diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 65a12ba7..16ba3325 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -239,10 +239,10 @@ ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
 }
 
 void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
-                                             PowerSwitchIF* pwrSwitcher) {
+                                             PowerSwitchIF& pwrSwitcher) {
   using namespace gpio;
   GpioCookie* gpioCookieAcsBoard = new GpioCookie();
-  std::vector<std::reference_wrapper<DeviceHandlerBase>> assemblyChildren;
+  std::array<DeviceHandlerBase*, 8> assemblyChildren;
 
   std::stringstream consumer;
   GpiodRegularByLineName* gpio = nullptr;
@@ -352,7 +352,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
       objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
   mgmLis3Handler0->setCustomFdir(fdir);
-  assemblyChildren.push_back(*mgmLis3Handler0);
+  assemblyChildren[0] = mgmLis3Handler0;
 #if OBSW_TEST_ACS == 1
   mgmLis3Handler->setStartUpImmediately();
   mgmLis3Handler->setToGoToNormalMode(true);
@@ -369,7 +369,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
                            spi::RM3100_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
   mgmRm3100Handler1->setCustomFdir(fdir);
-  assemblyChildren.push_back(*mgmRm3100Handler1);
+  assemblyChildren[1] = mgmRm3100Handler1;
 #if OBSW_TEST_ACS == 1
   mgmRm3100Handler->setStartUpImmediately();
   mgmRm3100Handler->setToGoToNormalMode(true);
@@ -385,7 +385,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
       objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
   mgmLis3Handler2->setCustomFdir(fdir);
-  assemblyChildren.push_back(*mgmLis3Handler2);
+  assemblyChildren[2] = mgmLis3Handler2;
 #if OBSW_TEST_ACS == 1
   mgmLis3Handler->setStartUpImmediately();
   mgmLis3Handler->setToGoToNormalMode(true);
@@ -402,7 +402,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
                            spi::RM3100_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
   mgmRm3100Handler3->setCustomFdir(fdir);
-  assemblyChildren.push_back(*mgmRm3100Handler3);
+  assemblyChildren[3] = mgmRm3100Handler3;
 #if OBSW_TEST_ACS == 1
   mgmRm3100Handler->setStartUpImmediately();
   mgmRm3100Handler->setToGoToNormalMode(true);
@@ -421,7 +421,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
                                ADIS1650X::Type::ADIS16505);
   fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
   adisHandler->setCustomFdir(fdir);
-  assemblyChildren.push_back(*adisHandler);
+  assemblyChildren[4] = adisHandler;
 #if OBSW_TEST_ACS == 1
   adisHandler->setStartUpImmediately();
   adisHandler->setToGoToNormalModeImmediately();
@@ -437,7 +437,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
       objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
   gyroL3gHandler1->setCustomFdir(fdir);
-  assemblyChildren.push_back(*gyroL3gHandler1);
+  assemblyChildren[5] = gyroL3gHandler1;
 #if OBSW_TEST_ACS == 1
   gyroL3gHandler->setStartUpImmediately();
   gyroL3gHandler->setToGoToNormalMode(true);
@@ -454,7 +454,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
                                          spiCookie, ADIS1650X::Type::ADIS16505);
   fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
   adisHandler->setCustomFdir(fdir);
-  assemblyChildren.push_back(*adisHandler);
+  assemblyChildren[6] = adisHandler;
 #if OBSW_TEST_ACS == 1
   adisHandler->setStartUpImmediately();
   adisHandler->setToGoToNormalModeImmediately();
@@ -467,7 +467,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
       objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
   gyroL3gHandler3->setCustomFdir(fdir);
-  assemblyChildren.push_back(*gyroL3gHandler3);
+  assemblyChildren[7] = gyroL3gHandler3;
 #if OBSW_TEST_ACS == 1
   gyroL3gHandler->setStartUpImmediately();
   gyroL3gHandler->setToGoToNormalMode(true);
@@ -485,22 +485,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
       new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
   gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
 
-  AcsBoardHelper acsBoardHelper = AcsBoardHelper(
-      objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
-      objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
-      objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
-  auto acsAss =
-      new AcsBoardAssembly(objects::ACS_BOARD_ASS, pwrSwitcher, acsBoardHelper, gpioComIF);
-  static_cast<void>(acsAss);
-  for (auto& assChild : assemblyChildren) {
-    ReturnValue_t result = assChild.get().connectModeTreeParent(*acsAss);
-    if (result != returnvalue::OK) {
-      sif::error << "Connecting assembly for ACS board component " << assChild.get().getObjectId()
-                 << " failed" << std::endl;
-    }
-  }
-  gpsCtrl->connectModeTreeParent(*acsAss);
-  acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+  ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, gpsCtrl, gpioComIF);
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
 
