diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2e343897..9ccce344 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -19,7 +19,7 @@ change warranting a new major release:
 
 ## Changed
 
-- Readded calibration matrices for MGM calibration
+- Readded calibration matrices for MGM calibration.
 
 ## Fixed
 
@@ -29,7 +29,7 @@ change warranting a new major release:
   stored as the git SHA hash in `commonConfig.h`. This will be
   an empty string now for regular versions.
 - Bump FSFW for important fix in PUS mode service.
-- Bugfixes in 'SensofProcessing' where previously MGM values would be calibrated before being
+- Bugfixes in 'SensorProcessing' where previously MGM values would be calibrated before being
   transformed in body RF. However, the calibration values are in the body RF. Also fixed the
   validity flag of 'mgmVecTotDerivative'.
 
@@ -68,6 +68,10 @@ eive-tmtc version: v2.12.0
 
 ## Changed
 
+- Update ACS scheduling to represent the actual ACS design. There is one ACS PST now for all
+  timing sensitive ACS operations. In the debug builds, the new ACS polling sequence table
+  will have a period of 0.6 seconds, but will remain 0.4 seconds for the release build.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
 - `ACS::SensorValues` is now an ACS controller member to reduce the risk of stack overflow.
 - ACS Subsystem Sequence Mode IDs updated.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f670b6f9..f5220063 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -304,6 +304,9 @@ else()
   endif()
 endif()
 
+include(BuildType)
+set_build_type()
+
 # Configuration files
 configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
 configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
@@ -562,6 +565,3 @@ add_custom_command(
   POST_BUILD
   COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
   COMMENT ${POST_BUILD_COMMENT})
-
-include(BuildType)
-set_build_type()
diff --git a/bsp_q7s/OBSWConfig.h.in b/bsp_q7s/OBSWConfig.h.in
index 9273e4e9..faee473f 100644
--- a/bsp_q7s/OBSWConfig.h.in
+++ b/bsp_q7s/OBSWConfig.h.in
@@ -9,6 +9,8 @@
 #include "commonConfig.h"
 #include "q7sConfig.h"
 
+#cmakedefine RELEASE_BUILD
+
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/
diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp
index 43c50c02..42a11875 100644
--- a/bsp_q7s/core/scheduling.cpp
+++ b/bsp_q7s/core/scheduling.cpp
@@ -144,11 +144,12 @@ void scheduling::initTasks() {
 #endif
 
   PeriodicTaskIF* comTask = factory->createPeriodicTask(
-      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+      "COM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
   result = comTask->addComponent(objects::COM_SUBSYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("COM subsystem", objects::COM_SUBSYSTEM);
   }
+
 #if OBSW_ADD_CCSDS_IP_CORES == 1
   result = comTask->addComponent(objects::CCSDS_HANDLER);
   if (result != returnvalue::OK) {
@@ -215,35 +216,6 @@ void scheduling::initTasks() {
     scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
   }
 
-#if OBSW_Q7S_EM == 1
-  acsSysTask->addComponent(objects::MGM_0_LIS3_HANDLER);
-  acsSysTask->addComponent(objects::MGM_1_RM3100_HANDLER);
-  acsSysTask->addComponent(objects::MGM_2_LIS3_HANDLER);
-  acsSysTask->addComponent(objects::MGM_3_RM3100_HANDLER);
-  acsSysTask->addComponent(objects::IMTQ_HANDLER);
-  acsSysTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
-  acsSysTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
-  acsSysTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
-  acsSysTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
-  acsSysTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
-  acsSysTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
-  acsSysTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
-  acsSysTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
-  acsSysTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
-  acsSysTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
-  acsSysTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
-  acsSysTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
-  acsSysTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
-  acsSysTask->addComponent(objects::GYRO_1_L3G_HANDLER);
-  acsSysTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
-  acsSysTask->addComponent(objects::GYRO_3_L3G_HANDLER);
-  acsSysTask->addComponent(objects::GPS_CONTROLLER);
-  acsSysTask->addComponent(objects::STAR_TRACKER);
-  acsSysTask->addComponent(objects::RW1);
-  acsSysTask->addComponent(objects::RW2);
-  acsSysTask->addComponent(objects::RW3);
-  acsSysTask->addComponent(objects::RW4);
-#endif
 #if OBSW_ADD_RTD_DEVICES == 1
   PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
       "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
@@ -440,11 +412,30 @@ void scheduling::initTasks() {
 void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
   ReturnValue_t result = returnvalue::OK;
+
+#ifdef RELEASE_BUILD
+  static constexpr float acsPstPeriod = 0.4;
+#else
+  static constexpr float acsPstPeriod = 0.6;
+#endif
+  FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask(
+      "ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
+  result = pst::pstAcs(acsPst);
+  if (result != returnvalue::OK) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;
+    } else {
+      sif::error << "scheduling::initTasks: Creating ACS PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(acsPst);
+  }
+
   /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
   FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-      "MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
-  result = pst::pstSpi(spiPst);
+      "MAIN_SPI", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  result = pst::pstSpiAndSyrlinks(spiPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
       sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
@@ -456,37 +447,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   }
 #endif
 
