diff --git a/bsp_q7s/core/acsModeTree.cpp b/bsp_q7s/core/acsModeTree.cpp
index 58c1159a..207a98bf 100644
--- a/bsp_q7s/core/acsModeTree.cpp
+++ b/bsp_q7s/core/acsModeTree.cpp
@@ -1,38 +1,36 @@
+#include "acsModeTree.h"
+
 #include <commonObjects.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
-
-#include "acsModeTree.h"
-#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
-#include <fsfw/subsystem/modes/ModeDefinitions.h>
-#include <fsfw/subsystem/Subsystem.h>
 #include <fsfw/modes/HasModesIF.h>
+#include <fsfw/subsystem/Subsystem.h>
+#include <fsfw/subsystem/modes/ModeDefinitions.h>
 
-FixedArrayList<ModeListEntry, 2> ACS_SEQUENCE_OFF = FixedArrayList<ModeListEntry, 2>();
-FixedArrayList<ModeListEntry, 0> ACS_TABLE_OFF_TGT = FixedArrayList<ModeListEntry, 0>();
-FixedArrayList<ModeListEntry, 6> ACS_TABLE_OFF_TRANS = FixedArrayList<ModeListEntry, 6>();
-
-static constexpr Mode_t ACS_SEQUENCE_OFF_ID = acs::CtrlModes::OFF;
-static constexpr Mode_t ACS_TABLE_OFF_TGT_ID = (acs::CtrlModes::OFF << 8) | 1;
-static constexpr Mode_t ACS_TABLE_OFF_TRANS_ID = (acs::CtrlModes::OFF << 8) | 2;
-
-FixedArrayList<ModeListEntry, 2> ACS_SEQUENCE_DETUMBLE = FixedArrayList<ModeListEntry, 2>();
-FixedArrayList<ModeListEntry, 3> ACS_TABLE_DETUMBLE_TGT = FixedArrayList<ModeListEntry, 3>();
-FixedArrayList<ModeListEntry, 5> ACS_TABLE_DETUMBLE_TRANS_0 = FixedArrayList<ModeListEntry, 5>();
-FixedArrayList<ModeListEntry, 1> ACS_TABLE_DETUMBLE_TRANS_1 = FixedArrayList<ModeListEntry, 1>();
-
-static constexpr Mode_t ACS_SEQUENCE_DETUMBLE_ID = acs::CtrlModes::DETUMBLE;
-static constexpr Mode_t ACS_TABLE_DETUMBLE_TGT_ID = (acs::CtrlModes::DETUMBLE << 8) | 1;
-static constexpr Mode_t ACS_TABLE_DETUMBLE_TRANS_0_ID = (acs::CtrlModes::DETUMBLE << 8) | 2;
-static constexpr Mode_t ACS_TABLE_DETUMBLE_TRANS_1_ID = (acs::CtrlModes::DETUMBLE << 8) | 3;
+#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
 
 // Alias for checker function
 const auto CHK = satsystem::checkInsert;
 static const auto OFF = HasModesIF::MODE_OFF;
 static const auto NML = DeviceHandlerIF::MODE_NORMAL;
 
+auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlModes::OFF, FixedArrayList<ModeListEntry, 2>());
+auto ACS_TABLE_OFF_TGT =
+    std::make_pair((acs::CtrlModes::OFF << 8) | 1, FixedArrayList<ModeListEntry, 0>());
+auto ACS_TABLE_OFF_TRANS =
+    std::make_pair((acs::CtrlModes::OFF << 8) | 2, FixedArrayList<ModeListEntry, 6>());
+
+auto ACS_SEQUENCE_DETUMBLE =
+    std::make_pair(acs::CtrlModes::DETUMBLE, FixedArrayList<ModeListEntry, 2>());
+auto ACS_TABLE_DETUMBLE_TGT =
+    std::make_pair((acs::CtrlModes::DETUMBLE << 8) | 1, FixedArrayList<ModeListEntry, 3>());
+auto ACS_TABLE_DETUMBLE_TRANS_0 =
+    std::make_pair((acs::CtrlModes::DETUMBLE << 8) | 2, FixedArrayList<ModeListEntry, 5>());
+auto ACS_TABLE_DETUMBLE_TRANS_1 =
+    std::make_pair((acs::CtrlModes::DETUMBLE << 8) | 3, FixedArrayList<ModeListEntry, 1>());
+
 void satsystem::acsSubsystemInit() {
   ModeListEntry entry;
-  Subsystem *acsSubsystem = new Subsystem(objects::ACS_SUBSYSTEM, objects::EIVE_SYSTEM, 20, 20);
+  Subsystem* acsSubsystem = new Subsystem(objects::ACS_SUBSYSTEM, objects::EIVE_SYSTEM, 20, 20);
   buildOffSequence(acsSubsystem, entry);
   buildDetumbleSequence(acsSubsystem, entry);
   acsSubsystem->setInitialMode(HasModesIF::MODE_OFF);
@@ -41,121 +39,74 @@ void satsystem::acsSubsystemInit() {
 void satsystem::buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
   std::string context = "satsystem::buildOffSequence";
   auto ctxc = context.c_str();
-  // Build OFF target
-  ss->addTable(&ACS_TABLE_OFF_TGT, ACS_TABLE_OFF_TGT_ID, false, true);
+
+  auto ih = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    CHK(sequence.insert(eh), ctxc);
+  };
 
