diff --git a/bsp_q7s/core/InitMission.cpp b/bsp_q7s/core/InitMission.cpp
index ced1d12a..b2fbb41f 100644
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@@ -114,9 +114,9 @@ void initmission::initTasks() {
 #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
 
 #if OBSW_ADD_ACS_HANDLERS == 1
-  PeriodicTaskIF* acsTask = factory->createPeriodicTask(
-      "ACS_CTRL", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
-  result = acsTask->addComponent(objects::GPS_CONTROLLER);
+  PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
+      "ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  result = gpsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
@@ -124,7 +124,7 @@ void initmission::initTasks() {
 #endif /* OBSW_ADD_ACS_HANDLERS */
 
   PeriodicTaskIF* sysTask = factory->createPeriodicTask(
-      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+      "SYS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   result = sysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
@@ -139,6 +139,10 @@ void initmission::initTasks() {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
   }
+  result = sysTask->addComponent(objects::ACS_SUBSYSTEM);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
+  }
 
   // FS task, task interval does not matter because it runs in permanent loop, priority low
   // because it is a non-essential background task
@@ -227,7 +231,7 @@ void initmission::initTasks() {
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
 #if OBSW_ADD_ACS_HANDLERS == 1
-  acsTask->startTask();
+  gpsTask->startTask();
 #endif
   sysTask->startTask();
 
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index a675ffc5..19457188 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -42,6 +42,7 @@
 #include "mission/system/objects/SusAssembly.h"
 #include "mission/system/objects/SusFdir.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
+#include "mission/system/tree/acsModeTree.h"
 #include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
 
@@ -135,6 +136,7 @@ void ObjectFactory::produce(void* args) {
   SpiComIF* spiComIF = nullptr;
   I2cComIF* i2cComIF = nullptr;
   PowerSwitchIF* pwrSwitcher = nullptr;
+
   createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF, &i2cComIF);
   createTmpComponents();
   new CoreController(objects::CORE_CONTROLLER);
@@ -205,6 +207,8 @@ void ObjectFactory::produce(void* args) {
 
   new PlocUpdater(objects::PLOC_UPDATER);
   new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
+
+  satsystem::initAcsSubsystem();
 }
 
 void ObjectFactory::createTmpComponents() {
diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp
index b944caa9..e5748f08 100644
--- a/mission/system/tree/acsModeTree.cpp
+++ b/mission/system/tree/acsModeTree.cpp
@@ -8,8 +8,16 @@
 
 #include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
 
+void checkInsert(ReturnValue_t result, const char* ctx);
+void buildOffSequence(Subsystem* ss, ModeListEntry& eh);
+void buildDetumbleSequence(Subsystem* ss, ModeListEntry& entryHelper);
+void buildSafeSequence(Subsystem* ss, ModeListEntry& entryHelper);
+void buildIdleSequence(Subsystem* ss, ModeListEntry& entryHelper);
+void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& entryHelper);
+void buildTargetPtSequence(Subsystem* ss, ModeListEntry& entryHelper);
+
 // Alias for checker function
-const auto CHK = satsystem::checkInsert;
+const auto CHK = checkInsert;
 static const auto OFF = HasModesIF::MODE_OFF;
 static const auto NML = DeviceHandlerIF::MODE_NORMAL;
 
@@ -65,7 +73,7 @@ auto ACS_TABLE_TARGET_PT_TRANS_0 =
 auto ACS_TABLE_TARGET_PT_TRANS_1 =
     std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
-void satsystem::acsSubsystemInit() {
+void satsystem::initAcsSubsystem() {
   ModeListEntry entry;
   Subsystem* acsSubsystem = new Subsystem(objects::ACS_SUBSYSTEM, objects::EIVE_SYSTEM, 12, 24);
   buildOffSequence(acsSubsystem, entry);
@@ -77,7 +85,7 @@ void satsystem::acsSubsystemInit() {
   acsSubsystem->setInitialMode(HasModesIF::MODE_OFF);
 }
 
-void satsystem::buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
+void buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
   std::string context = "satsystem::buildOffSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
@@ -116,7 +124,7 @@ void satsystem::buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
       ctxc);
 }
 
-void satsystem::buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
+void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
   std::string context = "satsystem::buildSafeSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
@@ -165,7 +173,7 @@ void satsystem::buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
       ctxc);
 }
 
-void satsystem::buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
+void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
   std::string context = "satsystem::buildDetumbleSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
@@ -217,7 +225,7 @@ void satsystem::buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
       ctxc);
 }
 
-void satsystem::buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
+void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
   std::string context = "satsystem::buildIdleSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
@@ -264,7 +272,7 @@ void satsystem::buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
                   false, true);
 }
 
-void satsystem::buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
+void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
   std::string context = "satsystem::buildIdleChargeSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
@@ -318,7 +326,7 @@ void satsystem::buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
       ctxc);
 }
 
-void satsystem::buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
+void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
   std::string context = "satsystem::buildTargetPtSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
@@ -373,7 +381,7 @@ void satsystem::buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
       ctxc);
 }
 
-void satsystem::checkInsert(ReturnValue_t result, const char* ctx) {
+void checkInsert(ReturnValue_t result, const char* ctx) {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::warning << "satsystem::checkInsert: Insertion failed at " << ctx << std::endl;
   }
diff --git a/mission/system/tree/acsModeTree.h b/mission/system/tree/acsModeTree.h
index b6c96e39..5ad5d7c9 100644
--- a/mission/system/tree/acsModeTree.h
+++ b/mission/system/tree/acsModeTree.h
@@ -4,13 +4,6 @@ class Subsystem;
 
 namespace satsystem {
 
-void acsSubsystemInit();
-void buildOffSequence(Subsystem* ss, ModeListEntry& entryHelper);
-void buildDetumbleSequence(Subsystem* ss, ModeListEntry& entryHelper);
-void buildSafeSequence(Subsystem* ss, ModeListEntry& entryHelper);
-void buildIdleSequence(Subsystem* ss, ModeListEntry& entryHelper);
-void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& entryHelper);
-void buildTargetPtSequence(Subsystem* ss, ModeListEntry& entryHelper);
+void initAcsSubsystem();
 
-void checkInsert(ReturnValue_t result, const char* ctx);
 }  // namespace satsystem