-#if OBSW_ADD_RW == 1
-  FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
-      "RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
-  result = pst::pstSpiRw(rwPstTask);
-  if (result != returnvalue::OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
-    } else {
-      sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(rwPstTask);
-  }
-#endif
-
-  FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
-      "UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
-  result = pst::pstUart(uartPst);
-  if (result != returnvalue::OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "scheduling::initTasks: UART PST is empty" << std::endl;
-    } else {
-      sif::error << "scheduling::initTasks: Creating UART PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(uartPst);
-  }
-
 #if OBSW_ADD_I2C_TEST_CODE == 0
   FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+      "I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstI2c(i2cPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -501,7 +464,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 
 #if OBSW_ADD_GOMSPACE_PCDU == 1
   FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
-      "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
+      "GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstGompaceCan(gomSpacePstTask);
   if (result != returnvalue::OK) {
     if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
diff --git a/cmake/BuildType.cmake b/cmake/BuildType.cmake
index e078e5c7..ee027d13 100644
--- a/cmake/BuildType.cmake
+++ b/cmake/BuildType.cmake
@@ -21,10 +21,13 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
 	)
 endif()
 
+set(RELEASE_BUILD 1 PARENT_SCOPE)
+
 if(${CMAKE_BUILD_TYPE} MATCHES "Debug")
 	message(STATUS 
 		"Building Debug application with flags: ${CMAKE_C_FLAGS_DEBUG}"
 	)
+	set(RELEASE_BUILD 0 PARENT_SCOPE)
 elseif(${CMAKE_BUILD_TYPE} MATCHES "RelWithDebInfo")
 	message(STATUS 
 		"Building Release (Debug) application with "
diff --git a/linux/ObjectFactory.cpp b/linux/ObjectFactory.cpp
index 469187a6..2f04b294 100644
--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@@ -363,6 +363,6 @@ void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
 
 void ObjectFactory::addTmtcIpCoresToFunnels(CcsdsIpCoreHandler& ipCoreHandler,
                                             PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel) {
-  cfdpFunnel.addDestination(ipCoreHandler, config::LIVE_TM);
-  pusFunnel.addDestination(ipCoreHandler, config::LIVE_TM);
+  cfdpFunnel.addDestination("PTME IP Core", ipCoreHandler, config::LIVE_TM);
+  pusFunnel.addDestination("PTME IP Core", ipCoreHandler, config::LIVE_TM);
 }
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index 5fec0cd6..efbb9578 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -15,38 +15,17 @@
 #define RPI_TEST_GPS_HANDLER 0
 #endif
 
-ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) {
+ReturnValue_t pst::pstSpiAndSyrlinks(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
-  static_cast<void>(length);
-  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
 
-  thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+#if OBSW_ADD_SYRLINKS == 1
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
+#endif
 
-  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_WRITE);
-
-  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::SEND_READ);
-
-  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
-  return thisSequence->checkSequence();
-}
-
-ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
-  uint32_t length = thisSequence->getPeriodMs();
   static_cast<void>(length);
 #if OBSW_ADD_PL_PCDU == 1
   thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -56,271 +35,6 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
 #endif
 