diff --git a/bsp_q7s/core/ObjectFactory.h b/bsp_q7s/core/ObjectFactory.h
index 61b629c8..9d0e4ea3 100644
--- a/bsp_q7s/core/ObjectFactory.h
+++ b/bsp_q7s/core/ObjectFactory.h
@@ -33,7 +33,7 @@ void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
 void createTmpComponents();
 ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
-                              PowerSwitchIF* pwrSwitcher);
+                              PowerSwitchIF& pwrSwitcher);
 void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
                             HeaterHandler*& heaterHandler);
 void createImtqComponents(PowerSwitchIF* pwrSwitcher);
diff --git a/bsp_q7s/fmObjectFactory.cpp b/bsp_q7s/fmObjectFactory.cpp
index 034b7cc1..f04766eb 100644
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@@ -43,7 +43,7 @@ void ObjectFactory::produce(void* args) {
 #endif
 
 #if OBSW_ADD_ACS_BOARD == 1
-  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
+  createAcsBoardComponents(gpioComIF, uartComIF, *pwrSwitcher);
 #endif
   HeaterHandler* heaterHandler;
   createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
diff --git a/dummies/CMakeLists.txt b/dummies/CMakeLists.txt
index 330aecfe..38527dd6 100644
--- a/dummies/CMakeLists.txt
+++ b/dummies/CMakeLists.txt
@@ -14,7 +14,8 @@ target_sources(
          PduDummy.cpp
          P60DockDummy.cpp
          SaDeploymentDummy.cpp
-         GpsDummy.cpp
+         GpsDhbDummy.cpp
+         GpsCtrlDummy.cpp
          GyroAdisDummy.cpp
          GyroL3GD20Dummy.cpp
          MgmLIS3MDLDummy.cpp
diff --git a/dummies/GpsCtrlDummy.cpp b/dummies/GpsCtrlDummy.cpp
new file mode 100644
index 00000000..3a1f61ba
--- /dev/null
+++ b/dummies/GpsCtrlDummy.cpp
@@ -0,0 +1,3 @@
+#include "GpsCtrlDummy.h"
+
+GpsCtrlDummy::GpsCtrlDummy(object_id_t objectId): ExtendedControllerBase(objectId, 20) {}
diff --git a/dummies/GpsCtrlDummy.h b/dummies/GpsCtrlDummy.h
new file mode 100644
index 00000000..3d6f40bc
--- /dev/null
+++ b/dummies/GpsCtrlDummy.h
@@ -0,0 +1,12 @@
+#ifndef DUMMIES_GPSCTRLDUMMY_H_
+#define DUMMIES_GPSCTRLDUMMY_H_
+
+#include <fsfw/controller/ExtendedControllerBase.h>
+
+class GpsCtrlDummy: public ExtendedControllerBase {
+public:
+  GpsCtrlDummy(object_id_t objectId);
+private:
+};
+
+#endif /* DUMMIES_GPSCTRLDUMMY_H_ */
diff --git a/dummies/GpsDummy.cpp b/dummies/GpsDhbDummy.cpp
similarity index 64%
rename from dummies/GpsDummy.cpp
rename to dummies/GpsDhbDummy.cpp
index 893e8464..84c82da4 100644
--- a/dummies/GpsDummy.cpp
+++ b/dummies/GpsDhbDummy.cpp
@@ -1,41 +1,40 @@
-#include "GpsDummy.h"
-
+#include <dummies/GpsDhbDummy.h>
 #include <mission/devices/devicedefinitions/GPSDefinitions.h>
 
-GpsDummy::GpsDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+GpsDhbDummy::GpsDhbDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
 
-GpsDummy::~GpsDummy() {}
+GpsDhbDummy::~GpsDhbDummy() {}
 
-void GpsDummy::doStartUp() {}
+void GpsDhbDummy::doStartUp() {}
 
-void GpsDummy::doShutDown() {}
+void GpsDhbDummy::doShutDown() {}
 
-ReturnValue_t GpsDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
+ReturnValue_t GpsDhbDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
 
-ReturnValue_t GpsDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+ReturnValue_t GpsDhbDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
 }
 
-ReturnValue_t GpsDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+ReturnValue_t GpsDhbDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                 const uint8_t *commandData, size_t commandDataLen) {
   return returnvalue::OK;
 }
 
-ReturnValue_t GpsDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+ReturnValue_t GpsDhbDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
                                      size_t *foundLen) {
   return returnvalue::OK;
 }
 
-ReturnValue_t GpsDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+ReturnValue_t GpsDhbDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
   return returnvalue::OK;
 }
 
-void GpsDummy::fillCommandAndReplyMap() {}
+void GpsDhbDummy::fillCommandAndReplyMap() {}
 
-uint32_t GpsDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+uint32_t GpsDhbDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
 
