCommandAndReplyMap(IMTQ::GET_RAW_MTM_MEASUREMENT, 1, &rawMtmMeasurementSet,
-                                   IMTQ::SIZE_GET_RAW_MTM_MEASUREMENT);
+ReturnValue_t ImtqHandler::buildDipoleActuationCommand() {
+  commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE;
+  uint8_t* serPtr = commandBuffer + 1;
+  size_t serSize = 1;
+  dipoleSet.setValidityBufferGeneration(false);
+  ReturnValue_t result = dipoleSet.serialize(&serPtr, &serSize, sizeof(commandBuffer),
+                                             SerializeIF::Endianness::LITTLE);
+  dipoleSet.setValidityBufferGeneration(true);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  rawPacket = commandBuffer;
+  rawPacketLen = 9;
+  return result;
 }
 
-ReturnValue_t IMTQHandler::scanForReply(const uint8_t* start, size_t remainingSize,
+void ImtqHandler::fillCommandAndReplyMap() {
+  insertInCommandAndReplyMap(IMTQ::POS_X_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
+  insertInCommandAndReplyMap(IMTQ::NEG_X_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
+  insertInCommandAndReplyMap(IMTQ::POS_Y_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
+  insertInCommandAndReplyMap(IMTQ::NEG_Y_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
+  insertInCommandAndReplyMap(IMTQ::POS_Z_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
+  insertInCommandAndReplyMap(IMTQ::NEG_Z_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
+  insertInCommandAndReplyMap(IMTQ::GET_SELF_TEST_RESULT, 1, nullptr, IMTQ::SIZE_SELF_TEST_RESULTS);
+  insertInCommandAndReplyMap(IMTQ::START_ACTUATION_DIPOLE, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
+  insertInCommandAndReplyMap(IMTQ::GET_ENG_HK_DATA, 1, &engHkDataset, IMTQ::SIZE_ENG_HK_DATA_REPLY);
+  insertInCommandAndReplyMap(IMTQ::GET_COMMANDED_DIPOLE, 1, nullptr,
+                             IMTQ::SIZE_GET_COMMANDED_DIPOLE_REPLY);
+  insertInCommandAndReplyMap(IMTQ::START_MTM_MEASUREMENT, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
+  insertInCommandAndReplyMap(IMTQ::GET_CAL_MTM_MEASUREMENT, 1, &calMtmMeasurementSet,
+                             IMTQ::SIZE_GET_CAL_MTM_MEASUREMENT);
+  insertInCommandAndReplyMap(IMTQ::GET_RAW_MTM_MEASUREMENT, 1, &rawMtmMeasurementSet,
+                             IMTQ::SIZE_GET_RAW_MTM_MEASUREMENT);
+}
+
+ReturnValue_t ImtqHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                         DeviceCommandId_t* foundId, size_t* foundLen) {
   ReturnValue_t result = returnvalue::OK;
 
@@ -233,8 +319,16 @@ ReturnValue_t IMTQHandler::scanForReply(const uint8_t* start, size_t remainingSi
       *foundLen = IMTQ::SIZE_SELF_TEST_RESULTS;
       *foundId = IMTQ::GET_SELF_TEST_RESULT;
       break;
+    case (IMTQ::CC::PAST_AVAILABLE_RESPONSE_BYTES): {
+      sif::warning << "IMTQHandler::scanForReply: Read 0xFF command byte, reading past available "
+                      "bytes. Keep 1 ms delay between I2C send and read"
+                   << std::endl;
+      result = IGNORE_REPLY_DATA;
+      break;
+    }
     default:
-      sif::debug << "IMTQHandler::scanForReply: Reply contains invalid command code" << std::endl;
+      sif::debug << "IMTQHandler::scanForReply: Reply with length " << remainingSize
+                 << "contains invalid command code " << static_cast<int>(*start) << std::endl;
       result = IGNORE_REPLY_DATA;
       break;
   }
@@ -242,7 +336,7 @@ ReturnValue_t IMTQHandler::scanForReply(const uint8_t* start, size_t remainingSi
   return result;
 }
 
-ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
+ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
   ReturnValue_t result = returnvalue::OK;
 
   result = parseStatusByte(packet);
@@ -286,9 +380,9 @@ ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
   return returnvalue::OK;
 }
 
-void IMTQHandler::setNormalDatapoolEntriesInvalid() {}
+void ImtqHandler::setNormalDatapoolEntriesInvalid() {}
 
-LocalPoolDataSetBase* IMTQHandler::getDataSetHandle(sid_t sid) {
+LocalPoolDataSetBase* ImtqHandler::getDataSetHandle(sid_t sid) {
   if (sid == engHkDataset.getSid()) {
     return &engHkDataset;
   } else if (sid == calMtmMeasurementSet.getSid()) {
@@ -313,9 +407,9 @@ LocalPoolDataSetBase* IMTQHandler::getDataSetHandle(sid_t sid) {
   }
 }
 
-uint32_t IMTQHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
+uint32_t ImtqHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
 
-ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                    LocalDataPoolManager& poolManager) {
   /** Entries of engineering housekeeping dataset */
   localDataPoolMap.emplace(IMTQ::DIGITAL_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
@@ -330,6 +424,11 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat
   localDataPoolMap.emplace(IMTQ::COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
   localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
 
+  localDataPoolMap.emplace(IMTQ::DIPOLES_X, &dipoleXEntry);
+  localDataPoolMap.emplace(IMTQ::DIPOLES_Y, &dipoleYEntry);
+  localDataPoolMap.emplace(IMTQ::DIPOLES_Z, &dipoleZEntry);
+  localDataPoolMap.emplace(IMTQ::CURRENT_TORQUE_DURATION, &torqueDurationEntry);
+
   /** Entries of calibrated MTM measurement dataset */
   localDataPoolMap.emplace(IMTQ::MGM_CAL_NT, &mgmCalEntry);
   localDataPoolMap.emplace(IMTQ::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>({0}));
@@ -611,7 +710,7 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat
   return returnvalue::OK;
 }
 
-ReturnValue_t IMTQHandler::getSelfTestCommandId(DeviceCommandId_t* id) {
+ReturnValue_t ImtqHandler::getSelfTestCommandId(DeviceCommandId_t* id) {
   DeviceCommandId_t commandId = getPendingCommand();
   switch (commandId) {
     case IMTQ::POS_X_SELF_TEST:
@@ -630,7 +729,7 @@ ReturnValue_t IMTQHandler::getSelfTestCommandId(DeviceCommandId_t* id) {
   return returnvalue::OK;
 }
 
-ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) {
+ReturnValue_t ImtqHandler::parseStatusByte(const uint8_t* packet) {
   uint8_t cmdErrorField = *(packet + 1) & 0xF;
   switch (cmdErrorField) {
     case 0:
@@ -661,7 +760,7 @@ ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
+void ImtqHandler::fillEngHkDataset(const uint8_t* packet) {
   PoolReadGuard rg(&engHkDataset);
   uint8_t offset = 2;
   engHkDataset.digitalVoltageMv = *(packet + offset + 1) << 8 | *(packet + offset);
@@ -687,7 +786,9 @@ void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
   offset += 2;
   engHkDataset.coilZTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
   offset += 2;
-  engHkDataset.mcuTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
+  size_t dummy = 2;
+  SerializeAdapter::deSerialize(&engHkDataset.mcuTemperature.value, packet + offset, &dummy,
+                                SerializeIF::Endianness::LITTLE);
 
   engHkDataset.setValidity(true, true);
 
@@ -708,9 +809,9 @@ void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::setToGoToNormal(bool enable) { this->goToNormalMode = enable; }
+void ImtqHandler::setToGoToNormal(bool enable) { this->goToNormalMode = enable; }
 
-void IMTQHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
+void ImtqHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
   if (wiretappingMode == RAW) {
     /* Data already sent in doGetRead() */
     return;
@@ -734,7 +835,7 @@ void IMTQHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCom
   }
 }
 
-void IMTQHandler::handleGetCommandedDipoleReply(const uint8_t* packet) {
+void ImtqHandler::handleGetCommandedDipoleReply(const uint8_t* packet) {
   uint8_t tmData[6];
   /* Switching endianess of received dipole values */
   tmData[0] = *(packet + 3);
@@ -746,7 +847,7 @@ void IMTQHandler::handleGetCommandedDipoleReply(const uint8_t* packet) {
   handleDeviceTM(tmData, sizeof(tmData), IMTQ::GET_COMMANDED_DIPOLE);
 }
 
-void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
+void ImtqHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
   PoolReadGuard rg(&calMtmMeasurementSet);
   calMtmMeasurementSet.setValidity(true, true);
   int8_t offset = 2;
@@ -776,7 +877,7 @@ void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
+void ImtqHandler::fillRawMtmDataset(const uint8_t* packet) {
   PoolReadGuard rg(&rawMtmMeasurementSet);
   unsigned int offset = 2;
   size_t deSerLen = 16;
@@ -824,7 +925,7 @@ void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::handleSelfTestReply(const uint8_t* packet) {
+void ImtqHandler::handleSelfTestReply(const uint8_t* packet) {
   uint16_t offset = 2;
   checkErrorByte(*(packet + offset), *(packet + offset + 1));
 
@@ -858,7 +959,7 @@ void IMTQHandler::handleSelfTestReply(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) {
+void ImtqHandler::handlePositiveXSelfTestReply(const uint8_t* packet) {
   PoolReadGuard rg(&posXselfTestDataset);
 
   uint16_t offset = 2;
@@ -1070,7 +1171,7 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
+void ImtqHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
   PoolReadGuard rg(&posXselfTestDataset);
 
   uint16_t offset = 2;
@@ -1282,7 +1383,7 @@ void IMTQHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
+void ImtqHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
   PoolReadGuard rg(&posXselfTestDataset);
 
   uint16_t offset = 2;
@@ -1494,7 +1595,7 @@ void IMTQHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
+void ImtqHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
   PoolReadGuard rg(&posXselfTestDataset);
 
   uint16_t offset = 2;
@@ -1706,7 +1807,7 @@ void IMTQHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
+void ImtqHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
   PoolReadGuard rg(&posXselfTestDataset);
 
   uint16_t offset = 2;
@@ -1918,7 +2019,7 @@ void IMTQHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
+void ImtqHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
   PoolReadGuard rg(&posXselfTestDataset);
 
   uint16_t offset = 2;
@@ -2130,9 +2231,9 @@ void IMTQHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::setDebugMode(bool enable) { this->debugMode = enable; }
+void ImtqHandler::setDebugMode(bool enable) { this->debugMode = enable; }
 
-void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) {
+void ImtqHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) {
   std::string stepString("");
   if (step < 8) {
     stepString = makeStepString(step);
@@ -2190,7 +2291,12 @@ void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) {
   }
 }
 
-std::string IMTQHandler::makeStepString(const uint8_t step) {
+void ImtqHandler::doSendRead() {
+  TaskFactory::delayTask(1);
+  DeviceHandlerBase::doSendRead();
+}
+
+std::string ImtqHandler::makeStepString(const uint8_t step) {
   std::string stepString("");
   switch (step) {
     case IMTQ::SELF_TEST_STEPS::INIT:
@@ -2225,7 +2331,7 @@ std::string IMTQHandler::makeStepString(const uint8_t step) {
   return stepString;
 }
 
-ReturnValue_t IMTQHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
+ReturnValue_t ImtqHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
   if (switcher != power::NO_SWITCH) {
     *numberOfSwitches = 1;
     *switches = &switcher;
diff --git a/mission/devices/IMTQHandler.h b/mission/devices/ImtqHandler.h
similarity index 90%
rename from mission/devices/IMTQHandler.h
rename to mission/devices/ImtqHandler.h
index 5102b2e0..cfad9d7f 100644
--- a/mission/devices/IMTQHandler.h
+++ b/mission/devices/ImtqHandler.h
@@ -2,7 +2,7 @@
 #define MISSION_DEVICES_IMTQHANDLER_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <mission/devices/devicedefinitions/IMTQHandlerDefinitions.h>
+#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
 #include <string.h>
 
 #include "events/subsystemIdRanges.h"
@@ -13,12 +13,17 @@
  *
  * @author	J. Meier
  */
-class IMTQHandler : public DeviceHandlerBase {
+class ImtqHandler : public DeviceHandlerBase {
  public:
-  IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-              power::Switch_t pwrSwitcher);
-  virtual ~IMTQHandler();
+  enum NormalPollingMode { UNCALIBRATED = 0, CALIBRATED = 1, BOTH = 2 };
 
+  ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+              power::Switch_t pwrSwitcher);
+  virtual ~ImtqHandler();
+
+  void setPollingMode(NormalPollingMode pollMode);
+
+  void doSendRead() override;
   /**
    * @brief   Sets mode to MODE_NORMAL. Can be used for debugging.
    */
@@ -95,6 +100,7 @@ class IMTQHandler : public DeviceHandlerBase {
   IMTQ::EngHkDataset engHkDataset;
   IMTQ::CalibratedMtmMeasurementSet calMtmMeasurementSet;
   IMTQ::RawMtmMeasurementSet rawMtmMeasurementSet;
+  IMTQ::DipoleActuationSet dipoleSet;
   IMTQ::PosXSelfTestSet posXselfTestDataset;
   IMTQ::NegXSelfTestSet negXselfTestDataset;
   IMTQ::PosYSelfTestSet posYselfTestDataset;
@@ -102,7 +108,16 @@ class IMTQHandler : public DeviceHandlerBase {
   IMTQ::PosZSelfTestSet posZselfTestDataset;
   IMTQ::NegZSelfTestSet negZselfTestDataset;
 
