2022-11-02 10:34:40 +01:00
56 changed files with 639 additions and 247 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -52,6 +52,7 @@ list yields a list of all related PRs for each release.
 - Fix for EM SW: Always create ACS Task
 - Added Scex device handler and Scex uart reader
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/303
+- ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/228

 # [v1.13.0] 24.08.2022

--- a/bsp_hosted/ObjectFactory.cpp
+++ b/bsp_hosted/ObjectFactory.cpp
@ -65,6 +65,6 @@ void ObjectFactory::produce(void* args) {
  dummy::createDummies(cfg);
  new TemperatureSensorsDummy();
  new SusDummy();
-  new ThermalController(objects::THERMAL_CONTROLLER, objects::NO_OBJECT);
+  new ThermalController(objects::THERMAL_CONTROLLER);
  new TestTask(objects::TEST_TASK);
 }
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@ -31,10 +31,7 @@ xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
 xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;

 CoreController::CoreController(object_id_t objectId)
-    : ExtendedControllerBase(objectId, objects::NO_OBJECT, 5),
-      opDivider5(5),
-      opDivider10(10),
-      hkSet(this) {
+    : ExtendedControllerBase(objectId, 5), opDivider5(5), opDivider10(10), hkSet(this) {
  ReturnValue_t result = returnvalue::OK;
  try {
    result = initWatchdogFifo();
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@ -184,6 +184,10 @@ void initmission::initTasks() {
    initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
  }
 #endif
+  result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
+  }

 #if OBSW_ADD_RTD_DEVICES == 1
  PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
@ -192,6 +196,7 @@ void initmission::initTasks() {
  if (result != returnvalue::OK) {
    initmission::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
  }
+
  PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
  std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@ -1,7 +1,5 @@
 #include "ObjectFactory.h"

-#include <linux/devices/ScexUartReader.h>
-
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
@ -23,6 +21,7 @@
 #include "linux/callbacks/gpioCallbacks.h"
 #include "linux/csp/CspComIF.h"
 #include "linux/devices/GPSHyperionLinuxController.h"
+#include "linux/devices/ScexUartReader.h"
 #include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 #include "linux/devices/ploc/PlocMPSoCHandler.h"
@ -37,12 +36,15 @@
 #include "linux/obc/Ptme.h"
 #include "linux/obc/PtmeConfig.h"
 #include "mission/csp/CspCookie.h"
-#include "mission/system/RwAssembly.h"
 #include "mission/system/fdir/AcsBoardFdir.h"
 #include "mission/system/fdir/GomspacePowerFdir.h"
 #include "mission/system/fdir/RtdFdir.h"
 #include "mission/system/fdir/SusFdir.h"
 #include "mission/system/fdir/SyrlinksFdir.h"
+#include "mission/system/objects/AcsSubsystem.h"
+#include "mission/system/objects/RwAssembly.h"
+#include "mission/system/objects/TcsBoardAssembly.h"
+#include "mission/system/tree/acsModeTree.h"
 #include "tmtc/pusIds.h"
 #if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
@ -89,7 +91,7 @@
 #include "mission/devices/devicedefinitions/RwDefinitions.h"
 #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
-#include "mission/system/AcsBoardAssembly.h"
+#include "mission/system/objects/AcsBoardAssembly.h"
 #include "mission/tmtc/CCSDSHandler.h"
 #include "mission/tmtc/TmFunnel.h"
 #include "mission/tmtc/VirtualChannel.h"
@ -228,6 +230,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
                                             PowerSwitchIF* pwrSwitcher) {
  using namespace gpio;
  GpioCookie* gpioCookieAcsBoard = new GpioCookie();
+  std::vector<std::reference_wrapper<DeviceHandlerBase>> assemblyChildren;

