diff --git a/bsp_linux_board/InitMission.cpp b/bsp_linux_board/InitMission.cpp
index febae2f3..b81754a7 100644
--- a/bsp_linux_board/InitMission.cpp
+++ b/bsp_linux_board/InitMission.cpp
@@ -36,6 +36,7 @@ void initmission::initMission() {
 
 void initmission::initTasks() {
     TaskFactory* factory = TaskFactory::instance();
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     if(factory == nullptr) {
         /* Should never happen ! */
         return;
@@ -46,11 +47,11 @@ void initmission::initTasks() {
     void (*missedDeadlineFunc) (void) = nullptr;
 #endif
 
+
     /* TMTC Distribution */
     PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
             "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-    ReturnValue_t result = tmTcDistributor->addComponent(
-            objects::CCSDS_PACKET_DISTRIBUTOR);
+    result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
     if(result != HasReturnvaluesIF::RETURN_OK){
         sif::error << "Object add component failed" << std::endl;
     }
@@ -78,21 +79,70 @@ void initmission::initTasks() {
     }
 
     /* PUS Services */
-    PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
+    std::vector<PeriodicTaskIF*> pusTasks;
+    createPstTasks(*factory, missedDeadlineFunc, pusTasks);
+
+    std::vector<PeriodicTaskIF*> pstTasks;
+    createPstTasks(*factory, missedDeadlineFunc, pstTasks);
+#if OBSW_ADD_TEST_CODE == 1
+    std::vector<PeriodicTaskIF*> testTasks;
+    createTestTasks(*factory, missedDeadlineFunc, pstTasks);
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+    auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
+        for(const auto& task: taskVector) {
+            if(task != nullptr) {
+                task->startTask();
+            }
+            else {
+                sif::error << "Task in vector " << name << " is invalid!" << std::endl;
+            }
+        }
+    };
+
+    sif::info << "Starting tasks.." << std::endl;
+    tmTcDistributor->startTask();
+    udpBridgeTask->startTask();
+    udpPollingTask->startTask();
+
+    taskStarter(pusTasks, "PUS Tasks");
+#if OBSW_ADD_TEST_CODE == 1
+    taskStarter(testTasks, "Test Tasks");
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+    taskStarter(pstTasks, "PST Tasks");
+
+#if OBSW_ADD_TEST_PST == 1
+    if(startTestPst) {
+        pstTestTask->startTask();
+    }
+#endif /* RPI_TEST_ACS_BOARD == 1 */
+    sif::info << "Tasks started.." << std::endl;
+}
+
+void initmission::createPusTasks(TaskFactory& factory,
+        TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*>& taskVec) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
             "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
     result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
     if(result != HasReturnvaluesIF::RETURN_OK){
         sif::error << "Object add component failed" << std::endl;
     }
+    taskVec.push_back(pusVerification);
 
-    PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
+    PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
             "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-    result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-    if(result != HasReturnvaluesIF::RETURN_OK){
-        initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
+    result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
     }
+    result = pusEvents->addComponent(objects::EVENT_MANAGER);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
+    }
+    taskVec.push_back(pusEvents);
 
-    PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
+    PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
             "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
     result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
     if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -102,8 +152,9 @@ void initmission::initTasks() {
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
     }
+    taskVec.push_back(pusHighPrio);
 
-    PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
+    PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
             "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
     result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
     if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -121,8 +172,9 @@ void initmission::initTasks() {
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
     }
+    taskVec.push_back(pusMedPrio);
 
-    PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
+    PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
             "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
     result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
     if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -133,26 +185,34 @@ void initmission::initTasks() {
         initmission::printAddObjectError("INT_ERR_RPRT",
                 objects::INTERNAL_ERROR_REPORTER);
     }
+    taskVec.push_back(pusLowPrio);
+}
 
-    bool startTestPst = true;
-#if OBSW_ADD_TEST_PST == 1
-    FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
-            PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
-    result = pst::pstTest(pstTestTask);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
-        startTestPst = false;
+void initmission::createPstTasks(TaskFactory& factory,
+        TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+#if OBSW_ADD_SPI_TEST_CODE == 0
+    FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
+            "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
+            missedDeadlineFunc);
+    result = pst::pstSpi(spiPst);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
     }
-#endif /* RPI_TEST_ACS_BOARD == 1 */
+    taskVec.push_back(spiPst);
+#endif
+}
 
-    PeriodicTaskIF* testTask = factory->createPeriodicTask(
+void initmission::createTestTasks(TaskFactory& factory,
+        TaskDeadlineMissedFunction missedDeadlineFunc,
+        std::vector<PeriodicTaskIF*> &taskVec) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    PeriodicTaskIF* testTask = factory.createPeriodicTask(
             "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-#if OBSW_ADD_TEST_CODE == 1
     result = testTask->addComponent(objects::TEST_TASK);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
     }
-#endif /* OBSW_ADD_TEST_CODE == 1 */
 #if RPI_ADD_SPI_TEST == 1
     result = testTask->addComponent(objects::SPI_TEST);
     if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -172,25 +232,16 @@ void initmission::initTasks() {
     }
 #endif /* RPI_ADD_GPIO_TEST == 1 */
 
-    sif::info << "Starting tasks.." << std::endl;
-    tmTcDistributor->startTask();
-    udpBridgeTask->startTask();
-    udpPollingTask->startTask();
-
-    pusVerification->startTask();
-    pusEvents->startTask();
-    pusHighPrio->startTask();
-    pusMedPrio->startTask();
-    pusLowPrio->startTask();
-
-#if OBSW_ADD_TEST_CODE == 1
-    testTask->startTask();
-#endif /* OBSW_ADD_TEST_CODE == 1 */
-
+    bool startTestPst = true;
+    static_cast<void>(startTestPst);
 #if OBSW_ADD_TEST_PST == 1
-    if(startTestPst) {
-        pstTestTask->startTask();
+    FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
+            PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
+    result = pst::pstTest(pstTestTask);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
+        startTestPst = false;
     }
 #endif /* RPI_TEST_ACS_BOARD == 1 */
-    sif::info << "Tasks started.." << std::endl;
+
 }
diff --git a/bsp_linux_board/InitMission.h b/bsp_linux_board/InitMission.h
index 01c72008..f5da5855 100644
--- a/bsp_linux_board/InitMission.h
+++ b/bsp_linux_board/InitMission.h
@@ -1,9 +1,24 @@
 #ifndef BSP_LINUX_INITMISSION_H_
 #define BSP_LINUX_INITMISSION_H_
 
