diff --git a/bsp_hosted/ObjectFactory.cpp b/bsp_hosted/ObjectFactory.cpp
index 07e3163b..0c62efc2 100644
--- a/bsp_hosted/ObjectFactory.cpp
+++ b/bsp_hosted/ObjectFactory.cpp
@@ -10,10 +10,8 @@
 
 #include "OBSWConfig.h"
 #include "devConf.h"
-#include "eive/definitions.h"
 #include "fsfw/platform.h"
 #include "fsfw_tests/integration/task/TestTask.h"
-#include "tmtc/pusIds.h"
 
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
 #include "fsfw/osal/common/UdpTcPollingTask.h"
@@ -79,7 +77,7 @@ void ObjectFactory::produce(void* args) {
   CfdpTmFunnel* cfdpFunnel;
   ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel);
 
-  DummyGpioIF* dummyGpioIF = new DummyGpioIF();
+  auto* dummyGpioIF = new DummyGpioIF();
   auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
   static_cast<void>(dummyGpioIF);
 #ifdef PLATFORM_UNIX
@@ -109,6 +107,14 @@ void ObjectFactory::produce(void* args) {
 
   dummy::DummyCfg cfg;
   dummy::createDummies(cfg, *dummySwitcher);
-  new ThermalController(objects::THERMAL_CONTROLLER);
+
+  HeaterHandler* heaterHandler = nullptr;
+  //new ThermalController(objects::THERMAL_CONTROLLER);
+  ObjectFactory::createGenericHeaterComponents(*dummyGpioIF, *dummySwitcher, heaterHandler);
+  if(heaterHandler == nullptr){
+    sif::error << "HeaterHandler could not be created" << std::endl;
+  }else{
+    ObjectFactory::createThermalController(*heaterHandler);
+  }
   new TestTask(objects::TEST_TASK);
 }
diff --git a/dummies/CMakeLists.txt b/dummies/CMakeLists.txt
index 4f486f8a..6b499d7b 100644
--- a/dummies/CMakeLists.txt
+++ b/dummies/CMakeLists.txt
@@ -19,4 +19,5 @@ target_sources(
          PlPcduDummy.cpp
          CoreControllerDummy.cpp
          helpers.cpp
-         MgmRm3100Dummy.cpp)
+         MgmRm3100Dummy.cpp
+DummyHeaterHandler.cpp)
diff --git a/dummies/DummyHeaterHandler.cpp b/dummies/DummyHeaterHandler.cpp
new file mode 100644
index 00000000..d006038e
--- /dev/null
+++ b/dummies/DummyHeaterHandler.cpp
@@ -0,0 +1,6 @@
+//
+// Created by irini on 24.11.22.
+//
+#include "DummyHeaterHandler.h"
+
+
diff --git a/dummies/DummyHeaterHandler.h b/dummies/DummyHeaterHandler.h
new file mode 100644
index 00000000..b0628c09
--- /dev/null
+++ b/dummies/DummyHeaterHandler.h
@@ -0,0 +1,13 @@
+//
+// Created by irini on 24.11.22.
+//
+
+#ifndef EIVE_OBSW_DUMMYHEATERHANDLER_H
+#define EIVE_OBSW_DUMMYHEATERHANDLER_H
+
+#include "mission/devices/HeaterHandler.h"
+class DummyHeaterHandler: public HeaterHandler{
+ public:
+  //DummyHeaterHandler();
+};
+#endif  // EIVE_OBSW_DUMMYHEATERHANDLER_H
diff --git a/dummies/TemperatureSensorInserter.cpp b/dummies/TemperatureSensorInserter.cpp
index ed71968c..314f7496 100644
--- a/dummies/TemperatureSensorInserter.cpp
+++ b/dummies/TemperatureSensorInserter.cpp
@@ -6,7 +6,7 @@
 #include <cstdlib>
 
 TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId)
-    : SystemObject(objects::THERMAL_CONTROLLER),
+    : SystemObject(objects::THERMAL_TEMP_INSERTER),
       max31865PlocHeatspreaderSet(objects::RTD_0_IC3_PLOC_HEATSPREADER, MAX31865::MAX31865_SET_ID),
       max31865PlocMissionboardSet(objects::RTD_1_IC4_PLOC_MISSIONBOARD, MAX31865::MAX31865_SET_ID) {
 }
diff --git a/fsfw b/fsfw
index 160ff799..c5f91926 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 160ff799ace61e24708dcf1fdeaf5fafdf23a4ca
+Subproject commit c5f91926c95a8db0c7921176aa3f62cc2bebef47
diff --git a/linux/ObjectFactory.cpp b/linux/ObjectFactory.cpp
index e35d7e96..6ca221f1 100644
--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@@ -9,23 +9,14 @@
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
 #include <linux/callbacks/gpioCallbacks.h>
-#include <linux/devices/Max31865RtdLowlevelHandler.h>
 #include <mission/controller/AcsController.h>
-#include <mission/controller/ThermalController.h>
-#include <mission/devices/Max31865EiveHandler.h>
-#include <mission/devices/Max31865PT1000Handler.h>
 #include <mission/devices/ScexDeviceHandler.h>
-#include <mission/devices/SusHandler.h>
-#include <mission/system/fdir/RtdFdir.h>
-#include <mission/system/fdir/SusFdir.h>
 
 #include "OBSWConfig.h"
 #include "devConf.h"
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
 #include "eive/definitions.h"
-#include "mission/system/objects/SusAssembly.h"
-#include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/tree/acsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
 
