afmt

Merge pull request 'v4.0.0' (#699 ) from v4.0.0-dev into main
Reviewed-on: #699
2023-06-22 18:34:16 +02:00 · 2023-06-22 17:43:30 +02:00 · 2023-06-22 17:36:19 +02:00 · 2023-06-22 17:34:56 +02:00 · 2023-06-22 17:31:12 +02:00 · 2023-06-22 16:54:49 +02:00
545 changed files with 33868 additions and 15169 deletions
--- a/.gitignore
+++ b/.gitignore
@ -12,8 +12,13 @@
 #vscode
 /.vscode

+# IntelliJ
+/.idea/*
+
 # Python
 __pycache__
-.idea
+
+# CLion
+!/.idea/cmake.xml

 generators/*.db
--- a/.gitmodules
+++ b/.gitmodules
@ -10,12 +10,6 @@
 [submodule "thirdparty/lwgps"]
 	path = thirdparty/lwgps
 	url = https://github.com/rmspacefish/lwgps.git
-[submodule "generators/fsfwgen"]
-	path = generators/deps/fsfwgen
-	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-gen.git
-[submodule "thirdparty/arcsec_star_tracker"]
-	path = thirdparty/arcsec_star_tracker
-	url = https://egit.irs.uni-stuttgart.de/eive/arcsec_star_tracker.git
 [submodule "thirdparty/json"]
 	path = thirdparty/json
 	url = https://github.com/nlohmann/json.git
@ -25,3 +19,6 @@
 [submodule "thirdparty/gomspace-sw"]
 	path = thirdparty/gomspace-sw
 	url = https://egit.irs.uni-stuttgart.de/eive/gomspace-sw.git
+[submodule "thirdparty/sagittactl"]
+	path = thirdparty/sagittactl
+	url = https://egit.irs.uni-stuttgart.de/eive/sagittactl.git
--- a/.idea/cmake.xml
+++ b/.idea/cmake.xml
@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CMakeSharedSettings">
+    <configurations>
+      <configuration PROFILE_NAME="Debug Q7S" ENABLED="true" CONFIG_NAME="Debug" TOOLCHAIN_NAME="Q7S" GENERATION_OPTIONS="-DTGT_BSP=&quot;arm/q7s&quot;" NO_GENERATOR="true">
+        <ADDITIONAL_GENERATION_ENVIRONMENT>
+          <envs>
+            <env name="ZYNQ_7020_ROOTFS" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi" />
+            <env name="CROSS_COMPILE" value="/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin/arm-linux-gnueabihf" />
+          </envs>
+        </ADDITIONAL_GENERATION_ENVIRONMENT>
+      </configuration>
+    </configurations>
+  </component>
+</project>
--- a/FM.run.xml
+++ b/FM.run.xml
@ -0,0 +1,10 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Q7S FM" type="com.jetbrains.cidr.remote.gdbserver.type" factoryName="com.jetbrains.cidr.remote.gdbserver.factory" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="eive-obsw" TARGET_NAME="eive-obsw" CONFIG_NAME="Debug" version="1" RUN_TARGET_PROJECT_NAME="eive-obsw" RUN_TARGET_NAME="eive-obsw">
+    <custom-gdb-server version="1" gdb-connect="localhost:1234" executable="" warmup-ms="0" download-type="NONE" sshConfigName="Q7S FM" uploadFile="/tmp/eive-obsw" defaultGdbServerArgs=":1234 /tmp/eive-obsw">
+      <debugger kind="GDB" isBundled="true" />
+    </custom-gdb-server>
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -9,9 +9,9 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)

-set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 1)
-set(OBSW_VERSION_MINOR_IF_GIT_FAILS 24)
-set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
+set(OBSW_VERSION_MAJOR 4)
+set(OBSW_VERSION_MINOR 0)
+set(OBSW_VERSION_REVISION 0)

 # set(CMAKE_VERBOSE TRUE)

@ -71,18 +71,27 @@ if(EIVE_Q7S_EM)
      1
      CACHE STRING "Q7S EM configuration")
  set(INIT_VAL 0)
+  set(OBSW_STAR_TRACKER_GROUND_CONFIG 1)
 else()
  set(OBSW_Q7S_EM
      0
      CACHE STRING "Q7S EM configuration")
  set(INIT_VAL 1)
+  set(OBSW_STAR_TRACKER_GROUND_CONFIG 0)
 endif()
+
+set(OBSW_ADD_TMTC_TCP_SERVER
+    ${OBSW_Q7S_EM}
+    CACHE STRING "Add TCP TMTC Server")
+set(OBSW_ADD_TMTC_UDP_SERVER
+    0
+    CACHE STRING "Add UDP TMTC Server")
 set(OBSW_ADD_MGT
    ${INIT_VAL}
    CACHE STRING "Add MGT module")
 set(OBSW_ADD_BPX_BATTERY_HANDLER
-    ${INIT_VAL}
-    CACHE STRING "Add MGT module")
+    1
+    CACHE STRING "Add BPX battery module")
 set(OBSW_ADD_STAR_TRACKER
    ${INIT_VAL}
    CACHE STRING "Add Startracker module")
@ -92,6 +101,9 @@ set(OBSW_ADD_SUN_SENSORS
 set(OBSW_ADD_SUS_BOARD_ASS
    ${INIT_VAL}
    CACHE STRING "Add sun sensor board assembly")
+set(OBSW_ADD_THERMAL_TEMP_INSERTER
+    ${OBSW_Q7S_EM}
+    CACHE STRING "Add thermal sensor temperature inserter")
 set(OBSW_ADD_ACS_BOARD
    ${INIT_VAL}
    CACHE STRING "Add ACS board module")
@ -108,10 +120,10 @@ set(OBSW_TC_FROM_PDEC
    1
    CACHE STRING "Poll telecommand from PDEC IP core")
 set(OBSW_ADD_TCS_CTRL
-    ${INIT_VAL}
+    1
    CACHE STRING "Add TCS controllers")
 set(OBSW_ADD_HEATERS
-    ${INIT_VAL}
+    1
    CACHE STRING "Add TCS heaters")
 set(OBSW_ADD_PLOC_SUPERVISOR
    ${INIT_VAL}
@ -141,8 +153,11 @@ set(OBSW_ADD_TMP_DEVICES
    ${INIT_VAL}
    CACHE STRING "Add TMP devices")
 set(OBSW_ADD_GOMSPACE_PCDU
-    ${INIT_VAL}
+    1
    CACHE STRING "Add GomSpace PCDU modules")
+set(OBSW_ADD_GOMSPACE_ACU
+    ${INIT_VAL}
+    CACHE STRING "Add GomSpace ACU submodule")
 set(OBSW_ADD_RW
    ${INIT_VAL}
    CACHE STRING "Add RW modules")
@ -168,29 +183,18 @@ if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
    set(GIT_INFO
        ${GIT_INFO}
        CACHE STRING "Version information retrieved with git describe")
-    list(GET GIT_INFO 1 OBSW_VERSION_MAJOR)
-    list(GET GIT_INFO 2 OBSW_VERSION_MINOR)
-    list(GET GIT_INFO 3 OBSW_VERSION_REVISION)
-    list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
-    if(NOT OBSW_VERSION_MAJOR)
-      set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
-    endif()
-    if(NOT OBSW_VERSION_MINOR)
-      set(FSFW_SUBVERSION ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
-    endif()
-    if(NOT OBSW_VERSION_REVISION)
-      set(FSFW_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
+    # CMakeLists.txt is now single source of information. list(GET GIT_INFO 1
+    # OBSW_VERSION_MAJOR) list(GET GIT_INFO 2 OBSW_VERSION_MINOR) list(GET
+    # GIT_INFO 3 OBSW_VERSION_REVISION)
+    list(LENGTH GIT_INFO LIST_LEN)
+    if(LIST_LEN GREATER 4)
+      list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
    endif()
    set(GIT_VER_HANDLING_OK TRUE)
  else()
    set(GIT_VER_HANDLING_OK FALSE)
  endif()
 endif()
-if(NOT GIT_VER_HANDLING_OK)
-  set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
-  set(OBSW_VERSION_MINOR ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
-  set(OBSW_VERSION_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
-endif()

 # Set names and variables
 set(OBSW_NAME ${CMAKE_PROJECT_NAME})
@ -229,11 +233,12 @@ set(LIB_EIVE_MISSION_PATH mission)
 set(LIB_ETL_PATH ${THIRD_PARTY_FOLDER}/etl)
 set(LIB_CATCH2_PATH ${THIRD_PARTY_FOLDER}/Catch2)
 set(LIB_LWGPS_PATH ${THIRD_PARTY_FOLDER}/lwgps)
-set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
+set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/sagittactl)
 set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)

 set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
 set(EIVE_ADD_LINUX_FILES OFF)
+set(FSFW_ADD_TMSTORAGE ON)

 # Analyse different OS and architecture/target options, determine BSP_PATH,
 # display information about compiler etc.
@ -301,6 +306,18 @@ else()
  endif()
 endif()

+include(BuildType)
+set_build_type()
+
+set(FSFW_DEBUG_INFO 0)
+set(OBSW_ENABLE_PERIODIC_HK 1)
+set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 0)
+if(RELEASE_BUILD MATCHES 0)
+  set(FSFW_DEBUG_INFO 1)
+  set(OBSW_ENABLE_PERIODIC_HK 0)
+  set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1)
+endif()
+
 # Configuration files
 configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
 configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
@ -347,6 +364,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
      "-Wimplicit-fallthrough=1"
      "-Wno-unused-parameter"
      "-Wno-psabi"
+      "-Wshadow=local"
      "-Wduplicated-cond" # check for duplicate conditions
      "-Wduplicated-branches" # check for duplicate branches
      "-Wlogical-op" # Search for bitwise operations instead of logical
@ -404,7 +422,6 @@ add_subdirectory(thirdparty)
 if(EIVE_ADD_LINUX_FILES)
  if(TGT_BSP MATCHES "arm/q7s")
    add_subdirectory(${LIB_GOMSPACE_PATH})
-    add_subdirectory(${LIB_ARCSEC_PATH})
  endif()
  add_subdirectory(${LINUX_PATH})
 endif()
@ -413,7 +430,6 @@ add_subdirectory(${BSP_PATH})
 add_subdirectory(${COMMON_PATH})
 add_subdirectory(${DUMMY_PATH})

-add_subdirectory(${LIB_LWGPS_PATH})
 add_subdirectory(${FSFW_PATH})
 add_subdirectory(${LIB_EIVE_MISSION_PATH})
 add_subdirectory(${TEST_PATH})
@ -480,10 +496,11 @@ endif()
 # ##############################################################################

 # Add libraries
-target_link_libraries(${LIB_EIVE_MISSION}
-                      PUBLIC ${LIB_FSFW_NAME} ${LIB_LWGPS_NAME} ${LIB_OS_NAME})
+target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_FSFW_NAME}
+                                                 ${LIB_OS_NAME})

-target_link_libraries(${LIB_DUMMIES} PUBLIC ${LIB_FSFW_NAME} ${LIB_JSON_NAME})
+target_link_libraries(${LIB_DUMMIES} PUBLIC ${LIB_EIVE_MISSION}
+                                            ${LIB_FSFW_NAME} ${LIB_JSON_NAME})

 target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_EIVE_MISSION} ${LIB_DUMMIES})

@ -559,6 +576,3 @@ add_custom_command(
  POST_BUILD
  COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
  COMMENT ${POST_BUILD_COMMENT})
-
-include(BuildType)
-set_build_type()
--- a/README.md
+++ b/README.md
@ -18,6 +18,7 @@
 11. [Q7S OBC](#q7s)
 12. [Static Code Analysis](#static-code-analysis)
 13. [Eclipse](#eclipse)
+14. [CLion](#clion)
 14. [Running the OBSW on a Raspberry Pi](#rpi)
 15. [Running OBSW on EGSE](#egse)
 16. [Manually preparing sysroots to compile gpsd](#gpsd)
@ -98,11 +99,21 @@ When using Windows, run theses steps in MSYS2.
   git submodule update --init
   ```

-3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version` and that
+3. Create two system variables to pass the system root path and the cross-compiler path to the
+   build system. You only need to do this once when setting up the build system.
+   Example for Unix:
+
+   ```sh
+   export CROSS_COMPILE_BIN_PATH=<absolutePathToCrossCompilerBinPath>
+   export ZYNQ_7020_SYSROOT=<absolutePathToSysroot>
+   ```
+
+4. Ensure that the cross-compiler is working with
+   `${CROSS_COMPILE_BIN_PATH}/arm-linux-gnueabihf-gcc --version` and that
   the sysroot environmental variables have been set like specified in the
   [root filesystem chapter](#sysroot).

-4. Run the CMake configuration to create the build system in a `build-Debug-Q7S` folder.
+5. Run the CMake configuration to create the build system in a `build-Debug-Q7S` folder.
   Add `-G "MinGW Makefiles` in MinGW64 on Windows.

   ```sh
@ -111,7 +122,7 @@ When using Windows, run theses steps in MSYS2.
   cmake --build . -j
   ```

-   You can also use provided shell scripts to perform these commands.
+   Please note that you can also use provided shell scripts to perform these commands.
   ```sh
   cp scripts/q7s-env.sh ..
   cp scripts/q7s-env-em.sh ..
@ -143,7 +154,7 @@ When using Windows, run theses steps in MSYS2.
   There are also different values for `-DTGT_BSP` to build for the Raspberry Pi
   or the Beagle Bone Black: `arm/raspberrypi` and `arm/beagleboneblack`.

-5. Build the software with
+6. Build the software with

   ```sh
   cd cmake-build-debug-q7s
@ -1229,6 +1240,22 @@ Finally, you can convert the generated `.xml` file to HTML with the following co
 cppcheck-htmlreport --file=report.xml --report-dir=cppcheck --source-dir=..
 ```

+# <a id="CLion"></a> CLion
+
+CLion is the recommended IDE for the development of the hosted version of EIVE.
+You can also set up CLion for cross-compilation of the primary OBSW.
+
+There is a shared `.idea/cmake.xml` file to get started with this.
+To make cross-compilation work, two special environment variables
+need to be set:
+
+- `ZYNQ_7020_ROOTFS` pointing to the root filesystem
+- `CROSS_COMPILE` pointing to the the full path of the cross-compiler
+  without the specific tool suffix. For example, if the the cross-compiler
+  tools are located at `/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin`,
+  this variable would be set
+  to `/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin/arm-linux-gnueabihf`
+
 # <a id="eclipse"></a> Eclipse

 When using Eclipse, there are two special build variables in the project properties
--- a/automation/Jenkinsfile
+++ b/automation/Jenkinsfile
@ -1,6 +1,7 @@
 pipeline {
    environment {
-        BUILDDIR_Q7 = 'build_q7'
+        BUILDDIR_Q7S = 'build_q7s_fm'
+        BUILDDIR_Q7S_EM = 'build_q7s_em'
        BUILDDIR_LINUX = 'build_linux'
    }
    agent {
@ -12,15 +13,24 @@ pipeline {
    stages {
        stage('Clean') {
            steps {
-                sh 'rm -rf $BUILDDIR_Q7'
+                sh 'rm -rf $BUILDDIR_Q7S'
+                sh 'rm -rf $BUILDDIR_Q7S_EM'
                sh 'rm -rf $BUILDDIR_LINUX'
            }
        }
        stage('Build Q7S') {
            steps {
-                dir(BUILDDIR_Q7) {
+                dir(BUILDDIR_Q7S) {
                    sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..'
-                    sh 'cmake --build . -j4'
+                    sh 'cmake --build . -j8'
+                }
+            }
+        }
+        stage('Build Q7S EM') {
+            steps {
+                dir(BUILDDIR_Q7S_EM) {
+                    sh 'cmake -DTGT_BSP="arm/q7s" -DEIVE_Q7S_EM=ON -DCMAKE_BUILD_TYPE=Debug ..'
+                    sh 'cmake --build . -j8'
                }
            }
        }
@ -28,7 +38,7 @@ pipeline {
            steps {
                dir(BUILDDIR_LINUX) {
                    sh 'cmake ..'
-                    sh 'cmake --build . -j4'
+                    sh 'cmake --build . -j8'
                    sh './eive-unittest'
                }
            }
--- a/bsp_hosted/OBSWConfig.h.in
+++ b/bsp_hosted/OBSWConfig.h.in
@ -7,7 +7,6 @@
 #define FSFWCONFIG_OBSWCONFIG_H_

 #include "commonConfig.h"
-#include "OBSWVersion.h"
    
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
--- a/bsp_hosted/ObjectFactory.cpp
+++ b/bsp_hosted/ObjectFactory.cpp
@ -4,16 +4,15 @@
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
 #include <mission/controller/ThermalController.h>
-#include <mission/core/GenericFactory.h>
+#include <mission/genericFactory.h>
 #include <mission/tmtc/TmFunnelHandler.h>
 #include <objects/systemObjectList.h>

+#include "../mission/utility/DummySdCardManager.h"
 #include "OBSWConfig.h"
-#include "devConf.h"
-#include "eive/definitions.h"
 #include "fsfw/platform.h"
+#include "fsfw/power/PowerSwitchIF.h"
 #include "fsfw_tests/integration/task/TestTask.h"
-#include "tmtc/pusIds.h"

 #if OBSW_ADD_TMTC_UDP_SERVER == 1
 #include "fsfw/osal/common/UdpTcPollingTask.h"
@ -24,32 +23,14 @@
 #include "fsfw/osal/common/TcpTmTcServer.h"
 #endif

-#include <fsfw/tmtcpacket/pus/tm.h>
-
 #if OBSW_ADD_TEST_CODE == 1
 #include <test/testtasks/TestTask.h>
 #endif

 #include <dummies/AcuDummy.h>
-#include <dummies/BpxDummy.h>
-#include <dummies/ComCookieDummy.h>
-#include <dummies/ComIFDummy.h>
 #include <dummies/CoreControllerDummy.h>
-#include <dummies/GyroAdisDummy.h>
-#include <dummies/GyroL3GD20Dummy.h>
-#include <dummies/ImtqDummy.h>
-#include <dummies/MgmLIS3MDLDummy.h>
-#include <dummies/P60DockDummy.h>
-#include <dummies/PduDummy.h>
-#include <dummies/PlPcduDummy.h>
-#include <dummies/RwDummy.h>
-#include <dummies/StarTrackerDummy.h>
-#include <dummies/SusDummy.h>
-#include <dummies/SyrlinksDummy.h>
-#include <dummies/TemperatureSensorsDummy.h>

-#include "dummies/helpers.h"
-#include "mission/utility/GlobalConfigHandler.h"
+#include "dummies/helperFactory.h"

 #ifdef PLATFORM_UNIX
 #include <fsfw_hal/linux/serial/SerialComIF.h>
@ -57,10 +38,10 @@

 #include "devices/gpioIds.h"
 #include "fsfw_hal/linux/gpio/Gpio.h"
-#include "linux/devices/ploc/PlocMPSoCHandler.h"
-#include "linux/devices/ploc/PlocMPSoCHelper.h"
-#include "linux/devices/ploc/PlocSupervisorHandler.h"
-#include "linux/devices/ploc/PlocSupvUartMan.h"
+#include "linux/payload/PlocMpsocHandler.h"
+#include "linux/payload/PlocMpsocSpecialComHelper.h"
+#include "linux/payload/PlocSupervisorHandler.h"
+#include "linux/payload/PlocSupvUartMan.h"
 #include "test/gpio/DummyGpioIF.h"
 #endif

@ -78,11 +59,26 @@ void ObjectFactory::produce(void* args) {
  Factory::setStaticFrameworkObjectIds();
  PusTmFunnel* pusFunnel;
  CfdpTmFunnel* cfdpFunnel;
-  ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel);
+  StorageManagerIF* tmStore;
+  StorageManagerIF* ipcStore;
+  PersistentTmStores persistentStores;
+  bool enableHkSets = false;
+#if OBSW_ENABLE_PERIODIC_HK == 1
+  enableHkSets = true;
+#endif
+  auto sdcMan = new DummySdCardManager("/tmp");
+  ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore,
+                                       &tmStore, persistentStores, 120);

-  DummyGpioIF* dummyGpioIF = new DummyGpioIF();
+  new TmFunnelHandler(objects::LIVE_TM_TASK, *pusFunnel, *cfdpFunnel);
+  auto* dummyGpioIF = new DummyGpioIF();
  auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
-  static_cast<void>(dummyGpioIF);
+  std::vector<ReturnValue_t> switcherList;
+  auto initVal = PowerSwitchIF::SWITCH_OFF;
+  for (unsigned i = 0; i < 18; i++) {
+    switcherList.emplace_back(initVal);
+  }
+  dummySwitcher->setInitialSwitcherList(switcherList);
 #ifdef PLATFORM_UNIX
  new SerialComIF(objects::UART_COM_IF);
 #if OBSW_ADD_PLOC_MPSOC == 1
@ -90,8 +86,8 @@ void ObjectFactory::produce(void* args) {
  auto mpsocCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, mpscoDev, uart::PLOC_MPSOC_BAUD,
                                    mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
  mpsocCookie->setNoFixedSizeReply();
-  auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
-  new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
+  auto plocMpsocHelper = new PlocMpsocSpecialComHelper(objects::PLOC_MPSOC_HELPER);
+  new PlocMpsocHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
                       plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF),
                       objects::PLOC_SUPERVISOR_HANDLER);
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
@ -109,7 +105,15 @@ void ObjectFactory::produce(void* args) {
 #endif

  dummy::DummyCfg cfg;
-  dummy::createDummies(cfg, *dummySwitcher);
-  new ThermalController(objects::THERMAL_CONTROLLER);
+  dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF, enableHkSets);
+
+  HeaterHandler* heaterHandler = nullptr;
+  // new ThermalController(objects::THERMAL_CONTROLLER);
+  ObjectFactory::createGenericHeaterComponents(*dummyGpioIF, *dummySwitcher, heaterHandler);
+  if (heaterHandler == nullptr) {
+    sif::error << "HeaterHandler could not be created" << std::endl;
+  } else {
+    ObjectFactory::createThermalController(*heaterHandler);
+  }
  new TestTask(objects::TEST_TASK);
 }
--- a/bsp_hosted/fsfwconfig/FSFWConfig.h.in
+++ b/bsp_hosted/fsfwconfig/FSFWConfig.h.in
@ -50,6 +50,8 @@
 //! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
 #define FSFW_USE_REALTIME_FOR_LINUX 0

+#define FSFW_UDP_SEND_WIRETAPPING_ENABLED 0
+
 namespace fsfwconfig {

 //! Default timestamp size. The default timestamp will be an seven byte CDC short timestamp.
--- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp
+++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 239 translations.
+ * @brief    Auto-generated event translation file. Contains 296 translations.
 * @details
- * Generated on: 2022-11-16 15:25:08
+ * Generated on: 2023-06-21 19:01:02
 */
 #include "translateEvents.h"

@ -35,11 +35,11 @@ const char *INVALID_DEVICE_COMMAND_STRING = "INVALID_DEVICE_COMMAND";
 const char *MONITORING_LIMIT_EXCEEDED_STRING = "MONITORING_LIMIT_EXCEEDED";
 const char *MONITORING_AMBIGUOUS_STRING = "MONITORING_AMBIGUOUS";
 const char *DEVICE_WANTS_HARD_REBOOT_STRING = "DEVICE_WANTS_HARD_REBOOT";
+const char *SWITCH_WENT_OFF_STRING = "SWITCH_WENT_OFF";
 const char *FUSE_CURRENT_HIGH_STRING = "FUSE_CURRENT_HIGH";
 const char *FUSE_WENT_OFF_STRING = "FUSE_WENT_OFF";
 const char *POWER_ABOVE_HIGH_LIMIT_STRING = "POWER_ABOVE_HIGH_LIMIT";
 const char *POWER_BELOW_LOW_LIMIT_STRING = "POWER_BELOW_LOW_LIMIT";
-const char *SWITCH_WENT_OFF_STRING = "SWITCH_WENT_OFF";
 const char *HEATER_ON_STRING = "HEATER_ON";
 const char *HEATER_OFF_STRING = "HEATER_OFF";
 const char *HEATER_TIMEOUT_STRING = "HEATER_TIMEOUT";
@ -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";
@ -89,6 +90,16 @@ const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
 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 *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
+const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
+const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
+const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
+const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
+const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
+const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
+const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
+const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
+const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 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";
@ -126,8 +137,8 @@ const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAIL
 const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
 const char *ERROR_STATE_STRING = "ERROR_STATE";
 const char *RESET_OCCURED_STRING = "RESET_OCCURED";
-const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
-const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
+const char *BOOTING_FIRMWARE_FAILED_EVENT_STRING = "BOOTING_FIRMWARE_FAILED_EVENT";
+const char *BOOTING_BOOTLOADER_FAILED_EVENT_STRING = "BOOTING_BOOTLOADER_FAILED_EVENT";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
 const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
@ -135,7 +146,7 @@ const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
 const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
 const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
 const char *SUPV_HELPER_EXECUTING_STRING = "SUPV_HELPER_EXECUTING";
-const char *SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUWDOWN_BUILD_FAILED";
+const char *SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUTDOWN_BUILD_FAILED";
 const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
 const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
 const char *SEND_MRAM_DUMP_FAILED_STRING = "SEND_MRAM_DUMP_FAILED";
@ -147,7 +158,14 @@ const char *CARRIER_LOCK_STRING = "CARRIER_LOCK";
 const char *BIT_LOCK_PDEC_STRING = "BIT_LOCK_PDEC";
 const char *LOST_CARRIER_LOCK_PDEC_STRING = "LOST_CARRIER_LOCK_PDEC";
 const char *LOST_BIT_LOCK_PDEC_STRING = "LOST_BIT_LOCK_PDEC";
-const char *POLL_ERROR_PDEC_STRING = "POLL_ERROR_PDEC";
+const char *TOO_MANY_IRQS_STRING = "TOO_MANY_IRQS";
+const char *POLL_SYSCALL_ERROR_PDEC_STRING = "POLL_SYSCALL_ERROR_PDEC";
+const char *WRITE_SYSCALL_ERROR_PDEC_STRING = "WRITE_SYSCALL_ERROR_PDEC";
+const char *PDEC_TRYING_RESET_WITH_INIT_STRING = "PDEC_TRYING_RESET_WITH_INIT";
+const char *PDEC_TRYING_RESET_NO_INIT_STRING = "PDEC_TRYING_RESET_NO_INIT";
+const char *PDEC_RESET_FAILED_STRING = "PDEC_RESET_FAILED";
+const char *OPEN_IRQ_FILE_FAILED_STRING = "OPEN_IRQ_FILE_FAILED";
+const char *PDEC_INIT_FAILED_STRING = "PDEC_INIT_FAILED";
 const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
 const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
 const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
@ -159,7 +177,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
 const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
 const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
 const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
-const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
+const char *STR_COM_REPLY_TIMEOUT_STRING = "STR_COM_REPLY_TIMEOUT";
 const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
 const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
 const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
@ -179,6 +197,10 @@ const char *MPSOC_EXE_INVALID_APID_STRING = "MPSOC_EXE_INVALID_APID";
 const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
 const char *MPSOC_TM_SIZE_ERROR_STRING = "MPSOC_TM_SIZE_ERROR";
 const char *MPSOC_TM_CRC_MISSMATCH_STRING = "MPSOC_TM_CRC_MISSMATCH";
+const char *MPSOC_FLASH_READ_PACKET_ERROR_STRING = "MPSOC_FLASH_READ_PACKET_ERROR";
+const char *MPSOC_FLASH_READ_FAILED_STRING = "MPSOC_FLASH_READ_FAILED";
+const char *MPSOC_FLASH_READ_SUCCESSFUL_STRING = "MPSOC_FLASH_READ_SUCCESSFUL";
+const char *MPSOC_READ_TIMEOUT_STRING = "MPSOC_READ_TIMEOUT";
 const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
 const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
 const char *U_DRO_OUT_OF_BOUNDS_STRING = "U_DRO_OUT_OF_BOUNDS";
@ -195,8 +217,14 @@ const char *TRANSITION_OTHER_SIDE_FAILED_STRING = "TRANSITION_OTHER_SIDE_FAILED"
 const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE";
 const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
 const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
+const char *DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING = "DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY";
+const char *TRANSITION_OTHER_SIDE_FAILED_12900_STRING = "TRANSITION_OTHER_SIDE_FAILED_12900";
+const char *NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE_12901";
+const char *POWER_STATE_MACHINE_TIMEOUT_12902_STRING = "POWER_STATE_MACHINE_TIMEOUT_12902";
+const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903";
 const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
 const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
+const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
 const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
 const char *BATT_MODE_STRING = "BATT_MODE";
 const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
@ -227,11 +255,8 @@ const char *SUPV_REPLY_CRC_MISSMATCH_STRING = "SUPV_REPLY_CRC_MISSMATCH";
 const char *SUPV_UPDATE_PROGRESS_STRING = "SUPV_UPDATE_PROGRESS";
 const char *HDLC_FRAME_REMOVAL_ERROR_STRING = "HDLC_FRAME_REMOVAL_ERROR";
 const char *HDLC_CRC_ERROR_STRING = "HDLC_CRC_ERROR";
-const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
-const char *REBOOT_SW_STRING = "REBOOT_SW";
-const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
-const char *REBOOT_HW_STRING = "REBOOT_HW";
-const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
+const char *TX_ON_STRING = "TX_ON";
+const char *TX_OFF_STRING = "TX_OFF";
 const char *MISSING_PACKET_STRING = "MISSING_PACKET";
 const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
 const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
@ -240,6 +265,42 @@ const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
 const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
 const char *WRITE_CONFIGFILE_FAILED_STRING = "WRITE_CONFIGFILE_FAILED";
 const char *READ_CONFIGFILE_FAILED_STRING = "READ_CONFIGFILE_FAILED";
+const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
+const char *REBOOT_SW_STRING = "REBOOT_SW";
+const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
+const char *REBOOT_HW_STRING = "REBOOT_HW";
+const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
+const char *VERSION_INFO_STRING = "VERSION_INFO";
+const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
+const char *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
+const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
+const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
+const char *I2C_REBOOT_STRING = "I2C_REBOOT";
+const char *PDEC_REBOOT_STRING = "PDEC_REBOOT";
+const char *FIRMWARE_INFO_STRING = "FIRMWARE_INFO";
+const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
+const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
+const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
+const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
+const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
+const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
+const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
+const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
+const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
+const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
+const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
+const char *FILE_TOO_LARGE_STRING = "FILE_TOO_LARGE";
+const char *BUSY_DUMPING_EVENT_STRING = "BUSY_DUMPING_EVENT";
+const char *DUMP_OK_STORE_DONE_STRING = "DUMP_OK_STORE_DONE";
+const char *DUMP_NOK_STORE_DONE_STRING = "DUMP_NOK_STORE_DONE";
+const char *DUMP_MISC_STORE_DONE_STRING = "DUMP_MISC_STORE_DONE";
+const char *DUMP_HK_STORE_DONE_STRING = "DUMP_HK_STORE_DONE";
+const char *DUMP_CFDP_STORE_DONE_STRING = "DUMP_CFDP_STORE_DONE";
+const char *DUMP_OK_CANCELLED_STRING = "DUMP_OK_CANCELLED";
+const char *DUMP_NOK_CANCELLED_STRING = "DUMP_NOK_CANCELLED";
+const char *DUMP_MISC_CANCELLED_STRING = "DUMP_MISC_CANCELLED";
+const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
+const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";