+#include "fsfw/tasks/Typedef.h"
+#include <vector>
+
+class PeriodicTaskIF;
+class TaskFactory;
+
 namespace initmission {
 void initMission();
 void initTasks();
+
+void createPstTasks(TaskFactory& factory,
+        TaskDeadlineMissedFunction missedDeadlineFunc,
+        std::vector<PeriodicTaskIF*> &taskVec);
+void createTestTasks(TaskFactory& factory,
+        TaskDeadlineMissedFunction missedDeadlineFunc,
+        std::vector<PeriodicTaskIF*> &taskVec);
+void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
+        std::vector<PeriodicTaskIF*>& taskVec);
 };
 
 #endif /* BSP_LINUX_INITMISSION_H_ */
diff --git a/bsp_linux_board/ObjectFactory.cpp b/bsp_linux_board/ObjectFactory.cpp
index 60ca5b6e..419bb6d8 100644
--- a/bsp_linux_board/ObjectFactory.cpp
+++ b/bsp_linux_board/ObjectFactory.cpp
@@ -14,9 +14,6 @@
 #include "mission/core/GenericFactory.h"
 #include "mission/utility/TmFunnel.h"
 #include <mission/devices/GPSHyperionHandler.h>
-#include <mission/devices/MgmLIS3MDLHandler.h>
-
-#include "mission/devices/MGMHandlerRM3100.h"
 #include "mission/devices/GyroADIS16507Handler.h"
 
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
@@ -34,6 +31,8 @@
 #include "fsfw/osal/common/UdpTcPollingTask.h"
 #endif
 
+#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
+#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
 #include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "fsfw_hal/linux/rpi/GpioRPi.h"
@@ -82,7 +81,84 @@ void ObjectFactory::produce(void* args){
     SpiCookie* spiCookie = nullptr;
     static_cast<void>(spiCookie);
 
+#if OBSW_ADD_ACS_BOARD == 1
+    if(gpioCookie == nullptr) {
+        gpioCookie = new GpioCookie();
+    }
+    // TODO: Missing pin for Gyro 2
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
+            "MGM_0_LIS3", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
+            "MGM_1_RM3100", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
+            "MGM_2_LIS3", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
+            "MGM_3_RM3100", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
+            "GYRO_0_ADIS", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
+            "GYRO_1_L3G", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
+            "GYRO_2_ADIS", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN,
+            "GYRO_3_L3G", gpio::Direction::OUT, 1);
+    gpioIF->addGpios(gpioCookie);
+
+    spiDev = "/dev/spidev0.1";
+    spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
+            MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+    auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER,
+            objects::SPI_COM_IF, spiCookie, 0);
+    mgmLis3Handler->setStartUpImmediately();
+
+    spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
+            RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+    auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
+            objects::SPI_COM_IF, spiCookie, 0);
+    mgmRm3100Handler->setStartUpImmediately();
+
+    spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
+            MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+    mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER,
+            objects::SPI_COM_IF, spiCookie, 0);
+    mgmLis3Handler->setStartUpImmediately();
+
+    spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
+            RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+    mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
+            objects::SPI_COM_IF, spiCookie, 0);
+    mgmRm3100Handler->setStartUpImmediately();
+
+    spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
+            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+    auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
+            spiCookie);
+    adisHandler->setStartUpImmediately();
+    spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
+            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+    auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
+            spiCookie, 0);
+    gyroL3gHandler->setStartUpImmediately();
+    spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
+            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+    gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
+            spiCookie, 0);
+    gyroL3gHandler->setStartUpImmediately();
+    spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
+            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+    adisHandler = new GyroADIS16507Handler(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
+            spiCookie);
+    gyroL3gHandler->setStartUpImmediately();
+
+#endif /* RPI_TEST_ACS_BOARD == 1 */
+
 #if OBSW_ADD_TEST_CODE == 1
+    createTestTasks();
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+}
+
+void ObjectFactory::createTestTasks() {
+
     new TestTask(objects::TEST_TASK);
 
 #if RPI_ADD_SPI_TEST == 1
@@ -109,48 +185,6 @@ void ObjectFactory::produce(void* args){
     new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
 #endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
 
-#if RPI_TEST_ACS_BOARD == 1
-    if(gpioCookie == nullptr) {
-        gpioCookie = new GpioCookie();
-    }
-    // TODO: Missing pin for Gyro 2
-    gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
-            "MGM_0_LIS3", gpio::Direction::OUT, 1);
-    gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
-            "MGM_1_RM3100", gpio::Direction::OUT, 1);
-    gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
-            "MGM_2_LIS3", gpio::Direction::OUT, 1);
-    gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
-            "MGM_3_RM3100", gpio::Direction::OUT, 1);
-    gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
-            "GYRO_0_ADIS", gpio::Direction::OUT, 1);
-    gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
-            "GYRO_1_L3G", gpio::Direction::OUT, 1);
-    gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_2_BCM_PIN,
-            "GYRO_2_L3G", gpio::Direction::OUT, 1);
-    gpioIF->addGpios(gpioCookie);
-
-    spiDev = "/dev/spidev0.0";
-    spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
-            MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-    auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
-            objects::SPI_COM_IF, spiCookie);
-    mgmLis3Handler->setStartUpImmediately();
-
-    spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
-            RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-    auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
-            objects::SPI_COM_IF, spiCookie);
-    mgmRm3100Handler->setStartUpImmediately();
-
-    spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
-            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-    auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
-            spiCookie);
-    gyroL3gHandler->setStartUpImmediately();
-
-#endif /* RPI_TEST_ACS_BOARD == 1 */
-
 #if RPI_TEST_ADIS16507 == 1
     if(gpioCookie == nullptr) {
         gpioCookie = new GpioCookie();
@@ -159,7 +193,7 @@ void ObjectFactory::produce(void* args){
             "GYRO_0_ADIS", gpio::Direction::OUT, 1);
     gpioIF->addGpios(gpioCookie);
 