+  NormalPollingMode pollingMode = NormalPollingMode::UNCALIBRATED;
+
   PoolEntry<int32_t> mgmCalEntry = PoolEntry<int32_t>(3);
+  PoolEntry<int16_t> dipoleXEntry = PoolEntry<int16_t>(0, false);
+  PoolEntry<int16_t> dipoleYEntry = PoolEntry<int16_t>(0, false);
+  PoolEntry<int16_t> dipoleZEntry = PoolEntry<int16_t>(0, false);
+  PoolEntry<uint16_t> torqueDurationEntry = PoolEntry<uint16_t>(0, false);
+  // Hardcoded to default integration time of 10 ms.
+  // SHOULDDO: Support for other integration times
+  Countdown integrationTimeCd = Countdown(10);
 
   power::Switch_t switcher = power::NO_SWITCH;
 
@@ -114,7 +129,8 @@ class IMTQHandler : public DeviceHandlerBase {
     GET_ENG_HK_DATA,
     START_MTM_MEASUREMENT,
     GET_CAL_MTM_MEASUREMENT,
-    GET_RAW_MTM_MEASUREMENT
+    GET_RAW_MTM_MEASUREMENT,
+    DIPOLE_ACTUATION
   };
 
   CommunicationStep communicationStep = CommunicationStep::GET_ENG_HK_DATA;
@@ -196,6 +212,7 @@ class IMTQHandler : public DeviceHandlerBase {
   void handlePositiveZSelfTestReply(const uint8_t* packet);
   void handleNegativeZSelfTestReply(const uint8_t* packet);
 
+  ReturnValue_t buildDipoleActuationCommand();
   /**
    * @brief   This function checks the error byte of a self test measurement.
    *
diff --git a/mission/devices/PCDUHandler.cpp b/mission/devices/PCDUHandler.cpp
index 8dc78137..91881db5 100644
--- a/mission/devices/PCDUHandler.cpp
+++ b/mission/devices/PCDUHandler.cpp
@@ -52,8 +52,8 @@ ReturnValue_t PCDUHandler::initialize() {
     return returnvalue::FAILED;
   }
   result = pdu2Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
-      static_cast<uint32_t>(P60System::SetIds::PDU_2_CORE), this->getObjectId(),
-      commandQueue->getId(), true);
+      static_cast<uint32_t>(P60System::SetIds::CORE), this->getObjectId(), commandQueue->getId(),
+      true);
   if (result != returnvalue::OK) {
     sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "
                << "PDU2Handler" << std::endl;
@@ -68,8 +68,8 @@ ReturnValue_t PCDUHandler::initialize() {
     return returnvalue::FAILED;
   }
   result = pdu1Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
-      static_cast<uint32_t>(P60System::SetIds::PDU_1_CORE), this->getObjectId(),
-      commandQueue->getId(), true);
+      static_cast<uint32_t>(P60System::SetIds::CORE), this->getObjectId(), commandQueue->getId(),
+      true);
   if (result != returnvalue::OK) {
     sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "
                << "PDU1Handler" << std::endl;
@@ -110,11 +110,10 @@ void PCDUHandler::readCommandQueue() {
 MessageQueueId_t PCDUHandler::getCommandQueue() const { return commandQueue->getId(); }
 
 void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
-  if (sid == sid_t(objects::PDU2_HANDLER, static_cast<uint32_t>(P60System::SetIds::PDU_2_CORE))) {
+  if (sid == sid_t(objects::PDU2_HANDLER, static_cast<uint32_t>(P60System::SetIds::CORE))) {
     updateHkTableDataset(storeId, &pdu2CoreHk, &timeStampPdu2HkDataset);
     updatePdu2SwitchStates();
-  } else if (sid ==
-             sid_t(objects::PDU1_HANDLER, static_cast<uint32_t>(P60System::SetIds::PDU_1_CORE))) {
+  } else if (sid == sid_t(objects::PDU1_HANDLER, static_cast<uint32_t>(P60System::SetIds::CORE))) {
     updateHkTableDataset(storeId, &pdu1CoreHk, &timeStampPdu1HkDataset);
     updatePdu1SwitchStates();
   } else {
diff --git a/mission/devices/PayloadPcduHandler.cpp b/mission/devices/PayloadPcduHandler.cpp
index 56822bd5..725e05df 100644
--- a/mission/devices/PayloadPcduHandler.cpp
+++ b/mission/devices/PayloadPcduHandler.cpp
@@ -33,6 +33,7 @@ void PayloadPcduHandler::doStartUp() {
   if (pwrStateMachine.getState() == power::States::IDLE) {
     pwrStateMachine.start(MODE_ON, pwrSubmode);
   }
+  clearSetOnOffFlag = true;
   auto opCode = pwrStateMachine.fsm();
   if (opCode == power::OpCodes::TO_NOT_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
     pwrStateMachine.reset();
@@ -50,6 +51,11 @@ void PayloadPcduHandler::doShutDown() {
   if (pwrStateMachine.getState() == power::States::IDLE) {
     pwrStateMachine.start(MODE_OFF, 0);
   }
+  if (clearSetOnOffFlag) {
+    std::memset(adcSet.processed.value, 0, adcSet.processed.getSerializedSize());
+    clearSetOnOffFlag = false;
+  }
+
   auto opCode = pwrStateMachine.fsm();
   if (opCode == power::OpCodes::TO_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
     pwrStateMachine.reset();
@@ -713,11 +719,11 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   cookie->setTransferSize(transferLen);
 
   gpioId_t gpioId = cookie->getChipSelectPin();
-  GpioIF* gpioIF = comIf->getGpioInterface();
+  GpioIF& gpioIF = comIf->getGpioInterface();
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 0;
   MutexIF* mutex = comIf->getCsMutex();
-  if (mutex == nullptr or gpioIF == nullptr) {
+  if (mutex == nullptr) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::warning << "GyroADIS16507Handler::spiSendCallback: "
                     "Mutex or GPIO interface invalid"
@@ -747,7 +753,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   transferStruct->len = transferLen;
   // Pull SPI CS low. For now, no support for active high given
   if (gpioId != gpio::NO_GPIO) {
-    gpioIF->pullLow(gpioId);
+    gpioIF.pullLow(gpioId);
   }
 
   // Execute transfer
@@ -762,14 +768,14 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
 
   if (gpioId != gpio::NO_GPIO) {
-    gpioIF->pullHigh(gpioId);
+    gpioIF.pullHigh(gpioId);
   }
 
   transferStruct->tx_buf += transferLen;
   transferStruct->rx_buf += transferLen;
   transferStruct->len = plpcdu::TEMP_REPLY_SIZE - 1;
   if (gpioId != gpio::NO_GPIO) {
-    gpioIF->pullLow(gpioId);
+    gpioIF.pullLow(gpioId);
   }
 
   // Execute transfer
@@ -784,7 +790,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
 
   if (gpioId != gpio::NO_GPIO) {
-    gpioIF->pullHigh(gpioId);
+    gpioIF.pullHigh(gpioId);
   }
 
   transferStruct->tx_buf = origTx;
diff --git a/mission/devices/PayloadPcduHandler.h b/mission/devices/PayloadPcduHandler.h
index 6a9334ca..2f89c837 100644
--- a/mission/devices/PayloadPcduHandler.h
+++ b/mission/devices/PayloadPcduHandler.h
@@ -124,6 +124,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   bool txToMpaInjectionRequested = false;
   bool mpaToHpaInjectionRequested = false;
   bool allOnInjectRequested = false;
+  bool clearSetOnOffFlag = true;
 
   PeriodicOperationDivider opDivider = PeriodicOperationDivider(5);
   uint8_t tempReadDivisor = 1;
diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp
index b7e26123..732bb9fe 100644
--- a/mission/devices/RwHandler.cpp
+++ b/mission/devices/RwHandler.cpp
@@ -304,9 +304,9 @@ ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_
     return INVALID_SPEED;
   }
 
-  uint16_t rampTime = *(commandData + 4) << 8 | *(commandData + 5);
+  uint16_t rampTime = (*(commandData + 4) << 8) | *(commandData + 5);
 
-  if (rampTime < 10 || rampTime > 10000) {
+  if (rampTime < 10 || rampTime > 20000) {
     sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid ramp time" << std::endl;
     return INVALID_RAMP_TIME;
   }
diff --git a/mission/devices/ScexDeviceHandler.cpp b/mission/devices/ScexDeviceHandler.cpp
index 1cc2cd39..8819cd95 100644
--- a/mission/devices/ScexDeviceHandler.cpp
+++ b/mission/devices/ScexDeviceHandler.cpp
@@ -1,5 +1,6 @@
 #include "ScexDeviceHandler.h"
 
+#include <fsfw/filesystem/HasFileSystemIF.h>
 #include <linux/devices/ScexHelper.h>
 #include <mission/memory/SdCardMountedIF.h>
 
@@ -200,6 +201,10 @@ ReturnValue_t ScexDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, cons
 
   ReturnValue_t status = OK;
   auto oneFileHandler = [&](std::string cmdName) {
+    auto activeSd = sdcMan.getActiveSdCard();
+    if (not activeSd) {
+      return HasFileSystemIF::FILESYSTEM_INACTIVE;
+    }
     fileId = date_time_string();
     std::ostringstream oss;
     auto prefix = sdcMan.getCurrentMountPrefix();
@@ -216,6 +221,10 @@ ReturnValue_t ScexDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, cons
   };
   auto multiFileHandler = [&](std::string cmdName) {
     if ((helper.getPacketCounter() == 1) or (not fileNameSet)) {
+      auto activeSd = sdcMan.getActiveSdCard();
+      if (not activeSd) {
+        return HasFileSystemIF::FILESYSTEM_INACTIVE;
+      }
       fileId = date_time_string();
       std::ostringstream oss;
       auto prefix = sdcMan.getCurrentMountPrefix();
diff --git a/mission/devices/SolarArrayDeploymentHandler.cpp b/mission/devices/SolarArrayDeploymentHandler.cpp
index c4e9a43b..5656692d 100644
--- a/mission/devices/SolarArrayDeploymentHandler.cpp
+++ b/mission/devices/SolarArrayDeploymentHandler.cpp
@@ -1,171 +1,471 @@
 #include "SolarArrayDeploymentHandler.h"
 
-#include <devices/gpioIds.h>
-#include <fsfw/ipc/QueueFactory.h>
-#include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw/filesystem/HasFileSystemIF.h>
+#include <fsfw/tasks/TaskFactory.h>
 
-SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(
-    object_id_t setObjectId_, object_id_t gpioDriverId_, CookieIF* gpioCookie_,
-    object_id_t mainLineSwitcherObjectId_, pcdu::Switches mainLineSwitch_, gpioId_t deplSA1,
-    gpioId_t deplSA2, uint32_t burnTimeMs)
+#include <filesystem>
+#include <fstream>
+#include <iostream>
+
+#include "devices/gpioIds.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+
+static constexpr bool DEBUG_MODE = true;
+
+SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(object_id_t setObjectId_,
+                                                         GpioIF& gpioInterface,
+                                                         PowerSwitchIF& mainLineSwitcher_,
+                                                         pcdu::Switches mainLineSwitch_,
+                                                         gpioId_t deplSA1, gpioId_t deplSA2,
+                                                         SdCardMountedIF& sdcMountedIF)
     : SystemObject(setObjectId_),
-      gpioDriverId(gpioDriverId_),
-      gpioCookie(gpioCookie_),
-      mainLineSwitcherObjectId(mainLineSwitcherObjectId_),
-      mainLineSwitch(mainLineSwitch_),
+      gpioInterface(gpioInterface),
       deplSA1(deplSA1),
       deplSA2(deplSA2),
-      burnTimeMs(burnTimeMs),
+      mainLineSwitcher(mainLineSwitcher_),
+      mainLineSwitch(mainLineSwitch_),
+      sdcMan(sdcMountedIF),
       actionHelper(this, nullptr) {
   auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
       cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
-SolarArrayDeploymentHandler::~SolarArrayDeploymentHandler() {}
+SolarArrayDeploymentHandler::~SolarArrayDeploymentHandler() = default;
 