 const char *translateEvents(Event event) {
  switch ((event & 0xFFFF)) {
@ -303,16 +364,16 @@ const char *translateEvents(Event event) {
      return MONITORING_AMBIGUOUS_STRING;
    case (2811):
      return DEVICE_WANTS_HARD_REBOOT_STRING;
-    case (4201):
-      return FUSE_CURRENT_HIGH_STRING;
-    case (4202):
-      return FUSE_WENT_OFF_STRING;
-    case (4204):
-      return POWER_ABOVE_HIGH_LIMIT_STRING;
-    case (4205):
-      return POWER_BELOW_LOW_LIMIT_STRING;
    case (4300):
      return SWITCH_WENT_OFF_STRING;
+    case (4301):
+      return FUSE_CURRENT_HIGH_STRING;
+    case (4302):
+      return FUSE_WENT_OFF_STRING;
+    case (4304):
+      return POWER_ABOVE_HIGH_LIMIT_STRING;
+    case (4305):
+      return POWER_BELOW_LOW_LIMIT_STRING;
    case (5000):
      return HEATER_ON_STRING;
    case (5001):
@ -398,6 +459,8 @@ 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;
@ -411,6 +474,26 @@ const char *translateEvents(Event event) {
      return MSG_QUEUE_ERROR_STRING;
    case (10802):
      return SERIALIZATION_ERROR_STRING;
+    case (10803):
+      return FILESTORE_ERROR_STRING;
+    case (10804):
+      return FILENAME_TOO_LARGE_ERROR_STRING;
+    case (11200):
+      return SAFE_RATE_VIOLATION_STRING;
+    case (11201):
+      return SAFE_RATE_RECOVERY_STRING;
+    case (11202):
+      return MULTIPLE_RW_INVALID_STRING;
+    case (11203):
+      return MEKF_INVALID_INFO_STRING;
+    case (11204):
+      return MEKF_RECOVERY_STRING;
+    case (11205):
+      return MEKF_AUTOMATIC_RESET_STRING;
+    case (11206):
+      return MEKF_INVALID_MODE_VIOLATION_STRING;
+    case (11207):
+      return SAFE_MODE_CONTROLLER_FAILURE_STRING;
    case (11300):
      return SWITCH_CMD_SENT_STRING;
    case (11301):
@ -486,9 +569,9 @@ const char *translateEvents(Event event) {
    case (11802):
      return RESET_OCCURED_STRING;
    case (11901):
-      return BOOTING_FIRMWARE_FAILED_STRING;
+      return BOOTING_FIRMWARE_FAILED_EVENT_STRING;
    case (11902):
-      return BOOTING_BOOTLOADER_FAILED_STRING;
+      return BOOTING_BOOTLOADER_FAILED_EVENT_STRING;
    case (12001):
      return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
    case (12002):
@ -504,7 +587,7 @@ const char *translateEvents(Event event) {
    case (12007):
      return SUPV_HELPER_EXECUTING_STRING;
    case (12008):
-      return SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING;
+      return SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING;
    case (12100):
      return SANITIZATION_FAILED_STRING;
    case (12101):
@ -528,7 +611,21 @@ const char *translateEvents(Event event) {
    case (12406):
      return LOST_BIT_LOCK_PDEC_STRING;
    case (12407):
-      return POLL_ERROR_PDEC_STRING;
+      return TOO_MANY_IRQS_STRING;
+    case (12408):
+      return POLL_SYSCALL_ERROR_PDEC_STRING;
+    case (12409):
+      return WRITE_SYSCALL_ERROR_PDEC_STRING;
+    case (12410):
+      return PDEC_TRYING_RESET_WITH_INIT_STRING;
+    case (12411):
+      return PDEC_TRYING_RESET_NO_INIT_STRING;
+    case (12412):
+      return PDEC_RESET_FAILED_STRING;
+    case (12413):
+      return OPEN_IRQ_FILE_FAILED_STRING;
+    case (12414):
+      return PDEC_INIT_FAILED_STRING;
    case (12500):
      return IMAGE_UPLOAD_FAILED_STRING;
    case (12501):
@ -552,16 +649,16 @@ const char *translateEvents(Event event) {
    case (12510):
      return STR_HELPER_COM_ERROR_STRING;
    case (12511):
-      return STR_HELPER_NO_REPLY_STRING;
-    case (12512):
-      return STR_HELPER_DEC_ERROR_STRING;
+      return STR_COM_REPLY_TIMEOUT_STRING;
    case (12513):
-      return POSITION_MISMATCH_STRING;
+      return STR_HELPER_DEC_ERROR_STRING;
    case (12514):
-      return STR_HELPER_FILE_NOT_EXISTS_STRING;
+      return POSITION_MISMATCH_STRING;
    case (12515):
-      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+      return STR_HELPER_FILE_NOT_EXISTS_STRING;
    case (12516):
+      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+    case (12517):
      return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
    case (12600):
      return MPSOC_FLASH_WRITE_FAILED_STRING;
@ -591,6 +688,14 @@ const char *translateEvents(Event event) {
      return MPSOC_TM_SIZE_ERROR_STRING;
    case (12613):
      return MPSOC_TM_CRC_MISSMATCH_STRING;
+    case (12614):
+      return MPSOC_FLASH_READ_PACKET_ERROR_STRING;
+    case (12615):
+      return MPSOC_FLASH_READ_FAILED_STRING;
+    case (12616):
+      return MPSOC_FLASH_READ_SUCCESSFUL_STRING;
+    case (12617):
+      return MPSOC_READ_TIMEOUT_STRING;
    case (12700):
      return TRANSITION_BACK_TO_OFF_STRING;
    case (12701):
@ -623,10 +728,22 @@ const char *translateEvents(Event event) {
      return POWER_STATE_MACHINE_TIMEOUT_STRING;
    case (12803):
      return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
+    case (12804):
+      return DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING;
+    case (12900):
+      return TRANSITION_OTHER_SIDE_FAILED_12900_STRING;
+    case (12901):
+      return NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING;
+    case (12902):
+      return POWER_STATE_MACHINE_TIMEOUT_12902_STRING;
+    case (12903):
+      return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING;
    case (13000):
      return CHILDREN_LOST_MODE_STRING;
    case (13100):
      return GPS_FIX_CHANGE_STRING;
+    case (13101):
+      return CANT_GET_FIX_STRING;
    case (13200):
      return P60_BOOT_COUNT_STRING;
    case (13201):
@ -687,16 +804,10 @@ const char *translateEvents(Event event) {
      return HDLC_FRAME_REMOVAL_ERROR_STRING;
    case (13632):
      return HDLC_CRC_ERROR_STRING;
-    case (13700):
-      return ALLOC_FAILURE_STRING;
    case (13701):
-      return REBOOT_SW_STRING;
+      return TX_ON_STRING;
    case (13702):
-      return REBOOT_MECHANISM_TRIGGERED_STRING;
-    case (13703):
-      return REBOOT_HW_STRING;
-    case (13704):
-      return NO_SD_CARD_ACTIVE_STRING;
+      return TX_OFF_STRING;
    case (13800):
      return MISSING_PACKET_STRING;
    case (13801):
@ -713,6 +824,78 @@ const char *translateEvents(Event event) {
      return WRITE_CONFIGFILE_FAILED_STRING;
    case (13905):
      return READ_CONFIGFILE_FAILED_STRING;
+    case (14000):
+      return ALLOC_FAILURE_STRING;
+    case (14001):
+      return REBOOT_SW_STRING;
+    case (14002):
+      return REBOOT_MECHANISM_TRIGGERED_STRING;
+    case (14003):
+      return REBOOT_HW_STRING;
+    case (14004):
+      return NO_SD_CARD_ACTIVE_STRING;
+    case (14005):
+      return VERSION_INFO_STRING;
+    case (14006):
+      return CURRENT_IMAGE_INFO_STRING;
+    case (14007):
+      return REBOOT_COUNTER_STRING;
+    case (14008):
+      return INDIVIDUAL_BOOT_COUNTS_STRING;
+    case (14010):
+      return TRYING_I2C_RECOVERY_STRING;
+    case (14011):
+      return I2C_REBOOT_STRING;
+    case (14012):
+      return PDEC_REBOOT_STRING;
+    case (14013):
+      return FIRMWARE_INFO_STRING;
+    case (14100):
+      return NO_VALID_SENSOR_TEMPERATURE_STRING;
+    case (14101):
+      return NO_HEALTHY_HEATER_AVAILABLE_STRING;
+    case (14102):
+      return SYRLINKS_OVERHEATING_STRING;
+    case (14104):
+      return OBC_OVERHEATING_STRING;
+    case (14105):
+      return CAMERA_OVERHEATING_STRING;
+    case (14106):
+      return PCDU_SYSTEM_OVERHEATING_STRING;
+    case (14107):
+      return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
+    case (14108):
+      return MGT_OVERHEATING_STRING;
+    case (14201):
+      return TX_TIMER_EXPIRED_STRING;
+    case (14202):
+      return BIT_LOCK_TX_ON_STRING;
+    case (14300):
+      return POSSIBLE_FILE_CORRUPTION_STRING;
+    case (14301):
+      return FILE_TOO_LARGE_STRING;
+    case (14302):
+      return BUSY_DUMPING_EVENT_STRING;
+    case (14305):
+      return DUMP_OK_STORE_DONE_STRING;
+    case (14306):
+      return DUMP_NOK_STORE_DONE_STRING;
+    case (14307):
+      return DUMP_MISC_STORE_DONE_STRING;
+    case (14308):
+      return DUMP_HK_STORE_DONE_STRING;
+    case (14309):
+      return DUMP_CFDP_STORE_DONE_STRING;
+    case (14310):
+      return DUMP_OK_CANCELLED_STRING;
+    case (14311):
+      return DUMP_NOK_CANCELLED_STRING;
+    case (14312):
+      return DUMP_MISC_CANCELLED_STRING;
+    case (14313):
+      return DUMP_HK_CANCELLED_STRING;
+    case (14314):
+      return DUMP_CFDP_CANCELLED_STRING;
    default:
      return "UNKNOWN_EVENT";
  }
--- a/bsp_hosted/fsfwconfig/objects/systemObjectList.h
+++ b/bsp_hosted/fsfwconfig/objects/systemObjectList.h
@ -24,7 +24,7 @@ enum sourceObjects : uint32_t {
  /* 0x49 ('I') for Communication Interfaces **/
  ARDUINO_COM_IF = 0x49000001,

-  DUMMY_COM_IF = 0x49000002
+  DUMMY_COM_IF = 0x49000002,
 };
 }

--- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
+++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
@ -1,16 +1,17 @@
 /**
 * @brief  Auto-generated object translation file.
 * @details
- * Contains 148 translations.
- * Generated on: 2022-11-15 17:44:20
+ * Contains 171 translations.
+ * Generated on: 2023-06-21 19:01:02
 */
 #include "translateObjects.h"

-const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK";
+const char *TEST_TASK_STRING = "TEST_TASK";
 const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
 const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
 const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
 const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
+const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
 const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
 const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
 const char *SUS_0_N_LOC_XFYFZM_PT_XF_STRING = "SUS_0_N_LOC_XFYFZM_PT_XF";
@ -37,6 +38,9 @@ const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
 const char *RW4_STRING = "RW4";
 const char *STAR_TRACKER_STRING = "STAR_TRACKER";
 const char *GPS_CONTROLLER_STRING = "GPS_CONTROLLER";
+const char *GPS_0_HEALTH_DEV_STRING = "GPS_0_HEALTH_DEV";
+const char *GPS_1_HEALTH_DEV_STRING = "GPS_1_HEALTH_DEV";
+const char *IMTQ_POLLING_STRING = "IMTQ_POLLING";
 const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
 const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
 const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER";
@ -48,10 +52,14 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
 const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
-const char *STR_HELPER_STRING = "STR_HELPER";
+const char *STR_COM_IF_STRING = "STR_COM_IF";
 const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
 const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
 const char *PTME_CONFIG_STRING = "PTME_CONFIG";
+const char *PTME_VC0_LIVE_TM_STRING = "PTME_VC0_LIVE_TM";
+const char *PTME_VC1_LOG_TM_STRING = "PTME_VC1_LOG_TM";
+const char *PTME_VC2_HK_TM_STRING = "PTME_VC2_HK_TM";
+const char *PTME_VC3_CFDP_TM_STRING = "PTME_VC3_CFDP_TM";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
 const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
@ -63,7 +71,6 @@ const char *TMP1075_HANDLER_TCS_1_STRING = "TMP1075_HANDLER_TCS_1";
 const char *TMP1075_HANDLER_PLPCDU_0_STRING = "TMP1075_HANDLER_PLPCDU_0";
 const char *TMP1075_HANDLER_PLPCDU_1_STRING = "TMP1075_HANDLER_PLPCDU_1";
 const char *TMP1075_HANDLER_IF_BOARD_STRING = "TMP1075_HANDLER_IF_BOARD";
-const char *TMP1075_HANDLER_OBC_IF_BOARD_STRING = "TMP1075_HANDLER_OBC_IF_BOARD";
 const char *RTD_0_IC3_PLOC_HEATSPREADER_STRING = "RTD_0_IC3_PLOC_HEATSPREADER";
 const char *RTD_1_IC4_PLOC_MISSIONBOARD_STRING = "RTD_1_IC4_PLOC_MISSIONBOARD";
 const char *RTD_2_IC5_4K_CAMERA_STRING = "RTD_2_IC5_4K_CAMERA";
@ -80,26 +87,33 @@ 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 *SYRLINKS_COM_HANDLER_STRING = "SYRLINKS_COM_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
-const char *GPIO_IF_STRING = "GPIO_IF";
+const char *DUMMY_COM_IF_STRING = "DUMMY_COM_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
-const char *SPI_MAIN_COM_IF_STRING = "SPI_MAIN_COM_IF";
-const char *SPI_RW_COM_IF_STRING = "SPI_RW_COM_IF";
-const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
 const char *UART_COM_IF_STRING = "UART_COM_IF";
-const char *I2C_COM_IF_STRING = "I2C_COM_IF";
-const char *CSP_COM_IF_STRING = "CSP_COM_IF";
+const char *ACS_BOARD_POLLING_TASK_STRING = "ACS_BOARD_POLLING_TASK";
+const char *RW_POLLING_TASK_STRING = "RW_POLLING_TASK";
+const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
+const char *SUS_POLLING_TASK_STRING = "SUS_POLLING_TASK";
 const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
 const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
-const char *TMTC_BRIDGE_STRING = "TMTC_BRIDGE";
-const char *TMTC_POLLING_TASK_STRING = "TMTC_POLLING_TASK";
+const char *TCP_TMTC_SERVER_STRING = "TCP_TMTC_SERVER";
+const char *UDP_TMTC_SERVER_STRING = "UDP_TMTC_SERVER";
+const char *TCP_TMTC_POLLING_TASK_STRING = "TCP_TMTC_POLLING_TASK";
+const char *UDP_TMTC_POLLING_TASK_STRING = "UDP_TMTC_POLLING_TASK";
 const char *FILE_SYSTEM_HANDLER_STRING = "FILE_SYSTEM_HANDLER";
 const char *SDC_MANAGER_STRING = "SDC_MANAGER";
 const char *PTME_STRING = "PTME";
 const char *PDEC_HANDLER_STRING = "PDEC_HANDLER";
 const char *CCSDS_HANDLER_STRING = "CCSDS_HANDLER";
+const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
+const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
 const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
+const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
+const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
+const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
 const char *FSFW_OBJECTS_START_STRING = "FSFW_OBJECTS_START";
 const char *PUS_SERVICE_1_VERIFICATION_STRING = "PUS_SERVICE_1_VERIFICATION";
 const char *PUS_SERVICE_2_DEVICE_ACCESS_STRING = "PUS_SERVICE_2_DEVICE_ACCESS";
@ -108,6 +122,7 @@ const char *PUS_SERVICE_5_EVENT_REPORTING_STRING = "PUS_SERVICE_5_EVENT_REPORTIN
 const char *PUS_SERVICE_8_FUNCTION_MGMT_STRING = "PUS_SERVICE_8_FUNCTION_MGMT";
 const char *PUS_SERVICE_9_TIME_MGMT_STRING = "PUS_SERVICE_9_TIME_MGMT";
 const char *PUS_SERVICE_11_TC_SCHEDULER_STRING = "PUS_SERVICE_11_TC_SCHEDULER";
+const char *PUS_SERVICE_15_TM_STORAGE_STRING = "PUS_SERVICE_15_TM_STORAGE";
 const char *PUS_SERVICE_17_TEST_STRING = "PUS_SERVICE_17_TEST";
 const char *PUS_SERVICE_20_PARAMETERS_STRING = "PUS_SERVICE_20_PARAMETERS";
 const char *PUS_SERVICE_200_MODE_MGMT_STRING = "PUS_SERVICE_200_MODE_MGMT";
@ -123,14 +138,6 @@ const char *IPC_STORE_STRING = "IPC_STORE";
 const char *TIME_STAMPER_STRING = "TIME_STAMPER";
 const char *VERIFICATION_REPORTER_STRING = "VERIFICATION_REPORTER";
 const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END";
-const char *SPI_TEST_STRING = "SPI_TEST";
-const char *UART_TEST_STRING = "UART_TEST";
-const char *I2C_TEST_STRING = "I2C_TEST";
-const char *DUMMY_COM_IF_STRING = "DUMMY_COM_IF";
-const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
-const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
-const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
-const char *TEST_TASK_STRING = "TEST_TASK";
 const char *HEATER_0_PLOC_PROC_BRD_STRING = "HEATER_0_PLOC_PROC_BRD";
 const char *HEATER_1_PCDU_BRD_STRING = "HEATER_1_PCDU_BRD";
 const char *HEATER_2_ACS_BRD_STRING = "HEATER_2_ACS_BRD";
@ -138,12 +145,15 @@ const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
 const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
 const char *HEATER_5_STR_STRING = "HEATER_5_STR";
 const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
-const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
+const char *HEATER_7_SYRLINKS_STRING = "HEATER_7_SYRLINKS";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
-const char *RW_ASS_STRING = "RW_ASS";
+const char *RW_ASSY_STRING = "RW_ASSY";
 const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
+const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY";
+const char *IMTQ_ASSY_STRING = "IMTQ_ASSY";
+const char *STR_ASSY_STRING = "STR_ASSY";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
 const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
@ -152,13 +162,26 @@ const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
 const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
 const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
-const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
+const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
+const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
+const char *MISC_TM_STORE_STRING = "MISC_TM_STORE";
+const char *OK_TM_STORE_STRING = "OK_TM_STORE";
+const char *NOT_OK_TM_STORE_STRING = "NOT_OK_TM_STORE";
+const char *HK_TM_STORE_STRING = "HK_TM_STORE";
+const char *CFDP_TM_STORE_STRING = "CFDP_TM_STORE";
+const char *LIVE_TM_TASK_STRING = "LIVE_TM_TASK";
+const char *LOG_STORE_AND_TM_TASK_STRING = "LOG_STORE_AND_TM_TASK";
+const char *HK_STORE_AND_TM_TASK_STRING = "HK_STORE_AND_TM_TASK";
+const char *CFDP_STORE_AND_TM_TASK_STRING = "CFDP_STORE_AND_TM_TASK";
+const char *DOWNLINK_RAM_STORE_STRING = "DOWNLINK_RAM_STORE";
+const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
+const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";

 const char *translateObject(object_id_t object) {
  switch ((object & 0xFFFFFFFF)) {
-    case 0x00005060:
-      return P60DOCK_TEST_TASK_STRING;
+    case 0x42694269:
+      return TEST_TASK_STRING;
    case 0x43000002:
      return ACS_CONTROLLER_STRING;
    case 0x43000003:
@ -167,6 +190,8 @@ const char *translateObject(object_id_t object) {
      return GLOBAL_JSON_CFG_STRING;
    case 0x43400001:
      return THERMAL_CONTROLLER_STRING;
+    case 0x44000001:
+      return DUMMY_HANDLER_STRING;
    case 0x44120006:
      return MGM_0_LIS3_HANDLER_STRING;
    case 0x44120010:
@ -219,6 +244,12 @@ const char *translateObject(object_id_t object) {
      return STAR_TRACKER_STRING;
    case 0x44130045:
      return GPS_CONTROLLER_STRING;
+    case 0x44130046:
+      return GPS_0_HEALTH_DEV_STRING;
+    case 0x44130047:
+      return GPS_1_HEALTH_DEV_STRING;
+    case 0x44140013:
+      return IMTQ_POLLING_STRING;
    case 0x44140014:
      return IMTQ_HANDLER_STRING;
    case 0x442000A1:
@ -242,13 +273,21 @@ const char *translateObject(object_id_t object) {
    case 0x44330001:
      return PLOC_MEMORY_DUMPER_STRING;
    case 0x44330002:
-      return STR_HELPER_STRING;
+      return STR_COM_IF_STRING;
    case 0x44330003:
      return PLOC_MPSOC_HELPER_STRING;
    case 0x44330004:
      return AXI_PTME_CONFIG_STRING;
    case 0x44330005:
      return PTME_CONFIG_STRING;
+    case 0x44330006:
+      return PTME_VC0_LIVE_TM_STRING;
+    case 0x44330007:
+      return PTME_VC1_LOG_TM_STRING;
+    case 0x44330008:
+      return PTME_VC2_HK_TM_STRING;
+    case 0x44330009:
+      return PTME_VC3_CFDP_TM_STRING;
    case 0x44330015:
      return PLOC_MPSOC_HANDLER_STRING;
    case 0x44330016:
@ -271,8 +310,6 @@ const char *translateObject(object_id_t object) {
      return TMP1075_HANDLER_PLPCDU_1_STRING;
    case 0x44420008:
      return TMP1075_HANDLER_IF_BOARD_STRING;
-    case 0x44420009:
-      return TMP1075_HANDLER_OBC_IF_BOARD_STRING;
    case 0x44420016:
      return RTD_0_IC3_PLOC_HEATSPREADER_STRING;
    case 0x44420017:
@ -306,33 +343,37 @@ const char *translateObject(object_id_t object) {
    case 0x44420031:
      return RTD_15_IC18_IMTQ_STRING;
    case 0x445300A3:
-      return SYRLINKS_HK_HANDLER_STRING;
-    case 0x49000000:
+      return SYRLINKS_HANDLER_STRING;
+    case 0x445300A4:
+      return SYRLINKS_COM_HANDLER_STRING;
+    case 0x49000001:
      return ARDUINO_COM_IF_STRING;
-    case 0x49010005:
-      return GPIO_IF_STRING;
+    case 0x49000002:
+      return DUMMY_COM_IF_STRING;
    case 0x49010006:
      return SCEX_UART_READER_STRING;
-    case 0x49020004:
-      return SPI_MAIN_COM_IF_STRING;
-    case 0x49020005:
-      return SPI_RW_COM_IF_STRING;
-    case 0x49020006:
-      return SPI_RTD_COM_IF_STRING;
    case 0x49030003:
      return UART_COM_IF_STRING;
-    case 0x49040002:
-      return I2C_COM_IF_STRING;
-    case 0x49050001:
-      return CSP_COM_IF_STRING;
+    case 0x49060004:
+      return ACS_BOARD_POLLING_TASK_STRING;
+    case 0x49060005:
+      return RW_POLLING_TASK_STRING;
+    case 0x49060006:
+      return SPI_RTD_COM_IF_STRING;
+    case 0x49060007:
+      return SUS_POLLING_TASK_STRING;
    case 0x50000100:
      return CCSDS_PACKET_DISTRIBUTOR_STRING;
    case 0x50000200:
      return PUS_PACKET_DISTRIBUTOR_STRING;
    case 0x50000300:
-      return TMTC_BRIDGE_STRING;
+      return TCP_TMTC_SERVER_STRING;
+    case 0x50000301:
+      return UDP_TMTC_SERVER_STRING;
    case 0x50000400:
-      return TMTC_POLLING_TASK_STRING;
+      return TCP_TMTC_POLLING_TASK_STRING;
+    case 0x50000401:
+      return UDP_TMTC_POLLING_TASK_STRING;
    case 0x50000500:
      return FILE_SYSTEM_HANDLER_STRING;
    case 0x50000550:
@ -343,8 +384,18 @@ const char *translateObject(object_id_t object) {
      return PDEC_HANDLER_STRING;
    case 0x50000800:
      return CCSDS_HANDLER_STRING;
+    case 0x51000300:
+      return PUS_SERVICE_3_STRING;
+    case 0x51000400:
+      return PUS_SERVICE_5_STRING;
    case 0x51000500:
      return PUS_SERVICE_6_STRING;
+    case 0x51000800:
+      return PUS_SERVICE_8_STRING;
+    case 0x51002300:
+      return PUS_SERVICE_23_STRING;
+    case 0x51020100:
+      return PUS_SERVICE_201_STRING;
    case 0x53000000:
      return FSFW_OBJECTS_START_STRING;
    case 0x53000001:
@ -361,6 +412,8 @@ const char *translateObject(object_id_t object) {
      return PUS_SERVICE_9_TIME_MGMT_STRING;
    case 0x53000011:
      return PUS_SERVICE_11_TC_SCHEDULER_STRING;
+    case 0x53000015:
+      return PUS_SERVICE_15_TM_STORAGE_STRING;
    case 0x53000017:
      return PUS_SERVICE_17_TEST_STRING;
    case 0x53000020:
@ -391,22 +444,6 @@ const char *translateObject(object_id_t object) {
      return VERIFICATION_REPORTER_STRING;
    case 0x53ffffff:
      return FSFW_OBJECTS_END_STRING;
-    case 0x54000010:
-      return SPI_TEST_STRING;
-    case 0x54000020:
-      return UART_TEST_STRING;
-    case 0x54000030:
-      return I2C_TEST_STRING;
-    case 0x54000040:
-      return DUMMY_COM_IF_STRING;
-    case 0x5400AFFE:
-      return DUMMY_HANDLER_STRING;
-    case 0x5400CAFE:
-      return DUMMY_INTERFACE_STRING;
-    case 0x54123456:
-      return LIBGPIOD_TEST_STRING;
-    case 0x54694269:
-      return TEST_TASK_STRING;
    case 0x60000000:
      return HEATER_0_PLOC_PROC_BRD_STRING;
    case 0x60000001:
@ -422,7 +459,7 @@ const char *translateObject(object_id_t object) {
    case 0x60000006:
      return HEATER_6_DRO_STRING;
    case 0x60000007:
-      return HEATER_7_HPA_STRING;
+      return HEATER_7_SYRLINKS_STRING;
    case 0x73000001:
      return ACS_BOARD_ASS_STRING;
    case 0x73000002:
@ -430,9 +467,15 @@ const char *translateObject(object_id_t object) {
    case 0x73000003:
      return TCS_BOARD_ASS_STRING;
    case 0x73000004:
-      return RW_ASS_STRING;
+      return RW_ASSY_STRING;
    case 0x73000006:
      return CAM_SWITCHER_STRING;
+    case 0x73000007:
+      return SYRLINKS_ASSY_STRING;
+    case 0x73000008:
+      return IMTQ_ASSY_STRING;
+    case 0x73000009:
+      return STR_ASSY_STRING;
    case 0x73000100:
      return TM_FUNNEL_STRING;
    case 0x73000101:
@ -449,8 +492,34 @@ const char *translateObject(object_id_t object) {
      return ACS_SUBSYSTEM_STRING;
    case 0x73010002:
      return PL_SUBSYSTEM_STRING;
-    case 0x73500000:
-      return CCSDS_IP_CORE_BRIDGE_STRING;
+    case 0x73010003:
+      return TCS_SUBSYSTEM_STRING;
+    case 0x73010004:
+      return COM_SUBSYSTEM_STRING;
+    case 0x73020001:
+      return MISC_TM_STORE_STRING;
+    case 0x73020002:
+      return OK_TM_STORE_STRING;
+    case 0x73020003:
+      return NOT_OK_TM_STORE_STRING;
+    case 0x73020004:
+      return HK_TM_STORE_STRING;
+    case 0x73030000:
+      return CFDP_TM_STORE_STRING;
+    case 0x73040000:
+      return LIVE_TM_TASK_STRING;
+    case 0x73040001:
+      return LOG_STORE_AND_TM_TASK_STRING;
+    case 0x73040002:
+      return HK_STORE_AND_TM_TASK_STRING;
+    case 0x73040003:
+      return CFDP_STORE_AND_TM_TASK_STRING;
+    case 0x73040004:
+      return DOWNLINK_RAM_STORE_STRING;
+    case 0x90000003:
+      return THERMAL_TEMP_INSERTER_STRING;
+    case 0xCAFECAFE:
+      return DUMMY_INTERFACE_STRING;
    case 0xFFFFFFFF:
      return NO_OBJECT_STRING;
    default:
--- a/bsp_hosted/fsfwconfig/returnvalues/classIds.h
+++ b/bsp_hosted/fsfwconfig/returnvalues/classIds.h
@ -13,6 +13,7 @@
 namespace CLASS_ID {
 enum {
  CLASS_ID_START = COMMON_CLASS_ID_END,
+  CLASS_ID_END  // [EXPORT] : [END]
 };
 }