-    spiDev = "/dev/spidev0.0";
+    spiDev = "/dev/spidev0.1";
     spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
             ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED,
             nullptr, nullptr);
@@ -177,5 +211,4 @@ void ObjectFactory::produce(void* args){
     gpsHandler->setStartUpImmediately();
 #endif
 
-#endif /* OBSW_ADD_TEST_CODE == 1 */
 }
diff --git a/bsp_linux_board/ObjectFactory.h b/bsp_linux_board/ObjectFactory.h
index feaba70e..3b9aca49 100644
--- a/bsp_linux_board/ObjectFactory.h
+++ b/bsp_linux_board/ObjectFactory.h
@@ -5,6 +5,8 @@
 namespace ObjectFactory {
 	void setStatics();
 	void produce(void* args);
+
+	void createTestTasks();
 };
 
 #endif /* BSP_LINUX_OBJECTFACTORY_H_ */
diff --git a/bsp_q7s/boardconfig/busConf.h b/bsp_q7s/boardconfig/busConf.h
index f5b4a860..a86a6c79 100644
--- a/bsp_q7s/boardconfig/busConf.h
+++ b/bsp_q7s/boardconfig/busConf.h
@@ -28,10 +28,12 @@ static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 2;      // AA22
 /** OBC1F B0                                                  */
 /**************************************************************/
 static constexpr char GPIO_FLEX_OBC1F_B0[] = "/amba_pl/gpio@42030000";
+static constexpr uint32_t GPIO_FLEX_OBC1F_B0_WIDTH = 20;
 static const char* const GPIO_ACS_BOARD_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
 static const char* const GPIO_RW_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
 static const char* const GPIO_RAD_SENSOR_LABEL = GPIO_FLEX_OBC1F_B0;
 
+
 static constexpr uint32_t GPIO_RW_0_CS = 7;             // B20
 static constexpr uint32_t GPIO_RW_1_CS = 3;             // G22
 static constexpr uint32_t GPIO_RW_2_CS = 11;            // E18
@@ -56,7 +58,10 @@ static constexpr uint32_t GPIO_RAD_SENSOR_CS = 19;      // R18
 /** OBC1F B1                                                  */
 /**************************************************************/
 static constexpr char GPIO_FLEX_OBC1F_B1[] = "/amba_pl/gpio@42030000";
-static const char* const GPIO_MGM2_LIS3_LABEL = GPIO_FLEX_OBC1F_B1;
+// Need to use chip name here for now because the label name is the name for
+// gpiochip 5 and gpiochip6
+static constexpr char GPIO_FLEX_OBC1F_B1_CHIP[] = "gpiochip6";
+static const char* const GPIO_MGM2_LIS3_LABEL = GPIO_FLEX_OBC1F_B1_CHIP;
 static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0;       // D18
 
 /**************************************************************/
diff --git a/bsp_q7s/boardconfig/q7sConfig.h.in b/bsp_q7s/boardconfig/q7sConfig.h.in
index 40b5a510..43283ea1 100644
--- a/bsp_q7s/boardconfig/q7sConfig.h.in
+++ b/bsp_q7s/boardconfig/q7sConfig.h.in
@@ -28,7 +28,6 @@
 
 // Probably better if this is disabled for mission code. Convenient for development
 #define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG           1
-#define Q7S_ADD_RTD_DEVICES                         0
 
 #define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST             0
 
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index e8be0ef1..a6d6dda3 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -129,13 +129,13 @@ void ObjectFactory::produce(void* args) {
 #endif /* OBSW_ADD_ACS_BOARD == 1 */
     createHeaterComponents();
     createSolarArrayDeploymentComponents();
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
+#if OBSW_ADD_SYRLINKS == 1
     createSyrlinksComponents();
-#endif /* Q7S_ADD_SYRLINKS_HANDLER == 1 */
+#endif /* OBSW_ADD_SYRLINKS == 1 */
 
-#if Q7S_ADD_RTD_DEVICES == 1
+#if OBSW_ADD_RTD_DEVICES == 1
     createRtdComponents();
-#endif /* Q7S_ADD_RTD_DEVICES == 1 */
+#endif /* OBSW_ADD_RTD_DEVICES == 1 */
 
     I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
             q7s::I2C_DEFAULT_DEV);
@@ -265,8 +265,8 @@ void ObjectFactory::createPcduComponents() {
 
 void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
     GpioCookie* gpioCookieRadSensor = new GpioCookie;
-    GpiodRegular* chipSelectRadSensor = new GpiodRegular("Chip Select Radiation Sensor", gpio::OUT,
-            1, q7s::GPIO_RAD_SENSOR_LABEL, q7s::GPIO_RAD_SENSOR_CS);
+    auto chipSelectRadSensor = new GpiodRegularByLabel(q7s::GPIO_RAD_SENSOR_LABEL,
+            q7s::GPIO_RAD_SENSOR_CS, "Chip Select Radiation Sensor", gpio::OUT, gpio::HIGH);
     gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
     gpioComIF->addGpios(gpioCookieRadSensor);
 
@@ -392,47 +392,47 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComI
 
 void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) {
     GpioCookie* gpioCookieAcsBoard = new GpioCookie();
-    GpiodRegular* gpio = nullptr;
-    gpio = new GpiodRegular("CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
-            q7s::GPIO_GYRO_0_ADIS_CS);
+    GpiodRegularByLabel* gpio = nullptr;
+    gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, q7s::GPIO_GYRO_0_ADIS_CS,
+            "CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
-    gpio = new GpiodRegular("CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH,
-            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_1_L3G_CS);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_1_L3G_CS,
+            "CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
-    gpio = new GpiodRegular("CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
-            q7s::GPIO_GYRO_2_ADIS_CS);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, q7s::GPIO_GYRO_2_ADIS_CS,
+            "CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
-    gpio = new GpiodRegular("CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH,
-            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_3_L3G_CS);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_3_L3G_CS,
+            "CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
-    gpio = new GpiodRegular("CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH,
-            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_0_LIS3_CS);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_0_LIS3_CS,
+            "CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
-    gpio = new GpiodRegular("CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH,
-            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_1_RM3100_CS);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_1_RM3100_CS,
+            "CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
-    gpio = new GpiodRegular("CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH, q7s::GPIO_MGM2_LIS3_LABEL,
-            q7s::GPIO_MGM_2_LIS3_CS);
-    gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
-    gpio = new GpiodRegular("CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH,
-            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_3_RM3100_CS);
+    auto gpioChip = new GpiodRegularByChip(q7s::GPIO_MGM2_LIS3_LABEL, q7s::GPIO_MGM_2_LIS3_CS,
+            "CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH);
+    gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpioChip);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_3_RM3100_CS,
+            "CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
     // GNSS reset pins are active low
-    gpio = new GpiodRegular("GNSS_0_NRESET", gpio::OUT, gpio::HIGH,
-            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_0);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_0,
+            "GNSS_0_NRESET", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
-    gpio = new GpiodRegular("GNSS_1_NRESET", gpio::OUT, gpio::HIGH,
-            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_1);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_1,
+            "GNSS_1_NRESET", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
 