 ReturnValue_t SolarArrayDeploymentHandler::performOperation(uint8_t operationCode) {
-  if (operationCode == DeviceHandlerIF::PERFORM_OPERATION) {
-    handleStateMachine();
-    return returnvalue::OK;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t SolarArrayDeploymentHandler::initialize() {
-  ReturnValue_t result = SystemObject::initialize();
-  if (result != returnvalue::OK) {
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioDriverId);
-  if (gpioInterface == nullptr) {
-    sif::error << "SolarArrayDeploymentHandler::initialize: Invalid Gpio interface." << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  result = gpioInterface->addGpios(dynamic_cast<GpioCookie*>(gpioCookie));
-  if (result != returnvalue::OK) {
-    sif::error << "SolarArrayDeploymentHandler::initialize: Failed to initialize Gpio interface"
-               << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  if (mainLineSwitcherObjectId != objects::NO_OBJECT) {
-    mainLineSwitcher = ObjectManager::instance()->get<PowerSwitchIF>(mainLineSwitcherObjectId);
-    if (mainLineSwitcher == nullptr) {
-      sif::error
-          << "SolarArrayDeploymentHandler::initialize: Main line switcher failed to fetch object"
-          << "from object ID." << std::endl;
-      return ObjectManagerIF::CHILD_INIT_FAILED;
+  using namespace std::filesystem;
+  if (opDivider.checkAndIncrement()) {
+    auto activeSdc = sdcMan.getActiveSdCard();
+    if (activeSdc and activeSdc.value() == sd::SdCard::SLOT_0 and
+        sdcMan.isSdCardUsable(activeSdc.value())) {
+      if (exists(SD_0_DEPL_FILE)) {
+        // perform autonomous deployment handling
+        performAutonomousDepl(sd::SdCard::SLOT_0, dryRunStringInFile(SD_0_DEPL_FILE));
+      }
+    } else if (activeSdc and activeSdc.value() == sd::SdCard::SLOT_1 and
+               sdcMan.isSdCardUsable(activeSdc.value())) {
+      if (exists(SD_1_DEPL_FILE)) {
+        // perform autonomous deployment handling
+        performAutonomousDepl(sd::SdCard::SLOT_1, dryRunStringInFile(SD_1_DEPL_FILE));
+      }
+    } else {
+      // TODO: This is FDIR domain. If both SD cards are not available for whatever reason,
+      //       there is not much we can do except somehow use the scratch buffer which is
+      //       not non-volatile. Implementation effort is considerable as well.
     }
   }
-
-  result = actionHelper.initialize(commandQueue);
-  if (result != returnvalue::OK) {
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
+  readCommandQueue();
+  handleStateMachine();
   return returnvalue::OK;
 }
 
 void SolarArrayDeploymentHandler::handleStateMachine() {
-  switch (stateMachine) {
-    case WAIT_ON_DELOYMENT_COMMAND:
-      readCommandQueue();
-      break;
-    case SWITCH_8V_ON:
-      mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
-      mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
-      stateMachine = WAIT_ON_8V_SWITCH;
-      break;
-    case WAIT_ON_8V_SWITCH:
-      performWaitOn8VActions();
-      break;
-    case SWITCH_DEPL_GPIOS:
-      switchDeploymentTransistors();
-      break;
-    case WAIT_ON_DEPLOYMENT_FINISH:
-      handleDeploymentFinish();
-      break;
-    case WAIT_FOR_MAIN_SWITCH_OFF:
-      if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_OFF) {
-        stateMachine = WAIT_ON_DELOYMENT_COMMAND;
-      } else if (mainSwitchCountdown.hasTimedOut()) {
-        triggerEvent(MAIN_SWITCH_OFF_TIMEOUT);
-        sif::error << "SolarArrayDeploymentHandler::handleStateMachine: Failed to switch main"
-                   << " switch off" << std::endl;
-        stateMachine = WAIT_ON_DELOYMENT_COMMAND;
+  if (stateMachine == MAIN_POWER_ON) {
+    mainLineSwitcher.sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
+    mainSwitchCountdown.setTimeout(mainLineSwitcher.getSwitchDelayMs());
+    stateMachine = WAIT_MAIN_POWER_ON;
+    sif::info << "S/A Deployment: Deployment power line on" << std::endl;
+  }
+  if (stateMachine == MAIN_POWER_OFF) {
+    // These should never fail
+    allOff();
+    stateMachine = WAIT_MAIN_POWER_OFF;
+    sif::info << "S/A Deployment: Deployment power line off" << std::endl;
+  }
+  if (stateMachine == WAIT_MAIN_POWER_ON) {
+    if (checkMainPowerOn()) {
+      if (DEBUG_MODE) {
+        sif::debug << "SA DEPL FSM: WAIT_MAIN_POWER_ON done -> SWITCH_DEPL_GPIOS" << std::endl;
       }
-      break;
-    default:
-      sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Invalid state" << std::endl;
-      break;
+      stateMachine = SWITCH_DEPL_GPIOS;
+    }
+  }
+  if (stateMachine == WAIT_MAIN_POWER_OFF) {
+    if (checkMainPowerOff()) {
+      if (DEBUG_MODE) {
+        sif::debug << "SA DEPL FSM: WAIT_MAIN_POWER_OFF done -> FSM DONE" << std::endl;
+      }
+      sif::info << "S/A Deployment: FSM done" << std::endl;
+      finishFsm(returnvalue::OK);
+    }
+  }
+  if (stateMachine == SWITCH_DEPL_GPIOS) {
+    burnCountdown.setTimeout(fsmInfo.burnCountdownMs);
+    // This should never fail
+    channelAlternationCd.resetTimer();
+    if (not fsmInfo.dryRun) {
+      sa2Off();
+      sa1On();
+      fsmInfo.alternationDummy = true;
+    }
+    sif::info << "S/A Deployment: Burning" << std::endl;
+    triggerEvent(BURN_PHASE_START, fsmInfo.burnCountdownMs, fsmInfo.dryRun);
+    stateMachine = BURNING;
+  }
+  if (stateMachine == BURNING) {
+    saGpioAlternation();
+    if (burnCountdown.hasTimedOut()) {
+      if (DEBUG_MODE) {
+        sif::debug << "SA DEPL FSM: BURNING done -> WAIT_MAIN_POWER_OFF" << std::endl;
+      }
+      allOff();
+      triggerEvent(BURN_PHASE_DONE, fsmInfo.burnCountdownMs, fsmInfo.dryRun);
+      stateMachine = WAIT_MAIN_POWER_OFF;
+    }
   }
 }
 
-void SolarArrayDeploymentHandler::performWaitOn8VActions() {
-  if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_ON) {
-    stateMachine = SWITCH_DEPL_GPIOS;
+ReturnValue_t SolarArrayDeploymentHandler::performAutonomousDepl(sd::SdCard sdCard, bool dryRun) {
+  using namespace std::filesystem;
+  using namespace std;
+  auto initFile = [](const char* filename) {
+    ofstream of(filename);
+    of << "phase: init\n";
+    of << "secs_since_start: 0\n";
+  };
+  if (sdCard == sd::SdCard::SLOT_0) {
+    if (not exists(SD_0_DEPLY_INFO)) {
+      initFile(SD_0_DEPLY_INFO);
+    }
+    if (not autonomousDeplForFile(sd::SdCard::SLOT_0, SD_0_DEPLY_INFO, dryRun)) {
+      initFile(SD_0_DEPLY_INFO);
+    }
+  } else if (sdCard == sd::SdCard::SLOT_1) {
+    if (not exists(SD_1_DEPLY_INFO)) {
+      initFile(SD_1_DEPLY_INFO);
+    }
+    if (not autonomousDeplForFile(sd::SdCard::SLOT_1, SD_1_DEPLY_INFO, dryRun)) {
+      initFile(SD_1_DEPLY_INFO);
+    }
+  }
+  return returnvalue::OK;
+}
+
+bool SolarArrayDeploymentHandler::autonomousDeplForFile(sd::SdCard sdCard, const char* filename,
+                                                        bool dryRun) {
+  using namespace std;
+  ifstream file(filename);
+  string line;
+  string word;
+  unsigned int lineNum = 0;
+  AutonomousDeplState deplState = AutonomousDeplState::INIT;
+  bool stateSwitch = false;
+  uint32_t secsSinceBoot = 0;
+  while (std::getline(file, line)) {
+    std::istringstream iss(line);
+    if (lineNum == 0) {
+      iss >> word;
+      if (word.find("phase:") == string::npos) {
+        return false;
+      }
+      iss >> word;
+      if (word.find(PHASE_INIT_STR) != string::npos) {
+        deplState = AutonomousDeplState::INIT;
+      } else if (word.find(PHASE_FIRST_BURN_STR) != string::npos) {
+        deplState = AutonomousDeplState::FIRST_BURN;
+      } else if (word.find(PHASE_WAIT_STR) != string::npos) {
+        deplState = AutonomousDeplState::WAIT;
+      } else if (word.find(PHASE_SECOND_BURN_STR) != string::npos) {
+        deplState = AutonomousDeplState::SECOND_BURN;
+      } else if (word.find(PHASE_DONE) != string::npos) {
+        deplState = AutonomousDeplState::DONE;
+      } else {
+        return false;
+      }
+    } else if (lineNum == 1) {
+      iss >> word;
+      if (iss.bad()) {
+        return false;
+      }
+      if (word.find("secs_since_start:") == string::npos) {
+        return false;
+      }
+
+      iss >> secsSinceBoot;
+      if (iss.bad()) {
+        return false;
+      }
+      if (not initUptime) {
+        initUptime = secsSinceBoot;
+      }
+
+      auto switchCheck = [&](AutonomousDeplState expected) {
+        if (deplState != expected) {
+          deplState = expected;
+          stateSwitch = true;
+        }
+      };
+      if ((secsSinceBoot > FIRST_BURN_START_TIME) and (secsSinceBoot < FIRST_BURN_END_TIME)) {
+        switchCheck(AutonomousDeplState::FIRST_BURN);
+      } else if ((secsSinceBoot > WAIT_START_TIME) and (secsSinceBoot < WAIT_END_TIME)) {
+        switchCheck(AutonomousDeplState::WAIT);
+      } else if ((secsSinceBoot > SECOND_BURN_START_TIME) and
+                 (secsSinceBoot < SECOND_BURN_END_TIME)) {
+        switchCheck(AutonomousDeplState::SECOND_BURN);
+      } else if (secsSinceBoot > SECOND_BURN_END_TIME) {
+        switchCheck(AutonomousDeplState::DONE);
+      }
+    }
+    lineNum++;
+  }
+  if (initUptime) {
+    secsSinceBoot = initUptime.value();
+  }
+  // Uptime has increased by X seconds so we need to update the uptime count inside the file
+  secsSinceBoot += Clock::getUptime().tv_sec;
+  if (stateSwitch or firstAutonomousCycle) {
+    if (deplState == AutonomousDeplState::FIRST_BURN or
+        deplState == AutonomousDeplState::SECOND_BURN) {
+      startFsmOn(config::SA_DEPL_BURN_TIME_SECS, dryRun);
+    } else if (deplState == AutonomousDeplState::WAIT or deplState == AutonomousDeplState::DONE or
+               deplState == AutonomousDeplState::INIT) {
+      startFsmOff();
+    }
+  }
+  if (deplState == AutonomousDeplState::DONE) {
+    remove(filename);
+    if (sdCard == sd::SdCard::SLOT_0) {
+      remove(SD_0_DEPL_FILE);
+    } else {
+      remove(SD_1_DEPL_FILE);
+    }
+    triggerEvent(AUTONOMOUS_DEPLOYMENT_COMPLETED);
   } else {
-    if (mainSwitchCountdown.hasTimedOut()) {
+    std::ofstream of(filename);
+    of << "phase: ";
+    if (deplState == AutonomousDeplState::INIT) {
+      of << PHASE_INIT_STR << "\n";
+    } else if (deplState == AutonomousDeplState::FIRST_BURN) {
+      of << PHASE_FIRST_BURN_STR << "\n";
+    } else if (deplState == AutonomousDeplState::WAIT) {
+      of << PHASE_WAIT_STR << "\n";
+    } else if (deplState == AutonomousDeplState::SECOND_BURN) {
+      of << PHASE_SECOND_BURN_STR << "\n";
+    }
+    of << "secs_since_start: " << std::to_string(secsSinceBoot) << "\n";
+  }
+  if (firstAutonomousCycle) {
+    firstAutonomousCycle = false;
+  }
+  return true;
+}
+
+bool SolarArrayDeploymentHandler::checkMainPowerOn() { return checkMainPower(true); }
+
+bool SolarArrayDeploymentHandler::checkMainPowerOff() { return checkMainPower(false); }
+
+bool SolarArrayDeploymentHandler::checkMainPower(bool onOff) {
+  if ((onOff and mainLineSwitcher.getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_ON) or
+      (not onOff and
+       mainLineSwitcher.getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_OFF)) {
+    return true;
+  }
+  if (mainSwitchCountdown.hasTimedOut()) {
+    if (onOff) {
       triggerEvent(MAIN_SWITCH_ON_TIMEOUT);
-      actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
-                          MAIN_SWITCH_TIMEOUT_FAILURE);
-      stateMachine = WAIT_ON_DELOYMENT_COMMAND;
+    } else {
+      triggerEvent(MAIN_SWITCH_OFF_TIMEOUT);
     }
+    if (retryCounter < 3) {
+      if (onOff) {
+        stateMachine = MAIN_POWER_ON;
+      } else {
+        stateMachine = MAIN_POWER_OFF;
+      }
+      retryCounter++;
+    } else {
+      finishFsm(MAIN_SWITCH_TIMEOUT_FAILURE);
+    }
+  }
+  return false;
+}
+
+bool SolarArrayDeploymentHandler::startFsmOn(uint32_t burnCountdownSecs, bool dryRun) {
+  if (stateMachine != StateMachine::IDLE) {
+    return false;
+  }
+  if (burnCountdownSecs > config::SA_DEPL_MAX_BURN_TIME) {
+    burnCountdownSecs = config::SA_DEPL_MAX_BURN_TIME;
+  }
+  fsmInfo.dryRun = dryRun;
+  fsmInfo.burnCountdownMs = burnCountdownSecs * 1000;
+  stateMachine = StateMachine::MAIN_POWER_ON;
+  retryCounter = 0;
+  return true;
+}
+
+void SolarArrayDeploymentHandler::startFsmOff() {
+  if (stateMachine != StateMachine::IDLE) {
+    // off commands override the state machine. Cancel any active action commands.
+    finishFsm(returnvalue::FAILED);
+  }
+  retryCounter = 0;
+  stateMachine = StateMachine::MAIN_POWER_OFF;
+}
+
+void SolarArrayDeploymentHandler::finishFsm(ReturnValue_t resultForActionHelper) {
+  retryCounter = 0;
+  stateMachine = StateMachine::IDLE;
+  fsmInfo.dryRun = false;
+  fsmInfo.alternationDummy = false;
+  if (actionActive) {
+    bool success = false;
+    if (resultForActionHelper == returnvalue::OK or
+        resultForActionHelper == HasActionsIF::EXECUTION_FINISHED) {
+      success = true;
+    }
+    actionHelper.finish(success, rememberCommanderId, activeCmd, resultForActionHelper);
   }
 }
 