   // Build OFF transition
-  eh.setObject(objects::ACS_CONTROLLER);
-  eh.setMode(OFF);
-  eh.setSubmode(0);
-  CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);
-
-  eh.setObject(objects::IMTQ_HANDLER);
-  eh.setMode(OFF);
-  eh.setSubmode(0);
-  CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);
-
-  eh.setObject(objects::STAR_TRACKER);
-  eh.setMode(OFF);
-  eh.setSubmode(0);
-  CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);
-
-  eh.setObject(objects::ACS_BOARD_ASS);
-  eh.setMode(OFF);
-  eh.setSubmode(0);
-  CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);
-
-  eh.setObject(objects::SUS_BOARD_ASS);
-  eh.setMode(OFF);
-  eh.setSubmode(0);
-  CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);
-
-  eh.setObject(objects::RW_ASS);
-  eh.setMode(OFF);
-  eh.setSubmode(0);
-  CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);
-
-  ss->addTable(&ACS_TABLE_OFF_TRANS, ACS_TABLE_OFF_TRANS_ID, false, true);
+  ih(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
+  ih(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
+  ih(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
+  ih(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
+  ih(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
+  ih(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
 
   // Build OFF sequence
-  eh.setTableId(ACS_TABLE_OFF_TGT_ID);
+  eh.setTableId(ACS_TABLE_OFF_TGT.first);
   eh.setWaitSeconds(0);
   eh.setCheckSuccess(false);
-  CHK(ACS_SEQUENCE_OFF.insert(eh), ctxc);
+  CHK(ACS_SEQUENCE_OFF.second.insert(eh), ctxc);
 
-  eh.setTableId(ACS_TABLE_OFF_TRANS_ID);
+  eh.setTableId(ACS_TABLE_OFF_TRANS.first);
   eh.setWaitSeconds(0);
   eh.setCheckSuccess(false);
-  CHK(ACS_SEQUENCE_OFF.insert(eh), ctxc);
+  CHK(ACS_SEQUENCE_OFF.second.insert(eh), ctxc);
 
-  ss->addSequence(&ACS_SEQUENCE_OFF, ACS_SEQUENCE_OFF_ID, ACS_SEQUENCE_OFF_ID, false, true);
+  // Build OFF target
+  ss->addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true);
+  ss->addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true);
+  ss->addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first, false,
+                  true);
 }
 
 void satsystem::buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
-
   std::string context = "satsystem::buildDetumbleSequence";
   auto ctxc = context.c_str();
+  auto ih = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    CHK(sequence.insert(eh), ctxc);
+  };
   // Build DETUMBLE target
-  eh.setObject(objects::ACS_CONTROLLER);
-  eh.setMode(acs::CtrlModes::DETUMBLE);
-  eh.setSubmode(0);
-  CHK(ACS_TABLE_DETUMBLE_TGT.insert(eh), ctxc);
+  ih(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TGT.second);
+  ih(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
+  ih(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
+  ih(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
 
-  eh.setObject(objects::IMTQ_HANDLER);
-  eh.setMode(NML);
-  eh.setSubmode(0);
-  CHK(ACS_TABLE_DETUMBLE_TGT.insert(eh), ctxc);
-
-  eh.setObject(objects::SUS_BOARD_ASS);
-  eh.setMode(NML);
-  eh.setSubmode(0);
-  CHK(ACS_TABLE_DETUMBLE_TGT.insert(eh), ctxc);
-
-  eh.setObject(objects::ACS_BOARD_ASS);
-  eh.setMode(NML);
-  eh.setSubmode(0);
-  CHK(ACS_TABLE_DETUMBLE_TGT.insert(eh), ctxc);
-
-  ss->addTable(&ACS_TABLE_DETUMBLE_TGT, ACS_TABLE_DETUMBLE_TGT_ID, false, true);
+  ss->addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true);
 