     // Enable pins must be pulled low for regular operations
-    gpio = new GpiodRegular("GYRO_0_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_FLEX_OBC1F_B0,
-            q7s::GPIO_GYRO_0_ENABLE);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE,
+            "GYRO_0_ENABLE", gpio::OUT, gpio::LOW);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
-    gpio = new GpiodRegular("GYRO_2_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_3V3_OBC1C,
-            q7s::GPIO_GYRO_2_ENABLE);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE,
+            "GYRO_2_ENABLE", gpio::OUT, gpio::LOW);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
 
     // TODO: Add enable pins for GPS as soon as new interface board design is finished
@@ -542,37 +542,37 @@ void ObjectFactory::createHeaterComponents() {
     GpioCookie* heaterGpiosCookie = new GpioCookie;
 
     /* Pin H2-11 on stack connector */
-    GpiodRegular* gpioConfigHeater0 = new GpiodRegular("Heater0", gpio::OUT, 0,
-            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_0_PIN);
+    auto gpioConfigHeater0 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_0_PIN,
+            "Heater0", gpio::OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
     /* Pin H2-12 on stack connector */
-    GpiodRegular* gpioConfigHeater1 = new GpiodRegular("Heater1", gpio::OUT, 0,
-            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_1_PIN);
+    auto gpioConfigHeater1 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_1_PIN,
+            "Heater1", gpio::OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);
 
     /* Pin H2-13 on stack connector */
-    GpiodRegular* gpioConfigHeater2 = new GpiodRegular("Heater2", gpio::OUT, 0,
-            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_2_PIN);
+    auto gpioConfigHeater2 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_2_PIN,
+            "Heater2", gpio::OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);
 
-    GpiodRegular* gpioConfigHeater3 = new GpiodRegular("Heater3", gpio::OUT, 0,
-            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_3_PIN);
+    auto gpioConfigHeater3 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_3_PIN,
+            "Heater3", gpio::OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);
 
-    GpiodRegular* gpioConfigHeater4 = new GpiodRegular("Heater4", gpio::OUT, 0,
-            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_4_PIN);
+    auto gpioConfigHeater4 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_4_PIN,
+            "Heater4", gpio::OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);
 
-    GpiodRegular* gpioConfigHeater5 = new GpiodRegular("Heater5", gpio::OUT, 0,
-            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_5_PIN);
+    auto gpioConfigHeater5 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_5_PIN,
+            "Heater5", gpio::OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);
 
-    GpiodRegular* gpioConfigHeater6 = new GpiodRegular("Heater6", gpio::OUT, 0,
-            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_6_PIN);
+    auto gpioConfigHeater6 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_6_PIN,
+            "Heater6", gpio::OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);
 
-    GpiodRegular* gpioConfigHeater7 = new GpiodRegular("Heater7", gpio::OUT, 0,
-            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_7_PIN);
+    auto gpioConfigHeater7 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_7_PIN,
+            "Heater7", gpio::OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);
 
     new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
@@ -582,11 +582,11 @@ void ObjectFactory::createHeaterComponents() {
 void ObjectFactory::createSolarArrayDeploymentComponents() {
     GpioCookie* solarArrayDeplCookie = new GpioCookie;
 
-    GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular("DeplSA0", gpio::OUT, 0,
-            q7s::GPIO_SOLAR_ARR_DEPL_LABEL, q7s::GPIO_SOL_DEPL_SA_0_PIN);
+    auto gpioConfigDeplSA0 = new GpiodRegularByLabel(q7s::GPIO_SOLAR_ARR_DEPL_LABEL,
+            q7s::GPIO_SOL_DEPL_SA_0_PIN, "DeplSA0", gpio::OUT, gpio::LOW);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0);
-    GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular("DeplSA1", gpio::OUT, 0,
-            q7s::GPIO_SOLAR_ARR_DEPL_LABEL, q7s::GPIO_SOL_DEPL_SA_1_PIN);
+    auto gpioConfigDeplSA1 = new GpiodRegularByLabel(q7s::GPIO_SOLAR_ARR_DEPL_LABEL,
+            q7s::GPIO_SOL_DEPL_SA_1_PIN, "DeplSA1", gpio::OUT, gpio::LOW);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1);
 
     //TODO: Find out burn time. For now set to 1000 ms.
@@ -766,17 +766,25 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
 
-    GpiodRegular* enRw1 = new GpiodRegular("Enable reaction wheel 1", gpio::OUT, 0,
-            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS);
+//    GpiodRegular* enRw1 = new GpiodRegular("Enable reaction wheel 1", gpio::OUT, 0,
+//            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS);
+//    gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
+//    GpiodRegular* enRw2 = new GpiodRegular("Enable reaction wheel 2", gpio::OUT, 0,
+//            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS);
+//    gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
+//    GpiodRegular* enRw3 = new GpiodRegular(, gpio::OUT, 0,
+//            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS);
+    auto enRw1 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS,
+            "Enable reaction wheel 1", gpio::OUT, gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
-    GpiodRegular* enRw2 = new GpiodRegular("Enable reaction wheel 2", gpio::OUT, 0,
-            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS);
+    auto enRw2 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS,
+            "Enable reaction wheel 2", gpio::OUT, gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
-    GpiodRegular* enRw3 = new GpiodRegular("Enable reaction wheel 3", gpio::OUT, 0,
-            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS);
+    auto enRw3 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS,
+            "Enable reaction wheel 3", gpio::OUT, gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
-    GpiodRegular* enRw4 = new GpiodRegular("Enable reaction wheel 4", gpio::OUT, 0,
-            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_3_CS);
+    auto enRw4 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_3_CS,
+            "Enable reaction wheel 4", gpio::OUT, gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
 