-#if OBSW_ADD_SUN_SENSORS == 1
-
-  bool addSus0 = true;
-  bool addSus1 = true;
-  bool addSus2 = true;
-  bool addSus3 = true;
-  bool addSus4 = true;
-  bool addSus5 = true;
-  bool addSus6 = true;
-  bool addSus7 = true;
-  bool addSus8 = true;
-  bool addSus9 = true;
-  bool addSus10 = true;
-  bool addSus11 = true;
-
-  if (addSus0) {
-    /* Write setup */
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus1) {
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus2) {
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus3) {
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus4) {
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus5) {
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus6) {
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus7) {
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus8) {
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus9) {
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus10) {
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus11) {
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-#endif /* OBSW_ADD_SUN_SENSORS == 1 */
-
 #if OBSW_ADD_RAD_SENSORS == 1
   /* Radiation sensor */
   thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -330,74 +44,6 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
 
-#if OBSW_ADD_ACS_BOARD == 1
-  bool enableAside = true;
-  bool enableBside = true;
-  if (enableAside) {
-    // A side
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_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 * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    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 * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.7, 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,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-  }
-
-  if (enableBside) {
-    // B side
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_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 * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.25,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    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 * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.7, 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 * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-  }
-#endif /* OBSW_ADD_ACS_BOARD == 1 */
-
   return thisSequence->checkSequence();
 }
 
@@ -407,23 +53,6 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
   // Length of a communication cycle
   uint32_t length = thisSequence->getPeriodMs();
   static_cast<void>(length);
-#if OBSW_ADD_MGT == 1
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
-#endif
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
   thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2,
                         DeviceHandlerIF::PERFORM_OPERATION);
@@ -481,29 +110,6 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
   return thisSequence->checkSequence();
 }
 
-ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
-  // Length of a communication cycle
-  uint32_t length = thisSequence->getPeriodMs();
-  static_cast<void>(length);
-
-#if OBSW_ADD_SYRLINKS == 1
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
-
-#if OBSW_ADD_STAR_TRACKER == 1
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
-  return thisSequence->checkSequence();
-}
-
 ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
   // PCDU handlers receives two messages and both must be handled
@@ -576,3 +182,422 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) {
   }
   return returnvalue::OK;
 }
+
+ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
+  /* Length of a communication cycle */
+  uint32_t length = thisSequence->getPeriodMs();
+#if OBSW_ADD_ACS_BOARD == 1
+  bool enableAside = true;
+  bool enableBside = true;
+  if (enableAside) {
+    // A side
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+  }
+
+  if (enableBside) {
+    // B side
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+  }
+#endif /* OBSW_ADD_ACS_BOARD == 1 */
+  // SUS: 16 ms
+#if OBSW_ADD_SUN_SENSORS == 1
+
+  bool addSus0 = true;
+  bool addSus1 = true;
+  bool addSus2 = true;
+  bool addSus3 = true;
+  bool addSus4 = true;
+  bool addSus5 = true;
+  bool addSus6 = true;
+  bool addSus7 = true;
+  bool addSus8 = true;
+  bool addSus9 = true;
+  bool addSus10 = true;
+  bool addSus11 = true;
+
+  if (addSus0) {
+    /* Write setup */
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+  if (addSus1) {
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+  if (addSus2) {
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+  if (addSus3) {
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+  if (addSus4) {
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+  if (addSus5) {
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+
+  if (addSus6) {
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+
+  if (addSus7) {
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+
+  if (addSus8) {
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+
+  if (addSus9) {
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+
+  if (addSus10) {
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+
+  if (addSus11) {
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+#endif /* OBSW_ADD_SUN_SENSORS == 1 */
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
+#endif
+
+#if OBSW_ADD_MGT == 1
+  // This is the MTM measurement cycle
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+#endif
+
+  thisSequence->addSlot(objects::ACS_CONTROLLER, length * 0.1, 0);
+
+#if OBSW_ADD_MGT == 1
+  // This is the torquing cycle.
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::GET_READ);
+#endif
+
+#if OBSW_ADD_RW == 1
+  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
+
+  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
+
+  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::GET_WRITE);
+
+  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::SEND_READ);
+
+  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::GET_READ);
+#endif
+  return returnvalue::OK;
+}
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
index 1b585d81..1dcfc30a 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
@@ -39,11 +39,9 @@ namespace pst {
  */
 ReturnValue_t pstGompaceCan(FixedTimeslotTaskIF* thisSequence);
 