-void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
+void SolarArrayDeploymentHandler::allOff() {
+  deploymentTransistorsOff();
+  mainLineSwitcher.sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
+  mainSwitchCountdown.setTimeout(mainLineSwitcher.getSwitchDelayMs());
+}
+
+bool SolarArrayDeploymentHandler::dryRunStringInFile(const char* filename) {
+  std::ifstream ifile(filename);
+  if (ifile.bad()) {
+    return false;
+  }
+  std::string line;
+  while (getline(ifile, line)) {
+    if (line.find("dryrun") != std::string::npos) {
+      return true;
+    }
+  }
+  return false;
+}
+
+ReturnValue_t SolarArrayDeploymentHandler::executeAction(ActionId_t actionId,
+                                                         MessageQueueId_t commandedBy,
+                                                         const uint8_t* data, size_t size) {
   ReturnValue_t result = returnvalue::OK;
-  result = gpioInterface->pullHigh(deplSA1);
+  if (actionId == DEPLOY_SOLAR_ARRAYS_MANUALLY) {
+    ManualDeploymentCommand cmd;
+    if (size < cmd.getSerializedSize()) {
+      return HasActionsIF::INVALID_PARAMETERS;
+    }
+    result = cmd.deSerialize(&data, &size, SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    uint32_t burnCountdown = cmd.getBurnTime();
+    if (not startFsmOn(burnCountdown, cmd.isDryRun())) {
+      return HasActionsIF::IS_BUSY;
+    }
+    actionActive = true;
+    rememberCommanderId = commandedBy;
+    return result;
+  } else if (actionId == SWITCH_OFF_DEPLOYMENT) {
+    startFsmOff();
+    actionActive = true;
+    rememberCommanderId = commandedBy;
+    return result;
+  } else {
+    return HasActionsIF::INVALID_ACTION_ID;
+  }
+  return result;
+}
+
+ReturnValue_t SolarArrayDeploymentHandler::saGpioAlternation() {
+  ReturnValue_t status = returnvalue::OK;
+  ReturnValue_t result;
+  if (channelAlternationCd.hasTimedOut() and not fsmInfo.dryRun) {
+    if (fsmInfo.alternationDummy) {
+      result = sa1Off();
+      if (result != returnvalue::OK) {
+        status = result;
+      }
+      TaskFactory::delayTask(1);
+      result = sa2On();
+      if (result != returnvalue::OK) {
+        status = result;
+      }
+    } else {
+      result = sa2Off();
+      if (result != returnvalue::OK) {
+        status = result;
+      }
+      TaskFactory::delayTask(1);
+      result = sa1On();
+      if (result != returnvalue::OK) {
+        status = result;
+      }
+    }
+    fsmInfo.alternationDummy = not fsmInfo.alternationDummy;
+    channelAlternationCd.resetTimer();
+  }
+  return status;
+}
+
+ReturnValue_t SolarArrayDeploymentHandler::deploymentTransistorsOff() {
+  ReturnValue_t status = returnvalue::OK;
+  ReturnValue_t result = sa1Off();
   if (result != returnvalue::OK) {
-    sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
-                  " array deployment switch 1 high "
-               << std::endl;
-    /* If gpio switch high failed, state machine is reset to wait for a command reinitiating
-     * the deployment sequence. */
-    stateMachine = WAIT_ON_DELOYMENT_COMMAND;
+    status = result;
+  }
+  result = sa2Off();
+  if (result != returnvalue::OK) {
+    status = result;
+  }
+  return status;
+}
+
+ReturnValue_t SolarArrayDeploymentHandler::sa1On() {
+  ReturnValue_t result = gpioInterface.pullHigh(deplSA1);
+  if (result != returnvalue::OK) {
+    sif::warning << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
+                    " array deployment switch 1 high"
+                 << std::endl;
+    // If gpio switch high failed, state machine is reset to wait for a command re-initiating
+    // the deployment sequence.
     triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED);
-    actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, SWITCHING_DEPL_SA2_FAILED);
-    mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
   }
-  result = gpioInterface->pullHigh(deplSA2);
-  if (result != returnvalue::OK) {
-    sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
-                  " array deployment switch 2 high "
-               << std::endl;
-    stateMachine = WAIT_ON_DELOYMENT_COMMAND;
-    triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED);
-    actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, SWITCHING_DEPL_SA2_FAILED);
-    mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
-  }
-  deploymentCountdown.setTimeout(burnTimeMs);
-  stateMachine = WAIT_ON_DEPLOYMENT_FINISH;
+  return result;
 }
 
-void SolarArrayDeploymentHandler::handleDeploymentFinish() {
-  ReturnValue_t result = returnvalue::OK;
-  if (deploymentCountdown.hasTimedOut()) {
-    actionHelper.finish(true, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, returnvalue::OK);
-    result = gpioInterface->pullLow(deplSA1);
-    if (result != returnvalue::OK) {
-      sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
-                    " array deployment switch 1 low "
+ReturnValue_t SolarArrayDeploymentHandler::sa1Off() {
+  ReturnValue_t result = gpioInterface.pullLow(deplSA1);
+  if (result != returnvalue::OK) {
+    sif::warning << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
+                    " array deployment switch 1 low"
                  << std::endl;
-    }
-    result = gpioInterface->pullLow(deplSA2);
-    if (result != returnvalue::OK) {
-      sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
-                    " array deployment switch 2 low "
-                 << std::endl;
-    }
-    mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
-    mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
-    stateMachine = WAIT_FOR_MAIN_SWITCH_OFF;
+    // If gpio switch high failed, state machine is reset to wait for a command re-initiating
+    // the deployment sequence.
+    triggerEvent(DEPL_SA1_GPIO_SWTICH_OFF_FAILED);
   }
+  return result;
+}
+
+ReturnValue_t SolarArrayDeploymentHandler::sa2On() {
+  ReturnValue_t result = gpioInterface.pullHigh(deplSA2);
+  if (result != returnvalue::OK) {
+    sif::warning << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
+                    " array deployment switch 2 high"
+                 << std::endl;
+    // If gpio switch high failed, state machine is reset to wait for a command re-initiating
+    // the deployment sequence.
+    triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED);
+  }
+  return result;
+}
+
+ReturnValue_t SolarArrayDeploymentHandler::sa2Off() {
+  ReturnValue_t result = gpioInterface.pullLow(deplSA2);
+  if (result != returnvalue::OK) {
+    sif::warning << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
+                    " array deployment switch 2 low"
+                 << std::endl;
+    // If gpio switch high failed, state machine is reset to wait for a command re-initiating
+    // the deployment sequence.
+    triggerEvent(DEPL_SA2_GPIO_SWTICH_OFF_FAILED);
+  }
+  return result;
 }
 
 void SolarArrayDeploymentHandler::readCommandQueue() {
@@ -181,27 +481,14 @@ void SolarArrayDeploymentHandler::readCommandQueue() {
   }
 }
 
-ReturnValue_t SolarArrayDeploymentHandler::executeAction(ActionId_t actionId,
-                                                         MessageQueueId_t commandedBy,
-                                                         const uint8_t* data, size_t size) {
-  ReturnValue_t result;
-  if (stateMachine != WAIT_ON_DELOYMENT_COMMAND) {
-    sif::error << "SolarArrayDeploymentHandler::executeAction: Received command while not in"
-               << "waiting-on-command-state" << std::endl;
-    return DEPLOYMENT_ALREADY_EXECUTING;
-  }
-  if (actionId != DEPLOY_SOLAR_ARRAYS) {
-    sif::error << "SolarArrayDeploymentHandler::executeAction: Received invalid command"
-               << std::endl;
-    result = COMMAND_NOT_SUPPORTED;
-  } else {
-    stateMachine = SWITCH_8V_ON;
-    rememberCommanderId = commandedBy;
-    result = returnvalue::OK;
-  }
-  return result;
-}
-
 MessageQueueId_t SolarArrayDeploymentHandler::getCommandQueue() const {
   return commandQueue->getId();
 }
+
+ReturnValue_t SolarArrayDeploymentHandler::initialize() {
+  ReturnValue_t result = actionHelper.initialize(commandQueue);
+  if (result != returnvalue::OK) {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  return SystemObject::initialize();
+}
diff --git a/mission/devices/SolarArrayDeploymentHandler.h b/mission/devices/SolarArrayDeploymentHandler.h
index 89be12a6..b935b096 100644
--- a/mission/devices/SolarArrayDeploymentHandler.h
+++ b/mission/devices/SolarArrayDeploymentHandler.h
@@ -1,22 +1,46 @@
 #ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
 #define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
 
-#include <devices/powerSwitcherList.h>
-#include <fsfw/action/HasActionsIF.h>
-#include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw/devicehandlers/DeviceHandlerIF.h>
-#include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw/power/PowerSwitchIF.h>
-#include <fsfw/returnvalues/returnvalue.h>
-#include <fsfw/tasks/ExecutableObjectIF.h>
-#include <fsfw/timemanager/Countdown.h>
-#include <fsfw_hal/common/gpio/GpioIF.h>
+#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 
 #include <unordered_map>
 
+#include "devices/powerSwitcherList.h"
+#include "eive/definitions.h"
 #include "events/subsystemIdRanges.h"
+#include "fsfw/action/HasActionsIF.h"
+#include "fsfw/devicehandlers/CookieIF.h"
+#include "fsfw/devicehandlers/DeviceHandlerIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/power/PowerSwitchIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/serialize/SerialLinkedListAdapter.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/timemanager/Countdown.h"
+#include "fsfw_hal/common/gpio/GpioIF.h"
+#include "mission/memory/SdCardMountedIF.h"
 #include "returnvalues/classIds.h"
 
+enum DeploymentChannels : uint8_t { SA_1 = 1, SA_2 = 2 };
+
+class ManualDeploymentCommand : public SerialLinkedListAdapter<SerializeIF> {
+ public:
+  ManualDeploymentCommand() { setLinks(); }
+
+  void setLinks() {
+    setStart(&burnTime);
+    burnTime.setNext(&dryRun);
+  }
+
+  uint32_t getBurnTime() const { return burnTime.entry; }
+
+  bool isDryRun() const { return dryRun.entry; }
+
+ private:
+  SerializeElement<uint32_t> burnTime;
+  SerializeElement<uint8_t> dryRun;
+};
+
 /**
  * @brief	This class is used to control the solar array deployment.
  *
@@ -26,8 +50,29 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
                                     public SystemObject,
                                     public HasActionsIF {
  public:
-  static const DeviceCommandId_t DEPLOY_SOLAR_ARRAYS = 0x5;
+  //! Manual deployment of the solar arrays. Burn time and channels are supplied with TC parameters
+  static constexpr DeviceCommandId_t DEPLOY_SOLAR_ARRAYS_MANUALLY = 0x05;
+  static constexpr DeviceCommandId_t SWITCH_OFF_DEPLOYMENT = 0x06;
 
+  static constexpr uint32_t FIRST_BURN_START_TIME = config::SA_DEPL_INIT_BUFFER_SECS;
+  static constexpr uint32_t FIRST_BURN_END_TIME =
+      FIRST_BURN_START_TIME + config::SA_DEPL_BURN_TIME_SECS;
+  static constexpr uint32_t WAIT_START_TIME = FIRST_BURN_END_TIME;
+  static constexpr uint32_t WAIT_END_TIME = WAIT_START_TIME + config::SA_DEPL_WAIT_TIME_SECS;
+  static constexpr uint32_t SECOND_BURN_START_TIME = WAIT_END_TIME;
+  static constexpr uint32_t SECOND_BURN_END_TIME =
+      SECOND_BURN_START_TIME + config::SA_DEPL_WAIT_TIME_SECS;
+
+  static constexpr char SD_0_DEPL_FILE[] = "/mnt/sd0/conf/deployment";
+  static constexpr char SD_1_DEPL_FILE[] = "/mnt/sd1/conf/deployment";
+  static constexpr char SD_0_DEPLY_INFO[] = "/mnt/sd0/conf/deployment_info.txt";
+  static constexpr char SD_1_DEPLY_INFO[] = "/mnt/sd1/conf/deployment_info.txt";
+
+  static constexpr char PHASE_INIT_STR[] = "init";
+  static constexpr char PHASE_FIRST_BURN_STR[] = "first_burn";
+  static constexpr char PHASE_WAIT_STR[] = "wait";
+  static constexpr char PHASE_SECOND_BURN_STR[] = "second_burn";
+  static constexpr char PHASE_DONE[] = "done";
   /**
    * @brief constructor
    *
@@ -43,10 +88,9 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
    * @param deplSA2   gpioId of the GPIO controlling the deployment 2 transistor.
    * @param burnTimeMs  Time duration the power will be applied to the burn wires.
    */
-  SolarArrayDeploymentHandler(object_id_t setObjectId, object_id_t gpioDriverId,
-                              CookieIF* gpioCookie, object_id_t mainLineSwitcherObjectId,
-                              pcdu::Switches mainLineSwitch, gpioId_t deplSA1, gpioId_t deplSA2,
-                              uint32_t burnTimeMs);
+  SolarArrayDeploymentHandler(object_id_t setObjectId, GpioIF& gpio,
+                              PowerSwitchIF& mainLineSwitcher, pcdu::Switches mainLineSwitch,
+                              gpioId_t deplSA1, gpioId_t deplSA2, SdCardMountedIF& sdcMountedIF);
 
   virtual ~SolarArrayDeploymentHandler();
 