-ReturnValue_t GpsDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+ReturnValue_t GpsDhbDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                 LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}, 1));
   localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}, 1));
diff --git a/dummies/GpsDummy.h b/dummies/GpsDhbDummy.h
similarity index 82%
rename from dummies/GpsDummy.h
rename to dummies/GpsDhbDummy.h
index b32b7f17..a1df7e45 100644
--- a/dummies/GpsDummy.h
+++ b/dummies/GpsDhbDummy.h
@@ -1,9 +1,9 @@
-#ifndef DUMMIES_GPSDUMMY_H_
-#define DUMMIES_GPSDUMMY_H_
+#ifndef DUMMIES_GPSDHBDUMMY_H_
+#define DUMMIES_GPSDHBDUMMY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 
-class GpsDummy : public DeviceHandlerBase {
+class GpsDhbDummy : public DeviceHandlerBase {
  public:
   static const DeviceCommandId_t SIMPLE_COMMAND = 1;
   static const DeviceCommandId_t PERIODIC_REPLY = 2;
@@ -11,8 +11,8 @@ class GpsDummy : public DeviceHandlerBase {
   static const uint8_t SIMPLE_COMMAND_DATA = 1;
   static const uint8_t PERIODIC_REPLY_DATA = 2;
 
-  GpsDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
-  virtual ~GpsDummy();
+  GpsDhbDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~GpsDhbDummy();
 
  protected:
   void doStartUp() override;
@@ -30,4 +30,4 @@ class GpsDummy : public DeviceHandlerBase {
                                         LocalDataPoolManager &poolManager) override;
 };
 
-#endif /* DUMMIES_GPSDUMMY_H_ */
+#endif /* DUMMIES_GPSDHBDUMMY_H_ */
diff --git a/dummies/helpers.cpp b/dummies/helpers.cpp
index 20d1555b..1fd8a37c 100644
--- a/dummies/helpers.cpp
+++ b/dummies/helpers.cpp
@@ -5,7 +5,7 @@
 #include <dummies/ComCookieDummy.h>
 #include <dummies/ComIFDummy.h>
 #include <dummies/CoreControllerDummy.h>
-#include <dummies/GpsDummy.h>
+#include <dummies/GpsDhbDummy.h>
 #include <dummies/GyroAdisDummy.h>
 #include <dummies/GyroL3GD20Dummy.h>
 #include <dummies/ImtqDummy.h>
@@ -30,7 +30,7 @@
 
 using namespace dummy;
 
-void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
+void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) {
   new ComIFDummy(objects::DUMMY_COM_IF);
   auto* comCookieDummy = new ComCookieDummy();
   new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
@@ -46,7 +46,7 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
   rws[1] = new RwDummy(objects::RW2, objects::DUMMY_COM_IF, comCookieDummy);
   rws[2] = new RwDummy(objects::RW3, objects::DUMMY_COM_IF, comCookieDummy);
   rws[3] = new RwDummy(objects::RW4, objects::DUMMY_COM_IF, comCookieDummy);
-  ObjectFactory::createRwAssy(pwrSwitch, pcdu::Switches::PDU2_CH2_RW_5V, rws, rwIds);
+  ObjectFactory::createRwAssy(pwrSwitcher, pcdu::Switches::PDU2_CH2_RW_5V, rws, rwIds);
   new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
   new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
   if (cfg.addSyrlinksDummies) {
@@ -63,15 +63,17 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
   }
 
   if (cfg.addAcsBoardDummies) {
-    new GyroAdisDummy(objects::GYRO_0_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-    new GyroL3GD20Dummy(objects::GYRO_1_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-    new GyroAdisDummy(objects::GYRO_2_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-    new GyroL3GD20Dummy(objects::GYRO_3_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-    new MgmLIS3MDLDummy(objects::MGM_0_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-    new MgmLIS3MDLDummy(objects::MGM_2_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-    new MgmRm3100Dummy(objects::MGM_1_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-    new MgmRm3100Dummy(objects::MGM_3_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-    new GpsDummy(objects::GPS_CONTROLLER, objects::DUMMY_COM_IF, comCookieDummy);
+    std::array<DeviceHandlerBase*, 8> assemblyDhbs;
+    assemblyDhbs[0] = new MgmLIS3MDLDummy(objects::MGM_0_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    assemblyDhbs[1] = new MgmLIS3MDLDummy(objects::MGM_2_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    assemblyDhbs[2] = new MgmRm3100Dummy(objects::MGM_1_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    assemblyDhbs[3] = new MgmRm3100Dummy(objects::MGM_3_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    assemblyDhbs[4] = new GyroAdisDummy(objects::GYRO_0_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    assemblyDhbs[5] = new GyroL3GD20Dummy(objects::GYRO_1_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    assemblyDhbs[6] = new GyroAdisDummy(objects::GYRO_2_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    assemblyDhbs[7] = new GyroL3GD20Dummy(objects::GYRO_3_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    auto* gpsCtrl = new GpsDhbDummy(objects::GPS_CONTROLLER, objects::DUMMY_COM_IF, comCookieDummy);
+    ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyDhbs, gpsCtrl, gpioIF);
   }
 
