diff --git a/CHANGELOG.md b/CHANGELOG.md
index 30890da2..3a7e2259 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -21,6 +21,7 @@ list yields a list of all related PRs for each release.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/293
 - Increase number of allowed consescutive action commands from 3 to 16
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/294
+- Fix for EM SW: Always create ACS Task
 
 # [v1.13.0] 24.08.2022
 
diff --git a/bsp_q7s/core/InitMission.cpp b/bsp_q7s/core/InitMission.cpp
index 725252a5..75213b73 100644
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@@ -125,9 +125,9 @@ void initmission::initTasks() {
   }
 #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
 
-#if OBSW_ADD_ACS_HANDLERS == 1
   PeriodicTaskIF* acsTask = factory->createPeriodicTask(
       "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+#if OBSW_ADD_ACS_HANDLERS == 1
   result = acsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
diff --git a/fsfw b/fsfw
index cf8fe7ea..7e0a5d5a 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit cf8fe7ea728bea077b9936bcf0db96845bc6419e
+Subproject commit 7e0a5d5a9e4f38c6d818bbdd5b44d34d8007eb1e
diff --git a/linux/fsfwconfig/FSFWConfig.h.in b/linux/fsfwconfig/FSFWConfig.h.in
index 072c47c8..25772ce7 100644
--- a/linux/fsfwconfig/FSFWConfig.h.in
+++ b/linux/fsfwconfig/FSFWConfig.h.in
@@ -4,6 +4,10 @@
 #include <cstddef>
 #include <cstdint>
 
+// It is assumed the user has a subsystem and class ID list in some user header files.
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
 //! Used to determine whether C++ ostreams are used which can increase
 //! the binary size significantly. If this is disabled,
 //! the C stdio functions can be used alternatively
diff --git a/linux/obc/PtmeConfig.h b/linux/obc/PtmeConfig.h
index 06aff2e2..aa5c663a 100644
--- a/linux/obc/PtmeConfig.h
+++ b/linux/obc/PtmeConfig.h
@@ -4,6 +4,7 @@
 #include "AxiPtmeConfig.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/returnvalues/returnvalue.h"
+#include "returnvalues/classIds.h"
 #include "linux/obc/PtmeConfig.h"
 
 /**
diff --git a/misc/eclipse/.cproject b/misc/eclipse/.cproject
index 19c18545..9bb5f401 100644
--- a/misc/eclipse/.cproject
+++ b/misc/eclipse/.cproject
@@ -1256,7 +1256,7 @@
 									<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s-em}&quot;"/>
 								</option>
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.1731007799" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
 							</tool>
@@ -1268,7 +1268,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s-em}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1490629801" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
@@ -1282,10 +1282,10 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/common/config}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s-em/fsfw}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1692092339" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index 83d9afab..14b710a2 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -33,7 +33,7 @@ class AcsController : public ExtendedControllerBase {
                                  uint32_t* msToReachTheMode) override;
 
   // MGMs
-  acsctrl::MgmData mgmData;
+  acsctrl::MgmDataRaw mgmData;
 
   MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set =
       MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER);
diff --git a/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h b/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
index de971cf5..9a2b1abd 100644
--- a/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+++ b/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
@@ -41,11 +41,11 @@ static constexpr uint8_t MGM_SET_ENTRIES = 10;
 static constexpr uint8_t SUS_SET_ENTRIES = 12;
 
 /**
- * @brief   This dataset can be used to store the collected temperatures of all temperature sensors
+ * @brief   Raw MGM sensor data. Includes the IMTQ sensor data and actuator status.
  */
-class MgmData : public StaticLocalDataSet<MGM_SET_ENTRIES> {
+class MgmDataRaw : public StaticLocalDataSet<MGM_SET_ENTRIES> {
  public:
-  MgmData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_SENSOR_DATA) {}
+  MgmDataRaw(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_SENSOR_DATA) {}
 
   // The ACS board measurement are in floating point uT
   lp_vec_t<float, 3> mgm0Lis3 = lp_vec_t<float, 3>(sid.objectId, MGM_0_LIS3_UT, this);
diff --git a/mission/devices/HeaterHandler.h b/mission/devices/HeaterHandler.h
index 75badf91..b63f4dfe 100644
--- a/mission/devices/HeaterHandler.h
+++ b/mission/devices/HeaterHandler.h
@@ -18,6 +18,8 @@
 #include <vector>
 