@@ -58,6 +102,26 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
   virtual ReturnValue_t initialize() override;
 
  private:
+  enum AutonomousDeplState { INIT, FIRST_BURN, WAIT, SECOND_BURN, DONE };
+
+  enum StateMachine {
+    IDLE,
+    MAIN_POWER_ON,
+    MAIN_POWER_OFF,
+    WAIT_MAIN_POWER_ON,
+    WAIT_MAIN_POWER_OFF,
+    SWITCH_DEPL_GPIOS,
+    BURNING
+  };
+
+  struct FsmInfo {
+    // Not required anymore
+    // DeploymentChannels channel;
+    bool dryRun;
+    bool alternationDummy = false;
+    uint32_t burnCountdownMs = config::SA_DEPL_MAX_BURN_TIME;
+  };
+
   static const uint8_t INTERFACE_ID = CLASS_ID::SA_DEPL_HANDLER;
   static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA0);
   static const ReturnValue_t DEPLOYMENT_ALREADY_EXECUTING = MAKE_RETURN_CODE(0xA1);
@@ -66,23 +130,41 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
   static const ReturnValue_t SWITCHING_DEPL_SA2_FAILED = MAKE_RETURN_CODE(0xA4);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SA_DEPL_HANDLER;
-  static const Event MAIN_SWITCH_ON_TIMEOUT = MAKE_EVENT(0, severity::LOW);
-  static const Event MAIN_SWITCH_OFF_TIMEOUT = MAKE_EVENT(1, severity::LOW);
-  static const Event DEPLOYMENT_FAILED = MAKE_EVENT(2, severity::HIGH);
-  static const Event DEPL_SA1_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(3, severity::HIGH);
-  static const Event DEPL_SA2_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(4, severity::HIGH);
 
-  enum StateMachine {
-    WAIT_ON_DELOYMENT_COMMAND,
-    SWITCH_8V_ON,
-    WAIT_ON_8V_SWITCH,
-    SWITCH_DEPL_GPIOS,
-    WAIT_ON_DEPLOYMENT_FINISH,
-    WAIT_FOR_MAIN_SWITCH_OFF
-  };
+  //! [EXPORT] : [COMMENT] P1: Burn duration in milliseconds, P2: Dry run flag
+  static constexpr Event BURN_PHASE_START = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
+  //! [EXPORT] : [COMMENT] P1: Burn duration in milliseconds, P2: Dry run flag
+  static constexpr Event BURN_PHASE_DONE = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
+  static constexpr Event MAIN_SWITCH_ON_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 2, severity::LOW);
+  static constexpr Event MAIN_SWITCH_OFF_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 3, severity::LOW);
+  static constexpr Event DEPL_SA1_GPIO_SWTICH_ON_FAILED =
+      event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
+  static constexpr Event DEPL_SA2_GPIO_SWTICH_ON_FAILED =
+      event::makeEvent(SUBSYSTEM_ID, 5, severity::HIGH);
+  static constexpr Event DEPL_SA1_GPIO_SWTICH_OFF_FAILED =
+      event::makeEvent(SUBSYSTEM_ID, 6, severity::HIGH);
+  static constexpr Event DEPL_SA2_GPIO_SWTICH_OFF_FAILED =
+      event::makeEvent(SUBSYSTEM_ID, 7, severity::HIGH);
+  static constexpr Event AUTONOMOUS_DEPLOYMENT_COMPLETED =
+      event::makeEvent(SUBSYSTEM_ID, 8, severity::INFO);
 
-  StateMachine stateMachine = WAIT_ON_DELOYMENT_COMMAND;
+  FsmInfo fsmInfo;
+  StateMachine stateMachine = IDLE;
+  bool actionActive = false;
+  bool firstAutonomousCycle = true;
+  ActionId_t activeCmd = HasActionsIF::INVALID_ACTION_ID;
+  std::optional<uint64_t> initUptime;
+  PeriodicOperationDivider opDivider = PeriodicOperationDivider(5);
+  uint8_t retryCounter = 3;
 
+  bool startFsmOn(uint32_t burnCountdownSecs, bool dryRun);
+  void startFsmOff();
+
+  void finishFsm(ReturnValue_t resultForActionHelper);
+
+  ReturnValue_t performAutonomousDepl(sd::SdCard sdCard, bool dryRun);
+  bool dryRunStringInFile(const char* filename);
+  bool autonomousDeplForFile(sd::SdCard sdCard, const char* filename, bool dryRun);
   /**
    * This countdown is used to check if the PCDU sets the 8V line on in the intended time.
    */
@@ -91,7 +173,10 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
   /**
    * This countdown is used to wait for the burn wire being successful cut.
    */
-  Countdown deploymentCountdown;
+  Countdown burnCountdown;
+
+  Countdown channelAlternationCd =
+      Countdown(config::SA_DEPL_CHANNEL_ALTERNATION_INTERVAL_SECS * 1000);
 
   /**
    * The message queue id of the component commanding an action will be stored in this variable.
@@ -101,36 +186,25 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
 
   /** Size of command queue */
   size_t cmdQueueSize = 20;
-
-  /** The object ID of the GPIO driver which switches the deployment transistors */
-  object_id_t gpioDriverId;
-
-  CookieIF* gpioCookie;
-
-  /** Object id of the object responsible to switch the 8V power input. Typically the PCDU. */
-  object_id_t mainLineSwitcherObjectId;
-
-  /** Switch number of the 8V power switch */
-  uint8_t mainLineSwitch;
-
+  GpioIF& gpioInterface;
   gpioId_t deplSA1;
   gpioId_t deplSA2;
 
-  GpioIF* gpioInterface = nullptr;
-
-  /** Time duration switches are active to cut the burn wire */
-  uint32_t burnTimeMs;
-
-  /** Queue to receive messages from other objects. */
-  MessageQueueIF* commandQueue = nullptr;
-
   /**
    * After initialization this pointer will hold the reference to the main line switcher object.
    */
-  PowerSwitchIF* mainLineSwitcher = nullptr;
+  PowerSwitchIF& mainLineSwitcher;
+
+  /** Switch number of the 8V power switch */
+  uint8_t mainLineSwitch;
+
+  SdCardMountedIF& sdcMan;
 
   ActionHelper actionHelper;
 
+  /** Queue to receive messages from other objects. */
+  MessageQueueIF* commandQueue = nullptr;
+
   void readCommandQueue();
 
   /**
@@ -142,18 +216,18 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
    * @brief   This function polls the 8V switch state and changes the state machine when the
    *          switch has been enabled.
    */
-  void performWaitOn8VActions();
+  bool checkMainPowerOn();
+  bool checkMainPowerOff();
+  bool checkMainPower(bool onOff);
 
-  /**
-   * @brief   This functions handles the switching of the solar array deployment transistors.
-   */
-  void switchDeploymentTransistors();
+  void allOff();
 
-  /**
-   * @brief   This function performs actions to finish the deployment. Essentially switches
-   *          are turned of after the burn time has expired.
-   */
-  void handleDeploymentFinish();
+  ReturnValue_t deploymentTransistorsOff();
+  ReturnValue_t saGpioAlternation();
+  ReturnValue_t sa1On();
+  ReturnValue_t sa1Off();
+  ReturnValue_t sa2On();
+  ReturnValue_t sa2Off();
 };
 
 #endif /* MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ */
diff --git a/mission/devices/devicedefinitions/GomspaceDefinitions.h b/mission/devices/devicedefinitions/GomspaceDefinitions.h
index 5d435375..d2ffdc25 100644
--- a/mission/devices/devicedefinitions/GomspaceDefinitions.h
+++ b/mission/devices/devicedefinitions/GomspaceDefinitions.h
@@ -102,19 +102,7 @@ namespace P60System {
 
 enum class BatteryModes : uint8_t { CRITICAL = 1, SAFE = 2, NORMAL = 3, FULL = 4 };
 
-enum class SetIds : uint32_t {
-  PDU_1_CORE = 1,
-  PDU_1_AUX = 2,
-  PDU_2_CORE = 3,
-  PDU_2_AUX = 4,
-  P60_CORE = 5,
-  P60_AUX = 6,
-  ACU_CORE = 7,
-  ACU_AUX = 8,
-
-  PDU_1_CONFIG = 9,
-  PDU_2_CONFIG = 10
-};
+enum class SetIds : uint32_t { CORE = 1, AUX = 2, CONFIG = 3 };
 
 }  // namespace P60System
 
@@ -217,10 +205,10 @@ static const uint8_t HK_TABLE_ENTRIES = 100;
 class CoreHkSet : public StaticLocalDataSet<16> {
  public:
   CoreHkSet(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::P60_CORE)) {}
+      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}
 
   CoreHkSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::P60_CORE))) {}
+      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::CORE))) {}
 
   /** Measured output currents */
   lp_vec_t<int16_t, P60Dock::hk::Index::CHNLS_LEN> currents =
@@ -254,10 +242,10 @@ class CoreHkSet : public StaticLocalDataSet<16> {
 class HkTableDataset : public StaticLocalDataSet<32> {
  public:
   HkTableDataset(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::P60_AUX)) {}
+      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}
 
   HkTableDataset(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::P60_AUX))) {}
+      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::AUX))) {}
 
   /** Number of detected latchups on each output channel */
   lp_vec_t<uint16_t, P60Dock::hk::Index::CHNLS_LEN> latchups =
@@ -545,25 +533,25 @@ static const uint16_t CONFIG_ADDRESS_OUT_EN_CHANNEL8 = 0x50;
 class Pdu1CoreHk : public ::PDU::PduCoreHk {
  public:
   Pdu1CoreHk(HasLocalDataPoolIF* owner)
-      : PduCoreHk(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_1_CORE)) {}
+      : PduCoreHk(owner, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}
 
   Pdu1CoreHk(object_id_t objectId)
-      : PduCoreHk(objectId, static_cast<uint32_t>(::P60System::SetIds::PDU_1_CORE)) {}
+      : PduCoreHk(objectId, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}
 };
 
 class Pdu1AuxHk : public ::PDU::PduAuxHk {
  public:
   Pdu1AuxHk(HasLocalDataPoolIF* owner)
-      : PduAuxHk(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_1_AUX)) {}
+      : PduAuxHk(owner, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}
 
   Pdu1AuxHk(object_id_t objectId)
-      : PduAuxHk(objectId, static_cast<uint32_t>(::P60System::SetIds::PDU_1_AUX)) {}
+      : PduAuxHk(objectId, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}
 };
 
 class Pdu1Config : public ::PDU::PduConfig {
  public:
   Pdu1Config(HasLocalDataPoolIF* owner)
-      : PduConfig(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_1_CONFIG)) {}
+      : PduConfig(owner, static_cast<uint32_t>(::P60System::SetIds::CONFIG)) {}
 };
 
 }  // namespace PDU1
@@ -600,25 +588,25 @@ static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA = 0x50;
 class Pdu2CoreHk : public ::PDU::PduCoreHk {
  public:
   Pdu2CoreHk(HasLocalDataPoolIF* owner)
-      : PduCoreHk(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_2_CORE)) {}
+      : PduCoreHk(owner, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}
 
   Pdu2CoreHk(object_id_t objectId)
-      : PduCoreHk(objectId, static_cast<uint32_t>(::P60System::SetIds::PDU_2_CORE)) {}
+      : PduCoreHk(objectId, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}
 };
 
 class Pdu2AuxHk : public ::PDU::PduAuxHk {
  public:
   Pdu2AuxHk(HasLocalDataPoolIF* owner)
-      : PduAuxHk(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_2_AUX)) {}
+      : PduAuxHk(owner, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}
 
   Pdu2AuxHk(object_id_t objectId)
-      : PduAuxHk(objectId, static_cast<uint32_t>(::P60System::SetIds::PDU_2_AUX)) {}
+      : PduAuxHk(objectId, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}
 };
 
 class Pdu2Config : public ::PDU::PduConfig {
  public:
   Pdu2Config(HasLocalDataPoolIF* owner)
-      : PduConfig(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_2_CONFIG)) {}
+      : PduConfig(owner, static_cast<uint32_t>(::P60System::SetIds::CONFIG)) {}
 };
 
 }  // namespace PDU2
@@ -661,10 +649,10 @@ static const size_t MAX_REPLY_SIZE = HK_TABLE_SIZE;
 class CoreHk : public StaticLocalDataSet<14> {
  public:
   CoreHk(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::ACU_CORE)) {}
+      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}
 