--- a/bsp_hosted/scheduling.cpp
+++ b/bsp_hosted/scheduling.cpp
@ -14,6 +14,7 @@

 #include "OBSWConfig.h"
 #include "ObjectFactory.h"
+#include "mission/scheduling.h"
 #include "scheduling.h"

 #ifdef LINUX
@ -55,26 +56,26 @@ void scheduling::initTasks() {

  /* TMTC Distribution */
  PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
-      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "DIST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  ReturnValue_t result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
  if (result != returnvalue::OK) {
-    sif::error << "Object add component failed" << std::endl;
+    sif::error << "Adding CCSDS distributor failed" << std::endl;
  }
  result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
  if (result != returnvalue::OK) {
-    sif::error << "Object add component failed" << std::endl;
+    sif::error << "Adding PUS distributor failed" << std::endl;
  }
-  result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
+  result = tmtcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
  if (result != returnvalue::OK) {
-    sif::error << "Object add component failed" << std::endl;
+    sif::error << "Adding CFDP distributor failed" << std::endl;
  }
  result = tmtcDistributor->addComponent(objects::UDP_TMTC_SERVER);
  if (result != returnvalue::OK) {
-    sif::error << "Add component UDP Unix Bridge failed" << std::endl;
+    sif::error << "adding UDP server failed" << std::endl;
  }
  result = tmtcDistributor->addComponent(objects::TCP_TMTC_SERVER);
  if (result != returnvalue::OK) {
-    sif::error << "Add component UDP Unix Bridge failed" << std::endl;
+    sif::error << "adding TCP server failed" << std::endl;
  }

  PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
@ -90,46 +91,50 @@ void scheduling::initTasks() {
    sif::error << "Add component UDP Polling failed" << std::endl;
  }

-  /* PUS Services */
-  PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
-      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+  PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
+      "LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, nullptr, &RR_SCHEDULING);
+  result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
  if (result != returnvalue::OK) {
-    sif::error << "Object add component failed" << std::endl;
-  }
-
-  PeriodicTaskIF* eventHandling = factory->createPeriodicTask(
-      "EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = eventHandling->addComponent(objects::EVENT_MANAGER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("EVENT_MNGR", objects::EVENT_MANAGER);
-  }
-  result = eventHandling->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
+    scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
  }

  PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
-      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
+      "PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+    sif::error << "Object add component failed" << std::endl;
+  }
+  result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
+  }
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
  }
+
+  PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
+      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
  }
-
-  PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
-      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_15_TM_STORAGE);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS15", objects::PUS_SERVICE_15_TM_STORAGE);
+  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
@ -138,10 +143,7 @@ void scheduling::initTasks() {
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
  }
-
-  PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
-      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
-  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
  }
@ -150,13 +152,16 @@ void scheduling::initTasks() {
      "THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = thermalTask->addComponent(objects::CORE_CONTROLLER);
  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
+    scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
  }
-
  result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
  }
+  result = thermalTask->addComponent(objects::HEATER_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
+  }

  FixedTimeslotTaskIF* pstTask = factory->createFixedTimeslotTask(
      "DUMMY_PST", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
@ -165,6 +170,15 @@ void scheduling::initTasks() {
    sif::error << "Failed to add dummy pst to fixed timeslot task" << std::endl;
  }

+#if OBSW_ADD_CFDP_COMPONENTS == 1
+  PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
+      "CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  result = cfdpTask->addComponent(objects::CFDP_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
+  }
+#endif
+
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
      "PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
@ -185,7 +199,10 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_TEST_CODE == 1 */

  PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
-      "DUMMY_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+      "DUMMY_TASK", 35, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  dummyTask->addComponent(objects::THERMAL_TEMP_INSERTER);
+  scheduling::scheduleTmpTempSensors(dummyTask);
+  scheduling::scheduleRtdSensors(dummyTask);
  dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
  dummyTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
  dummyTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
@ -198,33 +215,15 @@ void scheduling::initTasks() {
  dummyTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
  dummyTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
  dummyTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
-  dummyTask->addComponent(objects::RTD_0_IC3_PLOC_HEATSPREADER);
-  dummyTask->addComponent(objects::RTD_1_IC4_PLOC_MISSIONBOARD);
-  dummyTask->addComponent(objects::RTD_2_IC5_4K_CAMERA);
-  dummyTask->addComponent(objects::RTD_3_IC6_DAC_HEATSPREADER);
-  dummyTask->addComponent(objects::RTD_4_IC7_STARTRACKER);
-  dummyTask->addComponent(objects::RTD_5_IC8_RW1_MX_MY);
-  dummyTask->addComponent(objects::RTD_6_IC9_DRO);
-  dummyTask->addComponent(objects::RTD_7_IC10_SCEX);
-  dummyTask->addComponent(objects::RTD_8_IC11_X8);
-  dummyTask->addComponent(objects::RTD_9_IC12_HPA);
-  dummyTask->addComponent(objects::RTD_10_IC13_PL_TX);
-  dummyTask->addComponent(objects::RTD_11_IC14_MPA);
-  dummyTask->addComponent(objects::RTD_12_IC15_ACU);
-  dummyTask->addComponent(objects::RTD_13_IC16_PLPCDU_HEATSPREADER);
-  dummyTask->addComponent(objects::RTD_14_IC17_TCS_BOARD);
-  dummyTask->addComponent(objects::RTD_15_IC18_IMTQ);

  sif::info << "Starting tasks.." << std::endl;
  tmtcDistributor->startTask();
  udpPollingTask->startTask();
  tcpPollingTask->startTask();
+  liveTmTask->startTask();

-  pusVerification->startTask();
-  eventHandling->startTask();
  pusHighPrio->startTask();
  pusMedPrio->startTask();
-  pusLowPrio->startTask();

  pstTask->startTask();
  thermalTask->startTask();
@ -235,6 +234,9 @@ void scheduling::initTasks() {
 #if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
  plTask->startTask();
 #endif
+#if OBSW_ADD_CFDP_COMPONENTS == 1
+  cfdpTask->startTask();
+#endif

 #if OBSW_ADD_TEST_CODE == 1
  testTask->startTask();
--- a/bsp_linux_board/CMakeLists.txt
+++ b/bsp_linux_board/CMakeLists.txt
@ -1,5 +1,5 @@
 target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp gpioInit.cpp
-                                   ObjectFactory.cpp RPiSdCardManager.cpp)
+                                   ObjectFactory.cpp)

 add_subdirectory(boardconfig)
 add_subdirectory(boardtest)
--- a/bsp_linux_board/ObjectFactory.cpp
+++ b/bsp_linux_board/ObjectFactory.cpp
@ -82,7 +82,7 @@ void ObjectFactory::produce(void* args) {
 #endif

 #if OBSW_ADD_SCEX_DEVICE == 1
-  auto* sdcMan = new RPiSdCardManager("/tmp");
+  auto* sdcMan = new DummySdCardManager("/tmp");
  createScexComponents(uart::DEV, pwrSwitcher, *sdcMan, true, std::nullopt);
 #endif

--- a/bsp_linux_board/RPiSdCardManager.cpp
+++ b/bsp_linux_board/RPiSdCardManager.cpp
@ -1,13 +0,0 @@
-#include "RPiSdCardManager.h"
-
-RPiSdCardManager::RPiSdCardManager(std::string prefix) : prefix(std::move(prefix)) {}
-
-const std::string& RPiSdCardManager::getCurrentMountPrefix() const { return prefix; }
-
-bool RPiSdCardManager::isSdCardUsable(sd::SdCard sdCard) { return true; }
-
-std::optional<sd::SdCard> RPiSdCardManager::getPreferredSdCard() const { return std::nullopt; }
-
-void RPiSdCardManager::setActiveSdCard(sd::SdCard sdCard) {}
-
-std::optional<sd::SdCard> RPiSdCardManager::getActiveSdCard() const { return std::nullopt; }
--- a/bsp_q7s/CMakeLists.txt
+++ b/bsp_q7s/CMakeLists.txt
@ -12,7 +12,6 @@ target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp)
 add_subdirectory(boardtest)

 add_subdirectory(boardconfig)
-add_subdirectory(comIF)
 add_subdirectory(core)

 if(EIVE_Q7S_EM)
--- a/bsp_q7s/OBSWConfig.h.in
+++ b/bsp_q7s/OBSWConfig.h.in
@ -8,13 +8,23 @@

 #include "commonConfig.h"
 #include "q7sConfig.h"
-#include "OBSWVersion.h"

 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/

+// This enables a lot of periodically generated telemetry, so it can make sense to
+// disable this for debugging purposes.
+#define OBSW_ENABLE_PERIODIC_HK                     @OBSW_ENABLE_PERIODIC_HK@
+
+// This switch will cause the SW to command the EIVE system object to safe mode. This will
+// trigger a lot of events, so it can make sense to disable this for debugging purposes.
+#define OBSW_COMMAND_SAFE_MODE_AT_STARTUP           1
+
 #define OBSW_ADD_GOMSPACE_PCDU                      @OBSW_ADD_GOMSPACE_PCDU@
+// This define is necessary because the EM setup has the P60 dock module, but no ACU on the P60
+// module because it broke.
+#define OBSW_ADD_GOMSPACE_ACU                       @OBSW_ADD_GOMSPACE_ACU@
 #define OBSW_ADD_MGT                                @OBSW_ADD_MGT@
 #define OBSW_ADD_BPX_BATTERY_HANDLER                @OBSW_ADD_BPX_BATTERY_HANDLER@
 #define OBSW_ADD_STAR_TRACKER                       @OBSW_ADD_STAR_TRACKER@
@ -24,8 +34,8 @@
 #define OBSW_ADD_SUS_BOARD_ASS                      @OBSW_ADD_SUS_BOARD_ASS@
 #define OBSW_ADD_ACS_BOARD                          @OBSW_ADD_ACS_BOARD@
 #define OBSW_ADD_ACS_CTRL                           1
+#define OBSW_ADD_TCS_CTRL                           1
 #define OBSW_ADD_GPS_CTRL                           @OBSW_ADD_GPS_CTRL@
-#define OBSW_ADD_TCS_CTRL                           @OBSW_ADD_TCS_CTRL@
 #define OBSW_ADD_RW                                 @OBSW_ADD_RW@
 #define OBSW_ADD_RTD_DEVICES                        @OBSW_ADD_RTD_DEVICES@
 #define OBSW_ADD_SA_DEPL                            @OBSW_ADD_SA_DEPL@
@ -36,35 +46,36 @@
 #define OBSW_ADD_PL_PCDU                            @OBSW_ADD_PL_PCDU@
 #define OBSW_ADD_SYRLINKS                           @OBSW_ADD_SYRLINKS@
 #define OBSW_ADD_CCSDS_IP_CORES                     @OBSW_ADD_CCSDS_IP_CORES@
+// Only relevant for EM for TCS tests.
+#define OBSW_ADD_THERMAL_TEMP_INSERTER              @OBSW_ADD_THERMAL_TEMP_INSERTER@
+
 // Set to 1 if all telemetry should be sent to the PTME IP Core
 #define OBSW_TM_TO_PTME                             @OBSW_TM_TO_PTME@
 // Set to 1 if telecommands are received via the PDEC IP Core
 #define OBSW_TC_FROM_PDEC                           @OBSW_TC_FROM_PDEC@
-#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0

 // Configuration parameter which causes the core controller to try to keep at least one SD card
 // working
 #define OBSW_SD_CARD_MUST_BE_ON                     1
 #define OBSW_ENABLE_TIMERS                          1

-// This is a really tricky switch.. It initializes the PCDU switches to their default states
-// at powerup. I think it would be better
-// to leave it off for now. It makes testing a lot more difficult and it might mess with
-// something the operators might want to do by giving the software too much intelligence
-// at the wrong place. The system component might command all the Switches accordingly anyway
-#define OBSW_INITIALIZE_SWITCHES                    0
-#define OBSW_ENABLE_PERIODIC_HK                     0
-
 /*******************************************************************/
 /** All of the following flags should be disabled for mission code */
 /*******************************************************************/

+// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
+// because UDP packets are not allowed in the VPN
+// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
+// CCSDS IP Cores. 
+#define OBSW_ADD_TMTC_TCP_SERVER                    @OBSW_ADD_TMTC_TCP_SERVER@
+#define OBSW_ADD_TMTC_UDP_SERVER                    @OBSW_ADD_TMTC_UDP_SERVER@
+
 // Can be used to switch device to NORMAL mode immediately
 #define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    0
-#define OBSW_PRINT_MISSED_DEADLINES                 1
+#define OBSW_PRINT_MISSED_DEADLINES                 0

 #define OBSW_MPSOC_JTAG_BOOT                        0
-#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             @OBSW_STAR_TRACKER_GROUND_CONFIG@
 #define OBSW_SYRLINKS_SIMULATED                     @OBSW_SYRLINKS_SIMULATED@
 #define OBSW_ADD_TEST_CODE                          0
 #define OBSW_ADD_TEST_TASK                          0
@ -120,13 +131,6 @@
 /** CMake Defines                                                  */
 /*******************************************************************/

-// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
-// because UDP packets are not allowed in the VPN
-// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
-// CCSDS IP Cores. 
-#define OBSW_ADD_TMTC_TCP_SERVER            1
-#define OBSW_ADD_TMTC_UDP_SERVER            1
-
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER

 #cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
--- a/bsp_q7s/boardconfig/busConf.h
+++ b/bsp_q7s/boardconfig/busConf.h
@ -23,14 +23,19 @@ static constexpr char UART_SCEX_DEV[] = "/dev/scex";
 static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio_pdec_regs";
 static constexpr char UIO_PTME[] = "/dev/uio_ptme";
 static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio_pdec_cfg_mem";
+static constexpr char UIO_SYS_ROM[] = "/dev/uio_sys_rom";
 static constexpr char UIO_PDEC_RAM[] = "/dev/uio_pdec_ram";
 static constexpr char UIO_PDEC_IRQ[] = "/dev/uio_pdec_irq";
 static constexpr int MAP_ID_PTME_CONFIG = 3;

 namespace uiomapids {
+// Live TM
 static const int PTME_VC0 = 0;
+// OK/NOK/MISC Store
 static const int PTME_VC1 = 1;
+// HK store
 static const int PTME_VC2 = 2;
+// CFDP
 static const int PTME_VC3 = 3;
 static const int PTME_CONFIG = 4;
 }  // namespace uiomapids
@ -53,6 +58,7 @@ static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0";
 static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2";
 static constexpr char GNSS_SELECT[] = "gnss_mux_select";
 static constexpr char GNSS_MUX_SELECT[] = "gnss_mux_select";
+static constexpr char PL_I2C_ARESETN[] = "pl_i2c_aresetn";

 static constexpr char HEATER_0[] = "heater0";
 static constexpr char HEATER_1[] = "heater1";
@ -78,14 +84,14 @@ static constexpr char EN_RW_4[] = "enable_rw_4";

 static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select";
 static constexpr char ENABLE_RADFET[] = "enable_radfet";
-static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0";
+
 static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0";
-static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1";
 static constexpr char PAPB_EMPTY_SIGNAL_VC1[] = "papb_empty_signal_vc1";
-static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
 static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
-static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
 static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
+
+static constexpr char PTME_RESETN[] = "ptme_resetn";
+
 static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872";
 static constexpr char RS485_EN_TX_DATA[] = "tx_data_enable_ltc2872";
 static constexpr char RS485_EN_RX_CLOCK[] = "rx_clock_enable_ltc2872";
--- a/bsp_q7s/boardconfig/q7sConfig.h.in
+++ b/bsp_q7s/boardconfig/q7sConfig.h.in
@ -17,7 +17,7 @@
 /*******************************************************************/

 // Probably better if this is disabled for mission code. Convenient for development
-#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG           1
+#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG           @Q7S_CHECK_FOR_ALREADY_RUNNING_IMG@

 #define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST             0

--- a/bsp_q7s/boardtest/Q7STestTask.h
+++ b/bsp_q7s/boardtest/Q7STestTask.h
@ -3,7 +3,7 @@

 #include <libgpsmm.h>

-#include "test/testtasks/TestTask.h"
+#include "test/TestTask.h"

 class CoreController;

--- a/bsp_q7s/callbacks/pcduSwitchCb.h
+++ b/bsp_q7s/callbacks/pcduSwitchCb.h
@ -1,9 +1,9 @@
 #ifndef BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_
 #define BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_

-#include <cstdint>
+#include <mission/power/gsDefs.h>

-#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
+#include <cstdint>

 namespace pcdu {

--- a/bsp_q7s/callbacks/rwSpiCallback.cpp
+++ b/bsp_q7s/callbacks/rwSpiCallback.cpp
@ -6,7 +6,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
-#include "mission/devices/RwHandler.h"
+#include "mission/acs/RwHandler.h"

 namespace rwSpiCallback {

@ -76,7 +76,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
  if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
    sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
    closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-    return RwHandler::SPI_WRITE_FAILURE;
+    return rws::SPI_WRITE_FAILURE;
  }

  /** Encoding and sending command */
@ -101,7 +101,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
    if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
      sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
      closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-      return RwHandler::SPI_WRITE_FAILURE;
+      return rws::SPI_WRITE_FAILURE;
    }
    idx++;
  }
@ -113,7 +113,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
  if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
    sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
    closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-    return RwHandler::SPI_WRITE_FAILURE;
+    return rws::SPI_WRITE_FAILURE;
  }

  uint8_t* rxBuf = nullptr;
@ -128,7 +128,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
  // There must be a delay of at least 20 ms after sending the command.
  // Delay for 70 ms here and release the SPI bus for that duration.
  closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-  usleep(RwDefinitions::SPI_REPLY_DELAY);
+  usleep(rws::SPI_REPLY_DELAY);
  result = openSpi(dev, O_RDWR, &gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
  if (result != returnvalue::OK) {
    return result;
@ -139,17 +139,17 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   * However, receiving more than 5 empty frames will be interpreted as an error.
   */
  uint8_t byteRead = 0;
-  for (int idx = 0; idx < 10; idx++) {
+  for (idx = 0; idx < 10; idx++) {
    if (read(fileDescriptor, &byteRead, 1) != 1) {
      sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
      closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-      return RwHandler::SPI_READ_FAILURE;
+      return rws::SPI_READ_FAILURE;
    }
    if (idx == 0) {
      if (byteRead != FLAG_BYTE) {
        sif::error << "Invalid data, expected start marker" << std::endl;
        closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-        return RwHandler::NO_START_MARKER;
+        return rws::NO_START_MARKER;
      }
    }

@ -160,7 +160,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
    if (idx == 9) {
      sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
      closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-      return RwHandler::NO_REPLY;
+      return rws::NO_REPLY;
    }
  }

@ -175,7 +175,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
      byteRead = 0;
      if (read(fileDescriptor, &byteRead, 1) != 1) {
        sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-        result = RwHandler::SPI_READ_FAILURE;
+        result = rws::SPI_READ_FAILURE;
        break;
      }
    }
@ -186,7 +186,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
    } else if (byteRead == 0x7D) {
      if (read(fileDescriptor, &byteRead, 1) != 1) {
        sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-        result = RwHandler::SPI_READ_FAILURE;
+        result = rws::SPI_READ_FAILURE;
        break;
      }
      if (byteRead == 0x5E) {
@ -200,7 +200,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
      } else {
        sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
        closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-        result = RwHandler::INVALID_SUBSTITUTE;
+        result = rws::INVALID_SUBSTITUTE;
        break;
      }
    } else {
@ -217,14 +217,14 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
    if (decodedFrameLen == replyBufferSize) {
      if (read(fileDescriptor, &byteRead, 1) != 1) {
        sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
-        result = RwHandler::SPI_READ_FAILURE;
+        result = rws::SPI_READ_FAILURE;
        break;
      }
      if (byteRead != FLAG_BYTE) {
        sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
                   << std::endl;
        decodedFrameLen--;
-        result = RwHandler::MISSING_END_SIGN;
+        result = rws::MISSING_END_SIGN;
        break;
      }
    }
@ -252,7 +252,7 @@ ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpi
  fd = open(devname.c_str(), flags);
  if (fd < 0) {
    sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
-    return SpiComIF::OPENING_FILE_FAILED;
+    return spi::OPENING_FILE_FAILED;
  }

  // Pull SPI CS low. For now, no support for active high given
--- a/bsp_q7s/comIF/CMakeLists.txt
+++ b/bsp_q7s/comIF/CMakeLists.txt
@ -1 +0,0 @@
-target_sources(${OBSW_NAME} PRIVATE)
--- a/bsp_q7s/core/CMakeLists.txt
+++ b/bsp_q7s/core/CMakeLists.txt
@ -1,4 +1,4 @@
 target_sources(${OBSW_NAME} PRIVATE CoreController.cpp scheduling.cpp
-                                    ObjectFactory.cpp)
+                                    ObjectFactory.cpp WatchdogHandler.cpp)

 target_sources(${SIMPLE_OBSW_NAME} PRIVATE scheduling.cpp)
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
--- a/bsp_q7s/core/CoreController.h
+++ b/bsp_q7s/core/CoreController.h
@ -1,9 +1,17 @@
 #ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
 #define BSP_Q7S_CORE_CORECONTROLLER_H_

+#include <fsfw/container/DynamicFIFO.h>
+#include <fsfw/container/SimpleRingBuffer.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
+#include <fsfw/parameters/ParameterHelper.h>
+#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
+#include <fsfw_hal/linux/uio/UioMapper.h>
 #include <libxiphos.h>
+#include <mission/acs/archive/GPSDefinitions.h>
+#include <mission/utility/trace.h>

+#include <atomic>
 #include <cstddef>

 #include "CoreDefinitions.h"
@ -11,18 +19,11 @@
 #include "bsp_q7s/fs/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
-#include "mission/devices/devicedefinitions/GPSDefinitions.h"
+#include "mission/sysDefs.h"

 class Timer;
 class SdCardManager;

-namespace xsc {
-
-enum Chip : int { CHIP_0, CHIP_1, NO_CHIP, SELF_CHIP, ALL_CHIP };
-enum Copy : int { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
-
-}  // namespace xsc
-
 struct RebootFile {
  static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;

@ -44,8 +45,65 @@ struct RebootFile {
  xsc::Copy mechanismNextCopy = xsc::Copy::NO_COPY;
 };

-class CoreController : public ExtendedControllerBase {
+class RebootMechanismPacket : public SerialLinkedListAdapter<SerializeIF> {
 public:
+  RebootMechanismPacket(RebootFile& rf) {
+    enabled = rf.enabled;
+    maxCount = rf.maxCount;
+    img00Count = rf.img00Cnt;
+    img01Count = rf.img01Cnt;
+    img10Count = rf.img10Cnt;
+    img11Count = rf.img11Cnt;
+    img00Lock = rf.img00Lock;
+    img01Lock = rf.img01Lock;
+    img10Lock = rf.img10Lock;
+    img11Lock = rf.img11Lock;
+    lastChip = static_cast<uint8_t>(rf.lastChip);
+    lastCopy = static_cast<uint8_t>(rf.lastCopy);
+    nextChip = static_cast<uint8_t>(rf.mechanismNextChip);
+    nextCopy = static_cast<uint8_t>(rf.mechanismNextCopy);
+    setLinks();
+  }
+
+ private:
+  void setLinks() {
+    setStart(&enabled);
+    enabled.setNext(&maxCount);
+    maxCount.setNext(&img00Count);
+    img00Count.setNext(&img01Count);
+    img01Count.setNext(&img10Count);
+    img10Count.setNext(&img11Count);
+    img11Count.setNext(&img00Lock);
+    img00Lock.setNext(&img01Lock);
+    img01Lock.setNext(&img10Lock);
+    img10Lock.setNext(&img11Lock);
+    img11Lock.setNext(&lastChip);
+    lastChip.setNext(&lastCopy);
+    lastCopy.setNext(&nextChip);
+    nextChip.setNext(&nextCopy);
+    setLast(&nextCopy);
+  }
+
+  SerializeElement<uint8_t> enabled = false;
+  SerializeElement<uint32_t> maxCount = 0;
+  SerializeElement<uint32_t> img00Count = 0;
+  SerializeElement<uint32_t> img01Count = 0;
+  SerializeElement<uint32_t> img10Count = 0;
+  SerializeElement<uint32_t> img11Count = 0;
+  SerializeElement<uint8_t> img00Lock = false;
+  SerializeElement<uint8_t> img01Lock = false;
+  SerializeElement<uint8_t> img10Lock = false;
+  SerializeElement<uint8_t> img11Lock = false;
+  SerializeElement<uint8_t> lastChip = 0;
+  SerializeElement<uint8_t> lastCopy = 0;
+  SerializeElement<uint8_t> nextChip = 0;
+  SerializeElement<uint8_t> nextCopy = 0;
+};
+
+class CoreController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
+ public:
+  enum ParamId : uint8_t { PREF_SD = 0, NUM_IDS };
+
  static xsc::Chip CURRENT_CHIP;
  static xsc::Copy CURRENT_COPY;

@ -53,64 +111,23 @@ class CoreController : public ExtendedControllerBase {
  static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
  static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";

-  static constexpr char CONF_FOLDER[] = "conf";
-
-  static constexpr char VERSION_FILE_NAME[] = "version.txt";
-  static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
-  static constexpr char TIME_FILE_NAME[] = "time.txt";
-
  const std::string VERSION_FILE =
-      "/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
+      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::VERSION_FILE_NAME);
  const std::string REBOOT_FILE =
-      "/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
-  const std::string TIME_FILE = "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
+      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_FILE_NAME);
+  const std::string BACKUP_TIME_FILE =
+      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::TIME_FILE_NAME);

  static constexpr char CHIP_0_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-nom-rootfs";
  static constexpr char CHIP_0_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-gold-rootfs";
  static constexpr char CHIP_1_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-nom-rootfs";
  static constexpr char CHIP_1_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-gold-rootfs";
+  static constexpr char LIST_DIR_DUMP_WORK_FILE[] = "/tmp/dir_listing.tmp";

  static constexpr dur_millis_t INIT_SD_CARD_CHECK_TIMEOUT = 5000;
  static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;