@@ -340,10 +331,6 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr
   scexHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 }
 
-void ObjectFactory::createThermalController() {
-  new ThermalController(objects::THERMAL_CONTROLLER);
-}
-
 AcsController* ObjectFactory::createAcsController(bool connectSubsystem) {
   auto acsCtrl = new AcsController(objects::ACS_CONTROLLER);
   if (connectSubsystem) {
diff --git a/linux/ObjectFactory.h b/linux/ObjectFactory.h
index 3704e9bd..10b70df0 100644
--- a/linux/ObjectFactory.h
+++ b/linux/ObjectFactory.h
@@ -11,6 +11,8 @@
 #include <optional>
 #include <string>
 
+#include "mission/devices/HeaterHandler.h"
+
 class GpioIF;
 class SpiComIF;
 class PowerSwitchIF;
@@ -29,7 +31,6 @@ void createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
 
 void gpioChecker(ReturnValue_t result, std::string output);
 
-void createThermalController();
 AcsController* createAcsController(bool connectSubsystem);
 
 void addTmtcIpCoresToFunnels(CcsdsIpCoreHandler& ipCoreHandler, PusTmFunnel& pusFunnel,
diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp
index 114451b2..c881c3e1 100644
--- a/mission/core/GenericFactory.cpp
+++ b/mission/core/GenericFactory.cpp
@@ -36,8 +36,12 @@
 #if OBSW_ADD_TCPIP_BRIDGE == 1
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
 // UDP server includes
+#include "devices/gpioIds.h"
 #include "fsfw/osal/common/UdpTcPollingTask.h"
 #include "fsfw/osal/common/UdpTmTcBridge.h"
+#include "mission/controller/ThermalController.h"
+#include "mission/devices/HeaterHandler.h"
+#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
 #else
 // TCP server includes
 #include "fsfw/osal/common/TcpTmTcBridge.h"
@@ -179,3 +183,23 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
   ccsdsDistrib->registerApplication(info);
 #endif
 }
+
+void ObjectFactory::createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF& pwrSwitcher, HeaterHandler*& heaterHandler) {
+  HeaterHelper helper({{
+      {new HealthDevice(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
+       gpioIds::HEATER_0},
+      {new HealthDevice(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_1},
+      {new HealthDevice(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
+      {new HealthDevice(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},
+      {new HealthDevice(objects::HEATER_4_CAMERA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_4},
+      {new HealthDevice(objects::HEATER_5_STR, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_5},
+      {new HealthDevice(objects::HEATER_6_DRO, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_6},
+      {new HealthDevice(objects::HEATER_7_HPA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_7},
+  }});
+  heaterHandler = new HeaterHandler(objects::HEATER_HANDLER, &gpioIF, helper, &pwrSwitcher,
+                    pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
+}
+
+void ObjectFactory::createThermalController(HeaterHandler& heaterHandler) {
+  new ThermalController(objects::THERMAL_CONTROLLER, heaterHandler);
+}
\ No newline at end of file
diff --git a/mission/core/GenericFactory.h b/mission/core/GenericFactory.h
index 2e2b0748..1704ef11 100644
--- a/mission/core/GenericFactory.h
+++ b/mission/core/GenericFactory.h
@@ -1,6 +1,10 @@
 #ifndef MISSION_CORE_GENERICFACTORY_H_
 #define MISSION_CORE_GENERICFACTORY_H_
 
+#include "fsfw_hal/common/gpio/GpioIF.h"
+#include "fsfw/power/PowerSwitchIF.h"
+
+class HeaterHandler;
 class HealthTableIF;
 class PusTmFunnel;
 class CfdpTmFunnel;
@@ -9,7 +13,9 @@ namespace ObjectFactory {
 
 void produceGenericObjects(HealthTableIF** healthTable, PusTmFunnel** pusFunnel,
                            CfdpTmFunnel** cfdpFunnel);
+void createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF& pwrSwitcher, HeaterHandler*& heaterHandler);
 
+void createThermalController(HeaterHandler& heaterHandler);
 }
 
 #endif /* MISSION_CORE_GENERICFACTORY_H_ */
diff --git a/mission/devices/HeaterHandler.h b/mission/devices/HeaterHandler.h
index 271e1bd1..caa90bc4 100644
--- a/mission/devices/HeaterHandler.h
+++ b/mission/devices/HeaterHandler.h
@@ -15,6 +15,7 @@
 #include <fsfw_hal/common/gpio/GpioIF.h>
 
 #include <array>
+#include <utility>
 #include <vector>
 
 #include "devices/heaterSwitcherList.h"
@@ -28,7 +29,7 @@ using HeaterPair = std::pair<HealthDevice*, gpioId_t>;
 
 struct HeaterHelper {
  public:
-  HeaterHelper(std::array<HeaterPair, heater::NUMBER_OF_SWITCHES> heaters) : heaters(heaters) {}
+  HeaterHelper(std::array<HeaterPair, heater::NUMBER_OF_SWITCHES> heaters) : heaters(std::move(heaters)) {}
   std::array<HeaterPair, heater::NUMBER_OF_SWITCHES> heaters = {};
 };
 /**
diff --git a/tmtc b/tmtc
index 292bafa0..d5813e1a 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 292bafa0918d386e7f64bf9ed0e114a887420899
+Subproject commit d5813e1a422beae7d0cb092a885e0956e9f1ddc1