-ReturnValue_t pstUart(FixedTimeslotTaskIF* thisSequence);
+ReturnValue_t pstSpiAndSyrlinks(FixedTimeslotTaskIF* thisSequence);
 
-ReturnValue_t pstSpi(FixedTimeslotTaskIF* thisSequence);
-
-ReturnValue_t pstSpiRw(FixedTimeslotTaskIF* thisSequence);
+ReturnValue_t pstAcs(FixedTimeslotTaskIF* thisSequence);
 
 ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);
 
diff --git a/mission/acsDefs.h b/mission/acsDefs.h
index 63824131..170305bb 100644
--- a/mission/acsDefs.h
+++ b/mission/acsDefs.h
@@ -6,8 +6,9 @@
 
 namespace acs {
 
-enum CtrlSubmode {
-  OFF = HasModesIF::SUBMODE_NONE,
+// These modes are the submodes of the ACS controller and the modes of the ACS subsystem.
+enum AcsMode {
+  OFF = HasModesIF::MODE_OFF,
   SAFE = 10,
   DETUMBLE = 11,
   IDLE = 12,
diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 2e53d17c..14069b0a 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -153,7 +153,7 @@ void AcsController::performSafe() {
   }
   if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
     detumbleCounter = 0;
-    // Triggers detubmle mode transition in subsystem
+    // Triggers detumble mode transition in subsystem
     triggerEvent(acs::SAFE_RATE_VIOLATION);
   }
 
@@ -426,7 +426,7 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
       return INVALID_SUBMODE;
     }
   } else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
-    if ((submode > acs::PTG_TARGET_INERTIAL) || (submode < acs::SAFE)) {
+    if ((submode < acs::AcsMode::SAFE) or (submode > acs::AcsMode::PTG_TARGET_INERTIAL)) {
       return INVALID_SUBMODE;
     } else {
       return returnvalue::OK;
diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp
index a5acd734..d486ed59 100644
--- a/mission/core/GenericFactory.cpp
+++ b/mission/core/GenericFactory.cpp
@@ -127,12 +127,12 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
                                config::MAX_PUS_FUNNEL_QUEUE_DEPTH);
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
-  (*cfdpFunnel)->addDestination(*udpBridge, 0);
-  (*pusFunnel)->addDestination(*udpBridge, 0);
+  (*cfdpFunnel)->addDestination("UDP Server", *udpBridge, 0);
+  (*pusFunnel)->addDestination("UDP Server", *udpBridge, 0);
 #endif
 #if OBSW_ADD_TMTC_TCP_SERVER == 1
-  (*cfdpFunnel)->addDestination(*tcpBridge, 0);
-  (*pusFunnel)->addDestination(*tcpBridge, 0);
+  (*cfdpFunnel)->addDestination("TCP Server", *tcpBridge, 0);
+  (*pusFunnel)->addDestination("TCP Server", *tcpBridge, 0);
 #endif
 #endif
   // Every TM packet goes through this funnel
diff --git a/mission/system/objects/AcsSubsystem.cpp b/mission/system/objects/AcsSubsystem.cpp
index 6f7bbf7c..dcf4e67b 100644
--- a/mission/system/objects/AcsSubsystem.cpp
+++ b/mission/system/objects/AcsSubsystem.cpp
@@ -58,7 +58,7 @@ void AcsSubsystem::handleEventMessages() {
       case EventMessage::EVENT_MESSAGE:
         if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
           CommandMessage msg;
-          ModeMessage::setCmdModeMessage(msg, acs::CtrlSubmode::DETUMBLE, 0);
+          ModeMessage::setCmdModeMessage(msg, acs::AcsMode::DETUMBLE, 0);
           ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
           if (result != returnvalue::OK) {
             sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
@@ -66,7 +66,7 @@ void AcsSubsystem::handleEventMessages() {
         }
         if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
           CommandMessage msg;
-          ModeMessage::setCmdModeMessage(msg, acs::CtrlSubmode::SAFE, 0);
+          ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
           ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
           if (result != returnvalue::OK) {
             sif::error << "AcsSubsystem: sending IDLE mode cmd to self has failed" << std::endl;
diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp
index 849959f9..fe87dff5 100644
--- a/mission/system/tree/acsModeTree.cpp
+++ b/mission/system/tree/acsModeTree.cpp
@@ -30,69 +30,69 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper);
 static const auto OFF = HasModesIF::MODE_OFF;
 static const auto NML = DeviceHandlerIF::MODE_NORMAL;
 
-auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList<ModeListEntry, 3>());
+auto ACS_SEQUENCE_OFF = std::make_pair(acs::AcsMode::OFF, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_OFF_TGT =
-    std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::AcsMode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
 auto ACS_TABLE_OFF_TRANS_0 =
-    std::make_pair((acs::CtrlSubmode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::AcsMode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
 auto ACS_TABLE_OFF_TRANS_1 =
-    std::make_pair((acs::CtrlSubmode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
+    std::make_pair((acs::AcsMode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
 
 auto ACS_SEQUENCE_DETUMBLE =
-    std::make_pair(acs::CtrlSubmode::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(acs::AcsMode::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_DETUMBLE_TGT =
-    std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
+    std::make_pair((acs::AcsMode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_DETUMBLE_TRANS_0 =
-    std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::AcsMode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto ACS_TABLE_DETUMBLE_TRANS_1 =
-    std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::AcsMode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
-auto ACS_SEQUENCE_SAFE = std::make_pair(acs::CtrlSubmode::SAFE, FixedArrayList<ModeListEntry, 3>());
+auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_SAFE_TGT =
-    std::make_pair((acs::CtrlSubmode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
+    std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_SAFE_TRANS_0 =
-    std::make_pair((acs::CtrlSubmode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto ACS_TABLE_SAFE_TRANS_1 =
-    std::make_pair((acs::CtrlSubmode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
-auto ACS_SEQUENCE_IDLE = std::make_pair(acs::CtrlSubmode::IDLE, FixedArrayList<ModeListEntry, 3>());
+auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsMode::IDLE, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_IDLE_TGT =
-    std::make_pair((acs::CtrlSubmode::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
+    std::make_pair((acs::AcsMode::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_IDLE_TRANS_0 =
-    std::make_pair((acs::CtrlSubmode::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
+    std::make_pair((acs::AcsMode::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_IDLE_TRANS_1 =
-    std::make_pair((acs::CtrlSubmode::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
+    std::make_pair((acs::AcsMode::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
 
 auto ACS_TABLE_PTG_TRANS_0 =
-    std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 
 auto ACS_SEQUENCE_PTG_TARGET =
-    std::make_pair(acs::CtrlSubmode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(acs::AcsMode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_PTG_TARGET_TGT =
-    std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
+    std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_PTG_TARGET_TRANS_1 =
-    std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
 auto ACS_SEQUENCE_PTG_TARGET_GS =
-    std::make_pair(acs::CtrlSubmode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(acs::AcsMode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_PTG_TARGET_GS_TGT =
-    std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
+    std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
-    std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
 auto ACS_SEQUENCE_PTG_TARGET_NADIR =
-    std::make_pair(acs::CtrlSubmode::PTG_TARGET_NADIR, FixedArrayList<ModeListEntry, 3>());
-auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 1,
+    std::make_pair(acs::AcsMode::PTG_TARGET_NADIR, FixedArrayList<ModeListEntry, 3>());
+auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::AcsMode::PTG_TARGET_NADIR << 24) | 1,
                                                      FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair(
-    (acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    (acs::AcsMode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
 auto ACS_SEQUENCE_PTG_TARGET_INERTIAL =
-    std::make_pair(acs::CtrlSubmode::PTG_TARGET_INERTIAL, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(acs::AcsMode::PTG_TARGET_INERTIAL, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair(
-    (acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
+    (acs::AcsMode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = std::make_pair(
-    (acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    (acs::AcsMode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
 void satsystem::acs::init() {
   ModeListEntry entry;
@@ -122,7 +122,7 @@ void satsystem::acs::init() {
   buildTargetPtGsSequence(ACS_SUBSYSTEM, entry);
   buildTargetPtNadirSequence(ACS_SUBSYSTEM, entry);
   buildTargetPtInertialSequence(ACS_SUBSYSTEM, entry);
-  ACS_SUBSYSTEM.setInitialMode(::acs::CtrlSubmode::SAFE);
+  ACS_SUBSYSTEM.setInitialMode(::acs::AcsMode::SAFE);
 }
 