-  static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
-  static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
-  static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
-  static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
-  static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
-
-  static constexpr ActionId_t OBSW_UPDATE_FROM_SD_0 = 10;
-  static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
-  static constexpr ActionId_t OBSW_UPDATE_FROM_TMP = 12;
-
-  static constexpr ActionId_t SWITCH_TO_SD_0 = 16;
-  static constexpr ActionId_t SWITCH_TO_SD_1 = 17;
-  static constexpr ActionId_t SWITCH_TO_BOTH_SD_CARDS = 18;
-
-  //! Reboot using the xsc_boot_copy command
-  static constexpr ActionId_t XSC_REBOOT_OBC = 32;
-  static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
-  //! Reboot using the reboot command
-  static constexpr ActionId_t REBOOT_OBC = 34;
-
-  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
-
-  static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
-  //! [EXPORT] : [COMMENT]  Software reboot occurred. Can also be a systemd reboot.
-  //! P1: Current Chip, P2: Current Copy
-  static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
-  //! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
-  //! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
-  //! P2: Each byte is the respective reboot count for the slots
-  static constexpr Event REBOOT_MECHANISM_TRIGGERED =
-      event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
-  //! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
-  static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
-  //! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
-  //! a SD card.
-  static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
-
-  CoreController(object_id_t objectId);
+  CoreController(object_id_t objectId, bool enableHkSet);
  virtual ~CoreController();

  ReturnValue_t initialize() override;
@ -151,19 +168,18 @@ class CoreController : public ExtendedControllerBase {
  bool sdInitFinished() const;

 private:
+  static constexpr uint32_t BOOT_OFFSET_SECONDS = 15;
  static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
  static constexpr uint32_t MUTEX_TIMEOUT = 20;
-  // Designated value for rechecking FIFO open
-  static constexpr int RETRY_FIFO_OPEN = -2;
-  int watchdogFifoFd = 0;
+  bool enableHkSet = false;
  GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;

  // States for SD state machine, which is used in non-blocking mode
  enum class SdStates {
    NONE,
    START,
-    GET_INFO,
-    SET_STATE_SELF,
+    UPDATE_SD_INFO_START,
+    SKIP_TWO_CYCLES_IF_SD_LOCKED,
    MOUNT_SELF,
    // Determine operations for other SD card, depending on redundancy configuration
    DETERMINE_OTHER,
@ -173,7 +189,7 @@ class CoreController : public ExtendedControllerBase {
    // Skip period because the shell command used to generate the info file sometimes is
    // missing the last performed operation if executed too early
    SKIP_CYCLE_BEFORE_INFO_UPDATE,
-    UPDATE_INFO,
+    UPDATE_SD_INFO_END,
    // SD initialization done
    IDLE
  };
@ -182,26 +198,34 @@ class CoreController : public ExtendedControllerBase {

  static constexpr bool BLOCKING_SD_INIT = false;

+  uint32_t* mappedSysRomAddr = nullptr;
  SdCardManager* sdcMan = nullptr;
  MessageQueueIF* eventQueue = nullptr;

+  uint8_t prefSdRaw = sd::SdCard::SLOT_0;
  SdStates sdFsmState = SdStates::START;
+  SdStates fsmStateAfterDelay = SdStates::IDLE;
  enum SdCfgMode { PASSIVE, COLD_REDUNDANT, HOT_REDUNDANT };

  struct SdFsmParams {
    SdCfgMode cfgMode = SdCfgMode::COLD_REDUNDANT;
    sd::SdCard active = sd::SdCard::NONE;
    sd::SdCard other = sd::SdCard::NONE;
-    sd::SdState activeState = sd::SdState::OFF;
-    sd::SdState otherState = sd::SdState::OFF;
    std::string activeChar = "0";
    std::string otherChar = "1";
+    sd::SdState activeState = sd::SdState::OFF;
+    sd::SdState otherState = sd::SdState::OFF;
    std::pair<bool, bool> mountSwitch = {true, true};
-    // Used to track whether a command was executed
-    bool commandExecuted = true;
+    // This flag denotes that the SD card usage is locked. This is relevant if SD cards go off
+    // to leave appliation using the SD cards some time to detect the SD card is not usable anymore.
+    // This is relevant if the active SD card is being switched. The SD card will also be locked
+    // when going from hot-redundant mode to cold-redundant mode.
+    bool lockSdCardUsage = false;
+    bool commandPending = true;
    bool initFinished = false;
    SdCardManager::SdStatePair currentState;
    uint16_t cycleCount = 0;
+    uint16_t skippedCyclesCount = 0;
  } sdInfo;

  struct SdCommanding {
@ -210,10 +234,35 @@ class CoreController : public ExtendedControllerBase {
    DeviceCommandId_t actionId;
  } sdCommandingInfo;

+  struct DirListingDumpContext {
+    bool active;
+    bool firstDump;
+    size_t dumpedBytes;
+    size_t totalFileSize;
+    size_t listingDataOffset;
+    size_t maxDumpLen;
+    uint32_t segmentIdx;
+    MessageQueueId_t commander = MessageQueueIF::NO_QUEUE;
+    DeviceCommandId_t actionId;
+  };
+  std::array<uint8_t, 1024> dirListingBuf{};
+  DirListingDumpContext dumpContext{};
+
  RebootFile rebootFile = {};
+
+  CommandExecutor cmdExecutor;
+  SimpleRingBuffer cmdReplyBuf;
+  DynamicFIFO<uint16_t> cmdRepliesSizes;
+  bool shellCmdIsExecuting = false;
+  MessageQueueId_t successRecipient = MessageQueueIF::NO_QUEUE;
+
  std::string currMntPrefix;
+  bool timeFileInitDone = false;
  bool performOneShotSdCardOpsSwitch = false;
  uint8_t shortSdCardCdCounter = 0;
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter;
+#endif
  Countdown sdCardCheckCd = Countdown(INIT_SD_CARD_CHECK_TIMEOUT);

  /**
@ -232,10 +281,16 @@ class CoreController : public ExtendedControllerBase {

  core::HkSet hkSet;

+  ParameterHelper paramHelper;
+
 #if OBSW_SD_CARD_MUST_BE_ON == 1
  bool remountAttemptFlag = true;
 #endif

+  MessageQueueId_t getCommandQueue() const override;
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
+                             ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
+                             uint16_t startAtIndex) override;
  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                        LocalDataPoolManager& poolManager) override;

@ -246,16 +301,15 @@ class CoreController : public ExtendedControllerBase {

  ReturnValue_t initClockFromTimeFile();
  ReturnValue_t performSdCardCheck();
-  ReturnValue_t timeFileHandler();
+  ReturnValue_t backupTimeFileHandler();
  ReturnValue_t initBootCopyFile();
-  ReturnValue_t initWatchdogFifo();
  ReturnValue_t initSdCardBlocking();
  bool startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mode, MessageQueueId_t commander,
                           DeviceCommandId_t actionId);
  void initPrint();

  ReturnValue_t sdStateMachine();
-  void updateSdInfoOther();
+  void updateInternalSdInfo();
  ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
                            bool printOutput = true);
  ReturnValue_t executeSwUpdate(SwUpdateSources sourceDir, const uint8_t* data, size_t size);
@ -268,13 +322,17 @@ class CoreController : public ExtendedControllerBase {

  ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
                                            const uint8_t* data, size_t size);
+  ReturnValue_t actionListDirectoryDumpDirectly(ActionId_t actionId, MessageQueueId_t commandedBy,
+                                                const uint8_t* data, size_t size);
+
+  ReturnValue_t actionListDirectoryCommonCommandCreator(const uint8_t* data, size_t size,
+                                                        std::ostringstream& oss);
+
  ReturnValue_t actionXscReboot(const uint8_t* data, size_t size);
  ReturnValue_t actionReboot(const uint8_t* data, size_t size);

  ReturnValue_t gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy, bool& protOpPerformed);

-  void performWatchdogControlOperation();
-
  ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
  int handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
                                bool& protOperationPerformed, bool selfChip, bool selfCopy,
@ -285,7 +343,11 @@ class CoreController : public ExtendedControllerBase {
  void setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy);
  bool parseRebootFile(std::string path, RebootFile& file);
  void rewriteRebootFile(RebootFile file);
+  void announceBootCounts();
+  void announceVersionInfo();
+  void announceCurrentImageInfo();
  void readHkData();
+  void dirListingDumpHandler();
  bool isNumber(const std::string& s);
 };

--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
--- a/bsp_q7s/core/ObjectFactory.h
+++ b/bsp_q7s/core/ObjectFactory.h
@ -2,11 +2,17 @@
 #define BSP_Q7S_OBJECTFACTORY_H_

 #include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <mission/acs/gyroAdisHelpers.h>
+#include <mission/com/CcsdsIpCoreHandler.h>
+#include <mission/com/PersistentLogTmStoreTask.h>
+#include <mission/genericFactory.h>
 #include <mission/system/objects/Stack5VHandler.h>
-#include <mission/tmtc/CcsdsIpCoreHandler.h>
+#include <mission/tcs/HeaterHandler.h>
 #include <mission/tmtc/CfdpTmFunnel.h>
 #include <mission/tmtc/PusTmFunnel.h>

+#include <atomic>
 #include <string>

 class LinuxLibgpioIF;
@ -18,33 +24,61 @@ class HealthTableIF;
 class AcsBoardAssembly;
 class GpioIF;

+extern std::atomic_bool PTME_LOCKED;
+
 namespace ObjectFactory {

+struct CcsdsComponentArgs {
+  CcsdsComponentArgs(LinuxLibgpioIF& gpioIF, StorageManagerIF& ipcStore, StorageManagerIF& tmStore,
+                     PersistentTmStores& stores, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
+                     CcsdsIpCoreHandler** ipCoreHandler)
+      : gpioComIF(gpioIF),
+        ipcStore(ipcStore),
+        tmStore(tmStore),
+        stores(stores),
+        pusFunnel(pusFunnel),
+        cfdpFunnel(cfdpFunnel),
+        ipCoreHandler(ipCoreHandler) {}
+  LinuxLibgpioIF& gpioComIF;
+  StorageManagerIF& ipcStore;
+  StorageManagerIF& tmStore;
+  PersistentTmStores& stores;
+  PusTmFunnel& pusFunnel;
+  CfdpTmFunnel& cfdpFunnel;
+  CcsdsIpCoreHandler** ipCoreHandler;
+  AcceptsTelemetryIF* liveDestination = nullptr;
+};
+
 void setStatics();
 void produce(void* args);

 void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, SerialComIF** uartComIF,
-                                   SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
-                                   SpiComIF** spiRwComIF);
-void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
+                                   SpiComIF** spiMainComIF, I2cComIF** i2cComIF);
+void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher,
+                          bool enableHkSets);
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
                            PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
 void createTmpComponents();
+void createRadSensorChipSelect(LinuxLibgpioIF* gpioIF);
 ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
-void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
-                              PowerSwitchIF* pwrSwitcher);
-void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);
-void createImtqComponents(PowerSwitchIF* pwrSwitcher);
-void createBpxBatteryComponent();
+void createAcsBoardGpios(GpioCookie& cookie);
+void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
+                              PowerSwitchIF& pwrSwitcher, bool enableHkSets,
+                              adis1650x::Type adisType);
+void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
+                            HeaterHandler*& heaterHandler);
+void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets);
+void createBpxBatteryComponent(bool enableHkSets);
 void createStrComponents(PowerSwitchIF* pwrSwitcher);
 void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
 void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
 void createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
-ReturnValue_t createCcsdsComponents(LinuxLibgpioIF* gpioComIF, CcsdsIpCoreHandler** ipCoreHandler);
+ReturnValue_t createCcsdsComponents(CcsdsComponentArgs& args);
 void createMiscComponents();

 void createTestComponents(LinuxLibgpioIF* gpioComIF);
+void createPlI2cResetGpio(LinuxLibgpioIF* gpioComIF);

 void testAcsBrdAss(AcsBoardAssembly* assAss);

--- a/bsp_q7s/core/WatchdogHandler.cpp
+++ b/bsp_q7s/core/WatchdogHandler.cpp
@ -0,0 +1,87 @@
+#include "WatchdogHandler.h"
+
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <cerrno>
+#include <cstring>
+#include <filesystem>
+
+#include "fsfw/serviceinterface.h"
+#include "watchdog/definitions.h"
+
+WatchdogHandler::WatchdogHandler() {}
+
+void WatchdogHandler::periodicOperation() {
+  if (watchdogFifoFd != 0) {
+    if (watchdogFifoFd == RETRY_FIFO_OPEN) {
+      // Open FIFO write only and non-blocking
+      watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
+      if (watchdogFifoFd < 0) {
+        if (errno == ENXIO) {
+          watchdogFifoFd = RETRY_FIFO_OPEN;
+          // No printout for now, would be spam
+          return;
+        } else {
+          sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with "
+                     << errno << ": " << strerror(errno) << std::endl;
+          return;
+        }
+      }
+      sif::info << "Opened " << watchdog::FIFO_NAME << " successfully" << std::endl;
+      performStartHandling();
+    } else if (watchdogFifoFd > 0) {
+      // Write to OBSW watchdog FIFO here
+      const char writeChar = watchdog::first::IDLE_CHAR;
+      ssize_t writtenBytes = write(watchdogFifoFd, &writeChar, 1);
+      if (writtenBytes < 0) {
+        sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " << strerror(errno)
+                   << std::endl;
+      }
+    }
+  }
+}
+
+ReturnValue_t WatchdogHandler::initialize(bool enableWatchdogFunction) {
+  using namespace std::filesystem;
+  this->enableWatchFunction = enableWatchdogFunction;
+  std::error_code e;
+  if (not std::filesystem::exists(watchdog::FIFO_NAME, e)) {
+    // Still return returnvalue::OK for now
+    sif::info << "Watchdog FIFO " << watchdog::FIFO_NAME << " does not exist, can't initiate"
+              << " watchdog" << std::endl;
+    return returnvalue::OK;
+  }
+  // Open FIFO write only and non-blocking to prevent SW from killing itself.
+  watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
+  if (watchdogFifoFd < 0) {
+    if (errno == ENXIO) {
+      watchdogFifoFd = RETRY_FIFO_OPEN;
+      sif::info << "eive-watchdog not running. FIFO can not be opened" << std::endl;
+    } else {
+      sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with " << errno
+                 << ": " << strerror(errno) << std::endl;
+      return returnvalue::FAILED;
+    }
+  }
+  return performStartHandling();
+}
+
+ReturnValue_t WatchdogHandler::performStartHandling() {
+  char startBuf[2];
+  ssize_t writeLen = 1;
+  startBuf[0] = watchdog::first::START_CHAR;
+  if (enableWatchFunction) {
+    writeLen += 1;
+    startBuf[1] = watchdog::second::WATCH_FLAG;
+  }
+  ssize_t writtenBytes = write(watchdogFifoFd, &startBuf, writeLen);
+  if (writtenBytes < 0) {
+    sif::error << "WatchdogHandler: Errors writing to watchdog FIFO, code " << errno << ": "
+               << strerror(errno) << std::endl;
+    return returnvalue::FAILED;
+  } else if (writtenBytes != writeLen) {
+    sif::warning << "WatchdogHandler: Not all bytes were written, possible error" << std::endl;
+  }
+  return returnvalue::OK;
+}
--- a/bsp_q7s/core/WatchdogHandler.h
+++ b/bsp_q7s/core/WatchdogHandler.h
@ -0,0 +1,23 @@
+#ifndef BSP_Q7S_CORE_WATCHDOGHANDLER_H_
+#define BSP_Q7S_CORE_WATCHDOGHANDLER_H_
+
+#include "fsfw/returnvalues/returnvalue.h"
+
+class WatchdogHandler {
+ public:
+  WatchdogHandler();
+
+  ReturnValue_t initialize(bool enableWatchFunction);
+  void periodicOperation();
+
+ private:
+  // Designated value for rechecking FIFO open
+  static constexpr int RETRY_FIFO_OPEN = -2;
+
+  int watchdogFifoFd = 0;
+  bool enableWatchFunction = false;
+
+  ReturnValue_t performStartHandling();
+};
+
+#endif /* BSP_Q7S_CORE_WATCHDOGHANDLER_H_ */
--- a/bsp_q7s/core/scheduling.cpp
+++ b/bsp_q7s/core/scheduling.cpp
@ -3,6 +3,7 @@
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 #include <fsfw/subsystem/Subsystem.h>
 #include <linux/scheduling.h>
+#include <mission/tcs/Max31865Definitions.h>

 #include <iostream>
 #include <vector>
@ -17,9 +18,9 @@
 #include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 #include "fsfw/tasks/TaskFactory.h"
-#include "mission/devices/devicedefinitions/Max31865Definitions.h"
+#include "mission/pollingSeqTables.h"
+#include "mission/scheduling.h"
 #include "mission/utility/InitMission.h"
-#include "pollingsequence/pollingSequenceFactory.h"

 /* This is configured for linux without CR */
 #ifdef PLATFORM_UNIX
@ -71,28 +72,25 @@ void scheduling::initTasks() {
 #if OBSW_ADD_SA_DEPL == 1
  // Could add this to the core controller but the core controller does so many thing that I would
  // prefer to have the solar array deployment in a seprate task.
-  PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
-      "SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* solarArrayDeplTask =
+      factory->createPeriodicTask("SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
  result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
  }
 #endif

-  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
-      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
-  result = sysTask->addComponent(objects::CORE_CONTROLLER);
+  PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
+      "CORE_CTRL", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc, &RR_SCHEDULING);
+  result = coreCtrlTask->addComponent(objects::CORE_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
  }
-  result = sysTask->addComponent(objects::PL_SUBSYSTEM);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
-  }

  /* TMTC Distribution */
  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "TC_DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc, &RR_SCHEDULING);
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
  result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
@ -119,15 +117,11 @@ void scheduling::initTasks() {
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CFDP_DISTRIBUTOR", objects::CFDP_DISTRIBUTOR);
  }
-  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
-  }

 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
  PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
-      "UDP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+      "UDP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
@ -135,7 +129,7 @@ void scheduling::initTasks() {
 #endif
 #if OBSW_ADD_TMTC_TCP_SERVER == 1
  PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
-      "TCP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+      "TCP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
@ -143,191 +137,227 @@ void scheduling::initTasks() {
 #endif
 #endif

-  PeriodicTaskIF* comTask = factory->createPeriodicTask(
-      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = comTask->addComponent(objects::COM_SUBSYSTEM);
+  PeriodicTaskIF* genericSysTask =
+      factory->createPeriodicTask("SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
+  result = genericSysTask->addComponent(objects::EIVE_SYSTEM);
  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("COM subsystem", objects::COM_SUBSYSTEM);
+    scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM);
  }
+  result = genericSysTask->addComponent(objects::COM_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("COM_SUBSYSTEM", objects::COM_SUBSYSTEM);
+  }
+  result = genericSysTask->addComponent(objects::SYRLINKS_ASSY);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SYRLINKS_ASSY", objects::SYRLINKS_ASSY);
+  }
+  result = genericSysTask->addComponent(objects::PL_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
+  }
+  result = genericSysTask->addComponent(objects::INTERNAL_ERROR_REPORTER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
+  }
+  result = genericSysTask->addComponent(objects::PUS_SERVICE_17_TEST);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
+  }
+
 #if OBSW_ADD_CCSDS_IP_CORES == 1
-  result = comTask->addComponent(objects::CCSDS_HANDLER);
+  result = genericSysTask->addComponent(objects::CCSDS_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
  }

  // Runs in IRQ mode, frequency does not really matter
  PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
-      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
  result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
  }
-#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */

+#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
+  // All the TM store tasks run in permanent loops, frequency does not matter
+  PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
+      "LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
+  result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
+  }
+  PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
+      "LOG_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+  result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
+  }
+  PeriodicTaskIF* hkTmTask =
+      factory->createPeriodicTask("HK_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+  result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
+  }
+  PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
+      "CFDP_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+  result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
+  }
+
+  // TODO: Use user priorities for this task.
 #if OBSW_ADD_CFDP_COMPONENTS == 1
-  PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
-      "CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* cfdpTask =
+      factory->createPeriodicTask("CFDP_HANDLER", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
  result = cfdpTask->addComponent(objects::CFDP_HANDLER);
  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
+    scheduling::printAddObjectError("CFDP", objects::CFDP_HANDLER);
  }
 #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, &RR_SCHEDULING);
+  result = gpsTask->addComponent(objects::GPS_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
  }
-#endif /* OBSW_ADD_GPS_CTRL */

-#if OBSW_ADD_ACS_CTRL == 1
-  acsCtrlTask->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);
+  PeriodicTaskIF* acsBrdPolling =
+      factory->createPeriodicTask("ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
+  result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK);
  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
+    scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK);
  }
-#endif /* OBSW_ADD_ACS_HANDLERS */
+#endif
+
 #if OBSW_ADD_RW == 1
-  result = acsSysTask->addComponent(objects::RW_ASS);
+  PeriodicTaskIF* rwPolling =
+      factory->createPeriodicTask("RW_POLLING_TASK", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
+  result = rwPolling->addComponent(objects::RW_POLLING_TASK);
  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("RW_ASS", objects::RW_ASS);
+    scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
  }
 #endif
-#if OBSW_ADD_SUS_BOARD_ASS == 1
-  result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
+#if OBSW_ADD_MGT == 1
+  PeriodicTaskIF* imtqPolling =
+      factory->createPeriodicTask("IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
+  result = imtqPolling->addComponent(objects::IMTQ_POLLING);
  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
+    scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING);
  }
 #endif
+
+#if OBSW_ADD_SUN_SENSORS == 1
+  PeriodicTaskIF* susPolling =
+      factory->createPeriodicTask("SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
+  result = susPolling->addComponent(objects::SUS_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK);
+  }
+#endif
+
+  PeriodicTaskIF* acsSysTask =
+      factory->createPeriodicTask("ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
  result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
  }
-
-#if OBSW_ADD_RTD_DEVICES == 1
-  PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
-      "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
-  result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
+  result = acsSysTask->addComponent(objects::IMTQ_ASSY);
  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
+    scheduling::printAddObjectError("IMTQ_ASSY", objects::IMTQ_ASSY);
  }
-
-  PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
-      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-  std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
-      objects::RTD_0_IC3_PLOC_HEATSPREADER,
-      objects::RTD_1_IC4_PLOC_MISSIONBOARD,
-      objects::RTD_2_IC5_4K_CAMERA,
-      objects::RTD_3_IC6_DAC_HEATSPREADER,
-      objects::RTD_4_IC7_STARTRACKER,
-      objects::RTD_5_IC8_RW1_MX_MY,
-      objects::RTD_6_IC9_DRO,
-      objects::RTD_7_IC10_SCEX,
-      objects::RTD_8_IC11_X8,
-      objects::RTD_9_IC12_HPA,
-      objects::RTD_10_IC13_PL_TX,
-      objects::RTD_11_IC14_MPA,
-      objects::RTD_12_IC15_ACU,
-      objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
-      objects::RTD_14_IC17_TCS_BOARD,
-      objects::RTD_15_IC18_IMTQ,
-  };
-
-  for (const auto& rtd : rtdIds) {
-    tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
+  result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
+  }
+  result = acsSysTask->addComponent(objects::RW_ASSY);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("RW_ASS", objects::RW_ASSY);
+  }
+  result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
+  }
+  result = acsSysTask->addComponent(objects::STR_ASSY);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("STR_ASSY", objects::STR_ASSY);
+  }
+  result = acsSysTask->addComponent(objects::GPS_0_HEALTH_DEV);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("GPS_0_HEALTH_DEV", objects::GPS_0_HEALTH_DEV);
+  }
+  result = acsSysTask->addComponent(objects::GPS_1_HEALTH_DEV);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("GPS_1_HEALTH_DEV", objects::GPS_1_HEALTH_DEV);
  }
-#endif

  PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
-      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+      "TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
+#if OBSW_ADD_THERMAL_TEMP_INSERTER == 1
+  tcsSystemTask->addComponent(objects::THERMAL_TEMP_INSERTER);
+#endif
+  scheduling::scheduleRtdSensors(tcsSystemTask);
  result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("TCS_SUBSYSTEM", objects::TCS_SUBSYSTEM);
  }
-#if OBSW_ADD_RTD_DEVICES == 1
  result = tcsSystemTask->addComponent(objects::TCS_BOARD_ASS);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
  }
-#endif /* OBSW_ADD_RTD_DEVICES */
 #if OBSW_ADD_TCS_CTRL == 1
  result = tcsSystemTask->addComponent(objects::THERMAL_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
  }
 #endif
-#if OBSW_ADD_HEATERS == 1
  result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
  }
+
+#if OBSW_ADD_SYRLINKS == 1
+  PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(
+      "SYRLINKS_COM", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = syrlinksCom->addComponent(objects::SYRLINKS_COM_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SYRLINKS_COM", objects::SYRLINKS_COM_HANDLER);
+  }
 #endif

 #if OBSW_ADD_STAR_TRACKER == 1
-  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
-      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = strHelperTask->addComponent(objects::STR_HELPER);
+  // Relatively high priority to make sure STR COM works well.
+  PeriodicTaskIF* strHelperTask =
+      factory->createPeriodicTask("STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
+  result = strHelperTask->addComponent(objects::STR_COM_IF);
  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("STR_HELPER", objects::STR_HELPER);
+    scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF);
  }
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */

 #if OBSW_ADD_PLOC_MPSOC == 1
  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
-      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "PLOC_MPSOC_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
  }
 #endif /* OBSW_ADD_PLOC_MPSOC */

+  // TODO: Use regular scheduler for this task
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
-      "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+      "PLOC_SUPV_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
@ -335,20 +365,21 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */

  PeriodicTaskIF* plTask = factory->createPeriodicTask(
-      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
-  scheduling::addMpsocSupvHandlers(plTask);
+      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
  plTask->addComponent(objects::CAM_SWITCHER);
+  scheduling::addMpsocSupvHandlers(plTask);
+  scheduling::scheduleScexDev(plTask);

 #if OBSW_ADD_SCEX_DEVICE == 1
-  PeriodicTaskIF* scexDevHandler;
  PeriodicTaskIF* scexReaderTask;
-  scheduling::schedulingScex(*factory, scexDevHandler, scexReaderTask);
+  scheduling::scheduleScexReader(*factory, scexReaderTask);
 #endif

  std::vector<PeriodicTaskIF*> pusTasks;
  createPusTasks(*factory, missedDeadlineFunc, pusTasks);
  std::vector<PeriodicTaskIF*> pstTasks;
-  createPstTasks(*factory, missedDeadlineFunc, pstTasks);
+  AcsPstCfg cfg;
+  createPstTasks(*factory, missedDeadlineFunc, pstTasks, cfg);

 #if OBSW_ADD_TEST_CODE == 1
 #if OBSW_TEST_CCSDS_BRIDGE == 1
@ -385,20 +416,35 @@ void scheduling::initTasks() {
 #endif
 #endif

-  comTask->startTask();
+  genericSysTask->startTask();
 #if OBSW_ADD_CCSDS_IP_CORES == 1
  pdecHandlerTask->startTask();
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
+  liveTmTask->startTask();
+  logTmTask->startTask();
+  hkTmTask->startTask();
+  cfdpTmTask->startTask();

-  sysTask->startTask();
+  coreCtrlTask->startTask();
 #if OBSW_ADD_SA_DEPL == 1
  solarArrayDeplTask->startTask();
 #endif
+#if OBSW_ADD_ACS_BOARD == 1
+  acsBrdPolling->startTask();
+#endif
+#if OBSW_ADD_SYRLINKS == 1
+  syrlinksCom->startTask();
+#endif
+#if OBSW_ADD_MGT == 1
+  imtqPolling->startTask();
+#endif
+#if OBSW_ADD_SUN_SENSORS == 1
+  susPolling->startTask();
+#endif

  taskStarter(pstTasks, "PST task vector");
  taskStarter(pusTasks, "PUS task vector");
 #if OBSW_ADD_SCEX_DEVICE == 1
-  scexDevHandler->startTask();
  scexReaderTask->startTask();
 #endif

@ -414,18 +460,20 @@ void scheduling::initTasks() {
  strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */

-  acsCtrlTask->startTask();
+#if OBSW_ADD_RW == 1
+  rwPolling->startTask();
+#endif
+  gpsTask->startTask();
  acsSysTask->startTask();
-#if OBSW_ADD_RTD_DEVICES == 1
-  tcsPollingTask->startTask();
-  tcsTask->startTask();
-#endif /* OBSW_ADD_RTD_DEVICES == 1 */
  if (not tcsSystemTask->isEmpty()) {
    tcsSystemTask->startTask();
  }
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
  supvHelperTask->startTask();
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
+#if OBSW_ADD_PLOC_MPSOC == 1
+  mpsocHelperTask->startTask();
+#endif
  plTask->startTask();

 #if OBSW_ADD_TEST_CODE == 1
@ -436,13 +484,34 @@ void scheduling::initTasks() {
 }

 void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
-                                std::vector<PeriodicTaskIF*>& taskVec) {
+                                std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg) {
  ReturnValue_t result = returnvalue::OK;
+
+#ifdef RELEASE_BUILD
+  static constexpr float acsPstPeriod = 0.4;
+#else
+  static constexpr float acsPstPeriod = 0.4;
+#endif
+  FixedTimeslotTaskIF* acsTcsPst =
+      factory.createFixedTimeslotTask("ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                      acsPstPeriod, missedDeadlineFunc, &RR_SCHEDULING);
+  result = pst::pstTcsAndAcs(acsTcsPst, cfg);
+  if (result != returnvalue::OK) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;
+    } else {
+      sif::error << "scheduling::initTasks: Creating ACS PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(acsTcsPst);
+  }
+
  /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
-  FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-      "MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
-  result = pst::pstSpi(spiPst);
+  FixedTimeslotTaskIF* syrlinksPst =
+      factory.createFixedTimeslotTask("SYRLINKS", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5,
+                                      missedDeadlineFunc, &RR_SCHEDULING);
+  result = pst::pstSyrlinks(syrlinksPst);
  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
@ -450,42 +519,15 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
      sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
    }
  } else {
-    taskVec.push_back(spiPst);
+    taskVec.push_back(syrlinksPst);
  }
 #endif

-#if OBSW_ADD_RW == 1
-  FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
-      "RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
-  result = pst::pstSpiRw(rwPstTask);
-  if (result != returnvalue::OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
-    } else {
-      sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(rwPstTask);
-  }
-#endif
-
-  FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
-      "UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
-  result = pst::pstUart(uartPst);
-  if (result != returnvalue::OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "scheduling::initTasks: UART PST is empty" << std::endl;
-    } else {
-      sif::error << "scheduling::initTasks: Creating UART PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(uartPst);
-  }
-
 #if OBSW_ADD_I2C_TEST_CODE == 0
-  FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
-  result = pst::pstI2c(i2cPst);
+  FixedTimeslotTaskIF* i2cPst =
+      factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
+                                      missedDeadlineFunc, &RR_SCHEDULING);
+  result = pst::pstI2cProcessingSystem(i2cPst);
  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;
@ -497,9 +539,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
  }
 #endif

-#if OBSW_ADD_GOMSPACE_PCDU == 1
-  FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
-      "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
+  FixedTimeslotTaskIF* gomSpacePstTask =
+      factory.createFixedTimeslotTask("GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4,
+                                      0.25, missedDeadlineFunc, &RR_SCHEDULING);
  result = pst::pstGompaceCan(gomSpacePstTask);
  if (result != returnvalue::OK) {
    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@ -507,49 +549,36 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
    }
  }
  taskVec.push_back(gomSpacePstTask);
-#endif
 }

 void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                                std::vector<PeriodicTaskIF*>& taskVec) {
  ReturnValue_t result = returnvalue::OK;
  /* PUS Services */
-  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
-      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+  PeriodicTaskIF* pusHighPrio =
+      factory.createPeriodicTask("PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                 missedDeadlineFunc, &RR_SCHEDULING);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
  }
-  taskVec.push_back(pusVerification);
-
-  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
-      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
  }
-  result = pusEvents->addComponent(objects::EVENT_MANAGER);
+  result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
-  }
-  taskVec.push_back(pusEvents);
-
-  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
-      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+    scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
+    scheduling::printAddObjectError("PUS_TIME", objects::PUS_SERVICE_9_TIME_MGMT);
  }
-
  taskVec.push_back(pusHighPrio);

-  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
-      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-
+  PeriodicTaskIF* pusMedPrio =
+      factory.createPeriodicTask("PUS_MED_PRIO", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8,
+                                 missedDeadlineFunc, &RR_SCHEDULING);
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
@ -558,6 +587,10 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_15_TM_STORAGE);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_15", objects::PUS_SERVICE_15_TM_STORAGE);
+  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
@ -574,20 +607,11 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
  }
-  // Used for connection tests, therefore use higher priority
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
+    scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
  }
  taskVec.push_back(pusMedPrio);
-
-  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
-      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
-  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
-  }
-  taskVec.push_back(pusLowPrio);
 }

 void scheduling::createTestTasks(TaskFactory& factory,
--- a/bsp_q7s/core/scheduling.h
+++ b/bsp_q7s/core/scheduling.h
@ -4,6 +4,9 @@
 #include <vector>

 #include "fsfw/tasks/definitions.h"
+#include "mission/pollingSeqTables.h"
+
+using pst::AcsPstCfg;

 class PeriodicTaskIF;
 class TaskFactory;
@ -13,7 +16,7 @@ void initMission();
 void initTasks();

 void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
-                    std::vector<PeriodicTaskIF*>& taskVec);
+                    std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg);
 void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                    std::vector<PeriodicTaskIF*>& taskVec);
 void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
--- a/bsp_q7s/em/emObjectFactory.cpp
+++ b/bsp_q7s/em/emObjectFactory.cpp
@ -1,81 +1,103 @@
 #include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
+#include <dummies/ComCookieDummy.h>
+#include <dummies/PcduHandlerDummy.h>
 #include <fsfw/health/HealthTableIF.h>
 #include <fsfw/power/DummyPowerSwitcher.h>
-#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <mission/power/gsDefs.h>
+#include <mission/system/systemTree.h>
+#include <mission/utility/DummySdCardManager.h>

 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
 #include "bsp_q7s/core/ObjectFactory.h"
 #include "busConf.h"
 #include "devConf.h"
-#include "dummies/helpers.h"
+#include "dummies/helperFactory.h"
 #include "eive/objects.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
-#include "mission/core/GenericFactory.h"
-#include "mission/system/tree/comModeTree.h"
+#include "mission/genericFactory.h"
+#include "mission/system/com/comModeTree.h"

 void ObjectFactory::produce(void* args) {
  ObjectFactory::setStatics();
  HealthTableIF* healthTable = nullptr;
  PusTmFunnel* pusFunnel = nullptr;
  CfdpTmFunnel* cfdpFunnel = nullptr;
-  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel);
+  StorageManagerIF* ipcStore = nullptr;
+  StorageManagerIF* tmStore = nullptr;
+
+  bool enableHkSets = false;
+#if OBSW_ENABLE_PERIODIC_HK == 1
+  enableHkSets = true;
+#endif
+
+  PersistentTmStores stores;
+  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
+                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores,
+                                       200);

  LinuxLibgpioIF* gpioComIF = nullptr;
  SerialComIF* uartComIF = nullptr;
  SpiComIF* spiMainComIF = nullptr;
  I2cComIF* i2cComIF = nullptr;
-  SpiComIF* spiRwComIF = nullptr;
-  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
  /* Adding gpios for chip select decoding to the gpioComIf */
  q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
  gpioCallbacks::disableAllDecoder(gpioComIF);
+  createPlI2cResetGpio(gpioComIF);

  // Hardware is usually not connected to EM, so we need to create dummies which replace lower
  // level components.
  dummy::DummyCfg dummyCfg;
  dummyCfg.addCoreCtrlCfg = false;
+  dummyCfg.addCamSwitcherDummy = false;
 #if OBSW_ADD_SYRLINKS == 1
  dummyCfg.addSyrlinksDummies = false;
 #endif
+#if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
+  dummyCfg.addPlocDummies = false;
+#endif
 #if OBSW_ADD_GOMSPACE_PCDU == 1
  dummyCfg.addPowerDummies = false;
+  // The ACU broke.
+  dummyCfg.addOnlyAcuDummy = true;
+#endif
+#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
+  dummyCfg.addBpxBattDummy = false;
+#endif
+#if OBSW_ADD_ACS_BOARD == 1
+  dummyCfg.addAcsBoardDummies = false;
 #endif

  PowerSwitchIF* pwrSwitcher = nullptr;
 #if OBSW_ADD_GOMSPACE_PCDU == 0
-  pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+  pwrSwitcher = new PcduHandlerDummy(objects::PCDU_HANDLER);
 #else
-  createPcduComponents(gpioComIF, &pwrSwitcher);
+  createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
 #endif
+  satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);

-  dummy::createDummies(dummyCfg, *pwrSwitcher);
+  dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF, enableHkSets);

-  new CoreController(objects::CORE_CONTROLLER);
-
-  // Regular FM code, does not work for EM if the hardware is not connected
-  // createPcduComponents(gpioComIF, &pwrSwitcher);
-  // createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
-  // createSyrlinksComponents(pwrSwitcher);
-  // createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
-  // createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
-  // createTmpComponents();
-  // createSolarArrayDeploymentComponents();
-  // createPayloadComponents(gpioComIF);
-  // createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
-
-  // TODO: Careful! Switching this on somehow messes with the communication with the ProASIC
-  //       and will cause xsc_boot_copy commands to always boot to 0 0
-  // createRadSensorComponent(gpioComIF);
+  new CoreController(objects::CORE_CONTROLLER, enableHkSets);

 #if OBSW_ADD_ACS_BOARD == 1
-  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
+  // Still initialize chip select to avoid SPI bus issues.
+  createRadSensorChipSelect(gpioComIF);
+  createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true,
+                           adis1650x::Type::ADIS16507);
+#else
+  // Still add all GPIOs for EM.
+  GpioCookie* acsBoardGpios = new GpioCookie();
+  createAcsBoardGpios(*acsBoardGpios);
+  gpioChecker(gpioComIF->addGpios(acsBoardGpios), "ACS Board");
 #endif

 #if OBSW_ADD_MGT == 1
-  createImtqComponents(pwrSwitcher);
+  createImtqComponents(pwrSwitcher, enableHkSets);
 #endif

 #if OBSW_ADD_SYRLINKS == 1
@ -87,17 +109,25 @@ void ObjectFactory::produce(void* args) {
 #endif

 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  createBpxBatteryComponent();
+  createBpxBatteryComponent(enableHkSets);
 #endif

 #if OBSW_ADD_STAR_TRACKER == 1
  createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
+
+  createPayloadComponents(gpioComIF, *pwrSwitcher);
+
 #if OBSW_ADD_CCSDS_IP_CORES == 1
  CcsdsIpCoreHandler* ipCoreHandler = nullptr;
-  createCcsdsComponents(gpioComIF, &ipCoreHandler);
+  CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,
+                               &ipCoreHandler);
+  createCcsdsComponents(ccsdsArgs);
 #if OBSW_TM_TO_PTME == 1
-  ObjectFactory::addTmtcIpCoresToFunnels(*ipCoreHandler, *pusFunnel, *cfdpFunnel);
+  if (ccsdsArgs.liveDestination != nullptr) {
+    pusFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
+    cfdpFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
+  }
 #endif
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
  /* Test Task */
@ -106,8 +136,11 @@ void ObjectFactory::produce(void* args) {
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 #if OBSW_ADD_SCEX_DEVICE == 1
  createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
-                       pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
+                       power::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
 #endif
-  createAcsController(true);
-  satsystem::com::init();
+  createAcsController(true, enableHkSets);
+  HeaterHandler* heaterHandler;
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
+  createThermalController(*heaterHandler);
+  satsystem::init();
 }
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@ -1,5 +1,9 @@
 #include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
-#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include <devices/gpioIds.h>
+#include <fsfw/storagemanager/LocalPool.h>
+#include <fsfw/storagemanager/PoolManager.h>
+#include <mission/power/gsDefs.h>
+#include <mission/system/EiveSystem.h>

 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
@ -10,42 +14,58 @@
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
-#include "mission/core/GenericFactory.h"
-#include "mission/system/tree/system.h"
+#include "mission/genericFactory.h"
+#include "mission/system/systemTree.h"
+#include "mission/tmtc/tmFilters.h"

 void ObjectFactory::produce(void* args) {
  ObjectFactory::setStatics();
  HealthTableIF* healthTable = nullptr;
  PusTmFunnel* pusFunnel = nullptr;
  CfdpTmFunnel* cfdpFunnel = nullptr;
-  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel);
+  StorageManagerIF* ipcStore = nullptr;
+  StorageManagerIF* tmStore = nullptr;
+
+  bool enableHkSets = false;
+#if OBSW_ENABLE_PERIODIC_HK == 1
+  enableHkSets = true;
+#endif
+
+  PersistentTmStores stores;
+  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
+                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores,
+                                       200);

  LinuxLibgpioIF* gpioComIF = nullptr;
  SerialComIF* uartComIF = nullptr;
  SpiComIF* spiMainComIF = nullptr;
  I2cComIF* i2cComIF = nullptr;
  PowerSwitchIF* pwrSwitcher = nullptr;
-  SpiComIF* spiRwComIF = nullptr;
-  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
  /* Adding gpios for chip select decoding to the gpioComIf */
  q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
  gpioCallbacks::disableAllDecoder(gpioComIF);
+  createPlI2cResetGpio(gpioComIF);
+
+  new CoreController(objects::CORE_CONTROLLER, enableHkSets);
+  createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
+  satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);

-  new CoreController(objects::CORE_CONTROLLER);
-  createPcduComponents(gpioComIF, &pwrSwitcher);
  auto* stackHandler = new Stack5VHandler(*pwrSwitcher);

 #if OBSW_ADD_RAD_SENSORS == 1
  createRadSensorComponent(gpioComIF, *stackHandler);
 #endif
 #if OBSW_ADD_SUN_SENSORS == 1
-  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV, true);
+  createSunSensorComponents(gpioComIF, spiMainComIF, *pwrSwitcher, q7s::SPI_DEFAULT_DEV, true);
 #endif

 #if OBSW_ADD_ACS_BOARD == 1
-  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
+  createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true,
+                           adis1650x::Type::ADIS16505);
 #endif
-  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
+  HeaterHandler* heaterHandler;
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
 #if OBSW_ADD_TMP_DEVICES == 1
  createTmpComponents();
 #endif
@ -58,28 +78,34 @@ void ObjectFactory::produce(void* args) {
  createPayloadComponents(gpioComIF, *pwrSwitcher);

 #if OBSW_ADD_MGT == 1
-  createImtqComponents(pwrSwitcher);
+  createImtqComponents(pwrSwitcher, enableHkSets);
 #endif
  createReactionWheelComponents(gpioComIF, pwrSwitcher);

 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  createBpxBatteryComponent();
+  createBpxBatteryComponent(enableHkSets);
 #endif

 #if OBSW_ADD_STAR_TRACKER == 1
  createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
+
 #if OBSW_ADD_CCSDS_IP_CORES == 1
  CcsdsIpCoreHandler* ipCoreHandler = nullptr;
-  createCcsdsComponents(gpioComIF, &ipCoreHandler);
+  CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,
+                               &ipCoreHandler);
+  createCcsdsComponents(ccsdsArgs);
 #if OBSW_TM_TO_PTME == 1
-  addTmtcIpCoresToFunnels(*ipCoreHandler, *pusFunnel, *cfdpFunnel);
+  if (ccsdsArgs.liveDestination != nullptr) {
+    pusFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
+    cfdpFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
+  }
 #endif
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */

 #if OBSW_ADD_SCEX_DEVICE == 1
  createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
-                       pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
+                       power::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
 #endif
  /* Test Task */
 #if OBSW_ADD_TEST_CODE == 1
@ -87,7 +113,7 @@ void ObjectFactory::produce(void* args) {
 #endif /* OBSW_ADD_TEST_CODE == 1 */

  createMiscComponents();
-  createThermalController();
-  createAcsController(true);
+  createThermalController(*heaterHandler);
+  createAcsController(true, enableHkSets);
  satsystem::init();
 }
--- a/bsp_q7s/fs/FilesystemHelper.cpp
+++ b/bsp_q7s/fs/FilesystemHelper.cpp
@ -22,7 +22,7 @@ ReturnValue_t FilesystemHelper::checkPath(std::string path) {
    }
  } else if (path.substr(0, sizeof(config::SD_1_MOUNT_POINT)) ==
             std::string(config::SD_1_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
+    if (!sdcMan->isSdCardUsable(sd::SLOT_1)) {
      sif::warning << "FilesystemHelper::checkPath: SD card 1 not mounted" << std::endl;
      return SD_NOT_MOUNTED;
    }
--- a/bsp_q7s/fs/SdCardManager.cpp
+++ b/bsp_q7s/fs/SdCardManager.cpp
@ -2,6 +2,7 @@

 #include <fsfw/ipc/MutexGuard.h>
 #include <fsfw/timemanager/Countdown.h>
+#include <fsfw/timemanager/Stopwatch.h>
 #include <unistd.h>

 #include <cstring>
@ -20,31 +21,32 @@
 SdCardManager* SdCardManager::INSTANCE = nullptr;

 SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {
-  mutex = MutexFactory::instance()->createMutex();
-  ReturnValue_t result = mutex->lockMutex();
-  if (result != returnvalue::OK) {
+  sdLock = MutexFactory::instance()->createMutex();
+  prefLock = MutexFactory::instance()->createMutex();
+  defaultLock = MutexFactory::instance()->createMutex();
+
+  MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
+  if (mg.getLockResult() != returnvalue::OK) {
    sif::error << "SdCardManager::SdCardManager: Mutex lock failed" << std::endl;
  }
  uint8_t prefSdRaw = 0;
-  result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
-  if (mutex->unlockMutex() != returnvalue::OK) {
-    sif::error << "SdCardManager::SdCardManager: Mutex unlock failed" << std::endl;
-  }
+  ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);

  if (result != returnvalue::OK) {
    if (result == scratch::KEY_NOT_FOUND) {
      sif::warning << "CoreController::sdCardInit: "
                      "Preferred SD card not set. Setting to 0"
                   << std::endl;
-      setPreferredSdCard(sd::SdCard::SLOT_0);
-      sdInfo.pref = sd::SdCard::SLOT_0;
+      scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sd::SdCard::SLOT_0));
+      prefSdRaw = sd::SdCard::SLOT_0;
+
    } else {
      // Should not happen.
      // TODO: Maybe trigger event?
      sif::error << "SdCardManager::SdCardManager: Reading preferred SD card from scratch"
                    "buffer failed"
                 << std::endl;
-      sdInfo.pref = sd::SdCard::SLOT_0;
+      prefSdRaw = sd::SdCard::SLOT_0;
    }
  }
  sdInfo.pref = static_cast<sd::SdCard>(prefSdRaw);
@ -193,28 +195,9 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
  return result;
 }

-ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) {
-  using namespace std;
-  MutexGuard mg(mutex);
-  if (not filesystem::exists(SD_STATE_FILE)) {
-    return STATUS_FILE_NEXISTS;
-  }
-
-  // Now the file should exist in any case. Still check whether it exists.
-  fstream sdStatus(SD_STATE_FILE);
-  if (not sdStatus.good()) {
-    return STATUS_FILE_NEXISTS;
-  }
-  string line;
-  uint8_t idx = 0;
-  sd::SdCard currentSd = sd::SdCard::SLOT_0;
-  // Process status file line by line
-  while (std::getline(sdStatus, line)) {
-    processSdStatusLine(active, line, idx, currentSd);
-  }
-  if (active.first != sd::SdState::MOUNTED && active.second != sd::SdState::MOUNTED) {
-    sdCardActive = false;
-  }
+ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& sdStates) {
+  MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
+  sdStates = this->sdStates;
  return returnvalue::OK;
 }

@ -237,7 +220,8 @@ ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
    mountDev = SD_1_DEV_NAME;
    mountPoint = config::SD_1_MOUNT_POINT;
  }
-  if (not filesystem::exists(mountDev)) {
+  std::error_code e;
+  if (not filesystem::exists(mountDev, e)) {
    sif::warning << "SdCardManager::mountSdCard: Device file does not exists. Make sure to"
                    " turn on the SD card"
                 << std::endl;
@ -272,7 +256,8 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
  } else if (sdCard == sd::SdCard::SLOT_1) {
    mountPoint = config::SD_1_MOUNT_POINT;
  }
-  if (not filesystem::exists(mountPoint)) {
+  std::error_code e;
+  if (not filesystem::exists(mountPoint, e)) {
    sif::error << "SdCardManager::unmountSdCard: Default mount point " << mountPoint
               << "does not exist" << std::endl;
    return UNMOUNT_ERROR;
@ -304,10 +289,9 @@ ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard p
    resetNonBlockingState = true;
  }
  if (statusPair == nullptr) {
-    sdStatusPtr = std::make_unique<SdStatePair>();
-    statusPair = sdStatusPtr.get();
-    getSdCardsStatus(*statusPair);
+    return returnvalue::FAILED;
  }
+  getSdCardsStatus(*statusPair);

  if (statusPair->first == sd::SdState::ON) {
    result = mountSdCard(prefSdCard);
@ -325,8 +309,7 @@ void SdCardManager::resetState() {
  currentOp = Operations::IDLE;
 }

-void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& active,
-                                        std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
+void SdCardManager::processSdStatusLine(std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
  using namespace std;
  istringstream iss(line);
  string word;
@ -347,24 +330,26 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& act

      if (word == "on") {
        if (currentSd == sd::SdCard::SLOT_0) {
-          active.first = sd::SdState::ON;
+          sdStates.first = sd::SdState::ON;
        } else {
-          active.second = sd::SdState::ON;
+          sdStates.second = sd::SdState::ON;
        }
      } else if (word == "off") {
+        MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
        if (currentSd == sd::SdCard::SLOT_0) {
-          active.first = sd::SdState::OFF;
+          sdStates.first = sd::SdState::OFF;
        } else {
-          active.second = sd::SdState::OFF;
+          sdStates.second = sd::SdState::OFF;
        }
      }
    }

    if (mountLine) {
+      MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
      if (currentSd == sd::SdCard::SLOT_0) {
-        active.first = sd::SdState::MOUNTED;
+        sdStates.first = sd::SdState::MOUNTED;
      } else {
-        active.second = sd::SdState::MOUNTED;
+        sdStates.second = sd::SdState::MOUNTED;
      }
    }

@ -378,7 +363,7 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& act
 }

 std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
-  MutexGuard mg(mutex);
+  MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
  auto res = mg.getLockResult();
  if (res != returnvalue::OK) {
    sif::error << "SdCardManager::getPreferredSdCard: Lock error" << std::endl;
@ -387,7 +372,7 @@ std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
 }

 ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
-  MutexGuard mg(mutex);
+  MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
  if (sdCard == sd::SdCard::BOTH) {
    return returnvalue::FAILED;
  }
@ -396,23 +381,47 @@ ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
 }

 ReturnValue_t SdCardManager::updateSdCardStateFile() {
+  using namespace std;
  if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
    return CommandExecutor::COMMAND_PENDING;
  }
-  MutexGuard mg(mutex);
  // Use q7hw utility and pipe the command output into the state file
  std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
-  cmdExecutor.load(updateCmd, blocking, printCmdOutput);
+  cmdExecutor.load(updateCmd, true, printCmdOutput);
  ReturnValue_t result = cmdExecutor.execute();
-  if (blocking and result != returnvalue::OK) {
+  if (result != returnvalue::OK) {
    utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
  }
-  return result;
+
+  std::error_code e;
+  if (not filesystem::exists(SD_STATE_FILE, e)) {
+    return STATUS_FILE_NEXISTS;
+  }
+
+  // Now the file should exist in any case. Still check whether it exists.
+  fstream sdStatus(SD_STATE_FILE);
+  if (not sdStatus.good()) {
+    return STATUS_FILE_NEXISTS;
+  }
+  string line;
+  uint8_t idx = 0;
+  sd::SdCard currentSd = sd::SdCard::SLOT_0;
+  // Process status file line by line
+  while (std::getline(sdStatus, line)) {
+    processSdStatusLine(line, idx, currentSd);
+  }
+  if (sdStates.first != sd::SdState::MOUNTED && sdStates.second != sd::SdState::MOUNTED) {
+    sdCardActive = false;
+  }
+  return returnvalue::OK;
 }

-const std::string& SdCardManager::getCurrentMountPrefix() const {
-  MutexGuard mg(mutex);
-  return currentPrefix;
+const char* SdCardManager::getCurrentMountPrefix() const {
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
+  if (currentPrefix.has_value()) {
+    return currentPrefix.value().c_str();
+  }
+  return nullptr;
 }

 SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
@ -461,41 +470,35 @@ void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = p

 bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
  {
-    MutexGuard mg(mutex);
+    MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
    if (markedUnusable) {
      return false;
    }
  }

-  SdCardManager::SdStatePair active;
-  ReturnValue_t result = this->getSdCardsStatus(active);
-
-  if (result != returnvalue::OK) {
-    sif::debug << "SdCardManager::isSdCardMounted: Failed to get SD card active state";
-    return false;
-  }
+  MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
  if (not sdCard) {
-    if (active.first == sd::MOUNTED or active.second == sd::MOUNTED) {
+    if (sdStates.first == sd::MOUNTED or sdStates.second == sd::MOUNTED) {
      return true;
    }
    return false;
  }
  if (sdCard == sd::SLOT_0) {
-    if (active.first == sd::MOUNTED) {
+    if (sdStates.first == sd::MOUNTED) {
      return true;
    } else {
      return false;
    }
  }
  if (sdCard == sd::SLOT_1) {
-    if (active.second == sd::MOUNTED) {
+    if (sdStates.second == sd::MOUNTED) {
      return true;
    } else {
      return false;
    }
  }
  if (sdCard == sd::BOTH) {
-    if (active.first == sd::MOUNTED && active.second == sd::MOUNTED) {
+    if (sdStates.first == sd::MOUNTED && sdStates.second == sd::MOUNTED) {
      return true;
    }
  }
@ -505,9 +508,9 @@ bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
 ReturnValue_t SdCardManager::isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly) {
  std::ostringstream command;
  if (sdcard == sd::SdCard::SLOT_0) {
-    command << "grep -q '" << config::SD_0_MOUNT_POINT << " vfat ro,' /proc/mounts";
+    command << "grep -q '" << config::SD_0_MOUNT_POINT << " ext4 rw,' /proc/mounts";
  } else if (sdcard == sd::SdCard::SLOT_1) {
-    command << "grep -q '" << config::SD_1_MOUNT_POINT << " vfat ro,' /proc/mounts";
+    command << "grep -q '" << config::SD_1_MOUNT_POINT << " ext4 rw,' /proc/mounts";
  } else {
    return returnvalue::FAILED;
  }
@ -516,18 +519,9 @@ ReturnValue_t SdCardManager::isSdCardMountedReadOnly(sd::SdCard sdcard, bool& re
    return result;
  }
  result = cmdExecutor.execute();
-  if (result != returnvalue::OK) {
-    int exitStatus = cmdExecutor.getLastError();
-    if (exitStatus == 1) {
-      readOnly = false;
-      return returnvalue::OK;
-    }
-    return result;
-  }
-  auto& readVec = cmdExecutor.getReadVector();
-  size_t readLen = strnlen(readVec.data(), readVec.size());
-  if (readLen == 0) {
+  if (result == returnvalue::OK) {
    readOnly = false;
+    return result;
  }
  readOnly = true;
  return returnvalue::OK;
@ -566,7 +560,7 @@ ReturnValue_t SdCardManager::performFsck(sd::SdCard sdcard, bool printOutput, in
 }

 void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
-  MutexGuard mg(mutex);
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
  sdInfo.active = sdCard;
  if (sdInfo.active == sd::SdCard::SLOT_0) {
    currentPrefix = config::SD_0_MOUNT_POINT;
@ -576,7 +570,7 @@ void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
 }

 std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
-  MutexGuard mg(mutex);
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
  if (markedUnusable) {
    return std::nullopt;
  }
@ -584,6 +578,11 @@ std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
 }

 void SdCardManager::markUnusable() {
-  MutexGuard mg(mutex);
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
  markedUnusable = true;
 }
+
+void SdCardManager::markUsable() {
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
+  markedUnusable = false;
+}
--- a/bsp_q7s/fs/SdCardManager.h
+++ b/bsp_q7s/fs/SdCardManager.h
@ -25,7 +25,7 @@ class MutexIF;
 *          state
 */
 class SdCardManager : public SystemObject, public SdCardMountedIF {
-  friend class SdCardAccess;
+  friend class CoreController;

 public:
  using mountInitCb = ReturnValue_t (*)(void* args);
@ -117,16 +117,6 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
  ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true,
                                SdStatePair* statusPair = nullptr);