   CoreHk(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::ACU_CORE))) {}
+      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::CORE))) {}
 
   lp_var_t<uint8_t> mpptMode = lp_var_t<uint8_t>(sid.objectId, pool::ACU_MPPT_MODE, this);
 
@@ -694,10 +682,10 @@ class CoreHk : public StaticLocalDataSet<14> {
 class AuxHk : public StaticLocalDataSet<12> {
  public:
   AuxHk(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::ACU_AUX)) {}
+      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}
 
   AuxHk(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::ACU_AUX))) {}
+      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::AUX))) {}
 
   lp_vec_t<uint8_t, 3> dacEnables = lp_vec_t<uint8_t, 3>(sid.objectId, pool::ACU_DAC_ENABLES, this);
 
diff --git a/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h b/mission/devices/devicedefinitions/imtqHandlerDefinitions.h
similarity index 92%
rename from mission/devices/devicedefinitions/IMTQHandlerDefinitions.h
rename to mission/devices/devicedefinitions/imtqHandlerDefinitions.h
index 485be5da..b3598970 100644
--- a/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h
+++ b/mission/devices/devicedefinitions/imtqHandlerDefinitions.h
@@ -1,8 +1,11 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_
 
+#include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 
+class ImtqHandler;
+
 namespace IMTQ {
 
 static const DeviceCommandId_t NONE = 0x0;
@@ -27,15 +30,18 @@ static const uint8_t GET_TEMP_REPLY_SIZE = 2;
 static const uint8_t CFGR_CMD_SIZE = 3;
 static const uint8_t POINTER_REG_SIZE = 1;
 
-static const uint32_t ENG_HK_DATA_SET_ID = 1;
-static const uint32_t CAL_MTM_SET = 2;
-static const uint32_t RAW_MTM_SET = 3;
-static const uint32_t POS_X_TEST_DATASET = 4;
-static const uint32_t NEG_X_TEST_DATASET = 5;
-static const uint32_t POS_Y_TEST_DATASET = 6;
-static const uint32_t NEG_Y_TEST_DATASET = 7;
-static const uint32_t POS_Z_TEST_DATASET = 8;
-static const uint32_t NEG_Z_TEST_DATASET = 9;
+enum SetIds : uint32_t {
+  ENG_HK = 1,
+  CAL_MGM = 2,
+  RAW_MGM = 3,
+  POS_X_TEST = 4,
+  NEG_X_TEST = 5,
+  POS_Y_TEST = 6,
+  NEG_Y_TEST = 7,
+  POS_Z_TEST = 8,
+  NEG_Z_TEST = 9,
+  DIPOLES = 10
+};
 
 static const uint8_t SIZE_ENG_HK_COMMAND = 1;
 static const uint8_t SIZE_STATUS_REPLY = 2;
@@ -80,6 +86,7 @@ static const uint8_t GET_COMMANDED_DIPOLE = 0x46;
 static const uint8_t GET_RAW_MTM_MEASUREMENT = 0x42;
 static const uint8_t GET_CAL_MTM_MEASUREMENT = 0x43;
 static const uint8_t GET_SELF_TEST_RESULT = 0x47;
+static const uint8_t PAST_AVAILABLE_RESPONSE_BYTES = 0xff;
 };  // namespace CC
 
 namespace SELF_TEST_AXIS {
@@ -103,7 +110,7 @@ static const uint8_t Z_NEGATIVE = 0x6;
 static const uint8_t FINA = 0x7;
 }  // namespace SELF_TEST_STEPS
 
-enum IMTQPoolIds : lp_id_t {
+enum PoolIds : lp_id_t {
   DIGITAL_VOLTAGE_MV,
   ANALOG_VOLTAGE_MV,
   DIGITAL_CURRENT,
@@ -119,6 +126,10 @@ enum IMTQPoolIds : lp_id_t {
   ACTUATION_CAL_STATUS,
   MTM_RAW,
   ACTUATION_RAW_STATUS,
+  DIPOLES_X,
+  DIPOLES_Y,
+  DIPOLES_Z,
+  CURRENT_TORQUE_DURATION,
 
   INIT_POS_X_ERR,
   INIT_POS_X_RAW_MAG_X,
@@ -375,9 +386,9 @@ enum IMTQPoolIds : lp_id_t {
 
 class EngHkDataset : public StaticLocalDataSet<ENG_HK_SET_POOL_ENTRIES> {
  public:
-  EngHkDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, ENG_HK_DATA_SET_ID) {}
+  EngHkDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, IMTQ::SetIds::ENG_HK) {}
 
-  EngHkDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, ENG_HK_DATA_SET_ID)) {}
+  EngHkDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::ENG_HK)) {}
 
   lp_var_t<uint16_t> digitalVoltageMv = lp_var_t<uint16_t>(sid.objectId, DIGITAL_VOLTAGE_MV, this);
   lp_var_t<uint16_t> analogVoltageMv = lp_var_t<uint16_t>(sid.objectId, ANALOG_VOLTAGE_MV, this);
@@ -398,13 +409,14 @@ class EngHkDataset : public StaticLocalDataSet<ENG_HK_SET_POOL_ENTRIES> {
  */
 class CalibratedMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
  public:
-  CalibratedMtmMeasurementSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CAL_MTM_SET) {}
+  CalibratedMtmMeasurementSet(HasLocalDataPoolIF* owner)
+      : StaticLocalDataSet(owner, IMTQ::SetIds::CAL_MGM) {}
 
   CalibratedMtmMeasurementSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) {}
+      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::CAL_MGM)) {}
 
   /** The unit of all measurements is nT */
-  lp_vec_t<int32_t, 3> mgmXyz = lp_vec_t<int32_t, 3>(sid.objectId, MGM_CAL_NT);
+  lp_vec_t<int32_t, 3> mgmXyz = lp_vec_t<int32_t, 3>(sid.objectId, MGM_CAL_NT, this);
   /** 1 if coils were actuating during measurement otherwise 0 */
   lp_var_t<uint8_t> coilActuationStatus =
       lp_var_t<uint8_t>(sid.objectId, ACTUATION_CAL_STATUS, this);
@@ -415,9 +427,11 @@ class CalibratedMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRI
  */
 class RawMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
  public:
-  RawMtmMeasurementSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, RAW_MTM_SET) {}
+  RawMtmMeasurementSet(HasLocalDataPoolIF* owner)
+      : StaticLocalDataSet(owner, IMTQ::SetIds::RAW_MGM) {}
 
-  RawMtmMeasurementSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, RAW_MTM_SET)) {}
+  RawMtmMeasurementSet(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::RAW_MGM)) {}
 
   /** The unit of all measurements is nT */
   lp_vec_t<float, 3> mtmRawNt = lp_vec_t<float, 3>(sid.objectId, MTM_RAW, this);
@@ -437,6 +451,11 @@ class CommandDipolePacket : public SerialLinkedListAdapter<SerializeIF> {
  public:
   CommandDipolePacket() { setLinks(); }
 
+  SerializeElement<uint16_t> xDipole;
+  SerializeElement<uint16_t> yDipole;
+  SerializeElement<uint16_t> zDipole;
+  SerializeElement<uint16_t> duration;
+
  private:
   /**
    * @brief   Constructor
@@ -456,10 +475,46 @@ class CommandDipolePacket : public SerialLinkedListAdapter<SerializeIF> {
     yDipole.setNext(&zDipole);
     zDipole.setNext(&duration);
   }
-  SerializeElement<uint16_t> xDipole;
-  SerializeElement<uint16_t> yDipole;
-  SerializeElement<uint16_t> zDipole;
-  SerializeElement<uint16_t> duration;
+};
+
+class DipoleActuationSet : public StaticLocalDataSet<4> {
+  friend class ::ImtqHandler;
+
+ public:
+  DipoleActuationSet(HasLocalDataPoolIF& owner)
+      : StaticLocalDataSet(&owner, IMTQ::SetIds::DIPOLES) {}
+  DipoleActuationSet(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::DIPOLES)) {}
+
+  // Refresh torque command without changing any of the set dipoles.
+  void refreshTorqueing(uint16_t durationMs_) { currentTorqueDurationMs = durationMs_; }
+
+  void setDipoles(uint16_t xDipole_, uint16_t yDipole_, uint16_t zDipole_,
+                  uint16_t currentTorqueDurationMs_) {
+    if (xDipole.value != xDipole_) {
+    }
+    xDipole = xDipole_;
+    if (yDipole.value != yDipole_) {
+    }
+    yDipole = yDipole_;
+    if (zDipole.value != zDipole_) {
+    }
+    zDipole = zDipole_;
+    currentTorqueDurationMs = currentTorqueDurationMs_;
+  }
+
+  void getDipoles(uint16_t& xDipole_, uint16_t& yDipole_, uint16_t& zDipole_) {
+    xDipole_ = xDipole.value;
+    yDipole_ = yDipole.value;
+    zDipole_ = zDipole.value;
+  }
+
+ private:
+  lp_var_t<int16_t> xDipole = lp_var_t<int16_t>(sid.objectId, DIPOLES_X, this);
+  lp_var_t<int16_t> yDipole = lp_var_t<int16_t>(sid.objectId, DIPOLES_Y, this);
+  lp_var_t<int16_t> zDipole = lp_var_t<int16_t>(sid.objectId, DIPOLES_Z, this);
+  lp_var_t<uint16_t> currentTorqueDurationMs =
+      lp_var_t<uint16_t>(sid.objectId, CURRENT_TORQUE_DURATION, this);
 };
 
 /**
@@ -479,10 +534,10 @@ class CommandDipolePacket : public SerialLinkedListAdapter<SerializeIF> {
 class PosXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
  public:
   PosXSelfTestSet(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, IMTQ::POS_X_TEST_DATASET) {}
+      : StaticLocalDataSet(owner, IMTQ::SetIds::POS_X_TEST) {}
 
   PosXSelfTestSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, IMTQ::POS_X_TEST_DATASET)) {}
+      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::POS_X_TEST)) {}
 
   /** INIT block */
   lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_POS_X_ERR, this);
@@ -556,10 +611,10 @@ class PosXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
 class NegXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
  public:
   NegXSelfTestSet(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, IMTQ::NEG_X_TEST_DATASET) {}
+      : StaticLocalDataSet(owner, IMTQ::SetIds::NEG_X_TEST) {}
 
   NegXSelfTestSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, IMTQ::NEG_X_TEST_DATASET)) {}
+      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::NEG_X_TEST)) {}
 
   /** INIT block */
   lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_NEG_X_ERR, this);
@@ -633,10 +688,10 @@ class NegXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
 class PosYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
  public:
   PosYSelfTestSet(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, IMTQ::POS_Y_TEST_DATASET) {}
+      : StaticLocalDataSet(owner, IMTQ::SetIds::POS_Y_TEST) {}
 
   PosYSelfTestSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, IMTQ::POS_Y_TEST_DATASET)) {}
+      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::POS_Y_TEST)) {}
 
   /** INIT block */
   lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_POS_Y_ERR, this);
@@ -710,10 +765,10 @@ class PosYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
 class NegYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
  public:
   NegYSelfTestSet(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, IMTQ::NEG_Y_TEST_DATASET) {}
+      : StaticLocalDataSet(owner, IMTQ::SetIds::NEG_Y_TEST) {}
 
   NegYSelfTestSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, IMTQ::NEG_Y_TEST_DATASET)) {}
+      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::NEG_Y_TEST)) {}
 
   /** INIT block */
   lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_NEG_Y_ERR, this);
@@ -787,10 +842,10 @@ class NegYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
 class PosZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
  public:
   PosZSelfTestSet(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, IMTQ::POS_Z_TEST_DATASET) {}
+      : StaticLocalDataSet(owner, IMTQ::SetIds::POS_Z_TEST) {}
 
   PosZSelfTestSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, IMTQ::POS_Z_TEST_DATASET)) {}
+      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::POS_Z_TEST)) {}
 
   /** INIT block */
   lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_POS_Z_ERR, this);
@@ -864,10 +919,10 @@ class PosZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
 class NegZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
  public:
   NegZSelfTestSet(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, IMTQ::NEG_Z_TEST_DATASET) {}
+      : StaticLocalDataSet(owner, IMTQ::SetIds::NEG_Z_TEST) {}
 
   NegZSelfTestSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, IMTQ::NEG_Z_TEST_DATASET)) {}
+      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::NEG_Z_TEST)) {}
 