 namespace {
@@ -190,7 +190,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
     check(sequence.insert(eh), ctxc);
   };
   // Build SAFE target
-  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::SAFE, ACS_TABLE_SAFE_TGT.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TGT.second);
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
@@ -206,7 +206,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Build SAFE transition 1
-  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
   check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
         ctxc);
 
@@ -239,7 +239,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
     check(sequence.insert(eh), ctxc);
   };
   // Build DETUMBLE target
-  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
@@ -257,7 +257,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Build DETUMBLE transition 1
-  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second);
   check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
                     true),
         ctxc);
@@ -291,7 +291,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
     check(sequence.insert(eh), ctxc);
   };
   // Build IDLE target
-  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::IDLE, ACS_TABLE_IDLE_TGT.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::IDLE, ACS_TABLE_IDLE_TGT.second);
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
   iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
@@ -307,7 +307,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
   ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
 
   // Build IDLE transition 1
-  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::IDLE, ACS_TABLE_IDLE_TRANS_1.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::IDLE, ACS_TABLE_IDLE_TRANS_1.second);
   ss.addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);
 
   // Build IDLE sequence
@@ -339,7 +339,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
   };
 
   // Build TARGET PT table
-  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
@@ -350,7 +350,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Transition 0 already built
   // Build TARGET PT transition 1
-  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET,
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET,
       ACS_TABLE_PTG_TARGET_TRANS_1.second);
   check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_1.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, false,
                     true),
@@ -386,7 +386,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
   };
 
   // Build TARGET PT table
-  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET,
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET,
       ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
@@ -399,7 +399,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Transition 0 already built
   // Build TARGET PT transition 1
-  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_NADIR,
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_NADIR,
       ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second);
   check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first,
                                &ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second)),
@@ -436,7 +436,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
   };
 
   // Build TARGET PT table
-  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS,
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS,
       ACS_TABLE_PTG_TARGET_GS_TGT.second);
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
@@ -449,7 +449,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Transition 0 already built
   // Build TARGET PT transition 1
-  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS,
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS,
       ACS_TABLE_PTG_TARGET_GS_TRANS_1.second);
   check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_GS_TRANS_1.first,
                                &ACS_TABLE_PTG_TARGET_GS_TRANS_1.second)),
@@ -485,7 +485,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
   };
 
   // Build TARGET PT table
-  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_INERTIAL,
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_INERTIAL,
       ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
@@ -498,7 +498,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Transition 0 already built
   // Build TARGET PT transition 1
-  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_INERTIAL,
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_INERTIAL,
       ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second);
   check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first,
                                &ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second)),
diff --git a/mission/tmtc/CfdpTmFunnel.cpp b/mission/tmtc/CfdpTmFunnel.cpp
index aff7c95d..f19d5360 100644
--- a/mission/tmtc/CfdpTmFunnel.cpp
+++ b/mission/tmtc/CfdpTmFunnel.cpp
@@ -68,7 +68,7 @@ ReturnValue_t CfdpTmFunnel::handlePacket(TmTcMessage& msg) {
   msg.setStorageId(newStoreId);
   store_address_t origStoreId = newStoreId;
   for (unsigned int idx = 0; idx < destinations.size(); idx++) {
-    const auto& destVcidPair = destinations[idx];
+    const auto& dest = destinations[idx];
     if (destinations.size() > 1) {
       if (idx < destinations.size() - 1) {
         // Create copy of data to ensure each TM recipient has its own copy. That way, we don't need
@@ -87,10 +87,11 @@ ReturnValue_t CfdpTmFunnel::handlePacket(TmTcMessage& msg) {
         msg.setStorageId(origStoreId);
       }
     }
-    result = tmQueue->sendMessage(destVcidPair.first, &msg);
+    result = tmQueue->sendMessage(dest.queueId, &msg);
     if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
+      sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler " << dest.name
+                 << " failed" << std::endl;
 #endif
       tmStore.deleteData(msg.getStorageId());
     }
diff --git a/mission/tmtc/PusTmFunnel.cpp b/mission/tmtc/PusTmFunnel.cpp
index 5d6bbb4d..dda854a6 100644
--- a/mission/tmtc/PusTmFunnel.cpp
+++ b/mission/tmtc/PusTmFunnel.cpp
@@ -49,7 +49,7 @@ ReturnValue_t PusTmFunnel::handlePacket(TmTcMessage &message) {
   packet.updateErrorControl();
 