     /**
@@ -784,8 +792,8 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
      * the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core.
      * Per default the PS SPI is selected (EMIO = 0).
      */
-    GpiodRegular* spiMux = new GpiodRegular("EMIO 0 SPI Mux", gpio::OUT, 0,
-            q7s::GPIO_RW_SPI_MUX_LABEL, q7s::GPIO_RW_SPI_MUX_CS);
+    auto spiMux = new GpiodRegularByLabel(q7s::GPIO_RW_SPI_MUX_LABEL,
+            q7s::GPIO_RW_SPI_MUX_CS, "EMIO 0 SPI Mux", gpio::OUT, gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux);
 
     gpioComIF->addGpios(gpioCookieRw);
diff --git a/bsp_q7s/gpio/gpioCallbacks.cpp b/bsp_q7s/gpio/gpioCallbacks.cpp
index da3678c6..da7c58e4 100644
--- a/bsp_q7s/gpio/gpioCallbacks.cpp
+++ b/bsp_q7s/gpio/gpioCallbacks.cpp
@@ -24,30 +24,31 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
 
     GpioCookie* spiMuxGpios = new GpioCookie;
 
+    GpiodRegularByLabel* spiMuxBit = nullptr;
     /** Setting mux bit 1 to low will disable IC21 on the interface board */
-    GpiodRegular* spiMuxBit1 = new GpiodRegular(std::string("SPI Mux Bit 1"), gpio::OUT, 0,
-            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_1);
-    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit1);
+    spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_1,
+            "SPI Mux Bit 1", gpio::OUT, gpio::LOW);
+    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
     /** Setting mux bit 2 to low disables IC1 on the TCS board */
-    GpiodRegular* spiMuxBit2 = new GpiodRegular(std::string("SPI Mux Bit 2"), gpio::OUT, 0,
-            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_2);
-    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit2);
+    spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_2,
+            "SPI Mux Bit 2", gpio::OUT, gpio::LOW);
+    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
     /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */
-    GpiodRegular* spiMuxBit3 = new GpiodRegular(std::string("SPI Mux Bit 3"), gpio::OUT, 0,
-            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_3);
-    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit3);
+    spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_3,
+            "SPI Mux Bit 3", gpio::OUT, gpio::LOW);
+    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
     /** The following gpios can take arbitrary initial values */
-    GpiodRegular* spiMuxBit4 = new GpiodRegular(std::string("SPI Mux Bit 4"), gpio::OUT, 0,
-            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_4);
-    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit4);
-    GpiodRegular* spiMuxBit5 = new GpiodRegular(std::string("SPI Mux Bit 5"), gpio::OUT, 0,
-            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_5);
-    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit5);
-    GpiodRegular* spiMuxBit6 = new GpiodRegular(std::string("SPI Mux Bit 6"), gpio::OUT, 0,
-            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_6);
-    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit6);
-    GpiodRegular* enRwDecoder = new GpiodRegular(std::string("EN_RW_CS"), gpio::OUT, 1,
-            q7s::GPIO_FLEX_OBC1F_B1, q7s::EN_RW_CS);
+    spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_4,
+            "SPI Mux Bit 4", gpio::OUT, gpio::LOW);
+    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
+    spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_5,
+            "SPI Mux Bit 5", gpio::OUT, gpio::LOW);
+    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
+    spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_6,
+            "SPI Mux Bit 6", gpio::OUT, gpio::LOW);
+    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit);
+    GpiodRegularByLabel* enRwDecoder = new GpiodRegularByLabel(q7s::GPIO_FLEX_OBC1F_B1,
+            q7s::EN_RW_CS, "EN_RW_CS", gpio::OUT, gpio::HIGH);
     spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
 
     result = gpioComInterface->addGpios(spiMuxGpios);
diff --git a/common/config/OBSWVersion.h b/common/config/OBSWVersion.h
index 1656eda0..5e9b1b9c 100644
--- a/common/config/OBSWVersion.h
+++ b/common/config/OBSWVersion.h
@@ -4,7 +4,7 @@
 const char* const SW_NAME = "eive";
 
 #define SW_VERSION 1
-#define SW_SUBVERSION 6
-#define SW_REVISION 1
+#define SW_SUBVERSION 7
+#define SW_REVISION 0
 
 #endif /* COMMON_CONFIG_OBSWVERSION_H_ */
diff --git a/fsfw b/fsfw
index 70a3749d..5c56eda6 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 70a3749dbe2cf7d23c685b0e3b3ce350a7c9db05
+Subproject commit 5c56eda61077e3aef00d32133c5546987b476e8c
diff --git a/linux/archive/gpio/LinuxLibgpioIF.cpp b/linux/archive/gpio/LinuxLibgpioIF.cpp
index 64ee2982..92ffa63c 100644
--- a/linux/archive/gpio/LinuxLibgpioIF.cpp
+++ b/linux/archive/gpio/LinuxLibgpioIF.cpp
@@ -10,6 +10,9 @@
 
 
 LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
+    struct gpiod_chip* chip = gpiod_chip_open_by_label("/amba_pl/gpio@42030000");
+
+    sif::debug << chip->name << std::endl;
 }
 
 LinuxLibgpioIF::~LinuxLibgpioIF() {
diff --git a/linux/archive/gpio/LinuxLibgpioIF.h b/linux/archive/gpio/LinuxLibgpioIF.h
index a5015999..9c444e50 100644
--- a/linux/archive/gpio/LinuxLibgpioIF.h
+++ b/linux/archive/gpio/LinuxLibgpioIF.h
@@ -47,9 +47,9 @@ private:
 	 * @param gpioId	The GPIO ID of the GPIO to drive.
 	 * @param logiclevel	The logic level to set. O or 1.
 	 */
-	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel);
+	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, unsigned int logiclevel);
 