   // Build DETUMBLE transition 0
-
-  eh.setObject(objects::IMTQ_HANDLER);
-  eh.setMode(NML);
-  eh.setSubmode(0);
-  CHK(ACS_TABLE_DETUMBLE_TRANS_0.insert(eh), ctxc);
-
-  eh.setObject(objects::STAR_TRACKER);
-  eh.setMode(OFF);
-  eh.setSubmode(0);
-  CHK(ACS_TABLE_DETUMBLE_TRANS_0.insert(eh), ctxc);
-
-  eh.setObject(objects::ACS_BOARD_ASS);
-  eh.setMode(NML);
-  eh.setSubmode(0);
-  CHK(ACS_TABLE_DETUMBLE_TRANS_0.insert(eh), ctxc);
-
-  eh.setObject(objects::SUS_BOARD_ASS);
-  eh.setMode(NML);
-  eh.setSubmode(0);
-  CHK(ACS_TABLE_DETUMBLE_TRANS_0.insert(eh), ctxc);
-
-  eh.setObject(objects::RW_ASS);
-  eh.setMode(OFF);
-  eh.setSubmode(0);
-  CHK(ACS_TABLE_DETUMBLE_TRANS_0.insert(eh), ctxc);
-
-  ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_0, ACS_TABLE_DETUMBLE_TRANS_0_ID, false, true);
+  ih(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
+  ih(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
+  ih(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
+  ih(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
+  ih(objects::RW_ASS, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
 
   // Build DETUMBLE transition 1
+  ih(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
 
-  eh.setObject(objects::ACS_CONTROLLER);
-  eh.setMode(acs::CtrlModes::DETUMBLE);
-  eh.setSubmode(0);
-  CHK(ACS_TABLE_DETUMBLE_TRANS_1.insert(eh), ctxc);
-  ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_1, ACS_TABLE_DETUMBLE_TRANS_1_ID, false, true);
-
-  ss->addSequence(&ACS_SEQUENCE_DETUMBLE, ACS_SEQUENCE_DETUMBLE_ID, 0 /*Ü TODO*/, false, true);
+  // Build full sequence
+  ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false, true);
+  ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false, true);
+  ss->addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
+                  ACS_SEQUENCE_DETUMBLE.first, false, true);
 }
 
 void satsystem::buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {}
@@ -165,7 +116,7 @@ void satsystem::buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {}
 void satsystem::buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {}
 
 void satsystem::checkInsert(ReturnValue_t result, const char* ctx) {
-  if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "Insertion failed at " << ctx << std::endl;
   }
 }
diff --git a/bsp_q7s/core/acsModeTree.h b/bsp_q7s/core/acsModeTree.h
index 8f0c593d..f37d0f75 100644
--- a/bsp_q7s/core/acsModeTree.h
+++ b/bsp_q7s/core/acsModeTree.h
@@ -12,4 +12,4 @@ void buildIdleSequence(Subsystem* ss, ModeListEntry& entryHelper);
 void buildTargetPtSequence(Subsystem* ss, ModeListEntry& entryHelper);
 
 void checkInsert(ReturnValue_t result, const char* ctx);
-}
+}  // namespace satsystem
diff --git a/mission/controller/controllerdefinitions/AcsControllerDefinitions.h b/mission/controller/controllerdefinitions/AcsControllerDefinitions.h
index c05f1b27..d0733046 100644
--- a/mission/controller/controllerdefinitions/AcsControllerDefinitions.h
+++ b/mission/controller/controllerdefinitions/AcsControllerDefinitions.h
@@ -5,16 +5,8 @@
 
 namespace acs {
 
-enum CtrlModes {
-  OFF = HasModesIF::MODE_OFF,
-  DETUMBLE = 2,
-  SAFE = 3,
-  IDLE = 4,
-  TARGET_PT = 5
-};
+enum CtrlModes { OFF = HasModesIF::MODE_OFF, DETUMBLE = 2, SAFE = 3, IDLE = 4, TARGET_PT = 5 };
 
 }
 
-
-
 #endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_ */