  std::stringstream consumer;
  GpiodRegularByLineName* gpio = nullptr;
@ -332,11 +335,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
  SpiCookie* spiCookie =
      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
-                                              spiCookie, spi::LIS3_TRANSITION_DELAY);
+  auto mgmLis3Handler0 = new MgmLIS3MDLHandler(
+      objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
-  mgmLis3Handler->setCustomFdir(fdir);
-  static_cast<void>(mgmLis3Handler);
+  mgmLis3Handler0->setCustomFdir(fdir);
+  assemblyChildren.push_back(*mgmLis3Handler0);
 #if OBSW_TEST_ACS == 1
  mgmLis3Handler->setStartUpImmediately();
  mgmLis3Handler->setToGoToNormalMode(true);
@ -347,13 +350,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
  spiCookie =
      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-  auto mgmRm3100Handler =
+  auto mgmRm3100Handler1 =
      new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
                           spi::RM3100_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
-  mgmRm3100Handler->setCustomFdir(fdir);
-  mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
-  static_cast<void>(mgmRm3100Handler);
+  mgmRm3100Handler1->setCustomFdir(fdir);
+  assemblyChildren.push_back(*mgmRm3100Handler1);
 #if OBSW_TEST_ACS == 1
  mgmRm3100Handler->setStartUpImmediately();
  mgmRm3100Handler->setToGoToNormalMode(true);
@ -364,12 +366,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
  spiCookie =
      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
-                                         spiCookie, spi::LIS3_TRANSITION_DELAY);
+  auto* mgmLis3Handler2 = new MgmLIS3MDLHandler(
+      objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
-  mgmLis3Handler->setCustomFdir(fdir);
-  mgmLis3Handler->setParent(objects::ACS_BOARD_ASS);
-  static_cast<void>(mgmLis3Handler);
+  mgmLis3Handler2->setCustomFdir(fdir);
+  assemblyChildren.push_back(*mgmLis3Handler2);
 #if OBSW_TEST_ACS == 1
  mgmLis3Handler->setStartUpImmediately();
  mgmLis3Handler->setToGoToNormalMode(true);
@ -380,11 +381,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
  spiCookie =
      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-  mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF,
-                                          spiCookie, spi::RM3100_TRANSITION_DELAY);
+  auto* mgmRm3100Handler3 =
+      new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                           spi::RM3100_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
-  mgmRm3100Handler->setCustomFdir(fdir);
-  mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
+  mgmRm3100Handler3->setCustomFdir(fdir);
+  assemblyChildren.push_back(*mgmRm3100Handler3);
 #if OBSW_TEST_ACS == 1
  mgmRm3100Handler->setStartUpImmediately();
  mgmRm3100Handler->setToGoToNormalMode(true);
@ -402,8 +404,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
                               ADIS1650X::Type::ADIS16505);
  fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
  adisHandler->setCustomFdir(fdir);
-  adisHandler->setParent(objects::ACS_BOARD_ASS);
-  static_cast<void>(adisHandler);
+  assemblyChildren.push_back(*adisHandler);
 #if OBSW_TEST_ACS == 1
  adisHandler->setStartUpImmediately();
  adisHandler->setToGoToNormalModeImmediately();
@ -414,12 +415,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
  // Gyro 1 Side A
  spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
                            spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  auto gyroL3gHandler = new GyroHandlerL3GD20H(
+  auto gyroL3gHandler1 = new GyroHandlerL3GD20H(
      objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
-  gyroL3gHandler->setCustomFdir(fdir);
-  gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
-  static_cast<void>(gyroL3gHandler);
+  gyroL3gHandler1->setCustomFdir(fdir);
+  assemblyChildren.push_back(*gyroL3gHandler1);
 #if OBSW_TEST_ACS == 1
  gyroL3gHandler->setStartUpImmediately();
  gyroL3gHandler->setToGoToNormalMode(true);
@ -435,7 +435,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
                                         spiCookie, ADIS1650X::Type::ADIS16505);
  fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
  adisHandler->setCustomFdir(fdir);
-  adisHandler->setParent(objects::ACS_BOARD_ASS);
+  assemblyChildren.push_back(*adisHandler);
 #if OBSW_TEST_ACS == 1
  adisHandler->setStartUpImmediately();
  adisHandler->setToGoToNormalModeImmediately();
@ -443,11 +443,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
  // Gyro 3 Side B
  spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
                            spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF,
-                                          spiCookie, spi::L3G_TRANSITION_DELAY);
+  auto gyroL3gHandler3 = new GyroHandlerL3GD20H(
+      objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
-  gyroL3gHandler->setCustomFdir(fdir);
-  gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
+  gyroL3gHandler3->setCustomFdir(fdir);
+  assemblyChildren.push_back(*gyroL3gHandler3);
 #if OBSW_TEST_ACS == 1
  gyroL3gHandler->setStartUpImmediately();
  gyroL3gHandler->setToGoToNormalMode(true);
@ -464,14 +464,22 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
  auto gpsCtrl =
      new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
  gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
-
  AcsBoardHelper acsBoardHelper = AcsBoardHelper(
      objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
      objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
      objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
-  auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
-                                     acsBoardHelper, gpioComIF);
+  auto acsAss =
+      new AcsBoardAssembly(objects::ACS_BOARD_ASS, pwrSwitcher, acsBoardHelper, gpioComIF);
  static_cast<void>(acsAss);
+  for (auto& assChild : assemblyChildren) {
+    ReturnValue_t result = assChild.get().connectModeTreeParent(*acsAss);
+    if (result != returnvalue::OK) {
+      sif::error << "Connecting assembly for ACS board component " << assChild.get().getObjectId()
+                 << " failed" << std::endl;
+    }
+  }
+  gpsCtrl->connectModeTreeParent(*acsAss);
+  acsAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }

@ -684,9 +692,16 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
  }

  RwHelper rwHelper(rwIds);
-  auto* rwAss = new RwAssembly(objects::RW_ASS, objects::NO_OBJECT, pwrSwitcher,
-                               pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
-  static_cast<void>(rwAss);
+  auto* rwAss =
+      new RwAssembly(objects::RW_ASS, pwrSwitcher, pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
+  for (uint8_t idx = 0; idx < rws.size(); idx++) {
+    ReturnValue_t result = rws[idx]->connectModeTreeParent(*rwAss);
+    if (result != returnvalue::OK) {
+      sif::error << "Connecting RW " << static_cast<int>(idx) << " to RW assembly failed"
+                 << std::endl;
+    }
+  }
+  rwAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_RW == 1 */
 }

@ -880,6 +895,7 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
      new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
                             strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
  starTracker->setPowerSwitcher(pwrSwitcher);
+  starTracker->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
 }

 void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
@ -888,6 +904,7 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
  auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
                                     pcdu::Switches::PDU1_CH3_MGT_5V);
  imtqHandler->setPowerSwitcher(pwrSwitcher);
+  imtqHandler->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
  static_cast<void>(imtqHandler);
 #if OBSW_TEST_IMTQ == 1
  imtqHandler->setStartUpImmediately();
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@ -11,6 +11,7 @@
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "mission/core/GenericFactory.h"
+#include "mission/system/tree/acsModeTree.h"

 void ObjectFactory::produce(void* args) {
  ObjectFactory::setStatics();
@ -75,5 +76,6 @@ void ObjectFactory::produce(void* args) {

  createMiscComponents();
  createThermalController();
-  createAcsController();
+  createAcsController(true);
+  satsystem::initAcsSubsystem(objects::NO_OBJECT);
 }
--- a/common/config/eive/objects.h
+++ b/common/config/eive/objects.h
@ -127,6 +127,8 @@ enum commonObjects : uint32_t {
  SUS_BOARD_ASS = 0x73000002,
  TCS_BOARD_ASS = 0x73000003,
  RW_ASS = 0x73000004,
+  ACS_SUBSYSTEM = 0x73010001,
+  EIVE_SYSTEM = 0x73010000,
  CFDP_HANDLER = 0x73000005,
  CFDP_DISTRIBUTOR = 0x73000006,
  TM_FUNNEL = 0x73000100,
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 24612091690f191d799f30ba38b5f750d0617fa3
+Subproject commit 7600ed1ea70ef2998739800f84722dd7cadb7552
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@ -181,15 +181,15 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12709;0x31a5;I_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
 12710;0x31a6;U_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
 12711;0x31a7;I_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
-12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/AcsBoardAssembly.h
-12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/AcsBoardAssembly.h
-12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/AcsBoardAssembly.h
-12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/AcsBoardAssembly.h
-12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/SusAssembly.h
-12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/SusAssembly.h
-12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/SusAssembly.h
-12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/SusAssembly.h
-13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission/system/TcsBoardAssembly.h
+12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/objects/AcsBoardAssembly.h
+12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/objects/AcsBoardAssembly.h
+12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/objects/AcsBoardAssembly.h
+12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/AcsBoardAssembly.h
+12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/objects/SusAssembly.h
+12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/objects/SusAssembly.h
+12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/objects/SusAssembly.h
+12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/SusAssembly.h
+13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission/system/objects/TcsBoardAssembly.h
 13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/devices/devicedefinitions/GPSDefinitions.h
 13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/devices/P60DockHandler.h
 13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/devices/P60DockHandler.h
--- a/generators/bsp_q7s_objects.csv
+++ b/generators/bsp_q7s_objects.csv
@ -136,5 +136,7 @@
 0x73000100;TM_FUNNEL
 0x73000101;PUS_TM_FUNNEL
 0x73000102;CFDP_TM_FUNNEL
+0x73010000;EIVE_SYSTEM
+0x73010001;ACS_SUBSYSTEM
 0x73500000;CCSDS_IP_CORE_BRIDGE
 0xFFFFFFFF;NO_OBJECT
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
 * @brief    Auto-generated event translation file. Contains 233 translations.
 * @details
- * Generated on: 2022-10-27 09:03:07
+ * Generated on: 2022-10-27 09:17:50
 */
 #include "translateEvents.h"

--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@ -1,8 +1,8 @@
 /**
 * @brief  Auto-generated object translation file.
 * @details
- * Contains 140 translations.
- * Generated on: 2022-10-27 09:03:07
+ * Contains 142 translations.
+ * Generated on: 2022-10-27 09:17:50
 */
 #include "translateObjects.h"

@ -144,6 +144,8 @@ const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
 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";
+const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
+const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";

@ -425,6 +427,10 @@ const char *translateObject(object_id_t object) {
      return PUS_TM_FUNNEL_STRING;
    case 0x73000102:
      return CFDP_TM_FUNNEL_STRING;
+    case 0x73010000:
+      return EIVE_SYSTEM_STRING;
+    case 0x73010001:
+      return ACS_SUBSYSTEM_STRING;
    case 0x73500000:
      return CCSDS_IP_CORE_BRIDGE_STRING;
    case 0xFFFFFFFF:
--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@ -1,6 +1,7 @@
 #include "ObjectFactory.h"

 #include <fsfw/power/PowerSwitchIF.h>
+#include <fsfw/subsystem/Subsystem.h>
 #include <fsfw_hal/common/gpio/GpioCookie.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>
 #include <fsfw_hal/common/gpio/gpioDefinitions.h>
@ -15,15 +16,16 @@
 #include <mission/devices/Max31865PT1000Handler.h>
 #include <mission/devices/ScexDeviceHandler.h>
 #include <mission/devices/SusHandler.h>
-#include <mission/system/SusAssembly.h>
-#include <mission/system/TcsBoardAssembly.h>
 #include <mission/system/fdir/RtdFdir.h>
 #include <mission/system/fdir/SusFdir.h>
+#include <mission/system/objects/SusAssembly.h>
+#include <mission/system/objects/TcsBoardAssembly.h>

 #include "OBSWConfig.h"
 #include "devConf.h"
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
+#include "mission/system/tree/acsModeTree.h"

 void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
                                              PowerSwitchIF* pwrSwitcher, std::string spiDev) {
@ -78,7 +80,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  susHandlers[0] =
      new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
-  susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[0]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, SUS::MAX_CMD_SIZE,
@ -86,7 +87,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  susHandlers[1] =
      new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
-  susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[1]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, SUS::MAX_CMD_SIZE,
@ -94,7 +94,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  susHandlers[2] =
      new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
-  susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[2]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, SUS::MAX_CMD_SIZE,
@ -102,7 +101,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  susHandlers[3] =
      new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
-  susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[3]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, SUS::MAX_CMD_SIZE,
@ -110,7 +108,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  susHandlers[4] =
      new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
-  susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[4]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, SUS::MAX_CMD_SIZE,
@ -118,7 +115,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  susHandlers[5] =
      new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
-  susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[5]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
@ -126,7 +122,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  susHandlers[6] =
      new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
-  susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[6]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, SUS::MAX_CMD_SIZE,
@ -134,7 +129,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  susHandlers[7] =
      new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
-  susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[7]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, SUS::MAX_CMD_SIZE,
@ -142,7 +136,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  susHandlers[8] =
      new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
-  susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[8]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, SUS::MAX_CMD_SIZE,
@ -150,7 +143,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  susHandlers[9] =
      new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
-  susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[9]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, SUS::MAX_CMD_SIZE,
@ -158,7 +150,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  susHandlers[10] =
      new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
-  susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[10]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, SUS::MAX_CMD_SIZE,
@ -166,11 +157,24 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  susHandlers[11] =
      new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
-  susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[11]->setCustomFdir(fdir);

+  std::array<object_id_t, 12> susIds = {
+      objects::SUS_0_N_LOC_XFYFZM_PT_XF,  objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+      objects::SUS_2_N_LOC_XFYBZB_PT_YB,  objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+      objects::SUS_4_N_LOC_XMYFZF_PT_ZF,  objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+      objects::SUS_6_R_LOC_XFYBZM_PT_XF,  objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+      objects::SUS_8_R_LOC_XBYBZB_PT_YB,  objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+      objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::SUS_11_R_LOC_XBYMZB_PT_ZB};
+  SusAssHelper susAssHelper = SusAssHelper(susIds);
+  auto susAss = new SusAssembly(objects::SUS_BOARD_ASS, pwrSwitcher, susAssHelper);
  for (auto& sus : susHandlers) {
    if (sus != nullptr) {
+      ReturnValue_t result = sus->connectModeTreeParent(*susAss);
+      if (result != returnvalue::OK) {
+        sif::error << "Connecting SUS " << sus->getObjectId() << " to SUS assembly failed"
+                   << std::endl;
+      }
 #if OBSW_TEST_SUS == 1
      sus->setStartUpImmediately();
      sus->setToGoToNormalMode(true);
@ -180,17 +184,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 #endif
    }
  }
-  std::array<object_id_t, 12> susIds = {
-      objects::SUS_0_N_LOC_XFYFZM_PT_XF,  objects::SUS_1_N_LOC_XBYFZM_PT_XB,
-      objects::SUS_2_N_LOC_XFYBZB_PT_YB,  objects::SUS_3_N_LOC_XFYBZF_PT_YF,
-      objects::SUS_4_N_LOC_XMYFZF_PT_ZF,  objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
-      objects::SUS_6_R_LOC_XFYBZM_PT_XF,  objects::SUS_7_R_LOC_XBYBZM_PT_XB,
-      objects::SUS_8_R_LOC_XBYBZB_PT_YB,  objects::SUS_9_R_LOC_XBYBZB_PT_YF,
-      objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::SUS_11_R_LOC_XBYMZB_PT_ZB};
-  SusAssHelper susAssHelper = SusAssHelper(susIds);
-  auto susAss =
-      new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
-  static_cast<void>(susAss);
+  susAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_SUN_SENSORS == 1 */
 }

@ -292,6 +286,11 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
  std::array<SpiCookie*, NUM_RTDS> rtdCookies = {};
  std::array<Max31865EiveHandler*, NUM_RTDS> rtds = {};
  RtdFdir* rtdFdir = nullptr;
+
+  TcsBoardHelper helper(rtdInfos);
+  TcsBoardAssembly* tcsBoardAss = new TcsBoardAssembly(
+      objects::TCS_BOARD_ASS, pwrSwitcher, pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
+  static_cast<void>(tcsBoardAss);
  // Create special low level reader communication interface
  new Max31865RtdReader(objects::SPI_RTD_COM_IF, comIF, gpioComIF);
  for (uint8_t idx = 0; idx < NUM_RTDS; idx++) {
@ -303,7 +302,11 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
    rtds[idx] =
        new Max31865EiveHandler(rtdInfos[idx].first, objects::SPI_RTD_COM_IF, rtdLowLevelCookie);
    rtds[idx]->setDeviceInfo(idx, rtdInfos[idx].second);
-    rtds[idx]->setParent(objects::TCS_BOARD_ASS);
+    ReturnValue_t result = rtds[idx]->connectModeTreeParent(*tcsBoardAss);
+    if (result != returnvalue::OK) {
+      sif::error << "Connecting RTD " << static_cast<int>(idx) << " to RTD Assembly failed"
+                 << std::endl;
+    }
    rtdFdir = new RtdFdir(rtdInfos[idx].first);
    rtds[idx]->setCustomFdir(rtdFdir);
 #if OBSW_DEBUG_RTD == 1
@ -315,11 +318,6 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
 #endif
  }

-  TcsBoardHelper helper(rtdInfos);
-  TcsBoardAssembly* tcsBoardAss =
-      new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
-                           pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
-  static_cast<void>(tcsBoardAss);
 #endif  // OBSW_ADD_RTD_DEVICES == 1
 }

@ -340,10 +338,16 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr
 }

 void ObjectFactory::createThermalController() {
-  new ThermalController(objects::THERMAL_CONTROLLER, objects::NO_OBJECT);
+  new ThermalController(objects::THERMAL_CONTROLLER);
 }

-void ObjectFactory::createAcsController() { new AcsController(objects::ACS_CONTROLLER); }
+AcsController* ObjectFactory::createAcsController(bool connectSubsystem) {
+  auto acsCtrl = new AcsController(objects::ACS_CONTROLLER);
+  if (connectSubsystem) {
+    acsCtrl->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
+  }
+  return acsCtrl;
+}

 void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
  if (result != returnvalue::OK) {
--- a/linux/ObjectFactory.h
+++ b/linux/ObjectFactory.h
@ -11,6 +11,7 @@
 class GpioIF;
 class SpiComIF;
 class PowerSwitchIF;
+class AcsController;

 namespace ObjectFactory {

@ -26,6 +27,6 @@ void createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
 void gpioChecker(ReturnValue_t result, std::string output);

 void createThermalController();
-void createAcsController();
+AcsController* createAcsController(bool connectSubsystem);

 }  // namespace ObjectFactory
--- a/linux/devices/GPSHyperionLinuxController.cpp
+++ b/linux/devices/GPSHyperionLinuxController.cpp
@ -18,9 +18,7 @@

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

--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
 * @brief    Auto-generated event translation file. Contains 233 translations.
 * @details
- * Generated on: 2022-10-27 09:03:07
+ * Generated on: 2022-10-27 09:17:50
 */
 #include "translateEvents.h"

--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@ -1,8 +1,8 @@
 /**
 * @brief  Auto-generated object translation file.
 * @details
- * Contains 140 translations.
- * Generated on: 2022-10-27 09:03:07
+ * Contains 142 translations.
+ * Generated on: 2022-10-27 09:17:50
 */
 #include "translateObjects.h"

@ -144,6 +144,8 @@ const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
 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";
+const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
+const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";

@ -425,6 +427,10 @@ const char *translateObject(object_id_t object) {
      return PUS_TM_FUNNEL_STRING;
    case 0x73000102:
      return CFDP_TM_FUNNEL_STRING;
+    case 0x73010000:
+      return EIVE_SYSTEM_STRING;
+    case 0x73010001:
+      return ACS_SUBSYSTEM_STRING;
    case 0x73500000:
      return CCSDS_IP_CORE_BRIDGE_STRING;
    case 0xFFFFFFFF:
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@ -5,7 +5,7 @@
 #include "mission/devices/torquer.h"

 AcsController::AcsController(object_id_t objectId)
-    : ExtendedControllerBase(objectId, objects::NO_OBJECT), mgmData(this) {}
+    : ExtendedControllerBase(objectId), mgmData(this) {}

 ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
  return returnvalue::OK;
--- a/mission/controller/ThermalController.cpp
+++ b/mission/controller/ThermalController.cpp
@ -14,8 +14,8 @@
 #include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
 #include <objects/systemObjectList.h>

-ThermalController::ThermalController(object_id_t objectId, object_id_t parentId)
-    : ExtendedControllerBase(objectId, parentId),
+ThermalController::ThermalController(object_id_t objectId)
+    : ExtendedControllerBase(objectId),
      sensorTemperatures(this),
      susTemperatures(this),
      deviceTemperatures(this),
--- a/mission/controller/ThermalController.h
+++ b/mission/controller/ThermalController.h
@ -12,7 +12,7 @@ class ThermalController : public ExtendedControllerBase {
 public:
  static const uint16_t INVALID_TEMPERATURE = 999;

-  ThermalController(object_id_t objectId, object_id_t parentId);
+  ThermalController(object_id_t objectId);

  ReturnValue_t initialize() override;

--- a/mission/controller/controllerdefinitions/AcsControllerDefinitions.h
+++ b/mission/controller/controllerdefinitions/AcsControllerDefinitions.h
@ -0,0 +1,14 @@
+#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
+#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
+
+#include <fsfw/modes/HasModesIF.h>
+
+namespace acs {
+
+enum CtrlModes { OFF = HasModesIF::MODE_OFF, SAFE = 1, DETUMBLE = 2, IDLE = 3, TARGET_PT = 4 };
+
+static constexpr Submode_t IDLE_CHARGE = 1;
+
+}  // namespace acs
+
+#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_ */
--- a/mission/devices/PayloadPcduHandler.h
+++ b/mission/devices/PayloadPcduHandler.h
@ -10,8 +10,8 @@
 #include "fsfw_hal/common/gpio/GpioIF.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
 #include "mission/memory/SdCardMountedIF.h"
-#include "mission/system/DualLanePowerStateMachine.h"
-#include "mission/system/definitions.h"
+#include "mission/system/objects/DualLanePowerStateMachine.h"
+#include "mission/system/objects/definitions.h"

 #ifdef FSFW_OSAL_LINUX
 class SpiComIF;
--- a/mission/system/AcsSubsystem.cpp
+++ b/mission/system/AcsSubsystem.cpp
@ -1,5 +0,0 @@
-#include "AcsSubsystem.h"
-
-AcsSubsystem::AcsSubsystem(object_id_t setObjectId, object_id_t parent,
-                           uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}
--- a/mission/system/CMakeLists.txt
+++ b/mission/system/CMakeLists.txt
@ -1,15 +1,3 @@
-target_sources(
-  ${LIB_EIVE_MISSION}
-  PRIVATE EiveSystem.cpp
-          AcsSubsystem.cpp
-          ComSubsystem.cpp
-          PayloadSubsystem.cpp
-          AcsBoardAssembly.cpp
-          RwAssembly.cpp
-          SusAssembly.cpp
-          DualLanePowerStateMachine.cpp
-          PowerStateMachineBase.cpp
-          DualLaneAssemblyBase.cpp
-          TcsBoardAssembly.cpp)
-
+add_subdirectory(objects)
+add_subdirectory(tree)
 add_subdirectory(fdir)
--- a/mission/system/ComSubsystem.cpp
+++ b/mission/system/ComSubsystem.cpp
@ -1,5 +0,0 @@
-#include "ComSubsystem.h"
-
-ComSubsystem::ComSubsystem(object_id_t setObjectId, object_id_t parent,
-                           uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}
--- a/mission/system/EiveSystem.cpp
+++ b/mission/system/EiveSystem.cpp
@ -1,5 +0,0 @@
-#include "EiveSystem.h"
-
-EiveSystem::EiveSystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
-                       uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}
--- a/mission/system/PayloadSubsystem.cpp
+++ b/mission/system/PayloadSubsystem.cpp
@ -1,5 +0,0 @@
-#include "PayloadSubsystem.h"
-
-PayloadSubsystem::PayloadSubsystem(object_id_t setObjectId, object_id_t parent,
-                                   uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}
--- a/mission/system/objects/AcsBoardAssembly.cpp
+++ b/mission/system/objects/AcsBoardAssembly.cpp
@ -6,11 +6,10 @@

 #include "OBSWConfig.h"

-AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
-                                   PowerSwitchIF* switcher, AcsBoardHelper helper, GpioIF* gpioIF)
-    : DualLaneAssemblyBase(objectId, parentId, switcher, SWITCH_A, SWITCH_B,
-                           POWER_STATE_MACHINE_TIMEOUT, SIDE_SWITCH_TRANSITION_NOT_ALLOWED,
-                           TRANSITION_OTHER_SIDE_FAILED),
+AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, PowerSwitchIF* switcher,
+                                   AcsBoardHelper helper, GpioIF* gpioIF)
+    : DualLaneAssemblyBase(objectId, switcher, SWITCH_A, SWITCH_B, POWER_STATE_MACHINE_TIMEOUT,
+                           SIDE_SWITCH_TRANSITION_NOT_ALLOWED, TRANSITION_OTHER_SIDE_FAILED),
      helper(helper),
      gpioIF(gpioIF) {
  if (switcher == nullptr) {
@ -275,42 +274,4 @@ void AcsBoardAssembly::refreshHelperModes() {
  }
 }

-ReturnValue_t AcsBoardAssembly::initialize() {
-  ReturnValue_t result = registerChild(helper.gyro0AdisIdSideA);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = registerChild(helper.gyro1L3gIdSideA);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = registerChild(helper.gyro2AdisIdSideB);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = registerChild(helper.gyro3L3gIdSideB);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = registerChild(helper.mgm0Lis3IdSideA);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = registerChild(helper.mgm1Rm3100IdSideA);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = registerChild(helper.mgm2Lis3IdSideB);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = registerChild(helper.mgm3Rm3100IdSideB);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = registerChild(helper.gpsId);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return AssemblyBase::initialize();
-}
+ReturnValue_t AcsBoardAssembly::initialize() { return AssemblyBase::initialize(); }
--- a/mission/system/objects/AcsBoardAssembly.h
+++ b/mission/system/objects/AcsBoardAssembly.h
@ -94,8 +94,8 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {

  static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;

-  AcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
-                   AcsBoardHelper helper, GpioIF* gpioIF);
+  AcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, AcsBoardHelper helper,
+                   GpioIF* gpioIF);

  /**
   * In dual mode, the A side or the B side GPS device can be used, but not both.
--- a/mission/system/objects/AcsSubsystem.cpp
+++ b/mission/system/objects/AcsSubsystem.cpp
@ -0,0 +1,5 @@
+#include "AcsSubsystem.h"
+
+AcsSubsystem::AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
+                           uint32_t maxNumberOfTables)
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
--- a/mission/system/objects/AcsSubsystem.h
+++ b/mission/system/objects/AcsSubsystem.h
@ -5,8 +5,7 @@

 class AcsSubsystem : public Subsystem {
 public:
-  AcsSubsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
-               uint32_t maxNumberOfTables);
+  AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);

 private:
 };
--- a/mission/system/objects/CMakeLists.txt
+++ b/mission/system/objects/CMakeLists.txt
@ -0,0 +1,13 @@
+target_sources(
+  ${LIB_EIVE_MISSION}
+  PRIVATE EiveSystem.cpp
+          AcsSubsystem.cpp
+          ComSubsystem.cpp
+          PayloadSubsystem.cpp
+          AcsBoardAssembly.cpp
+          SusAssembly.cpp
+          RwAssembly.cpp
+          DualLanePowerStateMachine.cpp
+          PowerStateMachineBase.cpp
+          DualLaneAssemblyBase.cpp
+          TcsBoardAssembly.cpp)
--- a/mission/system/objects/ComSubsystem.cpp
+++ b/mission/system/objects/ComSubsystem.cpp
@ -0,0 +1,5 @@
+#include "ComSubsystem.h"
+
+ComSubsystem::ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
+                           uint32_t maxNumberOfTables)
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
--- a/mission/system/objects/ComSubsystem.h
+++ b/mission/system/objects/ComSubsystem.h
@ -5,8 +5,7 @@

 class ComSubsystem : public Subsystem {
 public:
-  ComSubsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
-               uint32_t maxNumberOfTables);
+  ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);

 private:
 };
--- a/mission/system/objects/DualLaneAssemblyBase.cpp
+++ b/mission/system/objects/DualLaneAssemblyBase.cpp
@ -4,12 +4,11 @@

 #include "OBSWConfig.h"

-DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, object_id_t parentId,
-                                           PowerSwitchIF* pwrSwitcher, pcdu::Switches switch1,
-                                           pcdu::Switches switch2, Event pwrTimeoutEvent,
-                                           Event sideSwitchNotAllowedEvent,
+DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
+                                           pcdu::Switches switch1, pcdu::Switches switch2,
+                                           Event pwrTimeoutEvent, Event sideSwitchNotAllowedEvent,
                                           Event transitionOtherSideFailedEvent)
-    : AssemblyBase(objectId, parentId, 20),
+    : AssemblyBase(objectId, 20),
      pwrStateMachine(switch1, switch2, pwrSwitcher),
      pwrTimeoutEvent(pwrTimeoutEvent),
      sideSwitchNotAllowedEvent(sideSwitchNotAllowedEvent),
--- a/mission/system/objects/DualLaneAssemblyBase.h
+++ b/mission/system/objects/DualLaneAssemblyBase.h
@ -2,7 +2,7 @@
 #define MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_

 #include <fsfw/devicehandlers/AssemblyBase.h>
-#include <mission/system/DualLanePowerStateMachine.h>
+#include <mission/system/objects/DualLanePowerStateMachine.h>

 /**
 * @brief   Encapsulates assemblies which are also responsible for dual lane power switching
@ -18,8 +18,8 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
  static constexpr UniqueEventId_t POWER_STATE_MACHINE_TIMEOUT_ID = 2;
  static constexpr UniqueEventId_t SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID = 3;

-  DualLaneAssemblyBase(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
-                       pcdu::Switches switch1, pcdu::Switches switch2, Event pwrSwitchTimeoutEvent,
+  DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher, pcdu::Switches switch1,
+                       pcdu::Switches switch2, Event pwrSwitchTimeoutEvent,
                       Event sideSwitchNotAllowedEvent, Event transitionOtherSideFailedEvent);

 protected:
--- a/mission/system/objects/DualLanePowerStateMachine.cpp
+++ b/mission/system/objects/DualLanePowerStateMachine.cpp
--- a/mission/system/objects/DualLanePowerStateMachine.h
+++ b/mission/system/objects/DualLanePowerStateMachine.h
@ -3,7 +3,7 @@

 #include <devices/powerSwitcherList.h>
 #include <fsfw/modes/HasModesIF.h>
-#include <mission/system/PowerStateMachineBase.h>
+#include <mission/system/objects/PowerStateMachineBase.h>

 #include "definitions.h"

--- a/mission/system/objects/EiveSystem.cpp
+++ b/mission/system/objects/EiveSystem.cpp
@ -0,0 +1,5 @@
+#include "EiveSystem.h"
+
+EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
+                       uint32_t maxNumberOfTables)
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
--- a/mission/system/objects/EiveSystem.h
+++ b/mission/system/objects/EiveSystem.h
@ -5,8 +5,7 @@

 class EiveSystem : public Subsystem {
 public:
-  EiveSystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
-             uint32_t maxNumberOfTables);
+  EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);

 private:
 };
--- a/mission/system/objects/PayloadSubsystem.cpp
+++ b/mission/system/objects/PayloadSubsystem.cpp
@ -0,0 +1,5 @@
+#include "PayloadSubsystem.h"
+
+PayloadSubsystem::PayloadSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
+                                   uint32_t maxNumberOfTables)
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
--- a/mission/system/objects/PayloadSubsystem.h
+++ b/mission/system/objects/PayloadSubsystem.h
@ -5,7 +5,7 @@

 class PayloadSubsystem : public Subsystem {
 public:
-  PayloadSubsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
+  PayloadSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                   uint32_t maxNumberOfTables);

 private:
--- a/mission/system/objects/PowerStateMachineBase.cpp
+++ b/mission/system/objects/PowerStateMachineBase.cpp
--- a/mission/system/objects/PowerStateMachineBase.h
+++ b/mission/system/objects/PowerStateMachineBase.h
--- a/mission/system/objects/RwAssembly.cpp
+++ b/mission/system/objects/RwAssembly.cpp
@ -1,8 +1,8 @@
 #include "RwAssembly.h"

-RwAssembly::RwAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
-                       power::Switch_t switcher, RwHelper helper)
-    : AssemblyBase(objectId, parentId), helper(helper), switcher(pwrSwitcher, switcher) {
+RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
+                       RwHelper helper)
+    : AssemblyBase(objectId), helper(helper), switcher(pwrSwitcher, switcher) {
  ModeListEntry entry;
  for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
    entry.setObject(helper.rwIds[idx]);
@ -167,16 +167,7 @@ bool RwAssembly::isUseable(object_id_t object, Mode_t mode) {
  return false;
 }