   /** INIT block */
   lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_NEG_Z_ERR, this);
diff --git a/mission/devices/torquer.cpp b/mission/devices/torquer.cpp
new file mode 100644
index 00000000..27a32bef
--- /dev/null
+++ b/mission/devices/torquer.cpp
@@ -0,0 +1,27 @@
+#include "torquer.h"
+
+#include <fsfw/ipc/MutexGuard.h>
+
+MutexIF* TORQUE_LOCK = nullptr;
+
+namespace torquer {
+
+bool TORQUEING = false;
+bool NEW_ACTUATION_FLAG = false;
+Countdown TORQUE_COUNTDOWN = Countdown();
+
+bool mgtIsTorqueing(dur_millis_t* remainingTorqueDuration) {
+  if (TORQUEING and remainingTorqueDuration != nullptr) {
+    *remainingTorqueDuration = TORQUE_COUNTDOWN.getRemainingMillis() + TORQUE_BUFFER_TIME_MS;
+  }
+  return TORQUEING;
+}
+
+MutexIF* lazyLock() {
+  if (TORQUE_LOCK == nullptr) {
+    TORQUE_LOCK = MutexFactory::instance()->createMutex();
+  }
+  return TORQUE_LOCK;
+}
+
+}  // namespace torquer
diff --git a/mission/devices/torquer.h b/mission/devices/torquer.h
new file mode 100644
index 00000000..10a27991
--- /dev/null
+++ b/mission/devices/torquer.h
@@ -0,0 +1,22 @@
+#ifndef MISSION_DEVICES_TOQUER_H_
+#define MISSION_DEVICES_TOQUER_H_
+
+#include <fsfw/ipc/MutexIF.h>
+#include <fsfw/timemanager/Countdown.h>
+
+namespace torquer {
+
+// Additional buffer time to accont for time until I2C command arrives and ramp up / ramp down
+// time of the MGT
+static constexpr dur_millis_t TORQUE_BUFFER_TIME_MS = 20;
+
+MutexIF* lazyLock();
+extern bool TORQUEING;
+extern bool NEW_ACTUATION_FLAG;
+extern Countdown TORQUE_COUNTDOWN;
+
+bool mgtIsTorqueing(dur_millis_t* remainingTorqueDuration);
+
+}  // namespace torquer
+
+#endif /* MISSION_DEVICES_TOQUER_H_ */
diff --git a/mission/memory/SdCardMountedIF.h b/mission/memory/SdCardMountedIF.h
index d88bb57a..ac705e8d 100644
--- a/mission/memory/SdCardMountedIF.h
+++ b/mission/memory/SdCardMountedIF.h
@@ -10,7 +10,7 @@ class SdCardMountedIF {
  public:
   virtual ~SdCardMountedIF(){};
   virtual const std::string& getCurrentMountPrefix() const = 0;
-  virtual bool isSdCardUsable(sd::SdCard sdCard) = 0;
+  virtual bool isSdCardUsable(std::optional<sd::SdCard> sdCard) = 0;
   virtual std::optional<sd::SdCard> getPreferredSdCard() const = 0;
   virtual void setActiveSdCard(sd::SdCard sdCard) = 0;
   virtual std::optional<sd::SdCard> getActiveSdCard() const = 0;
diff --git a/mission/tmtc/CCSDSHandler.cpp b/mission/tmtc/CCSDSHandler.cpp
index b3b03d40..26abec25 100644
--- a/mission/tmtc/CCSDSHandler.cpp
+++ b/mission/tmtc/CCSDSHandler.cpp
@@ -180,9 +180,9 @@ void CCSDSHandler::addVirtualChannel(VcId_t vcId, VirtualChannel* virtualChannel
   }
 }
 
-MessageQueueId_t CCSDSHandler::getReportReceptionQueue(uint8_t virtualChannel) {
+MessageQueueId_t CCSDSHandler::getReportReceptionQueue(uint8_t virtualChannel) const {
   if (virtualChannel < common::NUMBER_OF_VIRTUAL_CHANNELS) {
-    VirtualChannelMapIter iter = virtualChannelMap.find(virtualChannel);
+    auto iter = virtualChannelMap.find(virtualChannel);
     if (iter != virtualChannelMap.end()) {
       return iter->second->getReportReceptionQueue();
     } else {
diff --git a/mission/tmtc/CCSDSHandler.h b/mission/tmtc/CCSDSHandler.h
index 035f9e31..d76dbdaf 100644
--- a/mission/tmtc/CCSDSHandler.h
+++ b/mission/tmtc/CCSDSHandler.h
@@ -67,7 +67,7 @@ class CCSDSHandler : public SystemObject,
    */
   void addVirtualChannel(VcId_t virtualChannelId, VirtualChannel* virtualChannel);
 
-  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0);
+  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) const override;
   ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
                              ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
                              uint16_t startAtIndex);
diff --git a/mission/tmtc/CMakeLists.txt b/mission/tmtc/CMakeLists.txt
index 0a931d0f..f34f9ccc 100644
--- a/mission/tmtc/CMakeLists.txt
+++ b/mission/tmtc/CMakeLists.txt
@@ -1,2 +1,3 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE CCSDSHandler.cpp VirtualChannel.cpp
-                                           TmFunnel.cpp)
+target_sources(
+  ${LIB_EIVE_MISSION} PRIVATE CCSDSHandler.cpp VirtualChannel.cpp TmFunnel.cpp
+                              CfdpTmFunnel.cpp PusTmFunnel.cpp)
diff --git a/mission/tmtc/CfdpTmFunnel.cpp b/mission/tmtc/CfdpTmFunnel.cpp
new file mode 100644
index 00000000..7969961b
--- /dev/null
+++ b/mission/tmtc/CfdpTmFunnel.cpp
@@ -0,0 +1,85 @@
+#include "CfdpTmFunnel.h"
+
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/tmtcpacket/ccsds/SpacePacketCreator.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+CfdpTmFunnel::CfdpTmFunnel(object_id_t objectId, uint16_t cfdpInCcsdsApid,
+                           const AcceptsTelemetryIF& downlinkDestination, StorageManagerIF& tmStore,
+                           uint8_t vc)
+    : SystemObject(objectId), cfdpInCcsdsApid(cfdpInCcsdsApid), tmStore(tmStore) {
+  msgQueue = QueueFactory::instance()->createMessageQueue(5);
+  msgQueue->setDefaultDestination(downlinkDestination.getReportReceptionQueue(vc));
+}
+
+const char* CfdpTmFunnel::getName() const { return "CFDP TM Funnel"; }
+
+MessageQueueId_t CfdpTmFunnel::getReportReceptionQueue(uint8_t virtualChannel) const {
+  return msgQueue->getId();
+}
+
+ReturnValue_t CfdpTmFunnel::performOperation(uint8_t) {
+  TmTcMessage currentMessage;
+  ReturnValue_t status = msgQueue->receiveMessage(&currentMessage);
+  while (status == returnvalue::OK) {
+    status = handlePacket(currentMessage);
+    if (status != returnvalue::OK) {
+      sif::warning << "CfdpTmFunnel packet handling failed" << std::endl;
+      break;
+    }
+    status = msgQueue->receiveMessage(&currentMessage);
+  }
+
+  if (status == MessageQueueIF::EMPTY) {
+    return returnvalue::OK;
+  }
+  return status;
+}
+
+ReturnValue_t CfdpTmFunnel::initialize() { return returnvalue::OK; }
+
+ReturnValue_t CfdpTmFunnel::handlePacket(TmTcMessage& msg) {
+  const uint8_t* cfdpPacket = nullptr;
+  size_t cfdpPacketLen = 0;
+  ReturnValue_t result = tmStore.getData(msg.getStorageId(), &cfdpPacket, &cfdpPacketLen);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  auto spacePacketHeader =
+      SpacePacketCreator(ccsds::PacketType::TM, false, cfdpInCcsdsApid,
+                         ccsds::SequenceFlags::UNSEGMENTED, sourceSequenceCount++, 0);
+  sourceSequenceCount = sourceSequenceCount & ccsds::LIMIT_SEQUENCE_COUNT;
+  spacePacketHeader.setCcsdsLenFromTotalDataFieldLen(cfdpPacketLen);
+  uint8_t* newPacketData = nullptr;
+  store_address_t newStoreId{};
+  result =
+      tmStore.getFreeElement(&newStoreId, spacePacketHeader.getFullPacketLen(), &newPacketData);
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "CfdpTmFunnel::handlePacket: Error getting TM store element of size "
+                 << spacePacketHeader.getFullPacketLen() << std::endl;
+#endif
+    return result;
+  }
+  size_t serSize = 0;
+  result =
+      spacePacketHeader.serializeBe(&newPacketData, &serSize, spacePacketHeader.getFullPacketLen());
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "CfdpTmFunnel::handlePacket: Error serializing packet" << std::endl;
+#endif
+    return result;
+  }
+  std::memcpy(newPacketData, cfdpPacket, cfdpPacketLen);
+  // Delete old packet
+  tmStore.deleteData(msg.getStorageId());
+  msg.setStorageId(newStoreId);
+  result = msgQueue->sendToDefault(&msg);
+  if (result != returnvalue::OK) {
+    tmStore.deleteData(msg.getStorageId());
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "CfdpTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
+#endif
+  }
+  return result;
+}
diff --git a/mission/tmtc/CfdpTmFunnel.h b/mission/tmtc/CfdpTmFunnel.h
new file mode 100644
index 00000000..fe2d664d
--- /dev/null
+++ b/mission/tmtc/CfdpTmFunnel.h
@@ -0,0 +1,28 @@
+#ifndef FSFW_EXAMPLE_COMMON_CFDPTMFUNNEL_H
+#define FSFW_EXAMPLE_COMMON_CFDPTMFUNNEL_H
+
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/storagemanager/StorageManagerIF.h"
+#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+class CfdpTmFunnel : public AcceptsTelemetryIF, public SystemObject {
+ public:
+  CfdpTmFunnel(object_id_t objectId, uint16_t cfdpInCcsdsApid,
+               const AcceptsTelemetryIF& downlinkDestination, StorageManagerIF& tmStore,
+               uint8_t vc);
+  [[nodiscard]] const char* getName() const override;
+  [[nodiscard]] MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override;
+
+  ReturnValue_t performOperation(uint8_t opCode);
+  ReturnValue_t initialize() override;
+
+ private:
+  ReturnValue_t handlePacket(TmTcMessage& msg);
+
+  uint16_t sourceSequenceCount = 0;
+  uint16_t cfdpInCcsdsApid;
+  MessageQueueIF* msgQueue;
+  StorageManagerIF& tmStore;
+};
+#endif  // FSFW_EXAMPLE_COMMON_CFDPTMFUNNEL_H
diff --git a/mission/tmtc/PusTmFunnel.cpp b/mission/tmtc/PusTmFunnel.cpp
new file mode 100644
index 00000000..f4072f0f
--- /dev/null
+++ b/mission/tmtc/PusTmFunnel.cpp
@@ -0,0 +1,69 @@
+#include "PusTmFunnel.h"
+
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/objectmanager.h"
+#include "fsfw/tmtcpacket/pus/tm/PusTmZcWriter.h"
+
+PusTmFunnel::PusTmFunnel(object_id_t objectId, const AcceptsTelemetryIF &downlinkDestination,
+                         TimeReaderIF &timeReader, StorageManagerIF &tmStore, uint8_t vcId,
+                         uint32_t messageDepth)
+    : SystemObject(objectId), timeReader(timeReader), tmStore(tmStore) {
+  tmQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
+                                                         MessageQueueMessage::MAX_MESSAGE_SIZE);
+  tmQueue->setDefaultDestination(downlinkDestination.getReportReceptionQueue(vcId));
+}
+
+PusTmFunnel::~PusTmFunnel() = default;
+
+MessageQueueId_t PusTmFunnel::getReportReceptionQueue(uint8_t virtualChannel) const {
+  return tmQueue->getId();
+}
+
+ReturnValue_t PusTmFunnel::performOperation(uint8_t) {
+  TmTcMessage currentMessage;
+  ReturnValue_t status = tmQueue->receiveMessage(&currentMessage);
+  while (status == returnvalue::OK) {
+    status = handlePacket(currentMessage);
+    if (status != returnvalue::OK) {
+      sif::warning << "TmFunnel packet handling failed" << std::endl;
+      break;
+    }
+    status = tmQueue->receiveMessage(&currentMessage);
+  }
+
+  if (status == MessageQueueIF::EMPTY) {
+    return returnvalue::OK;
+  }
+  return status;
+}
+
+ReturnValue_t PusTmFunnel::handlePacket(TmTcMessage &message) {
+  uint8_t *packetData = nullptr;
+  size_t size = 0;
+  ReturnValue_t result = tmStore.modifyData(message.getStorageId(), &packetData, &size);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  PusTmZeroCopyWriter packet(timeReader, packetData, size);
+  result = packet.parseDataWithoutCrcCheck();
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "PusTmFunnel::handlePacket: Error parsing received PUS packet" << std::endl;
+#endif
+    return result;
+  }
+  packet.setSequenceCount(sourceSequenceCount++);
+  sourceSequenceCount = sourceSequenceCount % ccsds::LIMIT_SEQUENCE_COUNT;
+  packet.updateErrorControl();
+
+  result = tmQueue->sendToDefault(&message);
+  if (result != returnvalue::OK) {
+    tmStore.deleteData(message.getStorageId());
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
+#endif
+  }
+  return result;
+}
+
+const char *PusTmFunnel::getName() const { return "PUS TM Funnel"; }
diff --git a/mission/tmtc/PusTmFunnel.h b/mission/tmtc/PusTmFunnel.h
new file mode 100644
index 00000000..ae0390b3
--- /dev/null
+++ b/mission/tmtc/PusTmFunnel.h
@@ -0,0 +1,42 @@
+#ifndef FSFW_EXAMPLE_COMMON_PUSTMFUNNEL_H
+#define FSFW_EXAMPLE_COMMON_PUSTMFUNNEL_H
+
+#include <fsfw/ipc/MessageQueueIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
+#include <fsfw/tmtcservices/TmTcMessage.h>
+
+#include "fsfw/timemanager/TimeReaderIF.h"
+
+/**
+ * @brief       TM Recipient.
+ * @details
+ * TODO: Add support for TM storage by using the (or a) LIVE flag provided by the CCSDS or Syrlinks
+ *       handler. If we are in LIVE TM mode, forward TM to downlink destination directly. Otherwise,
+ *       forward to TM storage backend which stores TMs into files.
+ * Main telemetry receiver. All generated telemetry is funneled into
+ * this object.
+ * @ingroup     utility
+ * @author      J. Meier, R. Mueller
+ */
+class PusTmFunnel : public AcceptsTelemetryIF, public SystemObject {
+ public:
+  explicit PusTmFunnel(object_id_t objectId, const AcceptsTelemetryIF &downlinkDestination,
+                       TimeReaderIF &timeReader, StorageManagerIF &tmStore, uint8_t vdId,
+                       uint32_t messageDepth = 20);
+  [[nodiscard]] const char *getName() const override;
+  ~PusTmFunnel() override;
+
+  [[nodiscard]] MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override;
+  ReturnValue_t performOperation(uint8_t operationCode);
+
+ private:
+  uint16_t sourceSequenceCount = 0;
+  TimeReaderIF &timeReader;
+  StorageManagerIF &tmStore;
+  MessageQueueIF *tmQueue = nullptr;
+  ReturnValue_t handlePacket(TmTcMessage &message);
+};
+
+#endif  // FSFW_EXAMPLE_COMMON_PUSTMFUNNEL_H
diff --git a/mission/tmtc/TmFunnel.cpp b/mission/tmtc/TmFunnel.cpp
index 49e9ba6e..01bf0437 100644
--- a/mission/tmtc/TmFunnel.cpp
+++ b/mission/tmtc/TmFunnel.cpp
@@ -1,125 +1,16 @@
+#include "TmFunnel.h"
+
 #include <fsfw/ipc/QueueFactory.h>
-#include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
-#include <fsfw/timemanager/CdsShortTimeStamper.h>
-#include <fsfw/tmtcpacket/pus/tm.h>
-#include <mission/tmtc/TmFunnel.h>
 