   for (unsigned int idx = 0; idx < destinations.size(); idx++) {
-    const auto &destVcidPair = destinations[idx];
+    const auto &dest = destinations[idx];
     if (destinations.size() > 1) {
       if (idx < destinations.size() - 1) {
         // Create copy of data to ensure each TM recipient has its own copy. That way, we don't need
@@ -68,10 +68,11 @@ ReturnValue_t PusTmFunnel::handlePacket(TmTcMessage &message) {
         message.setStorageId(origStoreId);
       }
     }
-    result = tmQueue->sendMessage(destVcidPair.first, &message);
+    result = tmQueue->sendMessage(dest.queueId, &message);
     if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
+      sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler " << dest.name
+                 << " failed" << std::endl;
 #endif
       tmStore.deleteData(message.getStorageId());
     }
diff --git a/mission/tmtc/TmFunnelBase.cpp b/mission/tmtc/TmFunnelBase.cpp
index fa0062e6..51bf93a1 100644
--- a/mission/tmtc/TmFunnelBase.cpp
+++ b/mission/tmtc/TmFunnelBase.cpp
@@ -13,7 +13,8 @@ MessageQueueId_t TmFunnelBase::getReportReceptionQueue(uint8_t virtualChannel) c
   return tmQueue->getId();
 }
 
-void TmFunnelBase::addDestination(const AcceptsTelemetryIF &downlinkDestination, uint8_t vcid) {
+void TmFunnelBase::addDestination(const char *name, const AcceptsTelemetryIF &downlinkDestination,
+                                  uint8_t vcid) {
   auto queueId = downlinkDestination.getReportReceptionQueue(vcid);
-  destinations.emplace_back(queueId, vcid);
+  destinations.emplace_back(name, queueId, vcid);
 }
diff --git a/mission/tmtc/TmFunnelBase.h b/mission/tmtc/TmFunnelBase.h
index c630fefd..408244dd 100644
--- a/mission/tmtc/TmFunnelBase.h
+++ b/mission/tmtc/TmFunnelBase.h
@@ -10,14 +10,25 @@
 class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject {
  public:
   TmFunnelBase(object_id_t objectId, StorageManagerIF& tmStore, uint32_t tmMsgDepth);
-  void addDestination(const AcceptsTelemetryIF& downlinkDestination, uint8_t vcid = 0);
+  void addDestination(const char* name, const AcceptsTelemetryIF& downlinkDestination,
+                      uint8_t vcid = 0);
   [[nodiscard]] MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override;
 
   virtual ~TmFunnelBase();
 
  protected:
   StorageManagerIF& tmStore;
-  std::vector<std::pair<MessageQueueId_t, uint8_t>> destinations;
+  struct Destination {
+    Destination(const char* name, MessageQueueId_t queueId, uint8_t virtualChannel)
+        : name(name), queueId(queueId), virtualChannel(virtualChannel) {}
+
+    const char* name;
+    MessageQueueId_t queueId;
+    uint8_t virtualChannel = 0;
+  };
+
+  std::vector<Destination> destinations;
+
   MessageQueueIF* tmQueue = nullptr;
 };