-  /**
-   * Update the state file or creates one if it does not exist. You need to call this
-   * function before calling #sdCardActive
-   * @return
-   *  - returnvalue::OK if the state file was updated successfully
-   *  - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending
-   *  - returnvalue::FAILED: blocking command failed
-   */
-  ReturnValue_t updateSdCardStateFile();
-
  /**
   * Get the state of the SD cards. If the state file does not exist, this function will
   * take care of updating it. If it does not, the function will use the state file to get
@ -187,7 +177,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
   * @param prefSdCardPtr
   * @return
   */
-  const std::string& getCurrentMountPrefix() const override;
+  const char* getCurrentMountPrefix() const override;

  OpStatus checkCurrentOp(Operations& currentOp);

@ -215,24 +205,41 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
  ReturnValue_t performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError);

  void markUnusable();
+  void markUsable();

 private:
  CommandExecutor cmdExecutor;
+  SdStatePair sdStates;
  Operations currentOp = Operations::IDLE;
  bool blocking = false;
  bool sdCardActive = true;
  bool printCmdOutput = true;
  bool markedUnusable = false;
-  MutexIF* mutex = nullptr;
+  MutexIF* sdLock = nullptr;
+  MutexIF* prefLock = nullptr;
+  MutexIF* defaultLock = nullptr;
+  static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
+  static constexpr uint32_t SD_LOCK_TIMEOUT = 100;
+  static constexpr uint32_t OTHER_TIMEOUT = 20;
+  static constexpr char LOCK_CTX[] = "SdCardManager";

  SdCardManager();

+  /**
+   * Update the state file or creates one if it does not exist. You need to call this
+   * function before calling #sdCardActive
+   * @return
+   *  - returnvalue::OK if the state file was updated successfully
+   *  - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending
+   *  - returnvalue::FAILED: blocking command failed
+   */
+  ReturnValue_t updateSdCardStateFile();
+
  ReturnValue_t setSdCardState(sd::SdCard sdCard, bool on);

-  void processSdStatusLine(SdStatePair& active, std::string& line, uint8_t& idx,
-                           sd::SdCard& currentSd);
+  void processSdStatusLine(std::string& line, uint8_t& idx, sd::SdCard& currentSd);

-  std::string currentPrefix;
+  std::optional<std::string> currentPrefix;

  static SdCardManager* INSTANCE;
 };
--- a/bsp_q7s/fs/helpers.cpp
+++ b/bsp_q7s/fs/helpers.cpp
@ -3,6 +3,9 @@
 std::filesystem::path fshelpers::getPrefixedPath(SdCardManager &man,
                                                 std::filesystem::path pathWihtoutPrefix) {
  auto prefix = man.getCurrentMountPrefix();
+  if (prefix == nullptr) {
+    return pathWihtoutPrefix;
+  }
  auto resPath = prefix / pathWihtoutPrefix;
  return resPath;
 }
--- a/bsp_q7s/main.cpp
+++ b/bsp_q7s/main.cpp
@ -12,10 +12,10 @@
 * @brief 	This is the main program for the target hardware.
 * @return
 */
-int main(void) {
+int main(int argc, char* argv[]) {
  using namespace std;
 #if Q7S_SIMPLE_MODE == 0
-  return obsw::obsw();
+  return obsw::obsw(argc, argv);
 #else
  return simple::simple();
 #endif
--- a/bsp_q7s/memory/CMakeLists.txt
+++ b/bsp_q7s/memory/CMakeLists.txt
@ -1 +1 @@
-target_sources(${OBSW_NAME} PRIVATE scratchApi.cpp)
+target_sources(${OBSW_NAME} PRIVATE scratchApi.cpp LocalParameterHandler.cpp)
--- a/bsp_q7s/memory/LocalParameterHandler.cpp
+++ b/bsp_q7s/memory/LocalParameterHandler.cpp
@ -0,0 +1,41 @@
+#include "LocalParameterHandler.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+LocalParameterHandler::LocalParameterHandler(std::string sdRelativeName, SdCardMountedIF* sdcMan)
+    : NVMParameterBase(), sdRelativeName(sdRelativeName), sdcMan(sdcMan) {}
+
+LocalParameterHandler::~LocalParameterHandler() {}
+
+ReturnValue_t LocalParameterHandler::initialize() {
+  ReturnValue_t result = updateFullName();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = readJsonFile();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t LocalParameterHandler::writeJsonFile() {
+  ReturnValue_t result = updateFullName();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return NVMParameterBase::writeJsonFile();
+}
+
+ReturnValue_t LocalParameterHandler::updateFullName() {
+  std::string mountPrefix;
+  auto activeSd = sdcMan->getActiveSdCard();
+  if (activeSd and sdcMan->isSdCardUsable(activeSd.value())) {
+    mountPrefix = sdcMan->getCurrentMountPrefix();
+  } else {
+    return SD_NOT_READY;
+  }
+  std::string fullname = mountPrefix + "/" + sdRelativeName;
+  NVMParameterBase::setFullName(fullname);
+  return returnvalue::OK;
+}
--- a/bsp_q7s/memory/LocalParameterHandler.h
+++ b/bsp_q7s/memory/LocalParameterHandler.h
@ -0,0 +1,106 @@
+#ifndef BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_
+#define BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_
+
+#include <mission/memory/NvmParameterBase.h>
+#include <mission/memory/SdCardMountedIF.h>
+
+#include <string>
+
+/**
+ * @brief	Class to handle persistent parameters
+ *
+ */
+class LocalParameterHandler : public NVMParameterBase {
+ public:
+  static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_PARAM_HANDLER;
+
+  static constexpr ReturnValue_t SD_NOT_READY = returnvalue::makeCode(INTERFACE_ID, 0);
+  /**
+   * @brief	Constructor
+   *
+   * @param sdRelativeName	Absolute name of json file relative to mount
+   * 												directory
+   * of SD card. E.g. conf/example.json
+   * @param sdcMan	Pointer to SD card manager
+   */
+  LocalParameterHandler(std::string sdRelativeName, SdCardMountedIF* sdcMan);
+  virtual ~LocalParameterHandler();
+
+  /**
+   * @brief Will initialize the local parameter handler
+   *
+   * @return OK if successful, otherwise error return value
+   */
+  ReturnValue_t initialize();
+
+  /**
+   * @brief Function to add parameter to json file. If the json file does
+   * 				not yet exist it will be created here.
+   *
+   * @param key	The string to identify the parameter
+   * @param value	The value to set for this parameter
+   *
+   * @return OK if successful, otherwise error return value
+   *
+   * @details The function will add the parameter only if it is not already
+   * 					present in the json file
+   */
+  template <typename T>
+  ReturnValue_t addParameter(std::string key, T value);
+
+  /**
+   * @brief	Function will update a parameter which already exists in the json
+   * 				file
+   *
+   * @param key 	The unique string to identify the parameter to update
+   * @param value The new new value to set
+   *
+   * @return OK if successful, otherwise error return value
+   */
+  template <typename T>
+  ReturnValue_t updateParameter(std::string key, T value);
+
+ private:
+  // Name relative to mount point of SD card where parameters will be stored
+  std::string sdRelativeName;
+
+  SdCardMountedIF* sdcMan;
+
+  virtual ReturnValue_t writeJsonFile();
+
+  /**
+   * @brief This function sets the name of the json file dependent on the
+   * 				currently active SD card
+   *
+   * @return OK if successful, otherwise error return value
+   */
+  ReturnValue_t updateFullName();
+};
+
+template <typename T>
+inline ReturnValue_t LocalParameterHandler::addParameter(std::string key, T value) {
+  ReturnValue_t result = insertValue(key, value);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = writeJsonFile();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
+}
+
+template <typename T>
+inline ReturnValue_t LocalParameterHandler::updateParameter(std::string key, T value) {
+  ReturnValue_t result = setValue(key, value);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = writeJsonFile();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
+}
+
+#endif /* BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_ */
--- a/bsp_q7s/obsw.cpp
+++ b/bsp_q7s/obsw.cpp
@ -9,20 +9,27 @@
 #include <iostream>

 #include "OBSWConfig.h"
+#include "bsp_q7s/core/WatchdogHandler.h"
 #include "commonConfig.h"
 #include "core/scheduling.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
+#include "mission/acs/defs.h"
+#include "mission/com/defs.h"
+#include "mission/system/systemTree.h"
 #include "q7sConfig.h"
 #include "watchdog/definitions.h"

-static int OBSW_ALREADY_RUNNING = -2;
+static constexpr int OBSW_ALREADY_RUNNING = -2;
 #if OBSW_Q7S_EM == 0
 static const char* DEV_STRING = "Xiphos Q7S FM";
 #else
 static const char* DEV_STRING = "Xiphos Q7S EM";
 #endif
-int obsw::obsw() {
+
+WatchdogHandler WATCHDOG_HANDLER;
+
+int obsw::obsw(int argc, char* argv[]) {
  using namespace fsfw;
  std::cout << "-- EIVE OBSW --" << std::endl;
  std::cout << "-- Compiled for Linux (" << DEV_STRING << ") --" << std::endl;
@ -31,9 +38,10 @@ int obsw::obsw() {
  std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;

 #if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1
+  std::error_code e;
  // Check special file here. This file is created or deleted by the eive-watchdog application
  // or systemd service!
-  if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
+  if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME, e)) {
    sif::warning << "File " << watchdog::RUNNING_FILE_NAME
                 << " exists so the software might "
                    "already be running. Check if obsw systemd service has been stopped."
@ -42,14 +50,48 @@ int obsw::obsw() {
  }
 #endif

+  // Delay the boot if applicable.
+  bootDelayHandling();
+
+  bool initWatchFunction = false;
+  std::string fullExecPath = argv[0];
+  if (fullExecPath.find("/usr/bin") != std::string::npos) {
+    initWatchFunction = true;
+  }
+  ReturnValue_t result = WATCHDOG_HANDLER.initialize(initWatchFunction);
+  if (result != returnvalue::OK) {
+    std::cerr << "Initiating EIVE watchdog handler failed" << std::endl;
+  }
+
+  scheduling::initMission();
+
+  // Command the EIVE system to safe mode
+#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
+  // This ensures that the PCDU switches were updated.
+  TaskFactory::delayTask(1000);
+  commandComSubsystemRxOnly();
+  commandEiveSystemToSafe();
+#else
+  announceAllModes();
+#endif
+
+  for (;;) {
+    WATCHDOG_HANDLER.periodicOperation();
+    TaskFactory::delayTask(2000);
+  }
+  return 0;
+}
+
+void obsw::bootDelayHandling() {
  const char* homedir = nullptr;
  homedir = getenv("HOME");
  if (homedir == nullptr) {
    homedir = getpwuid(getuid())->pw_dir;
  }
  std::filesystem::path bootDelayFile = std::filesystem::path(homedir) / "boot_delay_secs.txt";
+  std::error_code e;
  // Init delay handling.
-  if (std::filesystem::exists(bootDelayFile)) {
+  if (std::filesystem::exists(bootDelayFile, e)) {
    std::ifstream ifile(bootDelayFile);
    std::string lineStr;
    unsigned int bootDelaySecs = 0;
@ -69,12 +111,41 @@ int obsw::obsw() {
    std::cout << "Delaying OBSW start for " << bootDelaySecs << " seconds" << std::endl;
    TaskFactory::delayTask(bootDelaySecs * 1000);
  }
-
-  scheduling::initMission();
-
-  for (;;) {
-    /* Suspend main thread by sleeping it. */
-    TaskFactory::delayTask(5000);
-  }
-  return 0;
+}
+
+void obsw::commandEiveSystemToSafe() {
+  auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
+  CommandMessage msg;
+  ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
+  ReturnValue_t result =
+      MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
+  if (result != returnvalue::OK) {
+    sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
+  }
+}
+
+void obsw::commandComSubsystemRxOnly() {
+  auto* comSs = ObjectManager::instance()->get<HasModesIF>(objects::COM_SUBSYSTEM);
+  if (comSs == nullptr) {
+    sif::error << "obsw: Could not retrieve COM subsystem object" << std::endl;
+    return;
+  }
+  CommandMessage msg;
+  ModeMessage::setCmdModeMessage(msg, com::RX_ONLY, 0);
+  ReturnValue_t result = MessageQueueSenderIF::sendMessage(comSs->getCommandQueue(), &msg,
+                                                           MessageQueueIF::NO_QUEUE, false);
+  if (result != returnvalue::OK) {
+    sif::error << "obsw: Sending RX_ONLY mode command to COM subsystem failed" << std::endl;
+  }
+}
+
+void obsw::announceAllModes() {
+  auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
+  CommandMessage msg;
+  ModeMessage::setModeAnnounceMessage(msg, true);
+  ReturnValue_t result =
+      MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
+  if (result != returnvalue::OK) {
+    sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
+  }
 }
--- a/bsp_q7s/obsw.h
+++ b/bsp_q7s/obsw.h
@ -3,8 +3,13 @@

 namespace obsw {

-int obsw();
+int obsw(int argc, char* argv[]);

-};
+void bootDelayHandling();
+void commandEiveSystemToSafe();
+void commandComSubsystemRxOnly();
+void announceAllModes();
+
+};  // namespace obsw

 #endif /* BSP_Q7S_CORE_OBSW_H_ */
--- a/clone-submodules-no-privlibs.sh
+++ b/clone-submodules-no-privlibs.sh
@ -1,3 +1,6 @@
 #!/bin/bash

+root="$(pwd)"
+ln -s "$root/hooks" "$root/.git/hooks"
+
 git submodule update --init fsfw thirdparty/rapidcsv thirdparty/lwgps thirdparty/json
--- a/cmake/BuildType.cmake
+++ b/cmake/BuildType.cmake
@ -21,10 +21,13 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
 	)
 endif()

+set(RELEASE_BUILD 1 PARENT_SCOPE)
+
 if(${CMAKE_BUILD_TYPE} MATCHES "Debug")
 	message(STATUS 
 		"Building Debug application with flags: ${CMAKE_C_FLAGS_DEBUG}"
 	)
+	set(RELEASE_BUILD 0 PARENT_SCOPE)
 elseif(${CMAKE_BUILD_TYPE} MATCHES "RelWithDebInfo")
 	message(STATUS 
 		"Building Release (Debug) application with "
--- a/cmake/EiveHelpers.cmake
+++ b/cmake/EiveHelpers.cmake
@ -4,7 +4,7 @@
 # 2. Major version
 # 3. Minor version
 # 4. Revision
-# 5. git SHA hash and commits since tag
+# 5. (Optional) git SHA hash and commits since tag when applicable
 function(determine_version_with_git)
    include(GetGitRevisionDescription)
    git_describe(VERSION ${ARGN})
@ -22,7 +22,9 @@ function(determine_version_with_git)
    list(APPEND GIT_INFO ${_VERSION_MAJOR})
    list(APPEND GIT_INFO ${_VERSION_MINOR})
    list(APPEND GIT_INFO ${_VERSION_PATCH})
-    list(APPEND GIT_INFO ${VERSION_SHA1})
+    if(NOT VERSION_SHA1 STREQUAL VERSION)
+        list(APPEND GIT_INFO ${VERSION_SHA1})
+    endif()
    set(GIT_INFO ${GIT_INFO} PARENT_SCOPE)
    message(STATUS "eive | Set git version info into GIT_INFO from the git tag ${VERSION}")
 endfunction()
--- a/cmake/Zynq7020CrossCompileConfig.cmake
+++ b/cmake/Zynq7020CrossCompileConfig.cmake
@ -40,8 +40,8 @@ set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
 set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")

 # At the very least, cross compile gcc and g++ have to be set!
-find_program (CMAKE_C_COMPILER ${CROSS_COMPILE_CC} REQUIRED)
-find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} REQUIRED)
+find_program (CMAKE_C_COMPILER ${CROSS_COMPILE_CC} HINTS $ENV{CROSS_COMPILE_BIN_PATH} REQUIRED)
+find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} HINTS $ENV{CROSS_COMPILE_BIN_PATH} REQUIRED)
 # Useful utilities, not strictly necessary
 find_program(CMAKE_SIZE ${CROSS_COMPILE_SIZE})
 find_program(CMAKE_OBJCOPY ${CROSS_COMPILE_OBJCOPY})
--- a/common/config/OBSWVersion.h
+++ b/common/config/OBSWVersion.h
@ -1,10 +0,0 @@
-#ifndef COMMON_CONFIG_OBSWVERSION_H_
-#define COMMON_CONFIG_OBSWVERSION_H_
-
-const char* const SW_NAME = "eive";
-
-#define SW_VERSION 1
-#define SW_SUBVERSION 12
-#define SW_REVISION 1
-
-#endif /* COMMON_CONFIG_OBSWVERSION_H_ */
--- a/common/config/commonConfig.h.in
+++ b/common/config/commonConfig.h.in
@ -4,6 +4,8 @@
 #include <cstdint>
 #include "fsfw/version.h"

+#cmakedefine RELEASE_BUILD
+
 #cmakedefine RASPBERRY_PI
 #cmakedefine XIPHOS_Q7S
 #cmakedefine BEAGLEBONEBLACK
--- a/common/config/devConf.h
+++ b/common/config/devConf.h
@ -5,6 +5,7 @@

 #include <cstdint>

+#include "commonConfig.h"
 #include "fsfw/timemanager/clockDefinitions.h"
 #include "fsfw_hal/linux/serial/SerialCookie.h"
 #include "fsfw_hal/linux/spi/spiDefinitions.h"
@ -47,13 +48,22 @@ static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
 static constexpr uint32_t RW_SPEED = 300'000;
 static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0;

-static constexpr dur_millis_t RTD_CS_TIMEOUT = 50;
+#ifdef RELEASE_BUILD
+static constexpr uint8_t CS_FACTOR = 1;
+#else
+static constexpr uint8_t CS_FACTOR = 3;
+#endif
+
+static constexpr dur_millis_t RTD_CS_TIMEOUT = 50 * CS_FACTOR;
 static constexpr uint32_t RTD_SPEED = 2'000'000;
 static constexpr spi::SpiModes RTD_MODE = spi::SpiModes::MODE_3;

+static constexpr dur_millis_t SUS_CS_TIMEOUT = 50 * CS_FACTOR;
+static constexpr dur_millis_t ACS_BOARD_CS_TIMEOUT = 50 * CS_FACTOR;
+
 }  // namespace spi

-namespace uart {
+namespace serial {

 static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
 static constexpr UartBaudRate SYRLINKS_BAUD = UartBaudRate::RATE_38400;
@ -63,6 +73,6 @@ static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200;
 static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_921600;
 static constexpr UartBaudRate STAR_TRACKER_BAUD = UartBaudRate::RATE_921600;

-}  // namespace uart
+}  // namespace serial

 #endif /* COMMON_CONFIG_DEVCONF_H_ */
--- a/common/config/devices/gpioIds.h
+++ b/common/config/devices/gpioIds.h
@ -77,6 +77,8 @@ enum gpioId_t {
  CS_RAD_SENSOR,
  ENABLE_RADFET,

+  PL_I2C_ARESETN,
+
  PAPB_BUSY_N,
  PAPB_EMPTY,

@ -93,15 +95,11 @@ enum gpioId_t {
  EN_RW_CS,

  SPI_MUX,
-
  VC0_PAPB_EMPTY,
-  VC0_PAPB_BUSY,
  VC1_PAPB_EMPTY,
-  VC1_PAPB_BUSY,
  VC2_PAPB_EMPTY,
-  VC2_PAPB_BUSY,
  VC3_PAPB_EMPTY,
-  VC3_PAPB_BUSY,
+  PTME_RESETN,

  PDEC_RESET,

--- a/common/config/devices/heaterSwitcherList.h
+++ b/common/config/devices/heaterSwitcherList.h
@ -1,20 +0,0 @@
-#ifndef FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_
-#define FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_
-
-#include <cstdint>
-
-namespace heater {
-enum Switchers : uint8_t {
-  HEATER_0_OBC_BRD,
-  HEATER_1_PLOC_PROC_BRD,
-  HEATER_2_ACS_BRD,
-  HEATER_3_PCDU_PDU,
-  HEATER_4_CAMERA,
-  HEATER_5_STR,
-  HEATER_6_DRO,
-  HEATER_7_HPA,
-  NUMBER_OF_SWITCHES
-};
-}
-
-#endif /* FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_ */
--- a/common/config/devices/powerSwitcherList.h
+++ b/common/config/devices/powerSwitcherList.h
@ -1,6 +1,6 @@
 #ifndef FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
 #define FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_

-#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
+#include <mission/power/gsDefs.h>

 #endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */
--- a/common/config/eive/definitions.h
+++ b/common/config/eive/definitions.h
@ -15,6 +15,9 @@ static constexpr char OBSW_VERSION_FILE_NAME[] = "obsw_version.txt";
 static constexpr char OBSW_PATH[] = "/usr/bin/eive-obsw";
 static constexpr char OBSW_VERSION_FILE_PATH[] = "/usr/share/eive-obsw/obsw_version.txt";

+// ISO8601 timestamp.
+static constexpr char FILE_DATE_FORMAT[] = "%FT%H%M%SZ";
+
 static constexpr uint16_t EIVE_PUS_APID = 0x65;
 static constexpr uint16_t EIVE_CFDP_APID = 0x66;
 static constexpr uint16_t EIVE_LOCAL_CFDP_ENTITY_ID = EIVE_CFDP_APID;
@ -31,8 +34,8 @@ static constexpr uint32_t STR_IMG_HELPER_QUEUE_SIZE = 50;
 static constexpr uint8_t LIVE_TM = 0;

 /* Limits for filename and path checks */
-static constexpr uint32_t MAX_PATH_SIZE = 100;
-static constexpr uint32_t MAX_FILENAME_SIZE = 50;
+static constexpr uint32_t MAX_PATH_SIZE = 200;
+static constexpr uint32_t MAX_FILENAME_SIZE = 100;

 static constexpr uint32_t SA_DEPL_INIT_BUFFER_SECS = 120;
 // Burn time for autonomous deployment
@ -45,15 +48,52 @@ static constexpr uint32_t SA_DEPL_MAX_BURN_TIME = 180;

 static constexpr uint32_t CCSDS_HANDLER_QUEUE_SIZE = 50;
 static constexpr uint8_t NUMBER_OF_VIRTUAL_CHANNELS = 4;
-static constexpr uint8_t VC0_QUEUE_SIZE = 80;
-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 VC0_LIVE_TM_QUEUE_SIZE = 300;
+// There are three individual log stores!
+static constexpr uint32_t MISC_STORE_QUEUE_SIZE = 200;
+static constexpr uint32_t OK_STORE_QUEUE_SIZE = 350;
+static constexpr uint32_t NOK_STORE_QUEUE_SIZE = 350;
+static constexpr uint32_t HK_STORE_QUEUE_SIZE = 300;
+static constexpr uint32_t CFDP_STORE_QUEUE_SIZE = 300;

 static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100;
+static constexpr uint32_t MAX_CFDP_FUNNEL_QUEUE_DEPTH = 80;
+static constexpr uint32_t VERIFICATION_SERVICE_QUEUE_DEPTH = 120;
+static constexpr uint32_t HK_SERVICE_QUEUE_DEPTH = 60;
+static constexpr uint32_t ACTION_SERVICE_QUEUE_DEPTH = 60;

-static constexpr uint32_t MAX_STORED_CMDS_UDP = 120;
-static constexpr uint32_t MAX_STORED_CMDS_TCP = 120;
+static constexpr uint32_t MAX_STORED_CMDS_UDP = 150;
+static constexpr uint32_t MAX_STORED_CMDS_TCP = 180;
+
+namespace spiSched {
+
+static constexpr uint32_t SCHED_BLOCK_1_SUS_READ_MS = 15;
+static constexpr uint32_t SCHED_BLOCK_2_SENSOR_READ_MS = 30;
+static constexpr uint32_t SCHED_BLOCK_3_READ_IMTQ_MGM_MS = 43;
+static constexpr uint32_t SCHED_BLOCK_4_ACS_CTRL_MS = 45;
+static constexpr uint32_t SCHED_BLOCK_5_ACTUATOR_MS = 55;
+static constexpr uint32_t SCHED_BLOCK_6_IMTQ_BLOCK_2_MS = 105;
+static constexpr uint32_t SCHED_BLOCK_RTD = 150;
+static constexpr uint32_t SCHED_BLOCK_7_RW_READ_MS = 300;
+static constexpr uint32_t SCHED_BLOCK_8_PLPCDU_MS = 320;
+static constexpr uint32_t SCHED_BLOCK_9_RAD_SENS_MS = 340;
+
+// 15 ms for FM
+static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SUS_READ_MS) / 400.0;
+static constexpr float SCHED_BLOCK_2_PERIOD =
+    static_cast<float>(SCHED_BLOCK_2_SENSOR_READ_MS) / 400.0;
+static constexpr float SCHED_BLOCK_3_PERIOD =
+    static_cast<float>(SCHED_BLOCK_3_READ_IMTQ_MGM_MS) / 400.0;
+static constexpr float SCHED_BLOCK_4_PERIOD = static_cast<float>(SCHED_BLOCK_4_ACS_CTRL_MS) / 400.0;
+static constexpr float SCHED_BLOCK_5_PERIOD = static_cast<float>(SCHED_BLOCK_5_ACTUATOR_MS) / 400.0;
+static constexpr float SCHED_BLOCK_6_PERIOD =
+    static_cast<float>(SCHED_BLOCK_6_IMTQ_BLOCK_2_MS) / 400.0;
+static constexpr float SCHED_BLOCK_RTD_PERIOD = static_cast<float>(SCHED_BLOCK_RTD) / 400.0;
+static constexpr float SCHED_BLOCK_7_PERIOD = static_cast<float>(SCHED_BLOCK_7_RW_READ_MS) / 400.0;
+static constexpr float SCHED_BLOCK_8_PERIOD = static_cast<float>(SCHED_BLOCK_8_PLPCDU_MS) / 400.0;
+static constexpr float SCHED_BLOCK_9_PERIOD = static_cast<float>(SCHED_BLOCK_9_RAD_SENS_MS) / 400.0;
+
+}  // namespace spiSched

 }  // namespace config

--- a/common/config/eive/eventSubsystemIds.h
+++ b/common/config/eive/eventSubsystemIds.h
@ -36,6 +36,10 @@ enum : uint8_t {
  SCEX_HANDLER = 138,
  CONFIGHANDLER = 139,
  CORE = 140,
+  TCS_CONTROLLER = 141,
+  COM_SUBSYSTEM = 142,
+  PERSISTENT_TM_STORE = 143,
+  SYRLINKS_COM = 144,
  COMMON_SUBSYSTEM_ID_END

 };
--- a/common/config/eive/objects.h
+++ b/common/config/eive/objects.h
@ -43,14 +43,17 @@ enum commonObjects : uint32_t {
  RW4 = 0x44120350,
  STAR_TRACKER = 0x44130001,
  GPS_CONTROLLER = 0x44130045,
+  GPS_0_HEALTH_DEV = 0x44130046,
+  GPS_1_HEALTH_DEV = 0x44130047,

+  IMTQ_POLLING = 0x44140013,
  IMTQ_HANDLER = 0x44140014,
  TMP1075_HANDLER_TCS_0 = 0x44420004,
  TMP1075_HANDLER_TCS_1 = 0x44420005,
  TMP1075_HANDLER_PLPCDU_0 = 0x44420006,
  TMP1075_HANDLER_PLPCDU_1 = 0x44420007,
  TMP1075_HANDLER_IF_BOARD = 0x44420008,
-  TMP1075_HANDLER_OBC_IF_BOARD = 0x44420009,
+
  PCDU_HANDLER = 0x442000A1,
  P60DOCK_HANDLER = 0x44250000,
  PDU1_HANDLER = 0x44250001,
@ -61,10 +64,14 @@ enum commonObjects : uint32_t {
  RAD_SENSOR = 0x443200A5,
  PLOC_UPDATER = 0x44330000,
  PLOC_MEMORY_DUMPER = 0x44330001,
-  STR_HELPER = 0x44330002,
+  STR_COM_IF = 0x44330002,
  PLOC_MPSOC_HELPER = 0x44330003,
  AXI_PTME_CONFIG = 0x44330004,
  PTME_CONFIG = 0x44330005,
+  PTME_VC0_LIVE_TM = 0x44330006,
+  PTME_VC1_LOG_TM = 0x44330007,
+  PTME_VC2_HK_TM = 0x44330008,
+  PTME_VC3_CFDP_TM = 0x44330009,
  PLOC_MPSOC_HANDLER = 0x44330015,
  PLOC_SUPERVISOR_HANDLER = 0x44330016,
  PLOC_SUPERVISOR_HELPER = 0x44330017,
@ -118,11 +125,13 @@ enum commonObjects : uint32_t {
  SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043,