-	ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
+	ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio);
 
 	/**
 	 * @brief	This function checks if GPIOs are already registered and whether
diff --git a/linux/boardtest/SpiTestClass.cpp b/linux/boardtest/SpiTestClass.cpp
index e69c63e5..8a340ecb 100644
--- a/linux/boardtest/SpiTestClass.cpp
+++ b/linux/boardtest/SpiTestClass.cpp
@@ -206,7 +206,7 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
     /* Configure all SPI chip selects and pull them high */
     acsInit();
 
-    l3gId = gyro3L3gd20ChipSelect;
+    l3gId = gyro1L3gd20ChipSelect;
 
     /* Adapt accordingly */
     if(l3gId != gyro1L3gd20ChipSelect and l3gId != gyro3L3gd20ChipSelect) {
@@ -298,72 +298,73 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
 
 void SpiTestClass::acsInit() {
     GpioCookie* gpioCookie = new GpioCookie();
-    GpiodRegular* gpio = nullptr;
-    #ifdef RASPBERRY_PI
+
+#ifdef RASPBERRY_PI
+    GpiodRegularByChip* gpio = nullptr;
     std::string rpiGpioName = "gpiochip0";
-    gpio = new GpiodRegular(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
+    gpio = new GpiodRegularByChip(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
             gpio::Direction::OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
 
-    gpio = new GpiodRegular(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
+    gpio = new GpiodRegularByChip(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
             gpio::Direction::OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
 
-    gpio = new GpiodRegular(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
+    gpio = new GpiodRegularByChip(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
             gpio::Direction::OUT, 1);
     gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
 
-    gpio = new GpiodRegular(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
+    gpio = new GpiodRegularByChip(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
             gpio::Direction::OUT, 1);
     gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
 
-    gpio = new GpiodRegular(rpiGpioName, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
+    gpio = new GpiodRegularByChip(rpiGpioName, gyro3L3gd20ChipSelect, "GYRO_2_L3G",
             gpio::Direction::OUT, 1);
     gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
-    gpio = new GpiodRegular(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
+    gpio = new GpiodRegularByChip(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
             gpio::Direction::OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
 
-    gpio = new GpiodRegular(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
+    gpio = new GpiodRegularByChip(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
             gpio::Direction::OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
-    #elif defined(XIPHOS_Q7S)
-
-gpio = new GpiodRegular("MGM_0_LIS3", gpio::Direction::OUT, gpio::HIGH,
-        q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm0Lis3mdlChipSelect);
+#elif defined(XIPHOS_Q7S)
+    GpiodRegularByLabel* gpio = nullptr;
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm0Lis3mdlChipSelect,
+            "MGM_0_LIS3", gpio::Direction::OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
-    gpio = new GpiodRegular("MGM_1_RM3100", gpio::Direction::OUT, gpio::HIGH,
-            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm1Rm3100ChipSelect);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm1Rm3100ChipSelect,
+            "MGM_1_RM3100", gpio::Direction::OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
-    gpio = new GpiodRegular("MGM_2_LIS3", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_MGM2_LIS3_LABEL,
-            mgm2Lis3mdlChipSelect);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_MGM2_LIS3_LABEL, mgm2Lis3mdlChipSelect,
+            "MGM_2_LIS3", gpio::Direction::OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
-    gpio = new GpiodRegular("MGM_3_RM3100", gpio::Direction::OUT, gpio::HIGH,
-            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm3Rm3100ChipSelect);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm3Rm3100ChipSelect,
+            "MGM_3_RM3100", gpio::Direction::OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
-    gpio = new GpiodRegular("GYRO_0_ADIS", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
-            gyro0AdisChipSelect);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, gyro0AdisChipSelect,
+            "GYRO_0_ADIS", gpio::Direction::OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
-    gpio = new GpiodRegular("GYRO_1_L3G", gpio::Direction::OUT, gpio::HIGH,
-            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro1L3gd20ChipSelect);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro1L3gd20ChipSelect,
+            "GYRO_1_L3G", gpio::Direction::OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
-    gpio = new GpiodRegular("GYRO_2_ADIS", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
-            gyro2AdisChipSelect);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, gyro2AdisChipSelect, "GYRO_2_ADIS",
+            gpio::Direction::OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
-    gpio = new GpiodRegular("GYRO_3_L3G", gpio::Direction::OUT, gpio::HIGH,
-            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro3L3gd20ChipSelect);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro3L3gd20ChipSelect,
+            "GYRO_3_L3G", gpio::Direction::OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
     // Enable pins must be pulled low for regular operations
-    gpio = new GpiodRegular("GYRO_0_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_FLEX_OBC1F_B0,
-            q7s::GPIO_GYRO_0_ENABLE);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE,
+            "GYRO_0_ENABLE", gpio::OUT, gpio::LOW);
     gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
-    gpio = new GpiodRegular("GYRO_2_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_3V3_OBC1C,
-            q7s::GPIO_GYRO_2_ENABLE);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE,
+            "GYRO_2_ENABLE", gpio::OUT, gpio::LOW);
     gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
-    #endif
+#endif
     if (gpioIF != nullptr) {
         gpioIF->addGpios(gpioCookie);
     }
diff --git a/linux/boardtest/SpiTestClass.h b/linux/boardtest/SpiTestClass.h
index d5309a1e..45a7cdd8 100644
--- a/linux/boardtest/SpiTestClass.h
+++ b/linux/boardtest/SpiTestClass.h
@@ -45,13 +45,15 @@ private:
 