   if (cfg.addSusDummies) {
@@ -100,7 +102,7 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
         new SusDummy(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::DUMMY_COM_IF, comCookieDummy);
     suses[11] =
         new SusDummy(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, objects::DUMMY_COM_IF, comCookieDummy);
-    ObjectFactory::createSusAssy(pwrSwitch, suses);
+    ObjectFactory::createSusAssy(pwrSwitcher, suses);
   }
 
   if (cfg.addTempSensorDummies) {
@@ -174,6 +176,6 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
     new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, tempSensorDummies,
                                   tempTmpSensorDummies);
   }
-  new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, power::NO_SWITCH);
+  new CamSwitcher(objects::CAM_SWITCHER, pwrSwitcher, power::NO_SWITCH);
   new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
 }
diff --git a/dummies/helpers.h b/dummies/helpers.h
index bbaab34d..1d30f451 100644
--- a/dummies/helpers.h
+++ b/dummies/helpers.h
@@ -14,6 +14,6 @@ struct DummyCfg {
   bool addRtdComIFDummy = true;
 };
 
-void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch);
+void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF);
 
 }  // namespace dummy
diff --git a/fsfw b/fsfw
index dac2d210..f0b8457b 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit dac2d210b597adfaf45bd5ae6a4c027599927601
+Subproject commit f0b8457ba2d9a34a42b10314c3cdccfd46ebf168
diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp
index 56ca3d97..6506c184 100644
--- a/mission/core/GenericFactory.cpp
+++ b/mission/core/GenericFactory.cpp
@@ -4,6 +4,7 @@
 #include <fsfw/cfdp/handler/CfdpHandler.h>
 #include <fsfw/cfdp/handler/RemoteConfigTableIF.h>
 #include <fsfw/controller/ControllerBase.h>
+#include <fsfw/controller/ExtendedControllerBase.h>
 #include <fsfw/events/EventManager.h>
 #include <fsfw/health/HealthTable.h>
 #include <fsfw/internalerror/InternalErrorReporter.h>
@@ -26,6 +27,7 @@
 #include <mission/controller/ThermalController.h>
 #include <mission/devices/HeaterHandler.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include <mission/system/objects/AcsBoardAssembly.h>
 #include <mission/system/objects/RwAssembly.h>
 #include <mission/system/objects/SusAssembly.h>
 #include <mission/tmtc/CfdpTmFunnel.h>
@@ -259,3 +261,23 @@ void ObjectFactory::createSusAssy(PowerSwitchIF& pwrSwitcher,
   }
   susAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 }
+
+void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher,
+                                       std::array<DeviceHandlerBase*, 8> assemblyDhbs,
+                                       ExtendedControllerBase* gpsCtrl, GpioIF* gpioComIF) {
+  AcsBoardHelper acsBoardHelper = AcsBoardHelper(
+      objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
+      objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
+      objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
+  auto acsAss =
+      new AcsBoardAssembly(objects::ACS_BOARD_ASS, &pwrSwitcher, acsBoardHelper, gpioComIF);
+  for (auto& assChild : assemblyDhbs) {
+    ReturnValue_t result = assChild->connectModeTreeParent(*acsAss);
+    if (result != returnvalue::OK) {
+      sif::error << "Connecting assembly for ACS board component " << assChild->getObjectId()
+                 << " failed" << std::endl;
+    }
+  }
+  gpsCtrl->connectModeTreeParent(*acsAss);
+  acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+}
diff --git a/mission/core/GenericFactory.h b/mission/core/GenericFactory.h
index 89d7f0d5..4b380336 100644
--- a/mission/core/GenericFactory.h
+++ b/mission/core/GenericFactory.h
@@ -11,6 +11,7 @@ class HeaterHandler;
 class HealthTableIF;
 class PusTmFunnel;
 class CfdpTmFunnel;
+class ExtendedControllerBase;
 
 namespace ObjectFactory {
 
@@ -23,6 +24,8 @@ void createThermalController(HeaterHandler& heaterHandler);
 void createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,
                   std::array<DeviceHandlerBase*, 4> rws, std::array<object_id_t, 4> rwIds);
 void createSusAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 12> suses);
+void createAcsBoardAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 8> assemblyDhbs,
+                        ExtendedControllerBase* gpsCtrl, GpioIF* gpioComIF);
 
 }  // namespace ObjectFactory