-#include "OBSWConfig.h"
+TmFunnel::TmFunnel(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel)
+    : SystemObject(objectId), pusFunnel(pusFunnel), cfdpFunnel(cfdpFunnel) {}
 
-object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT;
-object_id_t TmFunnel::storageDestination = objects::NO_OBJECT;
-
-TmFunnel::TmFunnel(object_id_t objectId, CdsShortTimeStamper& timeReader, uint32_t messageDepth,
-                   uint8_t reportReceptionVc)
-    : SystemObject(objectId),
-      timeReader(timeReader),
-      messageDepth(messageDepth),
-      reportReceptionVc(reportReceptionVc) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  tmQueue = QueueFactory::instance()->createMessageQueue(
-      messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
-  storageQueue = QueueFactory::instance()->createMessageQueue(
-      messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
-}
-
-TmFunnel::~TmFunnel() {}
-
-MessageQueueId_t TmFunnel::getReportReceptionQueue(uint8_t virtualChannel) {
-  return tmQueue->getId();
-}
+TmFunnel::~TmFunnel() = default;
 
 ReturnValue_t TmFunnel::performOperation(uint8_t operationCode) {
-  TmTcMessage currentMessage;
-  ReturnValue_t status = tmQueue->receiveMessage(&currentMessage);
-  while (status == returnvalue::OK) {
-    status = handlePacket(&currentMessage);
-    if (status != returnvalue::OK) {
-      break;
-    }
-    status = tmQueue->receiveMessage(&currentMessage);
-  }
-
-  if (status == MessageQueueIF::EMPTY) {
-    return returnvalue::OK;
-  } else {
-    return status;
-  }
+  pusFunnel.performOperation(operationCode);
+  cfdpFunnel.performOperation(operationCode);
+  return returnvalue::OK;
 }
 
-ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) {
-  uint8_t* packetData = nullptr;
-  size_t size = 0;
-  ReturnValue_t result = tmStore->modifyData(message->getStorageId(), &packetData, &size);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  PusTmZeroCopyWriter packet(timeReader, packetData, size);
-  result = packet.parseDataWithoutCrcCheck();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  packet.setSequenceCount(sourceSequenceCount++);
-  sourceSequenceCount = sourceSequenceCount % ccsds::LIMIT_SEQUENCE_COUNT;
-  packet.updateErrorControl();
-
-  result = tmQueue->sendToDefault(message);
-  if (result != returnvalue::OK) {
-    tmStore->deleteData(message->getStorageId());
-    sif::error << "TmFunnel::handlePacket: Error sending to downlink "
-                  "handler"
-               << std::endl;
-    return result;
-  }
-
-  if (storageDestination != objects::NO_OBJECT) {
-    result = storageQueue->sendToDefault(message);
-    if (result != returnvalue::OK) {
-      tmStore->deleteData(message->getStorageId());
-      sif::error << "TmFunnel::handlePacket: Error sending to storage "
-                    "handler"
-                 << std::endl;
-      return result;
-    }
-  }
-  return result;
-}
-
-ReturnValue_t TmFunnel::initialize() {
-  tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
-  if (tmStore == nullptr) {
-    sif::error << "TmFunnel::initialize: TM store not set." << std::endl;
-    sif::error << "Make sure the tm store is set up properly"
-                  " and implements StorageManagerIF"
-               << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  AcceptsTelemetryIF* tmTarget =
-      ObjectManager::instance()->get<AcceptsTelemetryIF>(downlinkDestination);
-  if (tmTarget == nullptr) {
-    sif::error << "TmFunnel::initialize: Downlink Destination not set." << std::endl;
-    sif::error << "Make sure the downlink destination object is set up "
-                  "properly and implements AcceptsTelemetryIF"
-               << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  tmQueue->setDefaultDestination(tmTarget->getReportReceptionQueue(reportReceptionVc));
-
-  // Storage destination is optional.
-  if (storageDestination == objects::NO_OBJECT) {
-    return SystemObject::initialize();
-  }
-
-  AcceptsTelemetryIF* storageTarget =
-      ObjectManager::instance()->get<AcceptsTelemetryIF>(storageDestination);
-  if (storageTarget != nullptr) {
-    storageQueue->setDefaultDestination(storageTarget->getReportReceptionQueue(0));
-  }
-
-  return SystemObject::initialize();
-}
-
-const char* TmFunnel::getName() const { return "TM Funnel"; }
+ReturnValue_t TmFunnel::initialize() { return returnvalue::OK; }
diff --git a/mission/tmtc/TmFunnel.h b/mission/tmtc/TmFunnel.h
index 325f3709..5441db2b 100644
--- a/mission/tmtc/TmFunnel.h
+++ b/mission/tmtc/TmFunnel.h
@@ -4,13 +4,12 @@
 #include <fsfw/ipc/MessageQueueIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
-#include <fsfw/timemanager/CdsShortTimeStamper.h>
 #include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
 #include <fsfw/tmtcservices/TmTcMessage.h>
 
-namespace Factory {
-void setStaticFrameworkObjectIds();
-}
+#include "CfdpTmFunnel.h"
+#include "PusTmFunnel.h"
+#include "fsfw/timemanager/TimeReaderIF.h"
 
 /**
  * @brief       TM Recipient.
@@ -18,36 +17,19 @@ void setStaticFrameworkObjectIds();
  * Main telemetry receiver. All generated telemetry is funneled into
  * this object.
  * @ingroup     utility
- * @author      J. Meier
+ * @author      J. Meier, R. Mueller
  */
-class TmFunnel : public AcceptsTelemetryIF, public ExecutableObjectIF, public SystemObject {
-  friend void(Factory::setStaticFrameworkObjectIds)();
-
+class TmFunnel : public ExecutableObjectIF, public SystemObject {
  public:
-  TmFunnel(object_id_t objectId, CdsShortTimeStamper& timeReader, uint32_t messageDepth = 20,
-           uint8_t reportReceptionVc = 0);
-  virtual ~TmFunnel();
+  TmFunnel(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel);
+  ~TmFunnel() override;
 
-  const char* getName() const override;
-  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
-  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t performOperation(uint8_t operationCode) override;
   ReturnValue_t initialize() override;
 
- protected:
-  static object_id_t downlinkDestination;
-  static object_id_t storageDestination;
-
  private:
-  CdsShortTimeStamper& timeReader;
-  uint32_t messageDepth = 0;
-  uint8_t reportReceptionVc = 0;
-  uint16_t sourceSequenceCount = 0;
-  MessageQueueIF* tmQueue = nullptr;
-  MessageQueueIF* storageQueue = nullptr;
-
-  StorageManagerIF* tmStore = nullptr;
-
-  ReturnValue_t handlePacket(TmTcMessage* message);
+  PusTmFunnel& pusFunnel;
+  CfdpTmFunnel& cfdpFunnel;
 };
 
 #endif /* MISSION_UTILITY_TMFUNNEL_H_ */
diff --git a/mission/tmtc/VirtualChannel.cpp b/mission/tmtc/VirtualChannel.cpp
index 6ba404e4..96a37b3b 100644
--- a/mission/tmtc/VirtualChannel.cpp
+++ b/mission/tmtc/VirtualChannel.cpp
@@ -53,7 +53,7 @@ ReturnValue_t VirtualChannel::performOperation() {
   return result;
 }
 
-MessageQueueId_t VirtualChannel::getReportReceptionQueue(uint8_t virtualChannel) {
+MessageQueueId_t VirtualChannel::getReportReceptionQueue(uint8_t virtualChannel) const {
   return tmQueue->getId();
 }
 
diff --git a/mission/tmtc/VirtualChannel.h b/mission/tmtc/VirtualChannel.h
index b6ba8241..024ccee6 100644
--- a/mission/tmtc/VirtualChannel.h
+++ b/mission/tmtc/VirtualChannel.h
@@ -27,7 +27,7 @@ class VirtualChannel : public AcceptsTelemetryIF {
   VirtualChannel(uint8_t vcId, uint32_t tmQueueDepth, object_id_t ownerId);
 
   ReturnValue_t initialize();
-  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
+  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) const override;
   ReturnValue_t performOperation();
 
   /**
diff --git a/q7s-env-em.sh b/q7s-env-em.sh
index e8be1467..86737627 100755
--- a/q7s-env-em.sh
+++ b/q7s-env-em.sh
@@ -19,5 +19,5 @@ if [[ -d "eive-obsw" ]]; then
 	export PATH=$PATH:"$(pwd)/eive-obsw/scripts"
 	cd "eive-obsw"
 fi
-export CONSOLE_PREFIX="[Q7S ENV]"
+export CONSOLE_PREFIX="[Q7S ENV EM]"
 /bin/bash
diff --git a/scripts/install-obsw-yocto.sh b/scripts/install-obsw-yocto.sh
index c7880d2f..a7e3f20a 100755
--- a/scripts/install-obsw-yocto.sh
+++ b/scripts/install-obsw-yocto.sh
@@ -2,13 +2,10 @@
 # This is a helper script to install the compiles EIVE OBSW files
 # into the yocto repository to re-generate the mission root filesystem
 build_dir=cmake-build-release-q7s
-em_install="0"
-if [ ! -z ${1} ]; then
-  if [[ "${1}" == "em" ]]; then
-    echo "-I- Installing EM binaries"
-    em_install="1"
-    build_dir=cmake-build-release-q7s-em
-  fi
+if [ ! -z ${1} && "${1}" == "em" ] || [[ ${EIVE_Q7S_EM} == "1" ]]; then
+  echo "-I- Installing EM binaries"
+  em_install="1"
+  build_dir=cmake-build-release-q7s-em
 fi
 
 init_dir=$(pwd)
@@ -84,17 +81,17 @@ else
   echo "-I- Installed EIVE OBSW into yocto repository successfully"
 fi
 
-if [ ! -f ${build_dir}/${watchdog_bin_name} ]; then
-  echo "-W- No EIVE Watchdog found to intall to yocto"
-else
-  cp_cmd="cp $(pwd)/${build_dir}/${watchdog_bin_name} ${yocto_root}/${yocto_watchdog_path}/${watchdog_target_name}"
-  echo "-I- Executing: ${cp_cmd}"
-  eval ${cp_cmd}
-  cp_ver_cmd="cp $(pwd)/${obsw_version_filename} ${yocto_root}/${yocto_watchdog_path}"
-  echo "-I- Executing: ${cp_ver_cmd}"
-  eval ${cp_ver_cmd}
-  echo "-I- Installed EIVE watchdog into yocto repository successfully"
-fi
+#if [ ! -f ${build_dir}/${watchdog_bin_name} ]; then
+#  echo "-W- No EIVE Watchdog found to intall to yocto"
+#else
+#  cp_cmd="cp $(pwd)/${build_dir}/${watchdog_bin_name} ${yocto_root}/${yocto_watchdog_path}/${watchdog_target_name}"
+#  echo "-I- Executing: ${cp_cmd}"
+#  eval ${cp_cmd}
+#  cp_ver_cmd="cp $(pwd)/${obsw_version_filename} ${yocto_root}/${yocto_watchdog_path}"
+#  echo "-I- Executing: ${cp_ver_cmd}"
+#  eval ${cp_ver_cmd}
+#  echo "-I- Installed EIVE watchdog into yocto repository successfully"
+#fi
 
 if [ -f $(pwd)/${obsw_version_filename} ]; then
   rm $(pwd)/${obsw_version_filename}
diff --git a/tmtc b/tmtc
index 4c3f5f28..4420bf3d 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 4c3f5f28256be0dbfc5b46ea87f8f484c93a9996
+Subproject commit 4420bf3df94f26b3270dd91ac0ef80cb3f8699df