     /* ACS board specific variables */
 #ifdef RASPBERRY_PI
-    uint8_t mgm0Lis3mdlChipSelect = 0;
-    uint8_t mgm1Rm3100ChipSelect = 1;
-    uint8_t gyro0AdisChipSelect = 5;
-    uint8_t gyro1L3gd20ChipSelect = 6;
-    uint8_t gyro2L3gd20ChipSelect = 4;
-    uint8_t mgm2Lis3mdlChipSelect = 17;
-    uint8_t mgm3Rm3100ChipSelect = 27;
+    uint8_t mgm0Lis3mdlChipSelect = gpio::MGM_0_BCM_PIN;
+    uint8_t mgm1Rm3100ChipSelect = gpio::MGM_1_BCM_PIN;
+    uint8_t mgm2Lis3mdlChipSelect = gpio::MGM_2_BCM_PIN;
+    uint8_t mgm3Rm3100ChipSelect = gpio::MGM_3_BCM_PIN;
+
+    uint8_t gyro0AdisChipSelect = gpio::GYRO_0_BCM_PIN;
+    uint8_t gyro1L3gd20ChipSelect = gpio::GYRO_1_BCM_PIN;
+    uint8_t gyro2AdisChipSelect = gpio::GYRO_2_BCM_PIN;
+    uint8_t gyro3L3gd20ChipSelect = gpio::GYRO_3_BCM_PIN;
 #elif defined(XIPHOS_Q7S)
     uint8_t mgm0Lis3mdlChipSelect = q7s::GPIO_MGM_0_LIS3_CS;
     uint8_t mgm1Rm3100ChipSelect = q7s::GPIO_MGM_1_RM3100_CS;
diff --git a/linux/fsfwconfig/OBSWConfig.h.in b/linux/fsfwconfig/OBSWConfig.h.in
index 7abe1ea8..bf5c1405 100644
--- a/linux/fsfwconfig/OBSWConfig.h.in
+++ b/linux/fsfwconfig/OBSWConfig.h.in
@@ -31,6 +31,8 @@ debugging. */
 
 //! Timers can mess up the code when debugging
 //! All of this should be enabled for mission code!
+#if defined XIPHOS_Q7S
+
 #define OBSW_ENABLE_TIMERS                          1
 #define OBSW_ADD_STAR_TRACKER                       0
 #define OBSW_ADD_PLOC_SUPERVISOR                    0
@@ -39,6 +41,29 @@ debugging. */
 #define OBSW_ADD_ACS_BOARD                          0
 #define OBSW_ADD_GPS_0                              0
 #define OBSW_ADD_GPS_1                              0
+#define OBSW_ADD_RW                                 0
+#define OBSW_ADD_RTD_DEVICES                        0
+#define OBSW_ADD_TMP_DEVICES                        0
+#define OBSW_ADD_RAD_SENSORS                        0
+#define OBSW_ADD_SYRLINKS                           0
+
+#elif defined RASPBERRY_PI
+
+#define OBSW_ENABLE_TIMERS                          1
+#define OBSW_ADD_STAR_TRACKER                       0
+#define OBSW_ADD_PLOC_SUPERVISOR                    0
+#define OBSW_ADD_PLOC_MPSOC                         0
+#define OBSW_ADD_SUN_SENSORS                        0
+#define OBSW_ADD_ACS_BOARD                          0
+#define OBSW_ADD_GPS_0                              0
+#define OBSW_ADD_GPS_1                              0
+#define OBSW_ADD_RW                                 0
+#define OBSW_ADD_RTD_DEVICES                        0
+#define OBSW_ADD_TMP_DEVICES                        0
+#define OBSW_ADD_RAD_SENSORS                        0
+#define OBSW_ADD_SYRLINKS                           0
+
+#endif
 
 /*******************************************************************/
 /** All of the following flags should be disabled for mission code */
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index 727334d2..47851b0d 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -28,12 +28,14 @@ ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence)
 
 ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     uint32_t length = thisSequence->getPeriodMs();
-
+    static_cast<void>(length);
+#if OBSW_ADD_TMP_DEVICES == 1
     thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
-#if Q7S_ADD_RTD_DEVICES == 1
+#endif
+#if OBSW_ADD_RTD_DEVICES == 1
     thisSequence->addSlot(objects::RTD_IC3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RTD_IC4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RTD_IC5, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -50,11 +52,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RTD_IC16, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RTD_IC17, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RTD_IC18, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-#endif /* Q7S_ADD_RTD_DEVICES */
+#endif /* OBSW_ADD_RTD_DEVICES */
 
+#if OBSW_ADD_TMP_DEVICES == 1
     thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-#if Q7S_ADD_RTD_DEVICES == 1
+#endif
+#if OBSW_ADD_RTD_DEVICES == 1
     thisSequence->addSlot(objects::RTD_IC3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::RTD_IC4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::RTD_IC5, length * 0.2, DeviceHandlerIF::SEND_WRITE);
@@ -71,11 +75,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RTD_IC16, length * 0.2, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::RTD_IC17, length * 0.2, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::RTD_IC18, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-#endif /* Q7S_ADD_RTD_DEVICES */
+#endif /* OBSW_ADD_RTD_DEVICES */
 
+#if OBSW_ADD_TMP_DEVICES == 1
     thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
-#if Q7S_ADD_RTD_DEVICES == 1
+#endif
+#if OBSW_ADD_RTD_DEVICES == 1
     thisSequence->addSlot(objects::RTD_IC3, length * 0.4, DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::RTD_IC4, length * 0.4, DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::RTD_IC5, length * 0.4, DeviceHandlerIF::GET_WRITE);
@@ -92,11 +98,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RTD_IC16, length * 0.4, DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::RTD_IC17, length * 0.4, DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::RTD_IC18, length * 0.4, DeviceHandlerIF::GET_WRITE);
-#endif /* Q7S_ADD_RTD_DEVICES */
+#endif /* OBSW_ADD_RTD_DEVICES */
 
+#if OBSW_ADD_TMP_DEVICES == 1
     thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
-#if Q7S_ADD_RTD_DEVICES == 1
+#endif
+#if OBSW_ADD_RTD_DEVICES == 1
     thisSequence->addSlot(objects::RTD_IC3, length * 0.6, DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::RTD_IC4, length * 0.6, DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::RTD_IC5, length * 0.6, DeviceHandlerIF::SEND_READ);
@@ -113,11 +121,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RTD_IC16, length * 0.6, DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::RTD_IC17, length * 0.6, DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::RTD_IC18, length * 0.6, DeviceHandlerIF::SEND_READ);
-#endif /* Q7S_ADD_RTD_DEVICES */
+#endif /* OBSW_ADD_RTD_DEVICES */
 
