diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp
index 4be4fce5..fc9a199f 100644
--- a/bsp_q7s/ObjectFactory.cpp
+++ b/bsp_q7s/ObjectFactory.cpp
@@ -42,14 +42,14 @@
 #include <fsfw/tmtcservices/PusServiceBase.h>
 #include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
 #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
-#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
+#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
+#include <fsfw/osal/common/UdpTcPollingTask.h>
 
 #include <fsfw/datapoollocal/LocalDataPoolManager.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
 #include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
 #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
-#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
 
 #if TEST_LIBGPIOD == 1
 #include <linux/boardtest/LibgpiodTest.h>
@@ -328,10 +328,9 @@ void ObjectFactory::produce(){
 
 #endif
 
-    new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
-            objects::CCSDS_PACKET_DISTRIBUTOR,
-            objects::TM_STORE, objects::TC_STORE);
-    new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
+    new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR, objects::TM_STORE,
+            objects::TC_STORE);
+    new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
 
 #if TE0720 == 1 && TEST_LIBGPIOD == 1
     /* Configure MIO0 as input */
diff --git a/fsfw b/fsfw
index 18a9729c..52b549b9 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 18a9729c75875f8bee674f03dd93a5eeeb657a66
+Subproject commit 52b549b97c36350a0c43b9fb3563802e670440da
diff --git a/fsfw_hal b/fsfw_hal
index 7a3190e5..14fe3257 160000
--- a/fsfw_hal
+++ b/fsfw_hal
@@ -1 +1 @@
-Subproject commit 7a3190e5b6980ad2addc5e8a76d21994b542f0e0
+Subproject commit 14fe32572d62db9d19707dc1f9bb6fecb1993b73
diff --git a/fsfwconfig/FSFWConfig.h b/fsfwconfig/FSFWConfig.h
index e3def8fe..1d82a733 100644
--- a/fsfwconfig/FSFWConfig.h
+++ b/fsfwconfig/FSFWConfig.h
@@ -43,6 +43,8 @@
 //! Specify whether a special mode store is used for Subsystem components.
 #define FSFW_USE_MODESTORE          0
 
+#define FSFW_USE_REALTIME_FOR_LINUX 1
+
 namespace fsfwconfig {
 //! Default timestamp size. The default timestamp will be an eight byte CDC
 //! short timestamp.