 #include "devices/heaterSwitcherList.h"
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
 
 class PowerSwitchIF;
 class HealthTableIF;
diff --git a/mission/devices/IMTQHandler.h b/mission/devices/IMTQHandler.h
index 481d554c..5102b2e0 100644
--- a/mission/devices/IMTQHandler.h
+++ b/mission/devices/IMTQHandler.h
@@ -5,6 +5,9 @@
 #include <mission/devices/devicedefinitions/IMTQHandlerDefinitions.h>
 #include <string.h>
 
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
 /**
  * @brief	This is the device handler for the ISIS Magnetorquer iMTQ.
  *
diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h
index 008d5746..f9f66bd5 100644
--- a/mission/devices/RwHandler.h
+++ b/mission/devices/RwHandler.h
@@ -6,6 +6,9 @@
 #include <mission/devices/devicedefinitions/RwDefinitions.h>
 #include <string.h>
 
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
 class GpioIF;
 
 /**
diff --git a/mission/devices/SolarArrayDeploymentHandler.h b/mission/devices/SolarArrayDeploymentHandler.h
index 691bdf77..89be12a6 100644
--- a/mission/devices/SolarArrayDeploymentHandler.h
+++ b/mission/devices/SolarArrayDeploymentHandler.h
@@ -14,6 +14,9 @@
 
 #include <unordered_map>
 
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
 /**
  * @brief	This class is used to control the solar array deployment.
  *
diff --git a/mission/devices/SusHandler.h b/mission/devices/SusHandler.h
index c1fc08c4..94673c40 100644
--- a/mission/devices/SusHandler.h
+++ b/mission/devices/SusHandler.h
@@ -7,6 +7,9 @@
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 #include "mission/devices/max1227.h"
 
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
 /**
  * @brief	This is the device handler class for the SUS sensor based on the MAX1227 ADC.
  *
diff --git a/mission/devices/SyrlinksHkHandler.h b/mission/devices/SyrlinksHkHandler.h
index 44b154f6..a3bf0a67 100644
--- a/mission/devices/SyrlinksHkHandler.h
+++ b/mission/devices/SyrlinksHkHandler.h
@@ -8,6 +8,7 @@
 #include "fsfw/timemanager/Countdown.h"
 #include "fsfw_hal/linux/gpio/Gpio.h"
 #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
+#include "returnvalues/classIds.h"
 
 /**
  * @brief	This is the device handler for the syrlinks transceiver. It handles the command
diff --git a/mission/devices/devicedefinitions/RwDefinitions.h b/mission/devices/devicedefinitions/RwDefinitions.h
index d6a43622..2923b41b 100644
--- a/mission/devices/devicedefinitions/RwDefinitions.h
+++ b/mission/devices/devicedefinitions/RwDefinitions.h
@@ -5,6 +5,7 @@
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 
+#include "events/subsystemIdRanges.h"
 #include "objects/systemObjectList.h"
 
 namespace RwDefinitions {
diff --git a/mission/memory/NVMParameterBase.h b/mission/memory/NVMParameterBase.h
index 4f644fcc..dd02fffe 100644
--- a/mission/memory/NVMParameterBase.h
+++ b/mission/memory/NVMParameterBase.h
@@ -6,6 +6,7 @@
 #include <string>
 
 #include "fsfw/returnvalues/returnvalue.h"
+#include "returnvalues/classIds.h"
 
 class NVMParameterBase {
  public:
diff --git a/mission/system/SusAssembly.h b/mission/system/SusAssembly.h
index b9216072..3cce9d86 100644
--- a/mission/system/SusAssembly.h
+++ b/mission/system/SusAssembly.h
@@ -5,6 +5,8 @@
 #include <fsfw/devicehandlers/AssemblyBase.h>
 
 #include "DualLaneAssemblyBase.h"
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
 
 struct SusAssHelper {
  public:
diff --git a/mission/system/TcsBoardAssembly.h b/mission/system/TcsBoardAssembly.h
index 10b451b2..6042abaa 100644
--- a/mission/system/TcsBoardAssembly.h
+++ b/mission/system/TcsBoardAssembly.h
@@ -5,6 +5,9 @@
 #include <fsfw/devicehandlers/AssemblyBase.h>
 #include <fsfw/power/PowerSwitcher.h>
 
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
 struct TcsBoardHelper {
   TcsBoardHelper(std::array<std::pair<object_id_t, std::string>, 16> rtdInfos)
       : rtdInfos(std::move(rtdInfos)) {}
diff --git a/thirdparty/json b/thirdparty/json
index fb1ee4f9..bc889afb 160000
--- a/thirdparty/json
+++ b/thirdparty/json
@@ -1 +1 @@
-Subproject commit fb1ee4f94b426a398969b2c96df9784be8e007e6
+Subproject commit bc889afb4c5bf1c0d8ee29ef35eaaf4c8bef8a5d