  SYRLINKS_HANDLER = 0x445300A3,
-  // might be obsolete, was not used in Q7S FM SW
-  // CCSDS_IP_CORE_BRIDGE = 0x73500000,
+  SYRLINKS_COM_HANDLER = 0x445300A4,

  /* 0x49 ('I') for Communication Interfaces */
-  SPI_RTD_COM_IF = 0x49020006,
+  ACS_BOARD_POLLING_TASK = 0x49060004,
+  RW_POLLING_TASK = 0x49060005,
+  SPI_RTD_COM_IF = 0x49060006,
+  SUS_POLLING_TASK = 0x49060007,

  // 0x60 for other stuff
  HEATER_0_PLOC_PROC_BRD = 0x60000000,
@ -132,14 +141,17 @@ enum commonObjects : uint32_t {
  HEATER_4_CAMERA = 0x60000004,
  HEATER_5_STR = 0x60000005,
  HEATER_6_DRO = 0x60000006,
-  HEATER_7_HPA = 0x60000007,
+  HEATER_7_SYRLINKS = 0x60000007,

  // 0x73 ('s') for assemblies and system/subsystem components
  ACS_BOARD_ASS = 0x73000001,
  SUS_BOARD_ASS = 0x73000002,
  TCS_BOARD_ASS = 0x73000003,
-  RW_ASS = 0x73000004,
+  RW_ASSY = 0x73000004,
  CAM_SWITCHER = 0x73000006,
+  SYRLINKS_ASSY = 0x73000007,
+  IMTQ_ASSY = 0x73000008,
+  STR_ASSY = 0x73000009,
  EIVE_SYSTEM = 0x73010000,
  ACS_SUBSYSTEM = 0x73010001,
  PL_SUBSYSTEM = 0x73010002,
@ -151,6 +163,20 @@ enum commonObjects : uint32_t {
  CFDP_TM_FUNNEL = 0x73000102,
  CFDP_HANDLER = 0x73000205,
  CFDP_DISTRIBUTOR = 0x73000206,
+  MISC_TM_STORE = 0x73020001,
+  OK_TM_STORE = 0x73020002,
+  NOT_OK_TM_STORE = 0x73020003,
+  HK_TM_STORE = 0x73020004,
+  CFDP_TM_STORE = 0x73030000,
+
+  LIVE_TM_TASK = 0x73040000,
+  LOG_STORE_AND_TM_TASK = 0x73040001,
+  HK_STORE_AND_TM_TASK = 0x73040002,
+  CFDP_STORE_AND_TM_TASK = 0x73040003,
+  DOWNLINK_RAM_STORE = 0x73040004,
+
+  // Other stuff
+  THERMAL_TEMP_INSERTER = 0x90000003,
 };
 }

--- a/common/config/eive/resultClassIds.h
+++ b/common/config/eive/resultClassIds.h
@ -35,9 +35,14 @@ enum commonClassIds : uint8_t {
  SA_DEPL_HANDLER,          // SADPL
  MPSOC_RETURN_VALUES_IF,   // MPSOCRTVIF
  SUPV_RETURN_VALUES_IF,    // SPVRTVIF
+  ACS_CTRL,                 // ACSCTRL
+  ACS_MEKF,                 // ACSMEKF
+  SD_CARD_MANAGER,          // SDMA
+  LOCAL_PARAM_HANDLER,      // LPH
+  PERSISTENT_TM_STORE,      // PTM
+  TM_SINK,                  // TMS
  COMMON_CLASS_ID_END       // [EXPORT] : [END]
 };
-
 }

 #endif /* COMMON_CONFIG_COMMONCLASSIDS_H_ */
--- a/common/config/tmtc/pusIds.h
+++ b/common/config/tmtc/pusIds.h
@ -12,6 +12,7 @@ enum Ids {
  PUS_SERVICE_8 = 8,
  PUS_SERVICE_9 = 9,
  PUS_SERVICE_11 = 11,
+  PUS_SERVICE_15 = 15,
  PUS_SERVICE_17 = 17,
  PUS_SERVICE_19 = 19,
  PUS_SERVICE_20 = 20,
--- a/dummies/AcuDummy.cpp
+++ b/dummies/AcuDummy.cpp
@ -1,15 +1,18 @@
 #include "AcuDummy.h"

-#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include <mission/power/gsDefs.h>

-AcuDummy::AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+AcuDummy::AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie, bool enableHkSets)
+    : DeviceHandlerBase(objectId, comif, comCookie),
+      coreHk(this),
+      auxHk(this),
+      enableHkSets(enableHkSets) {}

 AcuDummy::~AcuDummy() {}

-void AcuDummy::doStartUp() {}
+void AcuDummy::doStartUp() { setMode(MODE_NORMAL); }

-void AcuDummy::doShutDown() {}
+void AcuDummy::doShutDown() { setMode(MODE_OFF); }

 ReturnValue_t AcuDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }

@ -37,6 +40,49 @@ uint32_t AcuDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return

 ReturnValue_t AcuDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(ACU::pool::ACU_TEMPERATURES, new PoolEntry<float>(3));
+  using namespace ACU;
+  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNELS, new PoolEntry<int16_t>(6));
+  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNELS, new PoolEntry<uint16_t>(6));
+
+  localDataPoolMap.emplace(pool::ACU_VCC, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_VBAT, new PoolEntry<uint16_t>({0}));
+
+  localDataPoolMap.emplace(ACU::pool::ACU_TEMPERATURES,
+                           new PoolEntry<float>({10.0, 10.0, 10.0}, true));
+
+  localDataPoolMap.emplace(pool::ACU_MPPT_MODE, new PoolEntry<uint8_t>({0}));
+
+  localDataPoolMap.emplace(pool::ACU_VBOOST_IN_CHANNELS, new PoolEntry<uint16_t>(6));
+  localDataPoolMap.emplace(pool::ACU_POWER_IN_CHANNELS, new PoolEntry<uint16_t>(6));
+
+  localDataPoolMap.emplace(pool::ACU_DAC_ENABLES, new PoolEntry<uint8_t>(3));
+  localDataPoolMap.emplace(pool::ACU_DAC_RAW_CHANNELS, new PoolEntry<uint16_t>(6));
+
+  localDataPoolMap.emplace(pool::ACU_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_BOOTCNT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_UPTIME, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_RESET_CAUSE, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_MPPT_TIME, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_MPPT_PERIOD, new PoolEntry<uint16_t>({0}));
+
+  localDataPoolMap.emplace(pool::ACU_DEVICES, new PoolEntry<uint8_t>(8));
+  localDataPoolMap.emplace(pool::ACU_DEVICES_STATUS, new PoolEntry<uint8_t>(8));
+
+  localDataPoolMap.emplace(pool::ACU_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
+
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 30.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 6000.0));
  return returnvalue::OK;
 }
+
+LocalPoolDataSetBase *AcuDummy::getDataSetHandle(sid_t sid) {
+  if (sid == coreHk.getSid()) {
+    return &coreHk;
+  } else if (sid == auxHk.getSid()) {
+    return &auxHk;
+  }
+  return nullptr;
+}
--- a/dummies/AcuDummy.h
+++ b/dummies/AcuDummy.h
@ -2,6 +2,7 @@
 #define DUMMIES_ACUDUMMY_H_

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/power/gsDefs.h>

 class AcuDummy : public DeviceHandlerBase {
 public:
@ -11,10 +12,14 @@ class AcuDummy : public DeviceHandlerBase {
  static const uint8_t SIMPLE_COMMAND_DATA = 1;
  static const uint8_t PERIODIC_REPLY_DATA = 2;

-  AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie, bool enableHkSets);
  virtual ~AcuDummy();

 protected:
+  ACU::CoreHk coreHk;
+  ACU::AuxHk auxHk;
+  bool enableHkSets;
+
  void doStartUp() override;
  void doShutDown() override;
  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
@ -28,6 +33,7 @@ class AcuDummy : public DeviceHandlerBase {
  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                        LocalDataPoolManager &poolManager) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
 };

 #endif /* DUMMIES_ACUDUMMY_H_ */
--- a/dummies/BpxDummy.cpp
+++ b/dummies/BpxDummy.cpp
@ -1,15 +1,15 @@
 #include "BpxDummy.h"

-#include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>
+#include <mission/power/bpxBattDefs.h>

 BpxDummy::BpxDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
    : DeviceHandlerBase(objectId, comif, comCookie) {}

 BpxDummy::~BpxDummy() {}

-void BpxDummy::doStartUp() {}
+void BpxDummy::doStartUp() { setMode(MODE_NORMAL); }

-void BpxDummy::doShutDown() {}
+void BpxDummy::doShutDown() { setMode(MODE_OFF); }

 ReturnValue_t BpxDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }

@ -37,19 +37,19 @@ uint32_t BpxDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return

 ReturnValue_t BpxDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_1, &battTemp1);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_2, &battTemp2);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_3, &battTemp3);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_4, &battTemp4);
-  localDataPoolMap.emplace(BpxBattery::CHARGE_CURRENT, &chargeCurrent);
-  localDataPoolMap.emplace(BpxBattery::DISCHARGE_CURRENT, &dischargeCurrent);
-  localDataPoolMap.emplace(BpxBattery::HEATER_CURRENT, &heaterCurrent);
-  localDataPoolMap.emplace(BpxBattery::BATT_VOLTAGE, &battVolt);
-  localDataPoolMap.emplace(BpxBattery::REBOOT_COUNTER, &rebootCounter);
-  localDataPoolMap.emplace(BpxBattery::BOOTCAUSE, &bootCause);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_1, &battTemp1);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_2, &battTemp2);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_3, &battTemp3);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_4, &battTemp4);
+  localDataPoolMap.emplace(bpxBat::CHARGE_CURRENT, &chargeCurrent);
+  localDataPoolMap.emplace(bpxBat::DISCHARGE_CURRENT, &dischargeCurrent);
+  localDataPoolMap.emplace(bpxBat::HEATER_CURRENT, &heaterCurrent);
+  localDataPoolMap.emplace(bpxBat::BATT_VOLTAGE, &battVolt);
+  localDataPoolMap.emplace(bpxBat::REBOOT_COUNTER, &rebootCounter);
+  localDataPoolMap.emplace(bpxBat::BOOTCAUSE, &bootCause);

-  localDataPoolMap.emplace(BpxBattery::BATTERY_HEATER_MODE, &battheatMode);
-  localDataPoolMap.emplace(BpxBattery::BATTHEAT_LOW_LIMIT, &battheatLow);
-  localDataPoolMap.emplace(BpxBattery::BATTHEAT_HIGH_LIMIT, &battheatHigh);
+  localDataPoolMap.emplace(bpxBat::BATTERY_HEATER_MODE, &battheatMode);
+  localDataPoolMap.emplace(bpxBat::BATTHEAT_LOW_LIMIT, &battheatLow);
+  localDataPoolMap.emplace(bpxBat::BATTHEAT_HIGH_LIMIT, &battheatHigh);
  return returnvalue::OK;
 }
--- a/dummies/BpxDummy.h
+++ b/dummies/BpxDummy.h
@ -34,10 +34,10 @@ class BpxDummy : public DeviceHandlerBase {
  PoolEntry<uint16_t> dischargeCurrent = PoolEntry<uint16_t>({0});
  PoolEntry<uint16_t> heaterCurrent = PoolEntry<uint16_t>({0});
  PoolEntry<uint16_t> battVolt = PoolEntry<uint16_t>({0});
-  PoolEntry<int16_t> battTemp1 = PoolEntry<int16_t>({0});
-  PoolEntry<int16_t> battTemp2 = PoolEntry<int16_t>({0});
-  PoolEntry<int16_t> battTemp3 = PoolEntry<int16_t>({0});
-  PoolEntry<int16_t> battTemp4 = PoolEntry<int16_t>({0});
+  PoolEntry<int16_t> battTemp1 = PoolEntry<int16_t>({10}, true);
+  PoolEntry<int16_t> battTemp2 = PoolEntry<int16_t>({10}, true);
+  PoolEntry<int16_t> battTemp3 = PoolEntry<int16_t>({10}, true);
+  PoolEntry<int16_t> battTemp4 = PoolEntry<int16_t>({10}, true);
  PoolEntry<uint32_t> rebootCounter = PoolEntry<uint32_t>({0});
  PoolEntry<uint8_t> bootCause = PoolEntry<uint8_t>({0});
  PoolEntry<uint8_t> battheatMode = PoolEntry<uint8_t>({0});
--- a/dummies/CMakeLists.txt
+++ b/dummies/CMakeLists.txt
@ -1,11 +1,13 @@
 target_sources(
  ${LIB_DUMMIES}
-  PUBLIC TemperatureSensorsDummy.cpp
+  PUBLIC TemperatureSensorInserter.cpp
         SusDummy.cpp
         BpxDummy.cpp
         ComIFDummy.cpp
         ComCookieDummy.cpp
         RwDummy.cpp
+         Max31865Dummy.cpp
+         PcduHandlerDummy.cpp
         StarTrackerDummy.cpp
         SyrlinksDummy.cpp
         ImtqDummy.cpp
@ -13,11 +15,17 @@ target_sources(
         PduDummy.cpp
         P60DockDummy.cpp
         SaDeploymentDummy.cpp
-         GpsDummy.cpp
+         GpsDhbDummy.cpp
+         GpsCtrlDummy.cpp
         GyroAdisDummy.cpp
         GyroL3GD20Dummy.cpp
         MgmLIS3MDLDummy.cpp
         PlPcduDummy.cpp
+         ExecutableComIfDummy.cpp
+         ScexDummy.cpp
         CoreControllerDummy.cpp
-         helpers.cpp
-         MgmRm3100Dummy.cpp)
+         PlocMpsocDummy.cpp
+         PlocSupervisorDummy.cpp
+         helperFactory.cpp
+         MgmRm3100Dummy.cpp
+         Tmp1075Dummy.cpp)
--- a/dummies/CoreControllerDummy.h
+++ b/dummies/CoreControllerDummy.h
@ -1,7 +1,7 @@
 #pragma once

 #include <fsfw/controller/ExtendedControllerBase.h>
-#include <mission/devices/devicedefinitions/SusDefinitions.h>
+#include <mission/acs/susMax1227Helpers.h>

 class CoreControllerDummy : public ExtendedControllerBase {
 public:
--- a/dummies/ExecutableComIfDummy.cpp
+++ b/dummies/ExecutableComIfDummy.cpp
@ -0,0 +1,27 @@
+#include <dummies/ExecutableComIfDummy.h>
+
+ExecutableComIfDummy::ExecutableComIfDummy(object_id_t objectId) : SystemObject(objectId) {}
+
+ReturnValue_t ExecutableComIfDummy::initializeInterface(CookieIF *cookie) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::sendMessage(CookieIF *cookie, const uint8_t *sendData,
+                                                size_t sendLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
+
+ReturnValue_t ExecutableComIfDummy::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::performOperation(uint8_t operationCode) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+                                                        size_t *size) {
+  return returnvalue::OK;
+}
--- a/dummies/ExecutableComIfDummy.h
+++ b/dummies/ExecutableComIfDummy.h
@ -0,0 +1,21 @@
+#ifndef DUMMIES_EXECUTABLECOMIFDUMMY_H_
+#define DUMMIES_EXECUTABLECOMIFDUMMY_H_
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+
+class ExecutableComIfDummy : public ExecutableObjectIF,
+                             public DeviceCommunicationIF,
+                             public SystemObject {
+ public:
+  ExecutableComIfDummy(object_id_t objectId);
+  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t initializeInterface(CookieIF *cookie) override;
+  ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
+};
+
+#endif /* DUMMIES_EXECUTABLECOMIFDUMMY_H_ */
--- a/dummies/GpsCtrlDummy.cpp
+++ b/dummies/GpsCtrlDummy.cpp
@ -0,0 +1,36 @@
+#include "GpsCtrlDummy.h"
+
+GpsCtrlDummy::GpsCtrlDummy(object_id_t objectId)
+    : ExtendedControllerBase(objectId, 20), gpsSet(this) {}
+
+ReturnValue_t GpsCtrlDummy::handleCommandMessage(CommandMessage* message) {
+  return returnvalue::OK;
+}
+
+void GpsCtrlDummy::performControlOperation() {}
+
+ReturnValue_t GpsCtrlDummy::checkModeCommand(Mode_t mode, Submode_t submode,
+                                             uint32_t* msToReachTheMode) {
+  return returnvalue::OK;
+}
+
+LocalPoolDataSetBase* GpsCtrlDummy::getDataSetHandle(sid_t sid) { return &gpsSet; }
+
+ReturnValue_t GpsCtrlDummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                                    LocalDataPoolManager& poolManager) {
+  localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({537222.3469}, true));
+  localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({-8.8579}, true));
+  localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({49.5952}, true));
+  localDataPoolMap.emplace(GpsHyperion::SPEED, new PoolEntry<double>({0}));
+  localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>({2023}, true));
+  localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>({5}, true));
+  localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>({16}, true));
+  localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>({1}, true));
+  localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>({0}, true));
+  localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>({0}, true));
+  localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>({1684191600}, true));
+  localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
+  return returnvalue::OK;
+}
--- a/dummies/GpsCtrlDummy.h
+++ b/dummies/GpsCtrlDummy.h
@ -0,0 +1,23 @@
+#ifndef DUMMIES_GPSCTRLDUMMY_H_
+#define DUMMIES_GPSCTRLDUMMY_H_
+
+#include <fsfw/controller/ExtendedControllerBase.h>
+#include <mission/acs/archive/GPSDefinitions.h>
+
+class GpsCtrlDummy : public ExtendedControllerBase {
+ public:
+  GpsCtrlDummy(object_id_t objectId);
+
+ private:
+  GpsPrimaryDataset gpsSet;
+
+  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
+  void performControlOperation() override;
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override;
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+};
+
+#endif /* DUMMIES_GPSCTRLDUMMY_H_ */
--- a/dummies/GpsDhbDummy.cpp
+++ b/dummies/GpsDhbDummy.cpp
@ -1,42 +1,44 @@
-#include "GpsDummy.h"
+#include <dummies/GpsDhbDummy.h>
+#include <mission/acs/archive/GPSDefinitions.h>

-#include <mission/devices/devicedefinitions/GPSDefinitions.h>
-
-GpsDummy::GpsDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+GpsDhbDummy::GpsDhbDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
    : DeviceHandlerBase(objectId, comif, comCookie) {}

-GpsDummy::~GpsDummy() {}
+GpsDhbDummy::~GpsDhbDummy() {}

-void GpsDummy::doStartUp() {}
+void GpsDhbDummy::doStartUp() {}

-void GpsDummy::doShutDown() {}
+void GpsDhbDummy::doShutDown() {}

-ReturnValue_t GpsDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
-
-ReturnValue_t GpsDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+ReturnValue_t GpsDhbDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
  return NOTHING_TO_SEND;
 }

-ReturnValue_t GpsDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-                                                const uint8_t *commandData, size_t commandDataLen) {
+ReturnValue_t GpsDhbDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t GpsDhbDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                   const uint8_t *commandData,
+                                                   size_t commandDataLen) {
  return returnvalue::OK;
 }

-ReturnValue_t GpsDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
-                                     size_t *foundLen) {
+ReturnValue_t GpsDhbDummy::scanForReply(const uint8_t *start, size_t len,
+                                        DeviceCommandId_t *foundId, size_t *foundLen) {
  return returnvalue::OK;
 }

-ReturnValue_t GpsDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+ReturnValue_t GpsDhbDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
  return returnvalue::OK;
 }

-void GpsDummy::fillCommandAndReplyMap() {}
+void GpsDhbDummy::fillCommandAndReplyMap() {}

-uint32_t GpsDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+uint32_t GpsDhbDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }

-ReturnValue_t GpsDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-                                                LocalDataPoolManager &poolManager) {
+ReturnValue_t GpsDhbDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                   LocalDataPoolManager &poolManager) {
  localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}, 1));
  localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}, 1));
  localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
--- a/dummies/GpsDhbDummy.h
+++ b/dummies/GpsDhbDummy.h
@ -0,0 +1,33 @@
+#ifndef DUMMIES_GPSDHBDUMMY_H_
+#define DUMMIES_GPSDHBDUMMY_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+class GpsDhbDummy : public DeviceHandlerBase {
+ public:
+  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
+  static const DeviceCommandId_t PERIODIC_REPLY = 2;
+
+  static const uint8_t SIMPLE_COMMAND_DATA = 1;
+  static const uint8_t PERIODIC_REPLY_DATA = 2;
+
+  GpsDhbDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~GpsDhbDummy();
+
+ protected:
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+};
+
+#endif /* DUMMIES_GPSDHBDUMMY_H_ */
--- a/dummies/GyroAdisDummy.cpp
+++ b/dummies/GyroAdisDummy.cpp
@ -1,15 +1,15 @@
 #include "GyroAdisDummy.h"

-#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
+#include <mission/acs/gyroAdisHelpers.h>

 GyroAdisDummy::GyroAdisDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
    : DeviceHandlerBase(objectId, comif, comCookie), dataset(this) {}

 GyroAdisDummy::~GyroAdisDummy() {}

-void GyroAdisDummy::doStartUp() {}
+void GyroAdisDummy::doStartUp() { setMode(MODE_NORMAL); }

-void GyroAdisDummy::doShutDown() {}
+void GyroAdisDummy::doShutDown() { setMode(MODE_OFF); }

 ReturnValue_t GyroAdisDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
  return NOTHING_TO_SEND;
@ -40,13 +40,13 @@ uint32_t GyroAdisDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { r

 ReturnValue_t GyroAdisDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                     LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_X, new PoolEntry<double>({-0.5}, true));
-  localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Y, new PoolEntry<double>({0.2}, true));
-  localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Z, new PoolEntry<double>({-1.2}, true));
-  localDataPoolMap.emplace(ADIS1650X::ACCELERATION_X, new PoolEntry<double>({0.0}));
-  localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Y, new PoolEntry<double>({0.0}));
-  localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Z, new PoolEntry<double>({0.0}));
-  localDataPoolMap.emplace(ADIS1650X::TEMPERATURE, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(adis1650x::ANG_VELOC_X, new PoolEntry<double>({-0.5}, true));
+  localDataPoolMap.emplace(adis1650x::ANG_VELOC_Y, new PoolEntry<double>({0.2}, true));
+  localDataPoolMap.emplace(adis1650x::ANG_VELOC_Z, new PoolEntry<double>({-1.2}, true));
+  localDataPoolMap.emplace(adis1650x::ACCELERATION_X, new PoolEntry<double>({0.0}));
+  localDataPoolMap.emplace(adis1650x::ACCELERATION_Y, new PoolEntry<double>({0.0}));
+  localDataPoolMap.emplace(adis1650x::ACCELERATION_Z, new PoolEntry<double>({0.0}));
+  localDataPoolMap.emplace(adis1650x::TEMPERATURE, new PoolEntry<float>({10.0}, true));

  return returnvalue::OK;
 }
--- a/dummies/GyroAdisDummy.h
+++ b/dummies/GyroAdisDummy.h
@ -2,8 +2,7 @@
 #define DUMMIES_GYROADISDUMMY_H_

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-
-#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
+#include <mission/acs/gyroAdisHelpers.h>

 class GyroAdisDummy : public DeviceHandlerBase {
 public:
--- a/dummies/GyroL3GD20Dummy.cpp
+++ b/dummies/GyroL3GD20Dummy.cpp
@ -1,15 +1,15 @@
 #include "GyroL3GD20Dummy.h"

-#include "fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h"
+#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>

 GyroL3GD20Dummy::GyroL3GD20Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
    : DeviceHandlerBase(objectId, comif, comCookie) {}

 GyroL3GD20Dummy::~GyroL3GD20Dummy() {}

-void GyroL3GD20Dummy::doStartUp() {}
+void GyroL3GD20Dummy::doStartUp() { setMode(MODE_NORMAL); }

-void GyroL3GD20Dummy::doShutDown() {}
+void GyroL3GD20Dummy::doShutDown() { setMode(MODE_OFF); }

 ReturnValue_t GyroL3GD20Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
  return NOTHING_TO_SEND;
@ -40,9 +40,9 @@ uint32_t GyroL3GD20Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {

 ReturnValue_t GyroL3GD20Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                       LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({1.2}, true));
-  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({-0.1}, true));
-  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.7}, true));
-  localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(l3gd20h::ANG_VELOC_X, new PoolEntry<float>({1.2}, true));
+  localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Y, new PoolEntry<float>({-0.1}, true));
+  localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Z, new PoolEntry<float>({0.7}, true));
+  localDataPoolMap.emplace(l3gd20h::TEMPERATURE, new PoolEntry<float>({0.0}));
  return returnvalue::OK;
 }
--- a/dummies/ImtqDummy.cpp
+++ b/dummies/ImtqDummy.cpp
@ -1,15 +1,34 @@
 #include "ImtqDummy.h"

-#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
+#include <mission/acs/imtqHelpers.h>

-ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
+                     power::Switch_t pwrSwitcher, bool enableHkSets)
+    : DeviceHandlerBase(objectId, comif, comCookie),
+      enableHkSets(enableHkSets),
+      statusSet(this),
+      dipoleSet(*this),
+      rawMtmNoTorque(this),
+      hkDatasetNoTorque(this),
+      rawMtmWithTorque(this),
+      hkDatasetWithTorque(this),
+      calMtmMeasurementSet(this),
+      switcher(pwrSwitcher) {}

-ImtqDummy::~ImtqDummy() {}
+ImtqDummy::~ImtqDummy() = default;

-void ImtqDummy::doStartUp() {}
+void ImtqDummy::doStartUp() { setMode(MODE_ON); }

-void ImtqDummy::doShutDown() {}
+void ImtqDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
+
+ReturnValue_t ImtqDummy::getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) {
+  if (switcher != power::NO_SWITCH) {
+    *numberOfSwitches = 1;
+    *switches = &switcher;
+    return returnvalue::OK;
+  }
+  return DeviceHandlerBase::NO_SWITCH;
+}

 ReturnValue_t ImtqDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }

@ -38,10 +57,64 @@ uint32_t ImtqDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { retur

 ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                 LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(IMTQ::MGM_CAL_NT, new PoolEntry<float>({0.0, 0.0, 0.0}));
-  localDataPoolMap.emplace(IMTQ::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(IMTQ::MTM_RAW, new PoolEntry<float>({0.12, 0.76, -0.45}, true));
-  localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
-  return returnvalue::OK;
+  localDataPoolMap.emplace(imtq::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(imtq::MGM_CAL_NT, new PoolEntry<float>({0.0, 0.0, 0.0}));
+  localDataPoolMap.emplace(imtq::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(imtq::MTM_RAW, new PoolEntry<float>({0.12, 0.76, -0.45}, true));
+  localDataPoolMap.emplace(imtq::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(imtq::DIPOLES_ID, new PoolEntry<int16_t>({0, 0, 0}));
+  localDataPoolMap.emplace(imtq::CURRENT_TORQUE_DURATION, new PoolEntry<uint16_t>({0}));
+
+  // ENG HK No Torque
+  localDataPoolMap.emplace(imtq::DIGITAL_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::DIGITAL_CURRENT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_CURRENT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::COIL_CURRENTS, &coilCurrentsMilliampsNoTorque);
+  localDataPoolMap.emplace(imtq::COIL_TEMPERATURES, &coilTempsNoTorque);
+  localDataPoolMap.emplace(imtq::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
+
+  // ENG HK With Torque
+  localDataPoolMap.emplace(imtq::DIGITAL_VOLTAGE_MV_WT, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_VOLTAGE_MV_WT, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::DIGITAL_CURRENT_WT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_CURRENT_WT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::COIL_CURRENTS_WT, &coilCurrentsMilliampsWithTorque);
+  localDataPoolMap.emplace(imtq::COIL_TEMPERATURES_WT, &coilTempsWithTorque);
+  localDataPoolMap.emplace(imtq::MCU_TEMPERATURE_WT, new PoolEntry<int16_t>({0}));
+
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 30.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 30.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(rawMtmNoTorque.getSid(), false, 10.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(rawMtmWithTorque.getSid(), false, 10.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(calMtmMeasurementSet.getSid(), false, 10.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(statusSet.getSid(), false, 10.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(dipoleSet.getSid(), false, 10.0));
+  return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager);
+}
+
+LocalPoolDataSetBase *ImtqDummy::getDataSetHandle(sid_t sid) {
+  if (sid == hkDatasetNoTorque.getSid()) {
+    return &hkDatasetNoTorque;
+  } else if (sid == dipoleSet.getSid()) {
+    return &dipoleSet;
+  } else if (sid == statusSet.getSid()) {
+    return &statusSet;
+  } else if (sid == hkDatasetWithTorque.getSid()) {
+    return &hkDatasetWithTorque;
+  } else if (sid == rawMtmWithTorque.getSid()) {
+    return &rawMtmWithTorque;
+  } else if (sid == calMtmMeasurementSet.getSid()) {
+    return &calMtmMeasurementSet;
+  } else if (sid == rawMtmNoTorque.getSid()) {
+    return &rawMtmNoTorque;
+  }
+  return nullptr;
 }
--- a/dummies/ImtqDummy.h
+++ b/dummies/ImtqDummy.h
@ -3,6 +3,8 @@