+#if OBSW_ADD_TMP_DEVICES == 1
     thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
-#if Q7S_ADD_RTD_DEVICES == 1
+#endif
+#if OBSW_ADD_RTD_DEVICES == 1
     thisSequence->addSlot(objects::RTD_IC3, length * 0.8, DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::RTD_IC4, length * 0.8, DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::RTD_IC5, length * 0.8, DeviceHandlerIF::GET_READ);
@@ -134,14 +144,16 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RTD_IC16, length * 0.8, DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::RTD_IC17, length * 0.8, DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::RTD_IC18, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif /* Q7S_ADD_RTD_DEVICES */
+#endif /* OBSW_ADD_RTD_DEVICES */
 
+#if OBSW_ADD_RAD_SENSORS == 1
     /* Radiation sensor */
     thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
+#endif
 
 #if OBSW_ADD_SUN_SENSORS == 1
     /**
@@ -400,6 +412,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ);
 #endif
 
+#if OBSW_ADD_RW == 1
     thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::RW1, length * 0.4, DeviceHandlerIF::GET_WRITE);
@@ -408,69 +421,70 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
 
     thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW2, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW2, length * 0.7, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW2, length * 0.85, DeviceHandlerIF::GET_READ);
 
     thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW3, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW3, length * 0.7, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW3, length * 0.85, DeviceHandlerIF::GET_READ);
 
     thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW4, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW4, length * 0.7, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW4, length * 0.85, DeviceHandlerIF::GET_READ);
+#endif
 
 #if OBSW_ADD_ACS_BOARD == 1
-    bool enableAside = false;
-    bool enableBside = true;
+    bool enableAside = true;
+    bool enableBside = false;
     if(enableAside) {
         // A side
         thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
                 DeviceHandlerIF::PERFORM_OPERATION);
         thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
                 DeviceHandlerIF::SEND_WRITE);
-        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
-                DeviceHandlerIF::GET_WRITE);
         thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
+                DeviceHandlerIF::GET_WRITE);
+        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.7,
                 DeviceHandlerIF::SEND_READ);
-        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
+        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85,
                 DeviceHandlerIF::GET_READ);
 
         thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
                 DeviceHandlerIF::PERFORM_OPERATION);
-        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
+        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25,
                 DeviceHandlerIF::SEND_WRITE);
-        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
-                DeviceHandlerIF::GET_WRITE);
         thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
+                DeviceHandlerIF::GET_WRITE);
+        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.75,
                 DeviceHandlerIF::SEND_READ);
-        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
+        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85,
                 DeviceHandlerIF::GET_READ);
 
-        //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
-        //            DeviceHandlerIF::PERFORM_OPERATION);
-        //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2,
-        //            DeviceHandlerIF::SEND_WRITE);
-        //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.4,
-        //            DeviceHandlerIF::GET_WRITE);
-        //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
-        //            DeviceHandlerIF::SEND_READ);
-        //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8,
-        //            DeviceHandlerIF::GET_READ);
+//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
+//                DeviceHandlerIF::PERFORM_OPERATION);
+//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.3,
+//                DeviceHandlerIF::SEND_WRITE);
+//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
+//                DeviceHandlerIF::GET_WRITE);
+//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.75,
+//                DeviceHandlerIF::SEND_READ);
+//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85,
+//                DeviceHandlerIF::GET_READ);
 
-        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
                 DeviceHandlerIF::PERFORM_OPERATION);
-        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.35,
                 DeviceHandlerIF::SEND_WRITE);
-        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
                 DeviceHandlerIF::GET_WRITE);
-        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.75,
                 DeviceHandlerIF::SEND_READ);
-        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85,
                 DeviceHandlerIF::GET_READ);
     }
 
@@ -480,44 +494,44 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
                 DeviceHandlerIF::PERFORM_OPERATION);
         thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
                 DeviceHandlerIF::SEND_WRITE);
-        thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
-                DeviceHandlerIF::GET_WRITE);
         thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
+                DeviceHandlerIF::GET_WRITE);
+        thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.7,
                 DeviceHandlerIF::SEND_READ);
-        thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
+        thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.85,
                 DeviceHandlerIF::GET_READ);
 
         thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
                 DeviceHandlerIF::PERFORM_OPERATION);
-        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
+        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.25,
                 DeviceHandlerIF::SEND_WRITE);
-        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
-                DeviceHandlerIF::GET_WRITE);
         thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
+                DeviceHandlerIF::GET_WRITE);
+        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.75,
                 DeviceHandlerIF::SEND_READ);
-        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
+        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85,
                 DeviceHandlerIF::GET_READ);
 
-        //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
-        //            DeviceHandlerIF::PERFORM_OPERATION);
-        //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.2,
-        //            DeviceHandlerIF::SEND_WRITE);
-        //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.4,
-        //            DeviceHandlerIF::GET_WRITE);
-        //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6,
-        //            DeviceHandlerIF::SEND_READ);
-        //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.8,
-        //            DeviceHandlerIF::GET_READ);
+//        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
+//                DeviceHandlerIF::PERFORM_OPERATION);
+//        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.3,
+//                DeviceHandlerIF::SEND_WRITE);
+//        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6,
+//                DeviceHandlerIF::GET_WRITE);
+//        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.75,
+//                DeviceHandlerIF::SEND_READ);
+//        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85,
+//                DeviceHandlerIF::GET_READ);
 
         thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
                 DeviceHandlerIF::PERFORM_OPERATION);
-        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.35,
                 DeviceHandlerIF::SEND_WRITE);
-        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
-                DeviceHandlerIF::GET_WRITE);
         thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
+                DeviceHandlerIF::GET_WRITE);
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.75,
                 DeviceHandlerIF::SEND_READ);
-        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85,
                 DeviceHandlerIF::GET_READ);
     }
 #endif /* OBSW_ADD_ACS_BOARD == 1 */
@@ -580,7 +594,7 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
             DeviceHandlerIF::GET_READ);
 #endif
 
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
+#if OBSW_ADD_SYRLINKS == 1
     uartPstEmpty = false;
     thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
@@ -708,77 +722,6 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
     /* Length of a communication cycle */
     uint32_t length = thisSequence->getPeriodMs();
     bool notEmpty = false;
-#if OBSW_ADD_ACS_BOARD == 1
-    notEmpty = true;
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
-
-
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
-
-
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
-
-
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
-#endif
 
 #if RPI_TEST_ADIS16507 == 1
     notEmpty = true;