diff --git a/mission/controller/ThermalController.cpp b/mission/controller/ThermalController.cpp
index fc6a6088..b2845c69 100644
--- a/mission/controller/ThermalController.cpp
+++ b/mission/controller/ThermalController.cpp
@@ -105,8 +105,7 @@ void ThermalController::performControlOperation() {
   }
 
   // TODO: Heater control
-  // TODO: Hysterese offset
-  ctrl4KCameraHeater();
+  ctrl4KCamera();
 
 }
 
@@ -955,29 +954,36 @@ void ThermalController::copyDevices() {
   }
 }
 
-void ThermalController::ctrl4KCameraHeater(){
-  // 4K Camera - Heater
+void ThermalController::ctrl4KCamera() {
+  // 4K Camera
+  float cameraTemp;
+  bool cameraTempAvailable = true;
+
   if (sensorTemperatures.sensor_4k_camera.isValid()) {
-    if (not heaterHandler.checkSwitchState(heater::HEATER_4_CAMERA)) {
-      if (sensorTemperatures.sensor_4k_camera.value < cameraLimits.opLowerLimit) {
-        heaterHandler.switchHeater(heater::HEATER_4_CAMERA, HeaterHandler::SwitchState::ON);
-        heater4Countdown.resetTimer();
-      }
-    } else if (heaterHandler.checkSwitchState(heater::HEATER_4_CAMERA)) {
-      if (sensorTemperatures.sensor_4k_camera.value >= cameraLimits.opLowerLimit + TEMP_OFFSET) {
-        heaterHandler.switchHeater(heater::HEATER_4_CAMERA, HeaterHandler::SwitchState::OFF);
-      }
-    } else {
-      if (heater4Countdown.hasTimedOut()) {
-        // Sensor or heater failure
-        heaterHandler.switchHeater(heater::HEATER_4_CAMERA, HeaterHandler::SwitchState::OFF);
-        triggerEvent(HEATER_MAX_BURNTIME_REACHED, heater::HEATER_4_CAMERA);
-      };
-    }
+    cameraTemp = sensorTemperatures.sensor_4k_camera.value;
+  } else if (sensorTemperatures.sensor_dro.isValid()) {
+    cameraTemp = sensorTemperatures.sensor_dro.value;
+  } else if (sensorTemperatures.sensor_mpa.isValid()) {
+    cameraTemp = sensorTemperatures.sensor_mpa.value;
   } else {
     if (heaterHandler.checkSwitchState(heater::HEATER_4_CAMERA)) {
       heaterHandler.switchHeater(heater::HEATER_4_CAMERA, HeaterHandler::SwitchState::OFF);
     }
-    triggerEvent(INVALID_SENSOR_TEMPERATURE, heater::HEATER_4_CAMERA);
+    triggerEvent(NO_VALID_SENSOR_TEMPERATURE, heater::HEATER_4_CAMERA);
+    cameraTempAvailable = false;
   }
-}
+
+  // TODO: include redundant heater
+  if (cameraTempAvailable) {
+    if (not heaterHandler.checkSwitchState(heater::HEATER_4_CAMERA)) {
+      // TODO: check if op or nop
+      if (cameraTemp < cameraLimits.opLowerLimit) {
+        heaterHandler.switchHeater(heater::HEATER_4_CAMERA, HeaterHandler::SwitchState::ON);
+      } else if (heaterHandler.checkSwitchState(heater::HEATER_4_CAMERA)) {
+        if (cameraTemp >= cameraLimits.opLowerLimit + TEMP_OFFSET) {
+          heaterHandler.switchHeater(heater::HEATER_4_CAMERA, HeaterHandler::SwitchState::OFF);
+        }
+      }
+    }
+  }
+}
\ No newline at end of file
diff --git a/mission/controller/ThermalController.h b/mission/controller/ThermalController.h
index 2df2097f..dd60524b 100644
--- a/mission/controller/ThermalController.h
+++ b/mission/controller/ThermalController.h
@@ -54,14 +54,12 @@ class ThermalController : public ExtendedControllerBase {
 
  private:
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER_HANDLER;
-  static constexpr Event HEATER_MAX_BURNTIME_REACHED = MAKE_EVENT(0, severity::LOW);
-  static constexpr Event INVALID_SENSOR_TEMPERATURE = MAKE_EVENT(1, severity::LOW);
+  static constexpr Event NO_VALID_SENSOR_TEMPERATURE = MAKE_EVENT(0, severity::LOW);
 
   static const uint32_t DELAY = 500;
 
   // TODO to be changed
-  static const uint32_t OP_TIME = 1000;
-  static const uint32_t TEMP_OFFSET = 10;
+  static const uint32_t TEMP_OFFSET = 5;
 
   enum class InternalState { STARTUP, INITIAL_DELAY, READY };
 
@@ -138,16 +136,6 @@ class ThermalController : public ExtendedControllerBase {
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(DELAY);
 
-  // Heater Countdown to make sure heater
-  Countdown heater0Countdown = Countdown(OP_TIME);
-  Countdown heater1Countdown = Countdown(OP_TIME);
-  Countdown heater2Countdown = Countdown(OP_TIME);
-  Countdown heater3Countdown = Countdown(OP_TIME);
-  Countdown heater4Countdown = Countdown(OP_TIME);
-  Countdown heater5Countdown = Countdown(OP_TIME);
-  Countdown heater6Countdown = Countdown(OP_TIME);
-  Countdown heater7Countdown = Countdown(OP_TIME);
-
   PoolEntry<float> tmp1075Tcs0 = PoolEntry<float>(10.0);
   PoolEntry<float> tmp1075Tcs1 = PoolEntry<float>(10.0);
   PoolEntry<float> tmp1075PlPcdu0 = PoolEntry<float>(10.0);
@@ -159,7 +147,7 @@ class ThermalController : public ExtendedControllerBase {
   void copySus();
   void copyDevices();
 
-  void ctrl4KCameraHeater();
+  void ctrl4KCamera();
 };
 
 #endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */