prep v1.25.0

update subsystem mode IDs
Merge pull request 'bugfix for GPS handler' (#368 ) from gps_bugfix into develop
2023-02-06 20:19:08 +01:00 · 2023-02-06 20:15:45 +01:00 · 2023-02-06 18:25:52 +01:00 · 2023-02-06 18:23:04 +01:00 · 2023-02-06 18:12:41 +01:00 · 2023-02-06 15:33:37 +01:00
63 changed files with 1249 additions and 425 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -8,10 +8,113 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/).
 The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
 list yields a list of all related PRs for each release.

+Starting at v2.0.0, the following changes will consitute of a breaking
+change warranting a new major release:
+
+- The TMTC interface changes in any shape of form.
+- The behavour of the OBSW changes in a major shape or form relevant
+  for operations
+
 # [unreleased]

+# [v1.25.0] 2023-02-06
+
+eive-tmtc version: v2.12.0
+
+## Changed
+
+- Updated Subsystem mode IDs to avoid clashes with regular device handler modes.
+
+## Fixed
+
+- `GpsHyperionLinuxController`: Fix `gpsd` polling by continuously calling `gps_read` in one cycle
+  until it does not have any data left anymore. Also, the data is now polled in a permanent loop,
+  where controller handling is done on 0.2 second timeouts.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/368
+
+# [v1.24.0] 2023-02-03
+
+- eive-tmtc v2.10.0
+- `AcsSubsystem`: OFF, SAFE and DETUMBLE mode were tested. Auto-transitions SAFE <-> DETUMBLE tested
+  as well. Other modes still need to be tested.
+
+## Fixed
+
+- `AcsController`: Parameter fix in `DetumbleParameter`.
+- Set GPS set entries to invalid on MODE_OFF command.
+- Bump FSFW for bugfix in `setNormalDatapoolEntriesInvalid` where the validity was not set to false
+  properly
+- Fixed usage of uint instead of int for commanding MTQ. Also fixed the range in which the ACS Ctrl
+  commands the MTQ to match the actual commanding range.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/363
+- Regression: Revert swap of SUS0 and SUS6. Those devices are on separate power lines. In a
+  future fix, the calibration matrices of SUS0 and SUS6 will be swapped.
+
+## Changed
+
+- `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
+  TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/130
+- Update and tweak ACS subsystem to represent the actual ACS design
+- Event handling in the ACS subsystem for events triggered by the ACS controller.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
+
+# [v1.23.1] 2023-02-02
+
+TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3
+
+## Fixed
+
+- Bugfix in FSFW where the sequence flags of the PUS packets were set to continuation segment (0b00)
+  instead of unsegmented (0b11).
+- Bugfix in FSFW where the MGM RM3100 value Z axis data was parse incorrectly.
+  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/123
+
+# [v1.23.0] 2023-02-01
+
+TMTC version: v2.9.0
+
+## Changed
+
+- Bumped FSFW to include improvements and bugfix for Health Service. The health service now
+  supports the announce all health info command.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
+
+## Fixed
+
+- Bumped FSFW to include fixes in the time service.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
+- The CCSDS handler starts the transmitter timer each time it is commanded to MODE_ON and times
+  out the timer when the handler is commanded to MODE_OFF
+- If the timer is timed out the CCSDS handler will disable the TX clock which will cause the
+  syrlinks to got to standby mode
+- PDEC handler now parses the FAR register also in interrupt mode
+
+
+# [v1.22.1] 2023-01-30
+
+## Changed
+
+- Updated FSFW to include addition where the `SO_REUSEADDR` option is set
+  on the TCP server, which should improve its ergonomics.
+
+# [v1.22.0] 2023-01-28
+
+TMTC version: v2.6.1
+
+## Added
+
+- First COM subsystem implementation. It mirrors the Syrlinks mode/submodes but also takes
+  care of commanding the CCSDS handler. It expects the Syrlinks submodes as mode commands.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358
+- The CCSDS handler has has a new submode (3) to configure the default datarate.
+- Default datarate parameter commanding moved to COM subsystem.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358
+
 # [v1.21.0] 2023-01-26

+TMTC version: v2.5.0
 Syrlinks PR: PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/353

 ## Fixed
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -10,7 +10,7 @@
 cmake_minimum_required(VERSION 3.13)

 set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 1)
-set(OBSW_VERSION_MINOR_IF_GIT_FAILS 21)
+set(OBSW_VERSION_MINOR_IF_GIT_FAILS 25)
 set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)

 # set(CMAKE_VERBOSE TRUE)
--- a/bsp_hosted/fsfwconfig/pollingsequence/DummyPst.cpp
+++ b/bsp_hosted/fsfwconfig/pollingsequence/DummyPst.cpp
@ -44,12 +44,11 @@ ReturnValue_t dummy_pst::pst(FixedTimeslotTaskIF *thisSequence) {
  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);

-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_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);
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@ -23,7 +23,7 @@
 #include "linux/boardtest/UartTestClass.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "linux/csp/CspComIF.h"
-#include "linux/devices/GPSHyperionLinuxController.h"
+#include "linux/devices/GpsHyperionLinuxController.h"
 #include "linux/devices/ScexUartReader.h"
 #include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
@ -48,6 +48,7 @@
 #include "mission/system/objects/RwAssembly.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/tree/acsModeTree.h"
+#include "mission/system/tree/comModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
 #include "tmtc/pusIds.h"
@ -473,7 +474,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
  RESET_ARGS_GNSS.gpioComIF = gpioComIF;
  RESET_ARGS_GNSS.waitPeriodMs = 100;
  auto gpsCtrl =
-      new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
+      new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
  gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);

  AcsBoardHelper acsBoardHelper = AcsBoardHelper(
@ -580,16 +581,17 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc

 void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
  auto* syrlinksUartCookie =
-      new SerialCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
+      new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
                       syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
  syrlinksUartCookie->setParityEven();

-  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
+  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
  auto syrlinksHandler =
-      new SyrlinksHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
+      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
                          pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
  syrlinksHandler->setPowerSwitcher(pwrSwitcher);
  syrlinksHandler->setStartUpImmediately();
+  syrlinksHandler->connectModeTreeParent(satsystem::com::SUBSYSTEM);
 #if OBSW_DEBUG_SYRLINKS == 1
  syrlinksHandler->setDebugMode(true);
 #endif
@ -800,6 +802,13 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
  vc = new VirtualChannel(ccsds::VC3, config::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
  (*ipCoreHandler)->addVirtualChannel(ccsds::VC3, vc);

+  ReturnValue_t result = (*ipCoreHandler)->connectModeTreeParent(satsystem::com::SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    sif::error
+        << "ObjectFactory::createCcsdsComponents: Connecting COM subsystem to CCSDS handler failed"
+        << std::endl;
+  }
+
  GpioCookie* gpioCookiePdec = new GpioCookie;
  consumer.str("");
  consumer << "0x" << std::hex << objects::PDEC_HANDLER;
--- a/bsp_q7s/core/scheduling.cpp
+++ b/bsp_q7s/core/scheduling.cpp
@ -1,6 +1,7 @@
 #include "scheduling.h"

 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/subsystem/Subsystem.h>
 #include <linux/scheduling.h>

 #include <iostream>
@ -142,10 +143,14 @@ void scheduling::initTasks() {
 #endif
 #endif

-#if OBSW_ADD_CCSDS_IP_CORES == 1
-  PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
+  PeriodicTaskIF* comTask = factory->createPeriodicTask(
      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
+  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) {
    scheduling::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
  }
@ -168,54 +173,25 @@ void scheduling::initTasks() {
  }
 #endif

-  PeriodicTaskIF* acsCtrlTask = factory->createPeriodicTask(
-      "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
 #if OBSW_ADD_GPS_CTRL == 1
-  result = acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
+  PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
+      "GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  result = gpsTask->addComponent(objects::GPS_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
  }
 #endif /* OBSW_ADD_GPS_CTRL */

+  PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
+      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  static_cast<void>(acsSysTask);
+  // To be removed soon because it will be part of the ACS PST.
 #if OBSW_ADD_ACS_CTRL == 1
-  acsCtrlTask->addComponent(objects::ACS_CONTROLLER);
+  acsSysTask->addComponent(objects::ACS_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
  }
 #endif
-#if OBSW_Q7S_EM == 1
-  acsCtrlTask->addComponent(objects::MGM_0_LIS3_HANDLER);
-  acsCtrlTask->addComponent(objects::MGM_1_RM3100_HANDLER);
-  acsCtrlTask->addComponent(objects::MGM_2_LIS3_HANDLER);
-  acsCtrlTask->addComponent(objects::MGM_3_RM3100_HANDLER);
-  acsCtrlTask->addComponent(objects::IMTQ_HANDLER);
-  acsCtrlTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
-  acsCtrlTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
-  acsCtrlTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
-  acsCtrlTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
-  acsCtrlTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
-  acsCtrlTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
-  acsCtrlTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
-  acsCtrlTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
-  acsCtrlTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
-  acsCtrlTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
-  acsCtrlTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
-  acsCtrlTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
-  acsCtrlTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
-  acsCtrlTask->addComponent(objects::GYRO_1_L3G_HANDLER);
-  acsCtrlTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
-  acsCtrlTask->addComponent(objects::GYRO_3_L3G_HANDLER);
-  acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
-  acsCtrlTask->addComponent(objects::STAR_TRACKER);
-  acsCtrlTask->addComponent(objects::RW1);
-  acsCtrlTask->addComponent(objects::RW2);
-  acsCtrlTask->addComponent(objects::RW3);
-  acsCtrlTask->addComponent(objects::RW4);
-#endif
-
-  PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
-      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
-  static_cast<void>(acsSysTask);
 #if OBSW_ADD_ACS_BOARD == 1
  result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
  if (result != returnvalue::OK) {
@ -239,6 +215,35 @@ 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);
@ -380,8 +385,8 @@ void scheduling::initTasks() {
 #endif
 #endif

+  comTask->startTask();
 #if OBSW_ADD_CCSDS_IP_CORES == 1
-  ccsdsHandlerTask->startTask();
  pdecHandlerTask->startTask();
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */

@ -409,7 +414,9 @@ void scheduling::initTasks() {
  strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */

-  acsCtrlTask->startTask();
+#if OBSW_ADD_GPS_CTRL == 1
+  gpsTask->startTask();
+#endif
  acsSysTask->startTask();
 #if OBSW_ADD_RTD_DEVICES == 1
  tcsPollingTask->startTask();
--- a/bsp_q7s/em/emObjectFactory.cpp
+++ b/bsp_q7s/em/emObjectFactory.cpp
@ -14,6 +14,7 @@
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "mission/core/GenericFactory.h"
+#include "mission/system/tree/comModeTree.h"

 void ObjectFactory::produce(void* args) {
  ObjectFactory::setStatics();
@ -108,4 +109,5 @@ void ObjectFactory::produce(void* args) {
                       pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
 #endif
  createAcsController(true);
+  satsystem::com::init();
 }
--- a/common/config/devices/addresses.h
+++ b/common/config/devices/addresses.h
@ -9,7 +9,7 @@

 namespace addresses {
 /* Logical addresses have uint32_t datatype */
-enum logicalAddresses : address_t {
+enum LogicAddress : address_t {
  PCDU,

  MGM_0_LIS3 = objects::MGM_0_LIS3_HANDLER,
--- a/common/config/eive/definitions.h
+++ b/common/config/eive/definitions.h
@ -50,6 +50,11 @@ static constexpr uint8_t VC1_QUEUE_SIZE = 80;
 static constexpr uint8_t VC2_QUEUE_SIZE = 50;
 static constexpr uint8_t VC3_QUEUE_SIZE = 50;

+static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100;
+
+static constexpr uint32_t MAX_STORED_CMDS_UDP = 120;
+static constexpr uint32_t MAX_STORED_CMDS_TCP = 120;
+
 }  // namespace config

 #endif /* COMMON_CONFIG_DEFINITIONS_H_ */
--- a/common/config/eive/objects.h
+++ b/common/config/eive/objects.h
@ -50,7 +50,8 @@ enum commonObjects : uint32_t {
  TMP1075_HANDLER_PLPCDU_0 = 0x44420006,
  TMP1075_HANDLER_PLPCDU_1 = 0x44420007,
  TMP1075_HANDLER_IF_BOARD = 0x44420008,
-  TMP1075_HANDLER_OBC_IF_BOARD = 0x44420009,
+  // Does not exist anymore
+  // TMP1075_HANDLER_OBC_IF_BOARD = 0x44420009,
  PCDU_HANDLER = 0x442000A1,
  P60DOCK_HANDLER = 0x44250000,
  PDU1_HANDLER = 0x44250001,
@ -117,7 +118,9 @@ enum commonObjects : uint32_t {
  SUS_5_N_LOC_XFYMZB_PT_ZB = 0x44120037,
  SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043,

-  SYRLINKS_HK_HANDLER = 0x445300A3,
+  SYRLINKS_HANDLER = 0x445300A3,
+  // might be obsolete, was not used in Q7S FM SW
+  // CCSDS_IP_CORE_BRIDGE = 0x73500000,

  /* 0x49 ('I') for Communication Interfaces */
  SPI_RTD_COM_IF = 0x49020006,
@ -142,6 +145,8 @@ enum commonObjects : uint32_t {
  ACS_SUBSYSTEM = 0x73010001,
  PL_SUBSYSTEM = 0x73010002,
  TCS_SUBSYSTEM = 0x73010003,
+  COM_SUBSYSTEM = 0x73010004,
+
  TM_FUNNEL = 0x73000100,
  PUS_TM_FUNNEL = 0x73000101,
  CFDP_TM_FUNNEL = 0x73000102,
--- a/dummies/helpers.cpp
+++ b/dummies/helpers.cpp
@ -41,7 +41,7 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
  new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
  new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
  if (cfg.addSyrlinksDummies) {
-    new SyrlinksDummy(objects::SYRLINKS_HK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
  }
  new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
  if (cfg.addPowerDummies) {
--- a/2
+++ b/2
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@ -76,14 +76,16 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 7903;0x1edf;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7905;0x1ee1;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 8900;0x22c4;CLOCK_SET;INFO;;fsfw/src/fsfw/pus/Service9TimeManagement.h
-8901;0x22c5;CLOCK_SET_FAILURE;LOW;;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8901;0x22c5;CLOCK_DUMP;INFO;;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8902;0x22c6;CLOCK_SET_FAILURE;LOW;;fsfw/src/fsfw/pus/Service9TimeManagement.h
 9100;0x238c;TC_DELETION_FAILED;MEDIUM;Deletion of a TC from the map failed. P1: First 32 bit of request ID, P2. Last 32 bit of Request ID;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 9700;0x25e4;TEST;INFO;;fsfw/src/fsfw/pus/Service17Test.h
 10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
 10800;0x2a30;STORE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
 10801;0x2a31;MSG_QUEUE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
 10802;0x2a32;SERIALIZATION_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
-11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/controller/AcsController.h
+11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/acsDefs.h
+11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;;mission/acsDefs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
--- a/generators/bsp_q7s_objects.csv
+++ b/generators/bsp_q7s_objects.csv
@ -72,7 +72,7 @@
 0x44420029;RTD_13_IC16_PLPCDU_HEATSPREADER
 0x44420030;RTD_14_IC17_TCS_BOARD
 0x44420031;RTD_15_IC18_IMTQ
-0x445300A3;SYRLINKS_HK_HANDLER
+0x445300A3;SYRLINKS_HANDLER
 0x49000000;ARDUINO_COM_IF
 0x49010005;GPIO_IF
 0x49010006;SCEX_UART_READER
@ -147,5 +147,6 @@
 0x73010001;ACS_SUBSYSTEM
 0x73010002;PL_SUBSYSTEM
 0x73010003;TCS_SUBSYSTEM
+0x73010004;COM_SUBSYSTEM
 0x73500000;CCSDS_IP_CORE_BRIDGE
 0xFFFFFFFF;NO_OBJECT
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 243 translations.
+ * @brief    Auto-generated event translation file. Contains 245 translations.
 * @details
- * Generated on: 2023-01-26 19:42:47
+ * Generated on: 2023-02-03 10:52:53
 */
 #include "translateEvents.h"

@ -82,6 +82,7 @@ const char *BIT_LOCK_STRING = "BIT_LOCK";
 const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
 const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
 const char *CLOCK_SET_STRING = "CLOCK_SET";
+const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
 const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
 const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
 const char *TEST_STRING = "TEST";
@ -90,6 +91,7 @@ const char *STORE_ERROR_STRING = "STORE_ERROR";
 const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
+const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -401,6 +403,8 @@ const char *translateEvents(Event event) {
    case (8900):
      return CLOCK_SET_STRING;
    case (8901):
+      return CLOCK_DUMP_STRING;
+    case (8902):
      return CLOCK_SET_FAILURE_STRING;
    case (9100):
      return TC_DELETION_FAILED_STRING;
@ -416,6 +420,8 @@ const char *translateEvents(Event event) {
      return SERIALIZATION_ERROR_STRING;
    case (11200):
      return SAFE_RATE_VIOLATION_STRING;
+    case (11201):
+      return SAFE_RATE_RECOVERY_STRING;
    case (11300):
      return SWITCH_CMD_SENT_STRING;
    case (11301):
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@ -1,8 +1,8 @@
 /**
 * @brief  Auto-generated object translation file.
 * @details
- * Contains 151 translations.
- * Generated on: 2023-01-26 19:42:47
+ * Contains 152 translations.
+ * Generated on: 2023-02-03 10:52:53
 */
 #include "translateObjects.h"

@ -80,7 +80,7 @@ const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
 const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
 const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
 const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
-const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
+const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
@ -155,6 +155,7 @@ const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
 const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
 const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
+const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";

@ -309,7 +310,7 @@ const char *translateObject(object_id_t object) {
    case 0x44420031:
      return RTD_15_IC18_IMTQ_STRING;
    case 0x445300A3:
-      return SYRLINKS_HK_HANDLER_STRING;
+      return SYRLINKS_HANDLER_STRING;
    case 0x49000000:
      return ARDUINO_COM_IF_STRING;
    case 0x49010005:
@ -458,6 +459,8 @@ const char *translateObject(object_id_t object) {
      return PL_SUBSYSTEM_STRING;
    case 0x73010003:
      return TCS_SUBSYSTEM_STRING;
+    case 0x73010004:
+      return COM_SUBSYSTEM_STRING;
    case 0x73500000:
      return CCSDS_IP_CORE_BRIDGE_STRING;
    case 0xFFFFFFFF:
--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@ -79,11 +79,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 #if OBSW_ADD_SUN_SENSORS == 1
  SusFdir* fdir = nullptr;
  std::array<SusHandler*, 12> susHandlers = {};
-  gpioId_t gpioId = gpioIds::CS_SUS_0;
-  if (swap0And6) {
-    gpioId = gpioIds::CS_SUS_6;
-  }
-  SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioId, SUS::MAX_CMD_SIZE,
+  SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
                                       spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  susHandlers[0] =
      new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
@ -125,12 +121,8 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
  susHandlers[5]->setCustomFdir(fdir);

-  gpioId = gpioIds::CS_SUS_6;
-  if (swap0And6) {
-    gpioId = gpioIds::CS_SUS_0;
-  }
-  spiCookie = new SpiCookie(addresses::SUS_6, gpioId, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE,
-                            spi::SUS_MAX1227_SPI_FREQ);
+  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  susHandlers[6] =
      new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
--- a/linux/devices/CMakeLists.txt
+++ b/linux/devices/CMakeLists.txt
@ -1,5 +1,5 @@
 if(EIVE_BUILD_GPSD_GPS_HANDLER)
-  target_sources(${OBSW_NAME} PRIVATE GPSHyperionLinuxController.cpp)
+  target_sources(${OBSW_NAME} PRIVATE GpsHyperionLinuxController.cpp)
 endif()

 target_sources(
--- a/linux/devices/GpsHyperionLinuxController.cpp
+++ b/linux/devices/GpsHyperionLinuxController.cpp
@ -1,5 +1,6 @@
-#include "GPSHyperionLinuxController.h"
+#include "GpsHyperionLinuxController.h"

+#include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>

 #include "OBSWConfig.h"
@ -16,26 +17,20 @@
 #include <cmath>
 #include <ctime>

-GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
+GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                                                       bool debugHyperionGps)
    : ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {
  timeUpdateCd.resetTimer();
 }

-GPSHyperionLinuxController::~GPSHyperionLinuxController() {
+GpsHyperionLinuxController::~GpsHyperionLinuxController() {
  gps_stream(&gps, WATCH_DISABLE, nullptr);
  gps_close(&gps);
 }

-void GPSHyperionLinuxController::performControlOperation() {
-#ifdef FSFW_OSAL_LINUX
-  readGpsDataFromGpsd();
-#endif
-}
+LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }

-LocalPoolDataSetBase *GPSHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
-
-ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
+ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
                                                           uint32_t *msToReachTheMode) {
  if (not modeCommanded) {
    if (mode == MODE_ON or mode == MODE_OFF) {
@ -48,10 +43,13 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
      return HasModesIF::INVALID_MODE;
    }
  }
+  if (mode == MODE_OFF) {
+    gpsSet.setValidity(false, true);
+  }
  return returnvalue::OK;
 }

-ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
+ReturnValue_t GpsHyperionLinuxController::executeAction(ActionId_t actionId,
                                                        MessageQueueId_t commandedBy,
                                                        const uint8_t *data, size_t size) {
  switch (actionId) {
@ -69,7 +67,7 @@ ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
  return returnvalue::OK;
 }

-ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
+ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
    localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
  localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
  localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
@ -89,13 +87,27 @@ ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
  return returnvalue::OK;
 }

-void GPSHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
+void GpsHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
                                                            void *args) {
  this->resetCallback = resetCallback;
  resetCallbackArgs = args;
 }

-ReturnValue_t GPSHyperionLinuxController::initialize() {
+ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
+  handleQueue();
+  poolManager.performHkOperation();
+  while (true) {
+    bool callAgainImmediately = readGpsDataFromGpsd();
+    if (not callAgainImmediately) {
+      handleQueue();
+      poolManager.performHkOperation();
+    }
+  }
+  // Should never be reached.
+  return returnvalue::OK;
+}
+
+ReturnValue_t GpsHyperionLinuxController::initialize() {
  ReturnValue_t result = ExtendedControllerBase::initialize();
  if (result != returnvalue::OK) {
    return result;
@ -115,6 +127,7 @@ ReturnValue_t GPSHyperionLinuxController::initialize() {
    if (retval != 0) {
      openError("Socket", retval);
    }
+    gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
  } else if (readMode == ReadModes::SHM) {
    int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps);
    if (retval != 0) {
@ -124,57 +137,58 @@ ReturnValue_t GPSHyperionLinuxController::initialize() {
  return result;
 }

-ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
+ReturnValue_t GpsHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
  return ExtendedControllerBase::handleCommandMessage(message);
 }

-#ifdef FSFW_OSAL_LINUX
+void GpsHyperionLinuxController::performControlOperation() {}

-void GPSHyperionLinuxController::readGpsDataFromGpsd() {
-  auto readError = [&](int error) {
+bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
+  auto readError = [&]() {
    if (gpsReadFailedSwitch) {
      gpsReadFailedSwitch = false;
      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
                      "Error "
-                   << error << " | " << gps_errstr(error) << std::endl;
+                   << errno << " | " << gps_errstr(errno) << std::endl;
    }
  };
-  currentClientBuf = gps_data(&gps);
  if (readMode == ReadModes::SOCKET) {
-    gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
-    // Exit if no data is seen in 2 seconds (should not happen)
-    if (not gps_waiting(&gps, 2000000)) {
-      return;
-    }
-    int result = gps_read(&gps);
-    if (result == -1) {
-      readError(result);
-      return;
-    }
-    if (MODE_SET != (MODE_SET & gps.set)) {
-      if (noModeSetCntr >= 0) {
-        noModeSetCntr++;
+    // Perform other necessary handling if not data seen for 0.2 seconds.
+    if (gps_waiting(&gps, 200000)) {
+      if (-1 == gps_read(&gps)) {
+        readError();
+        return false;
      }
-      if (noModeSetCntr == 10) {
-        // TODO: Trigger event here
-        sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be "
-                        "read for 10 consecutive reads"
-                     << std::endl;
-        noModeSetCntr = -1;
+      if (MODE_SET != (MODE_SET & gps.set)) {
+        if (mode == MODE_ON) {
+          if (noModeSetCntr >= 0) {
+            noModeSetCntr++;
+          }
+          if (noModeSetCntr == 10) {
+            // TODO: Trigger event here
+            sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be "
+                            "read for 10 consecutive reads"
+                         << std::endl;
+            noModeSetCntr = -1;
+          }
+          // did not event get mode, nothing to see.
+          return false;
+        }
      }
+      noModeSetCntr = 0;
+    } else {
+      return false;
    }
-    noModeSetCntr = 0;
  } else if (readMode == ReadModes::SHM) {
-    int result = gps_read(&gps);
-    if (result == -1) {
-      readError(result);
-      return;
-    }
+    sif::error << "GpsHyperionLinuxController::readGpsDataFromGpsdPermanentLoop: "
+                  "SHM read not implemented"
+               << std::endl;
  }
-  handleGpsRead();
+  handleGpsReadData();
+  return true;
 }

-ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
+ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
  PoolReadGuard pg(&gpsSet);
  if (pg.getReadResult() != returnvalue::OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
@ -311,5 +325,3 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
  }
  return returnvalue::OK;
 }
-
-#endif
--- a/linux/devices/GpsHyperionLinuxController.h
+++ b/linux/devices/GpsHyperionLinuxController.h
@ -20,18 +20,19 @@
 * This device handler can only be used on Linux system where the gpsd daemon with shared memory
 * export is running.
 */
-class GPSHyperionLinuxController : public ExtendedControllerBase {
+class GpsHyperionLinuxController : public ExtendedControllerBase {
 public:
  static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5;

  enum ReadModes { SHM = 0, SOCKET = 1 };

-  GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
+  GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                             bool debugHyperionGps = false);
-  virtual ~GPSHyperionLinuxController();
+  virtual ~GpsHyperionLinuxController();

  using gpioResetFunction_t = ReturnValue_t (*)(const uint8_t* actionData, size_t len, void* args);

+  ReturnValue_t performOperation(uint8_t opCode) override;
  void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
  void performControlOperation() override;
@ -49,7 +50,7 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                        LocalDataPoolManager& poolManager) override;

-  ReturnValue_t handleGpsRead();
+  ReturnValue_t handleGpsReadData();

 private:
  GpsPrimaryDataset gpsSet;
@ -66,7 +67,9 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
  uint32_t timeIsConstantCounter = 0;
  Countdown timeUpdateCd = Countdown(60);

-  void readGpsDataFromGpsd();
+  // Returns true if the function should be called again or false if other
+  // controller handling can be done.
+  bool readGpsDataFromGpsd();
 };

 #endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */
--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 243 translations.
+ * @brief    Auto-generated event translation file. Contains 245 translations.
 * @details
- * Generated on: 2023-01-26 19:42:47
+ * Generated on: 2023-02-03 10:52:53
 */
 #include "translateEvents.h"

@ -82,6 +82,7 @@ const char *BIT_LOCK_STRING = "BIT_LOCK";
 const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
 const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
 const char *CLOCK_SET_STRING = "CLOCK_SET";
+const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
 const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
 const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
 const char *TEST_STRING = "TEST";
@ -90,6 +91,7 @@ const char *STORE_ERROR_STRING = "STORE_ERROR";
 const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
+const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -401,6 +403,8 @@ const char *translateEvents(Event event) {
    case (8900):
      return CLOCK_SET_STRING;
    case (8901):
+      return CLOCK_DUMP_STRING;
+    case (8902):
      return CLOCK_SET_FAILURE_STRING;
    case (9100):
      return TC_DELETION_FAILED_STRING;
@ -416,6 +420,8 @@ const char *translateEvents(Event event) {
      return SERIALIZATION_ERROR_STRING;
    case (11200):
      return SAFE_RATE_VIOLATION_STRING;
+    case (11201):
+      return SAFE_RATE_RECOVERY_STRING;
    case (11300):
      return SWITCH_CMD_SENT_STRING;
    case (11301):
--- a/linux/fsfwconfig/objects/systemObjectList.h
+++ b/linux/fsfwconfig/objects/systemObjectList.h
@ -39,8 +39,6 @@ enum sourceObjects : uint32_t {
  FW_ADDRESS_END = TIME_STAMPER,
  PUS_SERVICE_6 = 0x51000500,

-  CCSDS_IP_CORE_BRIDGE = 0x73500000,
-
  /* 0x49 ('I') for Communication Interfaces **/
  ARDUINO_COM_IF = 0x49000000,
  CSP_COM_IF = 0x49050001,
--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@ -1,8 +1,8 @@
 /**
 * @brief  Auto-generated object translation file.
 * @details
- * Contains 151 translations.
- * Generated on: 2023-01-26 19:42:47
+ * Contains 152 translations.
+ * Generated on: 2023-02-03 10:52:53
 */
 #include "translateObjects.h"

@ -80,7 +80,7 @@ const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
 const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
 const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
 const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
-const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
+const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
@ -155,6 +155,7 @@ const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
 const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
 const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
+const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";

@ -309,7 +310,7 @@ const char *translateObject(object_id_t object) {
    case 0x44420031:
      return RTD_15_IC18_IMTQ_STRING;
    case 0x445300A3:
-      return SYRLINKS_HK_HANDLER_STRING;
+      return SYRLINKS_HANDLER_STRING;
    case 0x49000000:
      return ARDUINO_COM_IF_STRING;
    case 0x49010005:
@ -458,6 +459,8 @@ const char *translateObject(object_id_t object) {
      return PL_SUBSYSTEM_STRING;
    case 0x73010003:
      return TCS_SUBSYSTEM_STRING;
+    case 0x73010004:
+      return COM_SUBSYSTEM_STRING;
    case 0x73500000:
      return CCSDS_IP_CORE_BRIDGE_STRING;
    case 0xFFFFFFFF:
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@ -487,12 +487,11 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
  static_cast<void>(length);

 #if OBSW_ADD_SYRLINKS == 1
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
+  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
--- a/linux/ipcore/PdecConfig.h
+++ b/linux/ipcore/PdecConfig.h
@ -34,7 +34,7 @@ class PdecConfig {

  static const uint8_t VIRTUAL_CHANNEL = 0;
  static const uint8_t RESERVED_FIELD_A = 0;
-  static const uint16_t SPACECRAFT_ID = 0x274;
+  static const uint16_t SPACECRAFT_ID = 0x3DC;
  static const uint16_t DUMMY_BITS = 0;
  // Parameters to control the FARM for AD frames
  // Set here for future use
--- a/linux/ipcore/PdecHandler.cpp
+++ b/linux/ipcore/PdecHandler.cpp
@ -188,6 +188,7 @@ ReturnValue_t PdecHandler::irqOperation() {
            if ((pisr & NEW_FAR_MASK) == NEW_FAR_MASK) {
              // Read FAR here
              CURRENT_FAR = readFar();
+              checkFrameAna(CURRENT_FAR);
            }
            if (lockCheckCd.hasTimedOut()) {
              checkLocks();
--- a/mission/CMakeLists.txt
+++ b/mission/CMakeLists.txt
@ -7,3 +7,4 @@ add_subdirectory(tmtc)
 add_subdirectory(system)
 add_subdirectory(csp)
 add_subdirectory(cfdp)
+add_subdirectory(config)
--- a/mission/acsDefs.h
+++ b/mission/acsDefs.h
@ -0,0 +1,28 @@
+#ifndef MISSION_ACSDEFS_H_
+#define MISSION_ACSDEFS_H_
+
+#include <eive/eventSubsystemIds.h>
+#include <fsfw/modes/HasModesIF.h>
+
+namespace acs {
+
+enum CtrlSubmode {
+  OFF = HasModesIF::MODE_OFF,
+  SAFE = 10,
+  DETUMBLE = 11,
+  IDLE = 12,
+  PTG_TARGET_NADIR = 13,
+  PTG_TARGET = 14,
+  PTG_TARGET_GS = 15,
+  PTG_TARGET_INERTIAL = 16,
+};
+
+static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
+//!< The limits for the rotation in safe mode were violated.
+static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
+//!< The system has recovered from a safe rate rotation violation.
+static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
+
+}  // namespace acs
+
+#endif /* MISSION_ACSDEFS_H_ */
--- a/mission/comDefs.h
+++ b/mission/comDefs.h
@ -9,6 +9,23 @@ enum class Datarate : uint8_t {
  NUM_DATARATES
 };

-}
+enum Submode : uint8_t {
+  RX_ONLY = 10,
+  RX_AND_TX_DEFAULT_DATARATE = 11,
+  RX_AND_TX_LOW_DATARATE = 12,
+  RX_AND_TX_HIGH_DATARATE = 13,
+  RX_AND_TX_CW = 14,
+  NUM_SUBMODES
+};
+
+enum class CcsdsSubmode : uint8_t {
+  UNSET = 0,
+  DATARATE_LOW = 1,
+  DATARATE_HIGH = 2,
+  DATARATE_DEFAULT = 3
+};
+enum class ParameterId : uint8_t { DATARATE = 0 };
+
+}  // namespace com

 #endif /* MISSION_COMDEFS_H_ */
--- a/mission/config/CMakeLists.txt
+++ b/mission/config/CMakeLists.txt
@ -0,0 +1 @@
+target_sources(${LIB_EIVE_MISSION} PRIVATE comCfg.cpp torquer.cpp)
--- a/mission/config/comCfg.cpp
+++ b/mission/config/comCfg.cpp
@ -0,0 +1,26 @@
+#include "comCfg.h"
+
+#include <fsfw/ipc/MutexFactory.h>
+#include <fsfw/ipc/MutexGuard.h>
+
+com::Datarate DATARATE_CFG_RAW = com::Datarate::LOW_RATE_MODULATION_BPSK;
+MutexIF* DATARATE_LOCK = nullptr;
+
+MutexIF* lazyLock();
+
+com::Datarate com::getCurrentDatarate() {
+  MutexGuard mg(lazyLock());
+  return DATARATE_CFG_RAW;
+}
+
+void com::setCurrentDatarate(com::Datarate newRate) {
+  MutexGuard mg(lazyLock());
+  DATARATE_CFG_RAW = newRate;
+}
+
+MutexIF* lazyLock() {
+  if (DATARATE_LOCK == nullptr) {
+    return MutexFactory::instance()->createMutex();
+  }
+  return DATARATE_LOCK;
+}
--- a/mission/config/comCfg.h
+++ b/mission/config/comCfg.h
@ -0,0 +1,15 @@
+#ifndef MISSION_COMCFG_H_
+#define MISSION_COMCFG_H_
+
+#include <fsfw/ipc/MutexIF.h>
+
+#include "mission/comDefs.h"
+
+namespace com {
+
+com::Datarate getCurrentDatarate();
+void setCurrentDatarate(com::Datarate newRate);
+
+}  // namespace com
+
+#endif /* MISSION_COMCFG_H_ */
--- a/mission/devices/torquer.cpp
+++ b/mission/devices/torquer.cpp
--- a/mission/devices/torquer.h
+++ b/mission/devices/torquer.h
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@ -2,7 +2,8 @@

 #include <fsfw/datapool/PoolReadGuard.h>

-#include "mission/devices/torquer.h"
+#include "mission/acsDefs.h"
+#include "mission/config/torquer.h"

 AcsController::AcsController(object_id_t objectId)
    : ExtendedControllerBase(objectId),
@ -45,15 +46,15 @@ void AcsController::performControlOperation() {
    case InternalState::READY: {
      if (mode != MODE_OFF) {
        switch (submode) {
-          case SUBMODE_SAFE:
+          case acs::SAFE:
            performSafe();
            break;
-          case SUBMODE_DETUMBLE:
+          case acs::DETUMBLE:
            performDetumble();
            break;
-          case SUBMODE_PTG_TARGET:
-          case SUBMODE_PTG_NADIR:
-          case SUBMODE_PTG_INERTIAL:
+          case acs::PTG_TARGET:
+          case acs::PTG_TARGET_NADIR:
+          case acs::PTG_TARGET_INERTIAL:
            performPointingCtrl();
            break;
        }
@ -151,9 +152,9 @@ void AcsController::performSafe() {
    detumbleCounter = 0;
  }
  if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
-    submode = SUBMODE_DETUMBLE;
    detumbleCounter = 0;
-    triggerEvent(SAFE_RATE_VIOLATION);
+    // Triggers detubmle mode transition in subsystem
+    triggerEvent(acs::SAFE_RATE_VIOLATION);
  }

  {
@ -208,8 +209,9 @@ void AcsController::performDetumble() {
    detumbleCounter = 0;
  }
  if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
-    submode = SUBMODE_SAFE;
    detumbleCounter = 0;
+    // Triggers safe mode transition in subsystem
+    triggerEvent(acs::SAFE_RATE_RECOVERY);
  }

  int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
@ -484,9 +486,9 @@ void AcsController::copyMgmData() {
 }

 void AcsController::copySusData() {
-  ACS::SensorValues sensorValues;
  {
    PoolReadGuard pg(&sensorValues.susSets[0]);
+
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(susDataRaw.sus0.value, sensorValues.susSets[0].channels.value,
                  6 * sizeof(uint16_t));
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@ -24,16 +24,6 @@ class AcsController : public ExtendedControllerBase {

  AcsController(object_id_t objectId);

-  static const Submode_t SUBMODE_SAFE = 2;
-  static const Submode_t SUBMODE_DETUMBLE = 3;
-  static const Submode_t SUBMODE_PTG_TARGET = 4;
-  static const Submode_t SUBMODE_PTG_NADIR = 5;
-  static const Submode_t SUBMODE_PTG_INERTIAL = 6;
-
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
-  static const Event SAFE_RATE_VIOLATION =
-      MAKE_EVENT(0, severity::MEDIUM);  //!< The limits for the rotation in safe mode were violated.
-
 protected:
  void performSafe();
  void performDetumble();
@ -70,6 +60,7 @@ class AcsController : public ExtendedControllerBase {
  void announceMode(bool recursive);

  /* ACS Datasets */
+  ACS::SensorValues sensorValues;
  IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
  // MGMs
  acsctrl::MgmDataRaw mgmDataRaw;
--- a/mission/controller/ThermalController.cpp
+++ b/mission/controller/ThermalController.cpp
@ -746,7 +746,7 @@ void ThermalController::copyDevices() {

  {
    lp_var_t<float> tempSyrlinksPowerAmplifier =
-        lp_var_t<float>(objects::SYRLINKS_HK_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
+        lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
    PoolReadGuard pg(&tempSyrlinksPowerAmplifier, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read syrlinks power amplifier temperature"
@ -761,7 +761,7 @@ void ThermalController::copyDevices() {

  {
    lp_var_t<float> tempSyrlinksBasebandBoard =
-        lp_var_t<float>(objects::SYRLINKS_HK_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
+        lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
    PoolReadGuard pg(&tempSyrlinksBasebandBoard, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read syrlinks baseband board temperature"
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@ -43,16 +43,18 @@ class AcsParameters /*: public HasParametersIF*/ {
    float mgm3hardIronOffset[3] = {0.0, 0.0, 0.0};
    float mgm4hardIronOffset[3] = {0.0, 0.0, 0.0};

-    float mgm0softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{1420.727e-3, 9.352825e-3,
-                                        -127.1979e-3}, {9.352825e-3, 1031.965e-3, -80.02734e-3},
-                                        {-127.1979e-3, -80.02734e-3, 934.8899e-3}};*/
+    float mgm0softIronInverse[3][3] = {
+        {1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{1420.727e-3, 9.352825e-3,
+         -127.1979e-3}, {9.352825e-3, 1031.965e-3, -80.02734e-3},
+         {-127.1979e-3, -80.02734e-3, 934.8899e-3}};*/
    float mgm1softIronInverse[3][3] = {
        {1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{126.7325e-2, -4.146410e-2, -18.37963e-2},
         {-4.146410e-2, 109.3310e-2, -5.246314e-2},
         {-18.37963e-2, -5.246314e-2, 105.7300e-2}};*/
-    float mgm2softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{143.0438e-2, 7.095763e-2,
-                                        15.67482e-2}, {7.095763e-2, 99.65167e-2, -6.958760e-2},
-                                        {15.67482e-2, -6.958760e-2, 94.50124e-2}};*/
+    float mgm2softIronInverse[3][3] = {
+        {1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{143.0438e-2, 7.095763e-2,
+         15.67482e-2}, {7.095763e-2, 99.65167e-2, -6.958760e-2},
+         {15.67482e-2, -6.958760e-2, 94.50124e-2}};*/
    float mgm3softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
    float mgm4softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
    float mgm02variance[3] = {1, 1, 1};
@ -897,8 +899,8 @@ class AcsParameters /*: public HasParametersIF*/ {

  struct DetumbleParameter {
    uint8_t detumblecounter = 75;  // 30 s
-    double omegaDetumbleStart = 2 * M_PI / 180;
-    double omegaDetumbleEnd = 0.4 * M_PI / 180;
+    double omegaDetumbleStart = 2;
+    double omegaDetumbleEnd = 0.4;
    double gainD = pow(10.0, -3.3);
  } detumbleParameter;
 };
--- a/mission/controller/acs/ActuatorCmd.cpp
+++ b/mission/controller/acs/ActuatorCmd.cpp
@ -54,21 +54,22 @@ void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1
  VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
 }

-void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits) {
-  //	Convert to Unit frame
+void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator) {
+  // Convert to actuator frame
  MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
-                                     dipolMoment, dipolMomentUnits, 3, 3, 1);
-  //  Scaling along largest element if dipol exceeds maximum
+                                     dipolMoment, dipolMomentActuator, 3, 3, 1);
+  // Scaling along largest element if dipol exceeds maximum
  double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
  double maxValue = 0;
  for (int i = 0; i < 3; i++) {
-    if (abs(dipolMomentUnits[i]) > maxDipol) {
-      maxValue = abs(dipolMomentUnits[i]);
+    if (abs(dipolMomentActuator[i]) > maxDipol) {
+      maxValue = abs(dipolMomentActuator[i]);
    }
  }
-
  if (maxValue > maxDipol) {
    double scalingFactor = maxDipol / maxValue;
-    VectorOperations<double>::mulScalar(dipolMomentUnits, scalingFactor, dipolMomentUnits, 3);
+    VectorOperations<double>::mulScalar(dipolMomentActuator, scalingFactor, dipolMomentActuator, 3);
  }
+  // scale dipole from 1 Am^2 to 1e^-4 Am^2
+  VectorOperations<double>::mulScalar(dipolMomentActuator, 1e4, dipolMomentActuator, 3);
 }
--- a/mission/controller/acs/ActuatorCmd.h
+++ b/mission/controller/acs/ActuatorCmd.h
@ -35,9 +35,9 @@ class ActuatorCmd {
   * @brief:	cmdDipolMtq()		gives the commanded dipol moment for the magnetorques
   *
   * @param:	dipolMoment 		given dipol moment in spacecraft frame
-   * 			dipolMomentUnits	resulting dipol moment for every unit
+   * 			dipolMomentActuator	resulting dipol moment in actuator reference frame
   */
-  void cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits);
+  void cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator);

 protected:
 private:
--- a/mission/controller/controllerdefinitions/AcsControllerDefinitions.h
+++ b/mission/controller/controllerdefinitions/AcsControllerDefinitions.h
@ -1,14 +0,0 @@
-#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
-#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
-
-#include <fsfw/modes/HasModesIF.h>
-
-namespace acs {
-
-enum CtrlModes { OFF = HasModesIF::MODE_OFF, SAFE = 1, DETUMBLE = 2, IDLE = 3, TARGET_PT = 4 };
-
-static constexpr Submode_t IDLE_CHARGE = 1;
-
-}  // namespace acs
-
-#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_ */
--- a/mission/core/GenericFactory.cpp
+++ b/mission/core/GenericFactory.cpp
@ -8,7 +8,7 @@
 #include <fsfw/internalerror/InternalErrorReporter.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/pus/CService200ModeCommanding.h>
-#include <fsfw/pus/CService201HealthCommanding.h>
+#include <fsfw/pus/CServiceHealthCommanding.h>
 #include <fsfw/pus/Service17Test.h>
 #include <fsfw/pus/Service1TelecommandVerification.h>
 #include <fsfw/pus/Service20ParameterManagement.h>
@ -104,16 +104,17 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
  new UdpTcPollingTask(objects::UDP_TMTC_POLLING_TASK, objects::UDP_TMTC_SERVER);
  sif::info << "Created UDP server for TMTC commanding with listener port "
            << udpBridge->getUdpPort() << std::endl;
-  udpBridge->setMaxNumberOfPacketsStored(150);
+  udpBridge->setMaxNumberOfPacketsStored(config::MAX_STORED_CMDS_UDP);
 #endif
 #if OBSW_ADD_TMTC_TCP_SERVER == 1
  auto tcpBridge = new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR);
-  auto tcpServer = new TcpTmTcServer(objects::TCP_TMTC_POLLING_TASK, objects::TCP_TMTC_SERVER);
+  TcpTmTcServer::TcpConfig cfg(true, true);
+  auto tcpServer = new TcpTmTcServer(objects::TCP_TMTC_POLLING_TASK, objects::TCP_TMTC_SERVER, cfg);
  // TCP is stream based. Use packet ID as start marker when parsing for space packets
  tcpServer->setSpacePacketParsingOptions({common::PUS_PACKET_ID, common::CFDP_PACKET_ID});
  sif::info << "Created TCP server for TMTC commanding with listener port "
            << tcpServer->getTcpPort() << std::endl;
-  tcpBridge->setMaxNumberOfPacketsStored(150);
+  tcpBridge->setMaxNumberOfPacketsStored(config::MAX_STORED_CMDS_TCP);
 #endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
 #endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */

@ -122,7 +123,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
  new PusDistributor(config::EIVE_PUS_APID, objects::PUS_PACKET_DISTRIBUTOR, ccsdsDistrib);

  *cfdpFunnel = new CfdpTmFunnel(objects::CFDP_TM_FUNNEL, config::EIVE_CFDP_APID, *tmStore, 50);
-  *pusFunnel = new PusTmFunnel(objects::PUS_TM_FUNNEL, *timeStamper, *tmStore, 100);
+  *pusFunnel = new PusTmFunnel(objects::PUS_TM_FUNNEL, *timeStamper, *tmStore,
+                               config::MAX_PUS_FUNNEL_QUEUE_DEPTH);
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
  (*cfdpFunnel)->addDestination(*udpBridge, 0);
@ -160,8 +162,9 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
                                   pus::PUS_SERVICE_20);
  new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, config::EIVE_PUS_APID,
                                pus::PUS_SERVICE_200, 8);
-  new CService201HealthCommanding(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID,
-                                  pus::PUS_SERVICE_201);
+  HealthServiceCfg healthCfg(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID, *healthTable,
+                             20);
+  new CServiceHealthCommanding(healthCfg);

 #if OBSW_ADD_CFDP_COMPONENTS == 1
  using namespace cfdp;
--- a/mission/devices/CMakeLists.txt
+++ b/mission/devices/CMakeLists.txt
@ -20,7 +20,6 @@ target_sources(
          SusHandler.cpp
          PayloadPcduHandler.cpp
          SolarArrayDeploymentHandler.cpp
-          ScexDeviceHandler.cpp
-          torquer.cpp)
+          ScexDeviceHandler.cpp)

 add_subdirectory(devicedefinitions)
--- a/mission/devices/ImtqHandler.cpp
+++ b/mission/devices/ImtqHandler.cpp
@ -25,7 +25,7 @@
 #include <cmath>
 #include <fsfw/datapoollocal/LocalPoolVariable.tpp>

-#include "mission/devices/torquer.h"
+#include "mission/config/torquer.h"

 static constexpr bool ACTUATION_WIRETAPPING = false;

--- a/mission/devices/SyrlinksHandler.cpp
+++ b/mission/devices/SyrlinksHandler.cpp
@ -3,6 +3,7 @@
 #include <mission/devices/SyrlinksHandler.h>

 #include "OBSWConfig.h"
+#include "mission/config/comCfg.h"

 SyrlinksHandler::SyrlinksHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
                                 power::Switch_t powerSwitch, FailureIsolationBase* customFdir)
@ -621,7 +622,7 @@ void SyrlinksHandler::parseAgcHighByte(const uint8_t* packet) {

 void SyrlinksHandler::setNormalDatapoolEntriesInvalid() {}

-uint32_t SyrlinksHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 1500; }
+uint32_t SyrlinksHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 2500; }

 ReturnValue_t SyrlinksHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                       LocalDataPoolManager& poolManager) {
@ -685,7 +686,7 @@ ReturnValue_t SyrlinksHandler::handleAckReply(const uint8_t* packet) {
    }
    case (syrlinks::SET_TX_MODE_MODULATION):
    case (syrlinks::SET_TX_MODE_CW): {
-      triggerEvent(syrlinks::TX_ON, getSubmode(), datarateCfgRaw);
+      triggerEvent(syrlinks::TX_ON, getSubmode(), static_cast<uint8_t>(com::getCurrentDatarate()));
      break;
    }
  }
@ -694,7 +695,7 @@ ReturnValue_t SyrlinksHandler::handleAckReply(const uint8_t* packet) {

 ReturnValue_t SyrlinksHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
  if (mode == HasModesIF::MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL) {
-    if (submode >= syrlinks::Submode::NUM_SUBMODES) {
+    if (submode >= com::Submode::NUM_SUBMODES) {
      return HasModesIF::INVALID_SUBMODE;
    }
    return returnvalue::OK;
@ -706,18 +707,6 @@ ReturnValue_t SyrlinksHandler::getParameter(uint8_t domainId, uint8_t uniqueId,
                                            ParameterWrapper* parameterWrapper,
                                            const ParameterWrapper* newValues,
                                            uint16_t startAtIndex) {
-  if ((domainId == 0) and (uniqueId == static_cast<uint8_t>(syrlinks::ParameterId::DATARATE))) {
-    uint8_t newVal = 0;
-    ReturnValue_t result = newValues->getElement(&newVal);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    if (newVal >= static_cast<uint8_t>(com::Datarate::NUM_DATARATES)) {
-      return HasParametersIF::INVALID_VALUE;
-    }
-    parameterWrapper->set(datarateCfgRaw);
-    return returnvalue::OK;
-  }
  return DeviceHandlerBase::getParameter(domainId, uniqueId, parameterWrapper, newValues,
                                         startAtIndex);
 }
@ -772,36 +761,36 @@ void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
  };
  if (tgtMode == HasModesIF::MODE_ON or tgtMode == DeviceHandlerIF::MODE_NORMAL) {
    switch (getSubmode()) {
-      case (syrlinks::Submode::RX_AND_TX_DEFAULT_DATARATE): {
-        if (datarateCfgRaw == static_cast<uint8_t>(com::Datarate::LOW_RATE_MODULATION_BPSK)) {
+      case (com::Submode::RX_AND_TX_DEFAULT_DATARATE): {
+        auto currentDatarate = com::getCurrentDatarate();
+        if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
          if (txOnHandler(InternalState::SELECT_MODULATION_BPSK)) {
            return;
          }
-        } else if (datarateCfgRaw ==
-                   static_cast<uint8_t>(com::Datarate::HIGH_RATE_MODULATION_0QPSK)) {
+        } else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
          if (txOnHandler(InternalState::SELECT_MODULATION_0QPSK)) {
            return;
          }
        }
        break;
      }
-      case (syrlinks::Submode::RX_AND_TX_LOW_DATARATE): {
+      case (com::Submode::RX_AND_TX_LOW_DATARATE): {
        if (txOnHandler(InternalState::SELECT_MODULATION_BPSK)) {
          return;
        }
        break;
      }
-      case (syrlinks::Submode::RX_AND_TX_HIGH_DATARATE): {
+      case (com::Submode::RX_AND_TX_HIGH_DATARATE): {
        if (txOnHandler(InternalState::SELECT_MODULATION_0QPSK)) {
          return;
        }
        break;
      }
-      case (syrlinks::Submode::RX_ONLY): {
+      case (com::Submode::RX_ONLY): {
        txStandbyHandler();
        return;
      }
-      case (syrlinks::Submode::RX_AND_TX_CW): {
+      case (com::Submode::RX_AND_TX_CW): {
        if (internalState == InternalState::IDLE) {
          internalState = InternalState::SET_TX_STANDBY;
          commandExecuted = false;
--- a/mission/devices/SyrlinksHandler.h
+++ b/mission/devices/SyrlinksHandler.h
@ -104,9 +104,6 @@ class SyrlinksHandler : public DeviceHandlerBase {
  syrlinks::TemperatureSet temperatureSet;

  const power::Switch_t powerSwitch = power::NO_SWITCH;
-  // Use uint8_t for compatibility with parameter interface
-  uint8_t datarateCfgRaw = static_cast<uint8_t>(com::Datarate::LOW_RATE_MODULATION_BPSK);
-  // com::Datarate datarateCfg = com::Datarate::LOW_RATE_MODULATION_BPSK;

  bool debugMode = false;
  uint8_t agcValueHighByte = 0;
--- a/mission/devices/devicedefinitions/GPSDefinitions.h
+++ b/mission/devices/devicedefinitions/GPSDefinitions.h
@ -63,7 +63,7 @@ class GpsPrimaryDataset : public StaticLocalDataSet<18> {
      lp_var_t<uint32_t>(sid.objectId, GpsHyperion::UNIX_SECONDS, this);

 private:
-  friend class GPSHyperionLinuxController;
+  friend class GpsHyperionLinuxController;
  GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner)
      : StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
 };
--- a/mission/devices/devicedefinitions/SyrlinksDefinitions.h
+++ b/mission/devices/devicedefinitions/SyrlinksDefinitions.h
@ -8,15 +8,6 @@ namespace syrlinks {

 enum class ParameterId : uint8_t { DATARATE = 0 };

-enum Submode {
-  RX_ONLY,
-  RX_AND_TX_DEFAULT_DATARATE,
-  RX_AND_TX_LOW_DATARATE,
-  RX_AND_TX_HIGH_DATARATE,
-  RX_AND_TX_CW,
-  NUM_SUBMODES
-};
-
 static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYRLINKS;

 static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
--- a/mission/devices/devicedefinitions/imtqHandlerDefinitions.h
+++ b/mission/devices/devicedefinitions/imtqHandlerDefinitions.h
@ -489,7 +489,7 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
  // Refresh torque command without changing any of the set dipoles.
  void refreshTorqueing(uint16_t durationMs_) { currentTorqueDurationMs = durationMs_; }

-  void setDipoles(uint16_t xDipole_, uint16_t yDipole_, uint16_t zDipole_,
+  void setDipoles(int16_t xDipole_, int16_t yDipole_, int16_t zDipole_,
                  uint16_t currentTorqueDurationMs_) {
    if (xDipole.value != xDipole_) {
    }
@ -503,7 +503,7 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
    currentTorqueDurationMs = currentTorqueDurationMs_;
  }

-  void getDipoles(uint16_t& xDipole_, uint16_t& yDipole_, uint16_t& zDipole_) {
+  void getDipoles(int16_t& xDipole_, int16_t& yDipole_, int16_t& zDipole_) {
    xDipole_ = xDipole.value;
    yDipole_ = yDipole.value;
    zDipole_ = zDipole.value;
--- a/mission/system/objects/AcsSubsystem.cpp
+++ b/mission/system/objects/AcsSubsystem.cpp
@ -1,5 +1,83 @@
 #include "AcsSubsystem.h"

+#include <fsfw/events/EventManagerIF.h>
+#include <fsfw/ipc/QueueFactory.h>
+
+#include "fsfw/modes/ModeMessage.h"
+#include "mission/acsDefs.h"
+
 AcsSubsystem::AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                           uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
+  auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
+  eventQueue =
+      QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+}
+
+ReturnValue_t AcsSubsystem::initialize() {
+  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (manager == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  ReturnValue_t result = manager->registerListener(eventQueue->getId());
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "AcsSubsystem::registerListener: Failed to register as "
+                    "listener"
+                 << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+    ;
+  }
+  result =
+      manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_VIOLATION));
+  if (result != returnvalue::OK) {
+    sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_VIOLATION failed" << std::endl;
+  }
+  result =
+      manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_RECOVERY));
+  if (result != returnvalue::OK) {
+    sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_RECOVERY failed" << std::endl;
+  }
+  return Subsystem::initialize();
+}
+
+void AcsSubsystem::performChildOperation() {
+  handleEventMessages();
+  return Subsystem::performChildOperation();
+}
+
+void AcsSubsystem::handleEventMessages() {
+  EventMessage event;
+  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
+       result = eventQueue->receiveMessage(&event)) {
+    switch (event.getMessageId()) {
+      case EventMessage::EVENT_MESSAGE:
+        if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
+          CommandMessage msg;
+          ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::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;
+          }
+        }
+        if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
+          CommandMessage msg;
+          ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::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;
+          }
+        }
+        break;
+      default:
+        sif::debug << "AcsSubsystem::performChildOperation: Did not subscribe "
+                      "to this event message"
+                   << std::endl;
+        break;
+    }
+  }
+}
--- a/mission/system/objects/AcsSubsystem.h
+++ b/mission/system/objects/AcsSubsystem.h
@ -8,6 +8,12 @@ class AcsSubsystem : public Subsystem {
  AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);

 private:
+  ReturnValue_t initialize() override;
+  void performChildOperation() override;
+
+  void handleEventMessages();
+
+  MessageQueueIF* eventQueue = nullptr;
 };

 #endif /* MISSION_SYSTEM_ACSSUBSYSTEM_H_ */
--- a/mission/system/objects/ComSubsystem.cpp
+++ b/mission/system/objects/ComSubsystem.cpp
@ -1,5 +1,48 @@
 #include "ComSubsystem.h"

+#include <fsfw/ipc/MutexGuard.h>
+
+#include "mission/config/comCfg.h"
+
 ComSubsystem::ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                           uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables), paramHelper(this) {
+  com::setCurrentDatarate(com::Datarate::LOW_RATE_MODULATION_BPSK);
+}
+
+MessageQueueId_t ComSubsystem::getCommandQueue() const { return Subsystem::getCommandQueue(); }
+
+ReturnValue_t ComSubsystem::getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
+                                         ParameterWrapper *parameterWrapper,
+                                         const ParameterWrapper *newValues, uint16_t startAtIndex) {
+  if ((domainId == 0) and (uniqueIdentifier == static_cast<uint8_t>(com::ParameterId::DATARATE))) {
+    uint8_t newVal = 0;
+    ReturnValue_t result = newValues->getElement(&newVal);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    if (newVal >= static_cast<uint8_t>(com::Datarate::NUM_DATARATES)) {
+      return HasParametersIF::INVALID_VALUE;
+    }
+    parameterWrapper->set(datarateCfg);
+    com::setCurrentDatarate(static_cast<com::Datarate>(newVal));
+    return returnvalue::OK;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t ComSubsystem::handleCommandMessage(CommandMessage *message) {
+  ReturnValue_t result = paramHelper.handleParameterMessage(message);
+  if (result == returnvalue::OK) {
+    return result;
+  }
+  return Subsystem::handleCommandMessage(message);
+}
+
+ReturnValue_t ComSubsystem::initialize() {
+  ReturnValue_t result = paramHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return Subsystem::initialize();
+}
--- a/mission/system/objects/ComSubsystem.h
+++ b/mission/system/objects/ComSubsystem.h
@ -1,13 +1,29 @@
 #ifndef MISSION_SYSTEM_COMSUBSYSTEM_H_
 #define MISSION_SYSTEM_COMSUBSYSTEM_H_

+#include <fsfw/parameters/HasParametersIF.h>
+#include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/subsystem/Subsystem.h>

-class ComSubsystem : public Subsystem {
+#include "mission/comDefs.h"
+
+class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
 public:
  ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
+  virtual ~ComSubsystem() = default;
+
+  MessageQueueId_t getCommandQueue() const override;
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
+                             ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
+                             uint16_t startAtIndex) override;

 private:
+  ReturnValue_t handleCommandMessage(CommandMessage *message) override;
+
+  ReturnValue_t initialize() override;
+
+  uint8_t datarateCfg = static_cast<uint8_t>(com::Datarate::LOW_RATE_MODULATION_BPSK);
+  ParameterHelper paramHelper;
 };

 #endif /* MISSION_SYSTEM_COMSUBSYSTEM_H_ */
--- a/mission/system/objects/definitions.h
+++ b/mission/system/objects/definitions.h
@ -18,7 +18,14 @@ enum Submodes : Submode_t { A_SIDE = 0, B_SIDE = 1, DUAL_MODE = 2 };

 namespace payload {

-enum Mode { OFF = 0, SUPV_ONLY = 1, MPSOC_STREAM = 2, CAM_STREAM = 3, EARTH_OBSV = 4, SCEX = 5 };
+enum Mode {
+  OFF = 0,
+  SUPV_ONLY = 10,
+  MPSOC_STREAM = 11,
+  CAM_STREAM = 12,
+  EARTH_OBSV = 13,
+  SCEX = 14
+};

 namespace ploc {

--- a/mission/system/tree/CMakeLists.txt
+++ b/mission/system/tree/CMakeLists.txt
@ -1,2 +1,4 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE acsModeTree.cpp payloadModeTree.cpp
-                                           tcsModeTree.cpp system.cpp util.cpp)
+target_sources(
+  ${LIB_EIVE_MISSION}
+  PRIVATE acsModeTree.cpp payloadModeTree.cpp comModeTree.cpp tcsModeTree.cpp
+          system.cpp util.cpp)
--- a/mission/system/tree/acsModeTree.cpp
+++ b/mission/system/tree/acsModeTree.cpp
@ -7,10 +7,10 @@
 #include <fsfw/subsystem/modes/ModeDefinitions.h>

 #include "eive/objects.h"
-#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
+#include "mission/acsDefs.h"
 #include "util.h"

-Subsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
+AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);

 namespace {
 // Alias for checker function
@ -20,74 +20,109 @@ 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 buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh);
 void buildTargetPtSequence(Subsystem& ss, ModeListEntry& entryHelper);
+void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& entryHelper);
+void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper);
+
 }  // namespace

 static const auto OFF = HasModesIF::MODE_OFF;
 static const auto NML = DeviceHandlerIF::MODE_NORMAL;

-auto ACS_SEQUENCE_OFF =
-    std::make_pair(acs::CtrlModes::OFF << 24, FixedArrayList<ModeListEntry, 2>());
+auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_OFF_TGT =
-    std::make_pair((acs::CtrlModes::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
-auto ACS_TABLE_OFF_TRANS =
-    std::make_pair((acs::CtrlModes::OFF << 24) | 2, FixedArrayList<ModeListEntry, 6>());
+    std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
+auto ACS_TABLE_OFF_TRANS_0 =
+    std::make_pair((acs::CtrlSubmode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
+auto ACS_TABLE_OFF_TRANS_1 =
+    std::make_pair((acs::CtrlSubmode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());

 auto ACS_SEQUENCE_DETUMBLE =
-    std::make_pair(acs::CtrlModes::DETUMBLE << 24, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(acs::CtrlSubmode::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_DETUMBLE_TGT =
-    std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
+    std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_DETUMBLE_TRANS_0 =
-    std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto ACS_TABLE_DETUMBLE_TRANS_1 =
-    std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());

-auto ACS_SEQUENCE_SAFE =
-    std::make_pair(acs::CtrlModes::SAFE << 24, FixedArrayList<ModeListEntry, 3>());
+auto ACS_SEQUENCE_SAFE = std::make_pair(acs::CtrlSubmode::SAFE, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_SAFE_TGT =
-    std::make_pair((acs::CtrlModes::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
+    std::make_pair((acs::CtrlSubmode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_SAFE_TRANS_0 =
-    std::make_pair((acs::CtrlModes::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::CtrlSubmode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto ACS_TABLE_SAFE_TRANS_1 =
-    std::make_pair((acs::CtrlModes::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::CtrlSubmode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());

-auto ACS_SEQUENCE_IDLE =
-    std::make_pair(acs::CtrlModes::IDLE << 24, FixedArrayList<ModeListEntry, 3>());
+auto ACS_SEQUENCE_IDLE = std::make_pair(acs::CtrlSubmode::IDLE, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_IDLE_TGT =
-    std::make_pair((acs::CtrlModes::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::CtrlSubmode::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_IDLE_TRANS_0 =
-    std::make_pair((acs::CtrlModes::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::CtrlSubmode::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_IDLE_TRANS_1 =
-    std::make_pair((acs::CtrlModes::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::CtrlSubmode::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());

-auto ACS_SEQUENCE_IDLE_CHRG = std::make_pair(acs::CtrlModes::IDLE << 24 | (acs::IDLE_CHARGE << 8),
-                                             FixedArrayList<ModeListEntry, 3>());
-auto ACS_TABLE_IDLE_CHRG_TGT = std::make_pair(
-    (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 1, FixedArrayList<ModeListEntry, 4>());
-auto ACS_TABLE_IDLE_CHRG_TRANS_0 = std::make_pair(
-    (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 2, FixedArrayList<ModeListEntry, 5>());
-auto ACS_TABLE_IDLE_CHRG_TRANS_1 = std::make_pair(
-    (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 3, FixedArrayList<ModeListEntry, 1>());
+auto ACS_TABLE_PTG_TRANS_0 =
+    std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());

-auto ACS_SEQUENCE_TARGET_PT =
-    std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
-auto ACS_TABLE_TARGET_PT_TGT =
-    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 6>());
-auto ACS_TABLE_TARGET_PT_TRANS_0 =
-    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
-auto ACS_TABLE_TARGET_PT_TRANS_1 =
-    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+auto ACS_SEQUENCE_PTG_TARGET =
+    std::make_pair(acs::CtrlSubmode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
+auto ACS_TABLE_PTG_TARGET_TGT =
+    std::make_pair((acs::CtrlSubmode::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>());
+
+auto ACS_SEQUENCE_PTG_TARGET_GS =
+    std::make_pair(acs::CtrlSubmode::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>());
+auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
+    std::make_pair((acs::CtrlSubmode::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,
+                                                     FixedArrayList<ModeListEntry, 6>());
+auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair(
+    (acs::CtrlSubmode::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>());
+auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair(
+    (acs::CtrlSubmode::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>());

 void satsystem::acs::init() {
  ModeListEntry entry;
+  const char* ctxc = "satsystem::acs::init: generic target";
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+    entry.setObject(obj);
+    entry.setMode(mode);
+    entry.setSubmode(submode);
+    check(table.insert(entry), "satsystem::acs::init: generic target");
+  };
+  // Build TARGET PT transition 0
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
+  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
+  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
+  check(ACS_SUBSYSTEM.addTable(
+            TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)),
+        ctxc);
+
  buildOffSequence(ACS_SUBSYSTEM, entry);
  buildSafeSequence(ACS_SUBSYSTEM, entry);
  buildDetumbleSequence(ACS_SUBSYSTEM, entry);
  buildIdleSequence(ACS_SUBSYSTEM, entry);
-  buildIdleChargeSequence(ACS_SUBSYSTEM, entry);
  buildTargetPtSequence(ACS_SUBSYSTEM, entry);
-  ACS_SUBSYSTEM.setInitialMode(HasModesIF::MODE_OFF);
+  buildTargetPtGsSequence(ACS_SUBSYSTEM, entry);
+  buildTargetPtNadirSequence(ACS_SUBSYSTEM, entry);
+  buildTargetPtInertialSequence(ACS_SUBSYSTEM, entry);
+  ACS_SUBSYSTEM.setInitialMode(::acs::CtrlSubmode::SAFE);
 }

 namespace {
@ -112,20 +147,24 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
  };

  // OFF Target table is empty
-  check(ss.addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc);
+  check(ss.addTable(TableEntry(ACS_TABLE_OFF_TGT.first, &ACS_TABLE_OFF_TGT.second)), ctxc);

-  // Build OFF transition
-  iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
-  iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
-  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
-  iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
-  iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
-  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
-  check(ss.addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true), ctxc);
+  // Build OFF transition 0
+  iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS_0.second);
+  check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_0.first, &ACS_TABLE_OFF_TRANS_0.second)), ctxc);
+
+  // Build OFF transition 1
+  iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
+  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
+  iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
+  iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
+  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
+  check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), ctxc);

  // Build OFF sequence
  ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TGT.first, 0, false);
-  ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS.first, 0, false);
+  ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS_0.first, 0, false);
+  ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS_1.first, 0, false);
  check(ss.addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first,
                       false, true),
        ctxc);
@ -151,7 +190,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
    check(sequence.insert(eh), ctxc);
  };
  // Build SAFE target
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TGT.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::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);
@ -167,7 +206,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
        ctxc);

  // Build SAFE transition 1
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::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);

@ -200,7 +239,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
    check(sequence.insert(eh), ctxc);
  };
  // Build DETUMBLE target
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TGT.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::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);
@ -218,7 +257,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
        ctxc);

  // Build DETUMBLE transition 1
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::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);
@ -252,7 +291,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
    check(sequence.insert(eh), ctxc);
  };
  // Build IDLE target
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TGT.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::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);
@ -264,75 +303,21 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
-  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_TRANS_0.second);
+  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);

  // Build IDLE transition 1
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TRANS_1.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::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
  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true);
  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, true);
-  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, false);
+  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, true);
  ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false,
                 true);
 }

-void buildIdleChargeSequence(Subsystem& ss, ModeListEntry& eh) {
-  std::string context = "satsystem::acs::buildIdleChargeSequence";
-  auto ctxc = context.c_str();
-  // Insert Helper Table
-  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
-                 ArrayList<ModeListEntry>& sequence) {
-    eh.setObject(obj);
-    eh.setMode(mode);
-    eh.setSubmode(submode);
-    check(sequence.insert(eh), ctxc);
-  };
-  // Insert Helper Sequence
-  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
-                 bool checkSuccess) {
-    eh.setTableId(tableId);
-    eh.setWaitSeconds(waitSeconds);
-    eh.setCheckSuccess(checkSuccess);
-    check(sequence.insert(eh), ctxc);
-  };
-  // Build IDLE target
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
-      ACS_TABLE_IDLE_CHRG_TGT.second);
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
-  check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TGT.second, ACS_TABLE_IDLE_CHRG_TGT.first, false, true),
-        ctxc);
-
-  // Build IDLE transition 0
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
-  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
-  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
-  check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TRANS_0.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, false,
-                    true),
-        ctxc);
-
-  // Build IDLE transition 1
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
-      ACS_TABLE_IDLE_CHRG_TRANS_1.second);
-  check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TRANS_1.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, false,
-                    true),
-        ctxc);
-
-  // Build IDLE sequence
-  ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TGT.first, 0, true);
-  ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, 0, true);
-  ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, 0, false);
-  check(ss.addSequence(&ACS_SEQUENCE_IDLE_CHRG.second, ACS_SEQUENCE_IDLE_CHRG.first,
-                       ACS_SEQUENCE_SAFE.first, false, true),
-        ctxc);
-}
-
 void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::acs::buildTargetPtSequence";
  auto ctxc = context.c_str();
@ -354,38 +339,180 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
  };

  // Build TARGET PT table
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  check(ss.addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true),
-        ctxc);
-
-  // Build TARGET PT transition 0
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
-  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
-  check(ss.addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false,
-                    true),
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::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);
+  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
        ctxc);

+  // Transition 0 already built
  // Build TARGET PT transition 1
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TRANS_1.second);
-  check(ss.addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false,
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::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),
        ctxc);

  // Build IDLE sequence
-  ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TGT.first, 0, true);
-  ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_0.first, 0, true);
-  ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_1.first, 0, false);
-  check(ss.addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first,
+  ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true);
+  check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first,
                       ACS_SEQUENCE_IDLE.first, false, true),
        ctxc);
 }

+void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::acs::buildTargetPtNadirSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                 ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(sequence.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  // Build TARGET PT table
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::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);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
+  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
+  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
+  check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first,
+                               &ACS_TABLE_PTG_TARGET_NADIR_TGT.second)),
+        ctxc);
+
+  // Transition 0 already built
+  // Build TARGET PT transition 1
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::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)),
+        ctxc);
+
+  // Build IDLE sequence
+  ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, 0, true);
+  check(
+      ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_NADIR.first,
+                                   &ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_SEQUENCE_IDLE.first)),
+      ctxc);
+}
+
+void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::acs::buildTargetPtGsSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                 ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(sequence.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  // Build TARGET PT table
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::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);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
+  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
+  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
+  check(ss.addTable(
+            TableEntry(ACS_TABLE_PTG_TARGET_GS_TGT.first, &ACS_TABLE_PTG_TARGET_GS_TGT.second)),
+        ctxc);
+
+  // Transition 0 already built
+  // Build TARGET PT transition 1
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::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)),
+        ctxc);
+
+  // Build IDLE sequence
+  ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TRANS_1.first, 0, true);
+  check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_GS.first,
+                                     &ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_SEQUENCE_IDLE.first)),
+        ctxc);
+}
+
+void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::acs::buildTargetPtInertialSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                 ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(sequence.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  // Build TARGET PT table
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::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);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
+  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
+  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
+  check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first,
+                               &ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second)),
+        ctxc);
+
+  // Transition 0 already built
+  // Build TARGET PT transition 1
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::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)),
+        ctxc);
+
+  // Build IDLE sequence
+  ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first, 0,
+      true);
+  check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_INERTIAL.first,
+                                     &ACS_SEQUENCE_PTG_TARGET_INERTIAL.second,
+                                     ACS_SEQUENCE_IDLE.first)),
+        ctxc);
+}
+
 }  // namespace
--- a/mission/system/tree/acsModeTree.h
+++ b/mission/system/tree/acsModeTree.h
@ -1,11 +1,9 @@
-#include <fsfw/subsystem/modes/ModeDefinitions.h>
-
-class Subsystem;
+#include <mission/system/objects/AcsSubsystem.h>

 namespace satsystem {
 namespace acs {

-extern Subsystem ACS_SUBSYSTEM;
+extern AcsSubsystem ACS_SUBSYSTEM;
 void init();

 }  // namespace acs
--- a/mission/system/tree/comModeTree.cpp
+++ b/mission/system/tree/comModeTree.cpp
@ -0,0 +1,281 @@
+#include "comModeTree.h"
+
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/modes/HasModesIF.h>
+#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/subsystem/Subsystem.h>
+
+#include "eive/objects.h"
+#include "mission/comDefs.h"
+#include "util.h"
+
+const auto check = subsystem::checkInsert;
+
+ComSubsystem satsystem::com::SUBSYSTEM = ComSubsystem(objects::COM_SUBSYSTEM, 12, 24);
+
+static const auto OFF = HasModesIF::MODE_OFF;
+static const auto ON = HasModesIF::MODE_ON;
+static const auto NML = DeviceHandlerIF::MODE_NORMAL;
+
+auto COM_SEQUENCE_RX_ONLY =
+    std::make_pair(::com::Submode::RX_ONLY, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_ONLY_TGT =
+    std::make_pair((::com::Submode::RX_ONLY << 24) | 1, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_ONLY_TRANS_0 =
+    std::make_pair((::com::Submode::RX_ONLY << 24) | 2, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_ONLY_TRANS_1 =
+    std::make_pair((::com::Submode::RX_ONLY << 24) | 3, FixedArrayList<ModeListEntry, 3>());
+
+auto COM_SEQUENCE_RX_AND_TX_LOW_RATE =
+    std::make_pair(::com::Submode::RX_AND_TX_LOW_DATARATE, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_LOW_RATE_TGT = std::make_pair(
+    (::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 1, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0 = std::make_pair(
+    (::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 2, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1 = std::make_pair(
+    (::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 3, FixedArrayList<ModeListEntry, 3>());
+
+auto COM_SEQUENCE_RX_AND_TX_HIGH_RATE =
+    std::make_pair(::com::Submode::RX_AND_TX_HIGH_DATARATE, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_HIGH_RATE_TGT = std::make_pair(
+    (::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 1, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0 = std::make_pair(
+    (::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 2, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1 = std::make_pair(
+    (::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 3, FixedArrayList<ModeListEntry, 3>());
+
+auto COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE =
+    std::make_pair(::com::Submode::RX_AND_TX_DEFAULT_DATARATE, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT = std::make_pair(
+    (::com::Submode::RX_AND_TX_DEFAULT_DATARATE << 24) | 1, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_0 = std::make_pair(
+    (::com::Submode::RX_AND_TX_DEFAULT_DATARATE << 24) | 2, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1 = std::make_pair(
+    (::com::Submode::RX_AND_TX_DEFAULT_DATARATE << 24) | 3, FixedArrayList<ModeListEntry, 3>());
+
+namespace {
+
+void buildRxOnlySequence(Subsystem& ss, ModeListEntry& eh);
+void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh);
+void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh);
+void buildTxAndRxDefaultRateSequence(Subsystem& ss, ModeListEntry& eh);
+
+}  // namespace
+
+void satsystem::com::init() {
+  ModeListEntry entry;
+  buildRxOnlySequence(SUBSYSTEM, entry);
+  buildTxAndRxLowRateSequence(SUBSYSTEM, entry);
+  buildTxAndRxHighRateSequence(SUBSYSTEM, entry);
+  buildTxAndRxDefaultRateSequence(SUBSYSTEM, entry);
+  SUBSYSTEM.setInitialMode(NML, ::com::Submode::RX_ONLY);
+}
+
+namespace {
+
+void buildRxOnlySequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::com::buildRxOnlySequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  // Build RX Only table. We could track the state of the CCSDS IP core handler
+  // as well but I do not think this is necessary because enabling that should
+  // not intefere with the Syrlinks Handler.
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TGT.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TGT.first, &COM_TABLE_RX_ONLY_TGT.second)), ctxc);
+
+  // Build RX Only transition 0
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TRANS_0.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TRANS_0.first, &COM_TABLE_RX_ONLY_TRANS_0.second)),
+        ctxc);
+
+  // Build RX Only transition 1
+  iht(objects::CCSDS_HANDLER, OFF, 0, COM_TABLE_RX_ONLY_TRANS_1.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TRANS_1.first, &COM_TABLE_RX_ONLY_TRANS_1.second)),
+        ctxc);
+
+  // Build TX OFF sequence
+  ihs(COM_SEQUENCE_RX_ONLY.second, COM_TABLE_RX_ONLY_TGT.first, 0, true);
+  ihs(COM_SEQUENCE_RX_ONLY.second, COM_TABLE_RX_ONLY_TRANS_0.first, 0, false);
+  ihs(COM_SEQUENCE_RX_ONLY.second, COM_TABLE_RX_ONLY_TRANS_1.first, 0, false);
+  check(ss.addSequence(SequenceEntry(COM_SEQUENCE_RX_ONLY.first, &COM_SEQUENCE_RX_ONLY.second,
+                                     COM_SEQUENCE_RX_ONLY.first)),
+        ctxc);
+}
+
+void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::com::buildTxAndRxLowRateSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  // Build RX and TX low datarate table.
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
+      COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second);
+  iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_LOW),
+      COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_LOW_RATE_TGT.first,
+                               &COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second)),
+        ctxc);
+
+  // Build TX and RX low datarate transition 0, switch CCSDS handler first
+  iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_LOW),
+      COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0.first,
+                               &COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0.second)),
+        ctxc);
+
+  // Build TX and RX low transition 1
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
+      COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.first,
+                               &COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second)),
+        ctxc);
+
+  // Build TX and RX low datarate sequence
+  ihs(COM_SEQUENCE_RX_AND_TX_LOW_RATE.second, COM_TABLE_RX_AND_TX_LOW_RATE_TGT.first, 0, true);
+  ihs(COM_SEQUENCE_RX_AND_TX_LOW_RATE.second, COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0.first, 0, false);
+  ihs(COM_SEQUENCE_RX_AND_TX_LOW_RATE.second, COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.first, 0, false);
+  check(ss.addSequence(SequenceEntry(COM_SEQUENCE_RX_AND_TX_LOW_RATE.first,
+                                     &COM_SEQUENCE_RX_AND_TX_LOW_RATE.second,
+                                     COM_SEQUENCE_RX_ONLY.first)),
+        ctxc);
+}
+
+void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::com::buildTxAndRxHighRateSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  // Build RX and TX high datarate table.
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
+      COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second);
+  iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_HIGH),
+      COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.first,
+                               &COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second)),
+        ctxc);
+
+  // Build TX and RX high datarate transition 0, switch CCSDS handler first
+  iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_HIGH),
+      COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0.first,
+                               &COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0.second)),
+        ctxc);
+
+  // Build TX and RX high transition 1
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
+      COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.first,
+                               &COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second)),
+        ctxc);
+
+  // Build TX and RX low datarate sequence
+  ihs(COM_SEQUENCE_RX_AND_TX_HIGH_RATE.second, COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.first, 0, true);
+  ihs(COM_SEQUENCE_RX_AND_TX_HIGH_RATE.second, COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0.first, 0,
+      false);
+  ihs(COM_SEQUENCE_RX_AND_TX_HIGH_RATE.second, COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.first, 0,
+      false);
+  check(ss.addSequence(SequenceEntry(COM_SEQUENCE_RX_AND_TX_HIGH_RATE.first,
+                                     &COM_SEQUENCE_RX_AND_TX_HIGH_RATE.second,
+                                     COM_SEQUENCE_RX_ONLY.first)),
+        ctxc);
+}
+
+void buildTxAndRxDefaultRateSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::com::buildTxAndRxDefaultRateSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  // Build RX and TX default datarate table.
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE,
+      COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.second);
+  iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_DEFAULT),
+      COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.first,
+                               &COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.second)),
+        ctxc);
+
+  // Build TX and RX low datarate transition 0, switch CCSDS handler first
+  iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_DEFAULT),
+      COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_0.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_0.first,
+                               &COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_0.second)),
+        ctxc);
+
+  // Build TX and RX default transition 1
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE,
+      COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.first,
+                               &COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second)),
+        ctxc);
+
+  // Build TX and RX default datarate sequence
+  ihs(COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE.second, COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.first, 0,
+      true);
+  ihs(COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE.second, COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_0.first, 0,
+      false);
+  ihs(COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE.second, COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.first, 0,
+      false);
+  check(ss.addSequence(SequenceEntry(COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE.first,
+                                     &COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE.second,
+                                     COM_SEQUENCE_RX_ONLY.first)),
+        ctxc);
+}
+
+}  // namespace
--- a/mission/system/tree/comModeTree.h
+++ b/mission/system/tree/comModeTree.h
@ -0,0 +1,16 @@
+#ifndef MISSION_SYSTEM_TREE_COMMODETREE_H_
+#define MISSION_SYSTEM_TREE_COMMODETREE_H_
+
+#include <mission/system/objects/ComSubsystem.h>
+
+namespace satsystem {
+
+namespace com {
+extern ComSubsystem SUBSYSTEM;
+
+void init();
+}  // namespace com
+
+}  // namespace satsystem
+
+#endif /* MISSION_SYSTEM_TREE_COMMODETREE_H_ */
--- a/mission/system/tree/payloadModeTree.cpp
+++ b/mission/system/tree/payloadModeTree.cpp
@ -27,7 +27,7 @@ static const auto OFF = HasModesIF::MODE_OFF;
 static const auto ON = HasModesIF::MODE_ON;
 static const auto NML = DeviceHandlerIF::MODE_NORMAL;

-auto PL_SEQUENCE_OFF = std::make_pair(payload::Mode::OFF << 24, FixedArrayList<ModeListEntry, 3>());
+auto PL_SEQUENCE_OFF = std::make_pair(payload::Mode::OFF, FixedArrayList<ModeListEntry, 3>());
 auto PL_TABLE_OFF_TGT =
    std::make_pair((payload::Mode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
 auto PL_TABLE_OFF_TRANS_0 =
@ -36,7 +36,7 @@ auto PL_TABLE_OFF_TRANS_1 =
    std::make_pair((payload::Mode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 1>());

 auto PL_SEQUENCE_MPSOC_STREAM =
-    std::make_pair(payload::Mode::MPSOC_STREAM << 24, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(payload::Mode::MPSOC_STREAM, FixedArrayList<ModeListEntry, 3>());
 auto PL_TABLE_MPSOC_STREAM_TGT =
    std::make_pair((payload::Mode::MPSOC_STREAM << 24) | 1, FixedArrayList<ModeListEntry, 5>());
 auto PL_TABLE_MPSOC_STREAM_TRANS_0 =
@ -45,7 +45,7 @@ auto PL_TABLE_MPSOC_STREAM_TRANS_1 =
    std::make_pair((payload::Mode::MPSOC_STREAM << 24) | 3, FixedArrayList<ModeListEntry, 2>());

 auto PL_SEQUENCE_CAM_STREAM =
-    std::make_pair(payload::Mode::CAM_STREAM << 24, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(payload::Mode::CAM_STREAM, FixedArrayList<ModeListEntry, 3>());
 auto PL_TABLE_CAM_STREAM_TGT =
    std::make_pair((payload::Mode::CAM_STREAM << 24) | 1, FixedArrayList<ModeListEntry, 2>());
 auto PL_TABLE_CAM_STREAM_TRANS_0 =
@ -54,7 +54,7 @@ auto PL_TABLE_CAM_STREAM_TRANS_1 =
    std::make_pair((payload::Mode::CAM_STREAM << 24) | 3, FixedArrayList<ModeListEntry, 2>());

 auto PL_SEQUENCE_SUPV_ONLY =
-    std::make_pair(payload::Mode::SUPV_ONLY << 24, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(payload::Mode::SUPV_ONLY, FixedArrayList<ModeListEntry, 3>());
 auto PL_TABLE_SUPV_ONLY_TGT =
    std::make_pair((payload::Mode::SUPV_ONLY << 24) | 1, FixedArrayList<ModeListEntry, 5>());
 auto PL_TABLE_SUPV_ONLY_TRANS_0 =
@ -63,7 +63,7 @@ auto PL_TABLE_SUPV_ONLY_TRANS_1 =
    std::make_pair((payload::Mode::SUPV_ONLY << 24) | 3, FixedArrayList<ModeListEntry, 5>());

 auto PL_SEQUENCE_EARTH_OBSV =
-    std::make_pair(payload::Mode::EARTH_OBSV << 24, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(payload::Mode::EARTH_OBSV, FixedArrayList<ModeListEntry, 3>());
 auto PL_TABLE_EARTH_OBSV_TGT =
    std::make_pair((payload::Mode::EARTH_OBSV << 24) | 1, FixedArrayList<ModeListEntry, 5>());
 auto PL_TABLE_EARTH_OBSV_TRANS_0 =
@ -71,8 +71,7 @@ auto PL_TABLE_EARTH_OBSV_TRANS_0 =
 auto PL_TABLE_EARTH_OBSV_TRANS_1 =
    std::make_pair((payload::Mode::EARTH_OBSV << 24) | 3, FixedArrayList<ModeListEntry, 2>());

-auto PL_SEQUENCE_SCEX =
-    std::make_pair(payload::Mode::SCEX << 24, FixedArrayList<ModeListEntry, 2>());
+auto PL_SEQUENCE_SCEX = std::make_pair(payload::Mode::SCEX, FixedArrayList<ModeListEntry, 2>());
 auto PL_TABLE_SCEX_TGT =
    std::make_pair((payload::Mode::SCEX << 24) | 1, FixedArrayList<ModeListEntry, 1>());
 auto PL_TABLE_SCEX_TRANS_0 =
--- a/mission/system/tree/system.cpp
+++ b/mission/system/tree/system.cpp
@ -1,6 +1,7 @@
 #include "system.h"

 #include "acsModeTree.h"
+#include "comModeTree.h"
 #include "payloadModeTree.h"
 #include "tcsModeTree.h"

@ -8,4 +9,5 @@ void satsystem::init() {
  acs::init();
  pl::init();
  tcs::init();
+  com::init();
 }
--- a/mission/tmtc/CcsdsIpCoreHandler.cpp
+++ b/mission/tmtc/CcsdsIpCoreHandler.cpp
@ -1,7 +1,9 @@
 #include "CcsdsIpCoreHandler.h"

+#include <fsfw/subsystem/helper.h>
 #include <linux/ipcore/PdecHandler.h>
 #include <linux/ipcore/PtmeConfig.h>
+#include <mission/config/comCfg.h>

 #include "eive/definitions.h"
 #include "fsfw/events/EventManagerIF.h"
@ -133,10 +135,12 @@ ReturnValue_t CcsdsIpCoreHandler::initialize() {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }

+  transmitterCountdown.setTimeout(transmitterTimeout);
+  transmitterCountdown.timeOut();
+
 #if OBSW_SYRLINKS_SIMULATED == 1
  // Update data on rising edge
  ptmeConfig->invertTxClock(false);
-  transmitterCountdown.setTimeout(transmitterTimeout);
  linkState = UP;
  forwardLinkstate();
 #endif /* OBSW_SYRLINKS_SIMULATED == 1*/
@ -228,12 +232,12 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
  ReturnValue_t result = returnvalue::OK;
  switch (actionId) {
    case SET_LOW_RATE: {
-      submode = static_cast<Submode_t>(Submode::DATARATE_LOW);
+      submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW);
      result = ptmeConfig->setRate(RATE_100KBPS);
      break;
    }
    case SET_HIGH_RATE: {
-      submode = static_cast<Submode_t>(Submode::DATARATE_HIGH);
+      submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH);
      result = ptmeConfig->setRate(RATE_500KBPS);
      break;
    }
@ -346,6 +350,9 @@ void CcsdsIpCoreHandler::enableTransmit() {
  gpioIF->pullHigh(enTxClock);
  gpioIF->pullHigh(enTxData);
 #endif
+  linkState = UP;
+  forwardLinkstate();
+  transmitterCountdown.resetTimer();
 }

 void CcsdsIpCoreHandler::checkTxTimer() {
@ -354,6 +361,7 @@ void CcsdsIpCoreHandler::checkTxTimer() {
  }
  if (transmitterCountdown.hasTimedOut()) {
    disableTransmit();
+    // TODO: set mode to off (move timer to subsystem)
  }
 }

@ -365,8 +373,9 @@ void CcsdsIpCoreHandler::getMode(Mode_t* mode, Submode_t* submode) {
 ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submode,
                                                   uint32_t* msToReachTheMode) {
  if (mode == HasModesIF::MODE_ON) {
-    if (submode != static_cast<Submode_t>(Submode::DATARATE_HIGH) and
-        submode != static_cast<Submode_t>(Submode::DATARATE_LOW)) {
+    if (submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH) and
+        submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW) and
+        submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
      return HasModesIF::INVALID_SUBMODE;
    }
  } else if (mode != HasModesIF::MODE_OFF) {
@ -377,24 +386,40 @@ ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submod
 }

 void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
+  auto rateHigh = [&]() {
+    ReturnValue_t result = ptmeConfig->setRate(RATE_500KBPS);
+    if (result == returnvalue::OK) {
+      this->mode = HasModesIF::MODE_ON;
+    }
+  };
+  auto rateLow = [&]() {
+    ReturnValue_t result = ptmeConfig->setRate(RATE_100KBPS);
+    if (result == returnvalue::OK) {
+      this->mode = HasModesIF::MODE_ON;
+    }
+  };
  if (mode == HasModesIF::MODE_ON) {
    enableTransmit();
-    if (submode == static_cast<Submode_t>(Submode::DATARATE_HIGH)) {
-      ReturnValue_t result = ptmeConfig->setRate(RATE_500KBPS);
-      if (result == returnvalue::OK) {
-        mode = HasModesIF::MODE_ON;
-      }
-    } else if (submode == static_cast<Submode_t>(Submode::DATARATE_LOW)) {
-      ReturnValue_t result = ptmeConfig->setRate(RATE_100KBPS);
-      if (result == returnvalue::OK) {
-        mode = HasModesIF::MODE_ON;
+    if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
+      com::Datarate currentDatarate = com::getCurrentDatarate();
+      if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
+        rateLow();
+      } else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
+        rateHigh();
      }
+    } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
+      rateHigh();
+    } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
+      rateLow();
    }
+
  } else if (mode == HasModesIF::MODE_OFF) {
    disableTransmit();
-    mode = HasModesIF::MODE_OFF;
+    this->mode = HasModesIF::MODE_OFF;
  }
+  this->submode = submode;
  modeHelper.modeChanged(mode, submode);
+  announceMode(false);
 }

 void CcsdsIpCoreHandler::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
@ -406,7 +431,19 @@ void CcsdsIpCoreHandler::disableTransmit() {
 #endif
  linkState = DOWN;
  forwardLinkstate();
-  transmitterCountdown.setTimeout(0);
+  transmitterCountdown.timeOut();
 }

 const char* CcsdsIpCoreHandler::getName() const { return "CCSDS Handler"; }
+
+const HasHealthIF* CcsdsIpCoreHandler::getOptHealthIF() const { return nullptr; }
+
+const HasModesIF& CcsdsIpCoreHandler::getModeIF() const { return *this; }
+
+ReturnValue_t CcsdsIpCoreHandler::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
+}
+
+ModeTreeChildIF& CcsdsIpCoreHandler::getModeTreeChildIF() { return *this; }
+
+object_id_t CcsdsIpCoreHandler::getObjectId() const { return SystemObject::getObjectId(); }
--- a/mission/tmtc/CcsdsIpCoreHandler.h
+++ b/mission/tmtc/CcsdsIpCoreHandler.h
@ -15,6 +15,7 @@
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/parameters/ParameterHelper.h"
 #include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/subsystem/ModeTreeConnectionIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/timemanager/Countdown.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
@ -22,8 +23,7 @@
 #include "fsfw_hal/common/gpio/GpioIF.h"
 #include "fsfw_hal/common/gpio/gpioDefinitions.h"
 #include "linux/ipcore/PtmeConfig.h"
-
-enum class Submode : uint8_t { UNSET = 0, DATARATE_LOW = 1, DATARATE_HIGH = 2 };
+#include "mission/comDefs.h"

 /**
 * @brief   This class handles the data exchange with the CCSDS IP cores implemented in the
@ -36,6 +36,8 @@ enum class Submode : uint8_t { UNSET = 0, DATARATE_LOW = 1, DATARATE_HIGH = 2 };
 */
 class CcsdsIpCoreHandler : public SystemObject,
                           public ExecutableObjectIF,
+                           public ModeTreeChildIF,
+                           public ModeTreeConnectionIF,
                           public HasModesIF,
                           public AcceptsTelemetryIF,
                           public AcceptsTelecommandsIF,
@ -92,6 +94,11 @@ class CcsdsIpCoreHandler : public SystemObject,

  virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                      const uint8_t* data, size_t size);
+  const HasHealthIF* getOptHealthIF() const override;
+  const HasModesIF& getModeIF() const override;
+  object_id_t getObjectId() const override;
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
+  ModeTreeChildIF& getModeTreeChildIF() override;

 private:
  static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_HANDLER;
@ -139,7 +146,7 @@ class CcsdsIpCoreHandler : public SystemObject,

  ActionHelper actionHelper;
  Mode_t mode = HasModesIF::MODE_OFF;
-  Submode_t submode = static_cast<Submode_t>(Submode::UNSET);
+  Submode_t submode = static_cast<Submode_t>(com::CcsdsSubmode::UNSET);
  ModeHelper modeHelper;

  MessageQueueId_t tcDistributorQueueId = MessageQueueIF::NO_QUEUE;
--- a/2
+++ b/2
Author	SHA1	Message	Date
Robin Mueller	7ae2b44806	prep v1.25.0 All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-02-06 20:19:08 +01:00
Robin Mueller	8ffd10cacc	update subsystem mode IDs All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-02-06 20:15:45 +01:00
Robin Müller	d4e8db49d2	Merge pull request 'bugfix for GPS handler' (#368 ) from gps_bugfix into develop All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #368	2023-02-06 18:25:52 +01:00
Robin Mueller	86babcf07b	important fix Some checks are pending EIVE/eive-obsw/pipeline/pr-develop Build started... Details	2023-02-06 18:23:04 +01:00
Robin Mueller	9d7291eea2	this works now All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-06 18:12:41 +01:00
Robin Mueller	5e8eb7151b	Merge remote-tracking branch 'origin/develop' into gps_bugfix All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-06 15:33:37 +01:00
Robin Mueller	970e018c27	comment object ID of tmp dev which does not exist anymore All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-02-06 15:16:14 +01:00
Robin Mueller	67835dd7f7	one regular cycle before permanent loop All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-06 10:40:09 +01:00
Robin Mueller	ee01b6253e	small logic tweak All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-06 10:39:19 +01:00
Robin Mueller	1a4dbce350	tweaks and logic fixes All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-06 10:30:17 +01:00
Robin Mueller	4d6d4dd44d	small tweak Some checks failed EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details	2023-02-06 10:24:13 +01:00
Robin Mueller	c49580ea51	bump changelog Some checks failed EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details	2023-02-06 10:22:28 +01:00
Robin Mueller	4d6215f546	fixes for scheduling Some checks failed EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details	2023-02-06 10:20:22 +01:00
Robin Mueller	fd7709ea81	bump changelog All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-06 09:20:20 +01:00
Robin Mueller	10378ef1bb	bugfix for GPS handler Some checks are pending EIVE/eive-obsw/pipeline/head Build started... Details EIVE/eive-obsw/pipeline/pr-develop Build queued... Details	2023-02-05 13:13:09 +01:00
Robin Mueller	9bcc424d86	prepare for v1.24.0 All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-02-03 16:43:53 +01:00
Robin Mueller	05d168d6ee	bump tmtc to v2.10.0	2023-02-03 16:42:35 +01:00
Robin Mueller	32042afccd	bump minor version All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-02-03 16:30:38 +01:00
Robin Müller	47f998b493	Merge pull request 'MTQ Commanding from ACS Ctrl fixes' (#363 ) from eggert/mtq-cmd-fixes into develop All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #363 Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>	2023-02-03 16:12:31 +01:00
Robin Mueller	02b52d2b55	Merge remote-tracking branch 'origin/develop' into eggert/mtq-cmd-fixes	2023-02-03 16:12:32 +01:00
Robin Mueller	9f28f32af9	bump tmtc	2023-02-03 16:12:11 +01:00
Robin Mueller	a9bd792194	changelog correction	2023-02-03 16:11:28 +01:00
Robin Mueller	6b36ba8323	Merge remote-tracking branch 'origin/develop' into eggert/mtq-cmd-fixes	2023-02-03 16:10:47 +01:00
Robin Mueller	d9514e4184	a lot of bugfixes All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-02-03 16:08:34 +01:00
Robin Müller	129399c40e	Merge pull request 'ACS updates' (#365 ) from acs_updates into develop All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #365 Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>	2023-02-03 14:28:05 +01:00
Robin Mueller	777d673465	small fix Some checks are pending EIVE/eive-obsw/pipeline/pr-develop Build started... Details	2023-02-03 14:24:27 +01:00
Robin Mueller	825365263f	update changelog All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-03 14:23:39 +01:00
Robin Mueller	4ed1e2411a	works All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-03 14:21:36 +01:00
Robin Mueller	76d18a67bc	almost done All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-03 11:33:18 +01:00
Robin Mueller	2c2c73b23f	fixes and updates for ACS mode tree All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-03 11:25:03 +01:00
Robin Mueller	b3a5c94f02	update events All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-03 10:53:16 +01:00
Robin Mueller	ef0a78dedb	afmt All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-03 10:52:39 +01:00
Robin Mueller	c2100cc782	overhead comment	2023-02-03 10:51:56 +01:00
Robin Mueller	4615b2fe16	bumpchangelog All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-03 10:51:08 +01:00
Robin Mueller	daa7c6652d	update changelog All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-03 10:21:17 +01:00
Robin Mueller	9f829f1c50	Merge remote-tracking branch 'origin/develop' into eggert/mtq-cmd-fixes All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-03 10:16:17 +01:00
Robin Mueller	d9e142e1a8	Merge remote-tracking branch 'origin/develop' into acs_updates All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-03 10:12:00 +01:00
Robin Mueller	e6bafd51dc	prepare v1.23.1 All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-02-02 18:37:56 +01:00
Robin Mueller	5a54d4e1ed	afmt All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-02-02 18:22:28 +01:00
Robin Mueller	7226f02d4b	bump tmtc and fsfw All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-02-02 18:22:07 +01:00
Robin Mueller	aaac3b24b2	update changelog All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-02 17:14:48 +01:00
Robin Mueller	a5997c773f	host compiles All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-02 17:13:19 +01:00
Robin Mueller	2b00d3a565	ACS updates Some checks failed EIVE/eive-obsw/pipeline/head There was a failure building this commit Details EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details - Adapt ACS subsystem to handle events from ACS CTRL - Some fixes and updates for ACS subsystem	2023-02-02 16:27:50 +01:00
meggert	8c03b2ec95	bump changelog All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-02 10:56:14 +01:00
meggert	4bed0fd563	scale dipole of controller to by the MTQ expected range Some checks are pending EIVE/eive-obsw/pipeline/head Build started... Details EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-02 10:47:58 +01:00
Jakob Meier	acba821afd	fixed uint to int	2023-02-02 10:33:58 +01:00
Robin Mueller	07effb628e	bump fsfw again All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-02-01 20:52:16 +01:00
Robin Mueller	491b378ad3	bump fsfw All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-02-01 20:47:50 +01:00
Robin Mueller	8a3fca4605	prepare release All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-02-01 20:21:04 +01:00
Robin Mueller	78bc422004	prepare next version	2023-02-01 20:20:08 +01:00
Robin Mueller	3c9ce040cf	update generated files All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-02-01 19:43:38 +01:00
Robin Mueller	20df025ccb	update fsfw All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-02-01 18:44:00 +01:00
Robin Mueller	27f676a725	bump fsfw for Health service update All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-02-01 17:44:45 +01:00
Robin Müller	048033d264	Merge pull request 'Improvements in TMTC Handlers' (#359 ) from meier/far-parsing into develop All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #359 Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>	2023-02-01 13:44:31 +01:00
Robin Mueller	f5c5377a81	move to unreleased section Some checks are pending EIVE/eive-obsw/pipeline/pr-develop Build started... Details	2023-02-01 13:43:29 +01:00
Jakob Meier	9768541c35	update changelog All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-01 08:40:05 +01:00
Jakob Meier	bdf397a71e	corrections for transmitter timer in ccsds handler Some checks are pending EIVE/eive-obsw/pipeline/head Build started... Details EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-02-01 08:27:55 +01:00
Jakob Meier	a4cd2d1702	changed spacecraft id to 0x3DC All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-31 14:05:40 +01:00
Jakob Meier	a526bfe972	pdec far now also parsed in irq based operation All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-31 11:27:53 +01:00
Robin Mueller	19fc638447	bump tmtc All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-30 14:47:49 +01:00
Robin Mueller	bfc2aaedd8	new minor release All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-30 14:35:31 +01:00
Robin Mueller	3150847331	bump tmtc, tmtccmd and spacepackets updates and fixes All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-30 14:31:51 +01:00
Robin Mueller	a6748f8034	fsfw update All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-30 14:25:50 +01:00
Robin Mueller	9beb695aa0	bump fsfw - Updates TCP server to allow re-using address (SO_REUSEADDR option)	2023-01-30 14:21:46 +01:00
Robin Mueller	01824f2f66	done All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-28 15:02:35 +01:00
Robin Müller	bf5e72af8e	Merge pull request 'COM Subsystem' (#358 ) from com_subsystem into develop All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #358	2023-01-28 14:58:01 +01:00
Robin Mueller	079228e559	update retvals Some checks are pending EIVE/eive-obsw/pipeline/pr-develop Build started... Details	2023-01-28 14:57:40 +01:00
Robin Mueller	ddce821295	prepare for v1.22.0 Some checks are pending EIVE/eive-obsw/pipeline/pr-develop Build started... Details	2023-01-28 14:55:41 +01:00
Robin Mueller	c63ca66f68	done All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-28 14:49:28 +01:00
Robin Mueller	036b388928	do not check transitions in COM SS All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-28 12:52:00 +01:00
Robin Mueller	13a3f78e56	finally fixed the stupid bug All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-28 12:47:21 +01:00
Robin Mueller	8f7ff3da7c	some dumb bug All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-27 20:23:55 +01:00
Robin Mueller	7bbf40a5ab	update changelog All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-27 19:04:31 +01:00
Robin Mueller	13f3963f69	Update All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details - COM Subsystem now handles datarate config - torquer config and comCfg moved to mission/config folder - CCSDS Handler: Added default rate submode	2023-01-27 18:38:36 +01:00
Robin Mueller	54e6c4826f	fix hosted build All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-27 17:40:42 +01:00
Robin Mueller	8d9eb9ac58	last tweaks, all works now	2023-01-27 17:34:22 +01:00
Robin Mueller	83ab34dfc3	slightly larger delay Some checks failed EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details	2023-01-27 17:13:32 +01:00
Robin Mueller	4707581c41	update generated files, COM subsystem first tests Some checks failed EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details	2023-01-27 15:57:18 +01:00
Robin Mueller	d9e1a331b2	COM mode tree Some checks failed EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details	2023-01-27 15:42:49 +01:00
Robin Mueller	9ad34aa395	schedule COM subsystem Some checks failed EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details	2023-01-27 15:19:09 +01:00
Robin Mueller	9b211e1de7	do COM SS interconnect Some checks failed EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details	2023-01-27 15:10:26 +01:00
Robin Mueller	438f9f3358	com subsystem Some checks failed EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details	2023-01-27 14:44:40 +01:00
Robin Mueller	d58e79d1ec	Merge remote-tracking branch 'origin/develop' into com_subsystem	2023-01-27 13:26:48 +01:00
Robin Mueller	c9f8d2e219	COM compiles again All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-27 11:29:13 +01:00
Robin Mueller	e2f98778f8	move config constants All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-27 11:02:04 +01:00
Robin Mueller	1a7b4ded27	bump tmtc All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-26 20:53:36 +01:00
Robin Mueller	0c595c5aeb	update changelog All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-26 20:33:16 +01:00
Robin Mueller	7182d9b8cc	start to manually transfer com mode tree from old PR Some checks failed EIVE/eive-obsw/pipeline/head There was a failure building this commit Details EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details	2023-01-26 17:18:05 +01:00
				`@ -0,0 +1 @@`
				`target_sources(${LIB_EIVE_MISSION} PRIVATE comCfg.cpp torquer.cpp)`