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>

+#include "mission/acs/imtqHelpers.h"
+
 class ImtqDummy : public DeviceHandlerBase {
 public:
  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
@ -11,10 +13,44 @@ class ImtqDummy : public DeviceHandlerBase {
  static const uint8_t SIMPLE_COMMAND_DATA = 1;
  static const uint8_t PERIODIC_REPLY_DATA = 2;

-  ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
-  virtual ~ImtqDummy();
+  ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
+            power::Switch_t pwrSwitcher, bool enableHkSets);
+  ~ImtqDummy() override;

 protected:
+  bool enableHkSets;
+
+  imtq::StatusDataset statusSet;
+  imtq::DipoleActuationSet dipoleSet;
+  imtq::RawMtmMeasurementNoTorque rawMtmNoTorque;
+  imtq::HkDatasetNoTorque hkDatasetNoTorque;
+
+  imtq::RawMtmMeasurementWithTorque rawMtmWithTorque;
+  imtq::HkDatasetWithTorque hkDatasetWithTorque;
+
+  imtq::CalibratedMtmMeasurementSet calMtmMeasurementSet;
+
+  PoolEntry<uint8_t> statusMode = PoolEntry<uint8_t>({0});
+  PoolEntry<uint8_t> statusError = PoolEntry<uint8_t>({0});
+  PoolEntry<uint8_t> statusConfig = PoolEntry<uint8_t>({0});
+  PoolEntry<uint32_t> statusUptime = PoolEntry<uint32_t>({0});
+
+  PoolEntry<int32_t> mgmCalEntry = PoolEntry<int32_t>(3);
+  PoolEntry<int16_t> dipolesPoolEntry = PoolEntry<int16_t>({0, 0, 0}, false);
+  PoolEntry<uint16_t> torqueDurationEntry = PoolEntry<uint16_t>({0}, false);
+  PoolEntry<float> coilCurrentsMilliampsNoTorque = PoolEntry<float>(3);
+  PoolEntry<float> coilCurrentsMilliampsWithTorque = PoolEntry<float>(3);
+  PoolEntry<int16_t> coilTempsNoTorque = PoolEntry<int16_t>(3);
+  PoolEntry<int16_t> coilTempsWithTorque = PoolEntry<int16_t>(3);
+  PoolEntry<float> mtmRawNoTorque = PoolEntry<float>(3);
+  PoolEntry<uint8_t> actStatusNoTorque = PoolEntry<uint8_t>(1);
+  PoolEntry<float> mtmRawWithTorque = PoolEntry<float>(3);
+  PoolEntry<uint8_t> actStatusWithTorque = PoolEntry<uint8_t>(1);
+
+  power::Switch_t switcher = power::NO_SWITCH;
+
+  ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
+
  void doStartUp() override;
  void doShutDown() override;
  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
@ -28,6 +64,7 @@ class ImtqDummy : public DeviceHandlerBase {
  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                        LocalDataPoolManager &poolManager) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
 };

 #endif /* DUMMIES_IMTQDUMMY_H_ */
--- a/dummies/Max31865Dummy.cpp
+++ b/dummies/Max31865Dummy.cpp
@ -0,0 +1,52 @@
+#include "Max31865Dummy.h"
+
+#include "fsfw/datapool/PoolReadGuard.h"
+
+using namespace returnvalue;
+
+Max31865Dummy::Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie), set(this, EiveMax31855::EXCHANGE_SET_ID) {}
+void Max31865Dummy::doStartUp() { setMode(MODE_ON); }
+void Max31865Dummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
+ReturnValue_t Max31865Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+ReturnValue_t Max31865Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return OK; }
+ReturnValue_t Max31865Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                     const uint8_t *commandData,
+                                                     size_t commandDataLen) {
+  return 0;
+}
+ReturnValue_t Max31865Dummy::scanForReply(const uint8_t *start, size_t len,
+                                          DeviceCommandId_t *foundId, size_t *foundLen) {
+  return 0;
+}
+ReturnValue_t Max31865Dummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return 0;
+}
+void Max31865Dummy::fillCommandAndReplyMap() {}
+uint32_t Max31865Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 0; }
+ReturnValue_t Max31865Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                     LocalDataPoolManager &poolManager) {
+  using namespace MAX31865;
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::RTD_VALUE), new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::TEMPERATURE_C),
+                           new PoolEntry<float>({10.0}, true));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::LAST_FAULT_BYTE),
+                           new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::FAULT_BYTE), new PoolEntry<uint8_t>({0}));
+  return OK;
+}
+
+void Max31865Dummy::setTemperature(float temperature, bool valid) {
+  PoolReadGuard pg(&set);
+  if (pg.getReadResult() == returnvalue::OK) {
+    set.temperatureCelcius.value = temperature;
+    set.setValidity(valid, true);
+  }
+}
+
+LocalPoolDataSetBase *Max31865Dummy::getDataSetHandle(sid_t sid) { return &set; }
+Max31865Dummy::Max31865Dummy(object_id_t objectId, CookieIF *cookie)
+    : DeviceHandlerBase(objectId, objects::DUMMY_COM_IF, cookie),
+      set(this, EiveMax31855::EXCHANGE_SET_ID) {}
--- a/dummies/Max31865Dummy.h
+++ b/dummies/Max31865Dummy.h
@ -0,0 +1,34 @@
+#ifndef EIVE_OBSW_MAX31865DUMMY_H
+#define EIVE_OBSW_MAX31865DUMMY_H
+
+#include <mission/tcs/Max31865Definitions.h>
+
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+
+class Max31865Dummy : public DeviceHandlerBase {
+ public:
+  Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  Max31865Dummy(object_id_t objectId, CookieIF *comCookie);
+
+  void setTemperature(float temperature, bool setValid);
+
+ private:
+  MAX31865::PrimarySet set;
+
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
+};
+
+#endif  // EIVE_OBSW_MAX31865DUMMY_H
--- a/dummies/MgmLIS3MDLDummy.cpp
+++ b/dummies/MgmLIS3MDLDummy.cpp
@ -1,15 +1,15 @@
 #include "MgmLIS3MDLDummy.h"

-#include "fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h"
+#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>

 MgmLIS3MDLDummy::MgmLIS3MDLDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
    : DeviceHandlerBase(objectId, comif, comCookie), dataset(this) {}

 MgmLIS3MDLDummy::~MgmLIS3MDLDummy() {}

-void MgmLIS3MDLDummy::doStartUp() {}
+void MgmLIS3MDLDummy::doStartUp() { setMode(MODE_NORMAL); }

-void MgmLIS3MDLDummy::doShutDown() {}
+void MgmLIS3MDLDummy::doShutDown() { setMode(MODE_OFF); }

 ReturnValue_t MgmLIS3MDLDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
  return NOTHING_TO_SEND;
@ -40,8 +40,8 @@ uint32_t MgmLIS3MDLDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {

 ReturnValue_t MgmLIS3MDLDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                       LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS,
+  localDataPoolMap.emplace(mgmLis3::TEMPERATURE_CELCIUS, new PoolEntry<float>({10.0}, true));
+  localDataPoolMap.emplace(mgmLis3::FIELD_STRENGTHS,
                           new PoolEntry<float>({1.02, 0.56, -0.78}, true));
  return returnvalue::OK;
 }
--- a/dummies/MgmLIS3MDLDummy.h
+++ b/dummies/MgmLIS3MDLDummy.h
@ -2,8 +2,7 @@
 #define DUMMIES_MGMLIS3MDLDUMMY_H_

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-
-#include "fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h"
+#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>

 class MgmLIS3MDLDummy : public DeviceHandlerBase {
 public:
@ -17,7 +16,7 @@ class MgmLIS3MDLDummy : public DeviceHandlerBase {
  virtual ~MgmLIS3MDLDummy();

 protected:
-  MGMLIS3MDL::MgmPrimaryDataset dataset;
+  mgmLis3::MgmPrimaryDataset dataset;
  void doStartUp() override;
  void doShutDown() override;
  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
--- a/dummies/MgmRm3100Dummy.cpp
+++ b/dummies/MgmRm3100Dummy.cpp
@ -7,18 +7,22 @@ MgmRm3100Dummy::MgmRm3100Dummy(object_id_t objectId, object_id_t comif, CookieIF

 MgmRm3100Dummy::~MgmRm3100Dummy() = default;

-void MgmRm3100Dummy::doStartUp() {}
+void MgmRm3100Dummy::doStartUp() { setMode(MODE_NORMAL); }

-void MgmRm3100Dummy::doShutDown() {}
+void MgmRm3100Dummy::doShutDown() { setMode(MODE_OFF); }

-ReturnValue_t MgmRm3100Dummy::buildNormalDeviceCommand(DeviceCommandId_t* id) { return OK; }
+ReturnValue_t MgmRm3100Dummy::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+  return NOTHING_TO_SEND;
+}

-ReturnValue_t MgmRm3100Dummy::buildTransitionDeviceCommand(DeviceCommandId_t* id) { return OK; }
+ReturnValue_t MgmRm3100Dummy::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  return NOTHING_TO_SEND;
+}

 ReturnValue_t MgmRm3100Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                      const uint8_t* commandData,
                                                      size_t commandDataLen) {
-  return OK;
+  return NOTHING_TO_SEND;
 }

 ReturnValue_t MgmRm3100Dummy::scanForReply(const uint8_t* start, size_t len,
@ -36,7 +40,7 @@ uint32_t MgmRm3100Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {

 ReturnValue_t MgmRm3100Dummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                      LocalDataPoolManager& poolManager) {
-  localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS,
+  localDataPoolMap.emplace(mgmRm3100::FIELD_STRENGTHS,
                           new PoolEntry<float>({0.87, -0.95, 0.11}, true));
  return returnvalue::OK;
 }
--- a/dummies/MgmRm3100Dummy.h
+++ b/dummies/MgmRm3100Dummy.h
@ -1,8 +1,9 @@
 #ifndef DUMMIES_MGMRM3100DUMMY_H_
 #define DUMMIES_MGMRM3100DUMMY_H_

+#include <fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h>
+
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
-#include "fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h"

 class MgmRm3100Dummy : public DeviceHandlerBase {
 public:
@ -10,7 +11,7 @@ class MgmRm3100Dummy : public DeviceHandlerBase {
  virtual ~MgmRm3100Dummy();

 protected:
-  RM3100::Rm3100PrimaryDataset dataset;
+  mgmRm3100::Rm3100PrimaryDataset dataset;
  void doStartUp() override;
  void doShutDown() override;
  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
--- a/dummies/P60DockDummy.cpp
+++ b/dummies/P60DockDummy.cpp
@ -1,15 +1,17 @@
 #include "P60DockDummy.h"

-#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include <mission/power/gsDefs.h>
+
+#include "fsfw/datapool/PoolReadGuard.h"

 P60DockDummy::P60DockDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
    : DeviceHandlerBase(objectId, comif, comCookie) {}

 P60DockDummy::~P60DockDummy() {}

-void P60DockDummy::doStartUp() {}
+void P60DockDummy::doStartUp() { setMode(MODE_NORMAL); }

-void P60DockDummy::doShutDown() {}
+void P60DockDummy::doShutDown() { setMode(MODE_OFF); }

 ReturnValue_t P60DockDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
  return NOTHING_TO_SEND;
@ -40,7 +42,9 @@ uint32_t P60DockDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { re

 ReturnValue_t P60DockDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                    LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_1, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_2, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_1,
+                           new PoolEntry<float>({10.0}, true));
+  localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_2,
+                           new PoolEntry<float>({10.0}, true));
  return returnvalue::OK;
 }
--- a/dummies/P60DockDummy.h
+++ b/dummies/P60DockDummy.h
@ -3,6 +3,8 @@

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>

+#include "mission/power/gsDefs.h"
+
 class P60DockDummy : public DeviceHandlerBase {
 public:
  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
@ -15,6 +17,8 @@ class P60DockDummy : public DeviceHandlerBase {
  virtual ~P60DockDummy();

 protected:
+  lp_var_t<float> temp1 = lp_var_t<float>(this, P60Dock::pool::P60DOCK_TEMPERATURE_1);
+  lp_var_t<float> temp2 = lp_var_t<float>(this, P60Dock::pool::P60DOCK_TEMPERATURE_2);
  void doStartUp() override;
  void doShutDown() override;
  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
--- a/dummies/PcduHandlerDummy.cpp
+++ b/dummies/PcduHandlerDummy.cpp
@ -0,0 +1,82 @@
+#include "PcduHandlerDummy.h"
+
+#include <fsfw/ipc/QueueFactory.h>
+#include <mission/power/gsDefs.h>
+
+#include "mission/power/defs.h"
+
+PcduHandlerDummy::PcduHandlerDummy(object_id_t objectId)
+    : SystemObject(objectId), manager(this, nullptr), dummySwitcher(objectId, 18, 18, false) {
+  switcherLock = MutexFactory::instance()->createMutex();
+  queue = QueueFactory::instance()->createMessageQueue(20);
+}
+
+PcduHandlerDummy::~PcduHandlerDummy() {}
+
+ReturnValue_t PcduHandlerDummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                                        LocalDataPoolManager& poolManager) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PcduHandlerDummy::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
+  if (onOff == SWITCH_ON) {
+    triggerEvent(power::SWITCH_CMD_SENT, true, switchNr);
+  } else {
+    triggerEvent(power::SWITCH_CMD_SENT, false, switchNr);
+  }
+  {
+    MutexGuard mg(switcherLock);
+    // To simulate a real PCDU, remember the switch change to trigger a SWITCH_HAS_CHANGED event
+    // at a later stage.
+    switchChangeArray[switchNr] = true;
+  }
+  return dummySwitcher.sendSwitchCommand(switchNr, onOff);
+}
+
+ReturnValue_t PcduHandlerDummy::sendFuseOnCommand(uint8_t fuseNr) {
+  return dummySwitcher.sendFuseOnCommand(fuseNr);
+}
+
+ReturnValue_t PcduHandlerDummy::getSwitchState(power::Switch_t switchNr) const {
+  return dummySwitcher.getSwitchState(switchNr);
+}
+
+ReturnValue_t PcduHandlerDummy::getFuseState(uint8_t fuseNr) const {
+  return dummySwitcher.getFuseState(fuseNr);
+}
+
+uint32_t PcduHandlerDummy::getSwitchDelayMs(void) const { return dummySwitcher.getSwitchDelayMs(); }
+
+ReturnValue_t PcduHandlerDummy::performOperation(uint8_t opCode) {
+  // TODO: Handle HK messages in queue.
+  SwitcherBoolArray switcherChangeCopy{};
+  {
+    MutexGuard mg(switcherLock);
+    std::memcpy(switcherChangeCopy.data(), switchChangeArray.data(), switchChangeArray.size());
+  }
+  for (uint8_t idx = 0; idx < switcherChangeCopy.size(); idx++) {
+    if (switcherChangeCopy[idx]) {
+      if (dummySwitcher.getSwitchState(idx) == PowerSwitchIF::SWITCH_ON) {
+        triggerEvent(power::SWITCH_HAS_CHANGED, true, idx);
+      } else {
+        triggerEvent(power::SWITCH_HAS_CHANGED, false, idx);
+      }
+      MutexGuard mg(switcherLock);
+      switchChangeArray[idx] = false;
+    }
+  }
+  return returnvalue::OK;
+}
+
+object_id_t PcduHandlerDummy::getObjectId() const { return SystemObject::getObjectId(); }
+
+MessageQueueId_t PcduHandlerDummy::getCommandQueue() const { return queue->getId(); }
+
+dur_millis_t PcduHandlerDummy::getPeriodicOperationFrequency() const {
+  // TODO: dummy value. Retrieve from intiitalize after task creation..
+  return 400;
+}
+
+LocalDataPoolManager* PcduHandlerDummy::getHkManagerHandle() { return &manager; }
+
+LocalPoolDataSetBase* PcduHandlerDummy::getDataSetHandle(sid_t sid) { return nullptr; }
--- a/dummies/PcduHandlerDummy.h
+++ b/dummies/PcduHandlerDummy.h
@ -0,0 +1,62 @@
+#pragma once
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/power/DummyPowerSwitcher.h>
+
+class PcduHandlerDummy : public PowerSwitchIF,
+                         public HasLocalDataPoolIF,
+                         public SystemObject,
+                         public ExecutableObjectIF {
+ public:
+  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
+  static const DeviceCommandId_t PERIODIC_REPLY = 2;
+
+  static const uint8_t SIMPLE_COMMAND_DATA = 1;
+  static const uint8_t PERIODIC_REPLY_DATA = 2;
+
+  PcduHandlerDummy(object_id_t objectId);
+  virtual ~PcduHandlerDummy();
+
+ protected:
+  MessageQueueIF* queue;
+  LocalDataPoolManager manager;
+  MutexIF* switcherLock;
+  DummyPowerSwitcher dummySwitcher;
+  using SwitcherBoolArray = std::array<bool, 18>;
+
+  ReturnValue_t performOperation(uint8_t opCode) override;
+  SwitcherBoolArray switchChangeArray{};
+
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override;
+
+  ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
+  ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
+  ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
+  ReturnValue_t getFuseState(uint8_t fuseNr) const override;
+  uint32_t getSwitchDelayMs(void) const override;
+
+  object_id_t getObjectId() const override;
+
+  /** Command queue for housekeeping messages. */
+  MessageQueueId_t getCommandQueue() const override;
+
+  dur_millis_t getPeriodicOperationFrequency() const override;
+
+  /**
+   * Every class implementing this interface should have a local data pool manager. This
+   * function will return a reference to the manager.
+   * @return
+   */
+  LocalDataPoolManager* getHkManagerHandle() override;
+
+  /**
+   * This function is used by the pool manager to get a valid dataset
+   * from a SID. This function is protected to prevent users from
+   * using raw data set pointers which could not be thread-safe. Users
+   * should use the #ProvidesDataPoolSubscriptionIF.
+   * @param sid Corresponding structure ID
+   * @return
+   */
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+};
--- a/dummies/PduDummy.cpp
+++ b/dummies/PduDummy.cpp
@ -1,15 +1,16 @@
 #include "PduDummy.h"

-#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include <mission/power/gsDefs.h>

 PduDummy::PduDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+    : DeviceHandlerBase(objectId, comif, comCookie),
+      coreHk(this, static_cast<uint32_t>(P60System::SetIds::CORE)) {}

 PduDummy::~PduDummy() {}

-void PduDummy::doStartUp() {}
+void PduDummy::doStartUp() { setMode(MODE_NORMAL); }

-void PduDummy::doShutDown() {}
+void PduDummy::doShutDown() { setMode(MODE_OFF); }

 ReturnValue_t PduDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }

@ -37,6 +38,8 @@ uint32_t PduDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return

 ReturnValue_t PduDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(PDU::pool::PDU_TEMPERATURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(PDU::pool::PDU_TEMPERATURE, new PoolEntry<float>({10.0}, true));
+  localDataPoolMap.emplace(PDU::pool::PDU_VOLTAGES, &pduVoltages);
+  localDataPoolMap.emplace(PDU::pool::PDU_CURRENTS, &pduCurrents);
  return returnvalue::OK;
 }
--- a/dummies/PduDummy.h
+++ b/dummies/PduDummy.h
@ -2,6 +2,7 @@
 #define DUMMIES_PDUDUMMY_H_

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/power/gsDefs.h>

 class PduDummy : public DeviceHandlerBase {
 public:
@ -15,6 +16,10 @@ class PduDummy : public DeviceHandlerBase {
  virtual ~PduDummy();

 protected:
+  PDU::PduCoreHk coreHk;
+  PoolEntry<int16_t> pduVoltages = PoolEntry<int16_t>(9);
+  PoolEntry<int16_t> pduCurrents = PoolEntry<int16_t>(9);
+
  void doStartUp() override;
  void doShutDown() override;
  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
--- a/dummies/PlPcduDummy.cpp
+++ b/dummies/PlPcduDummy.cpp
@ -1,15 +1,15 @@
 #include "PlPcduDummy.h"

-#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include <mission/power/gsDefs.h>

 PlPcduDummy::PlPcduDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
    : DeviceHandlerBase(objectId, comif, comCookie) {}

 PlPcduDummy::~PlPcduDummy() {}

-void PlPcduDummy::doStartUp() {}
+void PlPcduDummy::doStartUp() { setMode(MODE_NORMAL); }

-void PlPcduDummy::doShutDown() {}
+void PlPcduDummy::doShutDown() { setMode(MODE_OFF); }

 ReturnValue_t PlPcduDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
  return NOTHING_TO_SEND;
@ -40,6 +40,6 @@ uint32_t PlPcduDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { ret

 ReturnValue_t PlPcduDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                   LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::TEMP, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::TEMP, new PoolEntry<float>({0.0}, true));
  return returnvalue::OK;
 }
--- a/dummies/PlPcduDummy.h
+++ b/dummies/PlPcduDummy.h
@ -2,7 +2,7 @@
 #define DUMMIES_PLPCDUDUMMY_H_

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
+#include <mission/payload/payloadPcduDefinitions.h>

 class PlPcduDummy : public DeviceHandlerBase {
 public:
--- a/dummies/PlocMpsocDummy.cpp
+++ b/dummies/PlocMpsocDummy.cpp
@ -0,0 +1,42 @@
+#include "PlocMpsocDummy.h"
+
+PlocMpsocDummy::PlocMpsocDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie) {}
+
+PlocMpsocDummy::~PlocMpsocDummy() {}
+
+void PlocMpsocDummy::doStartUp() { setMode(MODE_ON); }
+
+void PlocMpsocDummy::doShutDown() { setMode(MODE_OFF); }
+
+ReturnValue_t PlocMpsocDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t PlocMpsocDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t PlocMpsocDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                      const uint8_t *commandData,
+                                                      size_t commandDataLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMpsocDummy::scanForReply(const uint8_t *start, size_t len,
+                                           DeviceCommandId_t *foundId, size_t *foundLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMpsocDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return returnvalue::OK;
+}
+
+void PlocMpsocDummy::fillCommandAndReplyMap() {}
+
+uint32_t PlocMpsocDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+
+ReturnValue_t PlocMpsocDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                      LocalDataPoolManager &poolManager) {
+  return returnvalue::OK;
+}
--- a/dummies/PlocMpsocDummy.h
+++ b/dummies/PlocMpsocDummy.h
@ -1,9 +1,10 @@
-#ifndef DUMMIES_GPSDUMMY_H_
-#define DUMMIES_GPSDUMMY_H_
+#pragma once

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>

-class GpsDummy : public DeviceHandlerBase {
+#include "mission/power/defs.h"
+
+class PlocMpsocDummy : public DeviceHandlerBase {
 public:
  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
  static const DeviceCommandId_t PERIODIC_REPLY = 2;
@ -11,8 +12,8 @@ class GpsDummy : public DeviceHandlerBase {
  static const uint8_t SIMPLE_COMMAND_DATA = 1;
  static const uint8_t PERIODIC_REPLY_DATA = 2;

-  GpsDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
-  virtual ~GpsDummy();
+  PlocMpsocDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~PlocMpsocDummy();

 protected:
  void doStartUp() override;
@ -29,5 +30,3 @@ class GpsDummy : public DeviceHandlerBase {
  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                        LocalDataPoolManager &poolManager) override;
 };
-
-#endif /* DUMMIES_GPSDUMMY_H_ */
--- a/dummies/PlocSupervisorDummy.cpp
+++ b/dummies/PlocSupervisorDummy.cpp
@ -0,0 +1,53 @@
+#include "PlocSupervisorDummy.h"
+
+PlocSupervisorDummy::PlocSupervisorDummy(object_id_t objectId, object_id_t comif,
+                                         CookieIF *comCookie, PowerSwitchIF &pwrSwitcher)
+    : DeviceHandlerBase(objectId, comif, comCookie) {
+  setPowerSwitcher(&pwrSwitcher);
+}
+
+PlocSupervisorDummy::~PlocSupervisorDummy() {}
+
+void PlocSupervisorDummy::doStartUp() { setMode(MODE_ON); }
+
+void PlocSupervisorDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
+
+ReturnValue_t PlocSupervisorDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t PlocSupervisorDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t PlocSupervisorDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                           const uint8_t *commandData,
+                                                           size_t commandDataLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocSupervisorDummy::scanForReply(const uint8_t *start, size_t len,
+                                                DeviceCommandId_t *foundId, size_t *foundLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocSupervisorDummy::interpretDeviceReply(DeviceCommandId_t id,
+                                                        const uint8_t *packet) {
+  return returnvalue::OK;
+}
+
+void PlocSupervisorDummy::fillCommandAndReplyMap() {}
+
+uint32_t PlocSupervisorDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+
+ReturnValue_t PlocSupervisorDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                           LocalDataPoolManager &poolManager) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocSupervisorDummy::getSwitches(const uint8_t **switches,
+                                               uint8_t *numberOfSwitches) {
+  *numberOfSwitches = 1;
+  *switches = reinterpret_cast<const uint8_t *>(&switchId);
+  return returnvalue::OK;
+}
--- a/dummies/PlocSupervisorDummy.h
+++ b/dummies/PlocSupervisorDummy.h
@ -0,0 +1,35 @@
+#pragma once
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/power/defs.h>
+
+class PlocSupervisorDummy : public DeviceHandlerBase {
+ public:
+  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
+  static const DeviceCommandId_t PERIODIC_REPLY = 2;
+
+  static const uint8_t SIMPLE_COMMAND_DATA = 1;
+  static const uint8_t PERIODIC_REPLY_DATA = 2;
+
+  PlocSupervisorDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
+                      PowerSwitchIF &pwrSwitcher);
+  virtual ~PlocSupervisorDummy();
+
+ protected:
+  const power::Switches switchId = power::Switches::PDU1_CH6_PLOC_12V;
+
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+  ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
+};
--- a/dummies/RwDummy.cpp
+++ b/dummies/RwDummy.cpp
@ -1,15 +1,26 @@
 #include "RwDummy.h"

-#include <mission/devices/devicedefinitions/RwDefinitions.h>
+#include <mission/acs/rwHelpers.h>

 RwDummy::RwDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+    : DeviceHandlerBase(objectId, comif, comCookie),
+
+      statusSet(this),
+      lastResetStatusSet(this),
+      tmDataset(this),
+      rwSpeedActuationSet(*this) {}

 RwDummy::~RwDummy() {}

-void RwDummy::doStartUp() {}
+void RwDummy::doStartUp() {
+  statusSet.setReportingEnabled(true);
+  setMode(MODE_ON);
+}

-void RwDummy::doShutDown() {}
+void RwDummy::doShutDown() {
+  statusSet.setReportingEnabled(false);
+  setMode(MODE_OFF);
+}

 ReturnValue_t RwDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }

@ -37,39 +48,48 @@ uint32_t RwDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return

 ReturnValue_t RwDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                               LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::RW_SPEED, &rwSpeed);
+  localDataPoolMap.emplace(rws::RAMP_TIME, &rampTime);

-  localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::STATE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::CLC_MODE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TEMPERATURE_C, new PoolEntry<int32_t>({0}));

-  localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::CURR_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::STATE, new PoolEntry<uint8_t>({1}, true));
+  localDataPoolMap.emplace(rws::CLC_MODE, new PoolEntry<uint8_t>({0}));

-  localDataPoolMap.emplace(RwDefinitions::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(RwDefinitions::PRESSURE, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+
+  localDataPoolMap.emplace(rws::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(rws::PRESSURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 12.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(tmDataset.getSid(), false, 30.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(lastResetStatusSet.getSid(), false, 30.0));
  return returnvalue::OK;
 }
--- a/dummies/RwDummy.h
+++ b/dummies/RwDummy.h
@ -2,6 +2,7 @@
 #define DUMMIES_RWDUMMY_H_

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/acs/rwHelpers.h>

 class RwDummy : public DeviceHandlerBase {
 public:
@ -15,6 +16,14 @@ class RwDummy : public DeviceHandlerBase {
  virtual ~RwDummy();

 protected:
+  rws::StatusSet statusSet;
+  rws::LastResetSatus lastResetStatusSet;
+  rws::TmDataset tmDataset;
+  rws::RwSpeedActuationSet rwSpeedActuationSet;
+
+  PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});
+  PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>({10});
+
  void doStartUp() override;
  void doShutDown() override;
  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
--- a/Show More
+++ b/Show More