-ReturnValue_t RwAssembly::initialize() {
-  ReturnValue_t result = returnvalue::OK;
-  for (const auto& obj : helper.rwIds) {
-    result = registerChild(obj);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-  return SubsystemBase::initialize();
-}
+ReturnValue_t RwAssembly::initialize() { return SubsystemBase::initialize(); }

 void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) {
  if (targetMode == MODE_OFF) {
--- a/mission/system/objects/RwAssembly.h
+++ b/mission/system/objects/RwAssembly.h
@ -12,8 +12,8 @@ struct RwHelper {

 class RwAssembly : public AssemblyBase {
 public:
-  RwAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
-             power::Switch_t switcher, RwHelper helper);
+  RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
+             RwHelper helper);

 private:
  static constexpr uint8_t NUMBER_RWS = 4;
--- a/mission/system/objects/SusAssembly.cpp
+++ b/mission/system/objects/SusAssembly.cpp
@ -4,9 +4,8 @@
 #include <fsfw/power/PowerSwitchIF.h>
 #include <fsfw/serviceinterface.h>

-SusAssembly::SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
-                         SusAssHelper helper)
-    : DualLaneAssemblyBase(objectId, parentId, pwrSwitcher, SWITCH_NOM, SWITCH_RED,
+SusAssembly::SusAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, SusAssHelper helper)
+    : DualLaneAssemblyBase(objectId, pwrSwitcher, SWITCH_NOM, SWITCH_RED,
                           POWER_STATE_MACHINE_TIMEOUT, SIDE_SWITCH_TRANSITION_NOT_ALLOWED,
                           TRANSITION_OTHER_SIDE_FAILED),
      helper(helper),
@ -121,16 +120,7 @@ ReturnValue_t SusAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wan
  return returnvalue::OK;
 }

-ReturnValue_t SusAssembly::initialize() {
-  ReturnValue_t result = returnvalue::OK;
-  for (const auto& id : helper.susIds) {
-    result = registerChild(id);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-  return AssemblyBase::initialize();
-}
+ReturnValue_t SusAssembly::initialize() { return AssemblyBase::initialize(); }

 bool SusAssembly::isUseable(object_id_t object, Mode_t mode) {
  if (healthHelper.healthTable->isFaulty(object)) {
--- a/mission/system/objects/SusAssembly.h
+++ b/mission/system/objects/SusAssembly.h
@ -40,8 +40,7 @@ class SusAssembly : public DualLaneAssemblyBase {
  static constexpr Event SIDE_SWITCH_TRANSITION_NOT_ALLOWED =
      event::makeEvent(SUBSYSTEM_ID, 3, severity::LOW);

-  SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
-              SusAssHelper helper);
+  SusAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, SusAssHelper helper);

 private:
  enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;
--- a/mission/system/objects/TcsBoardAssembly.cpp
+++ b/mission/system/objects/TcsBoardAssembly.cpp
@ -3,10 +3,9 @@
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/ipc/QueueFactory.h>

-TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, object_id_t parentId,
-                                   PowerSwitchIF* pwrSwitcher, power::Switch_t theSwitch,
-                                   TcsBoardHelper helper)
-    : AssemblyBase(objectId, parentId, 24), switcher(pwrSwitcher, theSwitch), helper(helper) {
+TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
+                                   power::Switch_t theSwitch, TcsBoardHelper helper)
+    : AssemblyBase(objectId, 24), switcher(pwrSwitcher, theSwitch), helper(helper) {
  eventQueue = QueueFactory::instance()->createMessageQueue(24);
  ModeListEntry entry;
  for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
@ -90,16 +89,7 @@ ReturnValue_t TcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t su
  return HasModesIF::INVALID_MODE;
 }

-ReturnValue_t TcsBoardAssembly::initialize() {
-  ReturnValue_t result = returnvalue::OK;
-  for (const auto& obj : helper.rtdInfos) {
-    result = registerChild(obj.first);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-  return SubsystemBase::initialize();
-}
+ReturnValue_t TcsBoardAssembly::initialize() { return AssemblyBase::initialize(); }

 void TcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
  if (mode != MODE_OFF) {
--- a/mission/system/objects/TcsBoardAssembly.h
+++ b/mission/system/objects/TcsBoardAssembly.h
@ -20,8 +20,8 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_BOARD_ASS;
  static constexpr Event CHILDREN_LOST_MODE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);

-  TcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
-                   power::Switch_t switcher, TcsBoardHelper helper);
+  TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
+                   TcsBoardHelper helper);

  ReturnValue_t initialize() override;

--- a/mission/system/objects/definitions.h
+++ b/mission/system/objects/definitions.h
--- a/mission/system/tree/CMakeLists.txt
+++ b/mission/system/tree/CMakeLists.txt
@ -0,0 +1 @@
+target_sources(${LIB_EIVE_MISSION} PRIVATE acsModeTree.cpp)
--- a/mission/system/tree/acsModeTree.cpp
+++ b/mission/system/tree/acsModeTree.cpp
@ -0,0 +1,397 @@
+#include "acsModeTree.h"
+
+#include <fsfw/container/FixedMap.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/modes/HasModesIF.h>
+#include <fsfw/subsystem/Subsystem.h>
+#include <fsfw/subsystem/modes/ModeDefinitions.h>
+
+#include "eive/objects.h"
+#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
+
+Subsystem satsystem::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
+
+void checkInsert(ReturnValue_t result, const char* ctx);
+void buildOffSequence(Subsystem* ss, ModeListEntry& eh);
+void buildDetumbleSequence(Subsystem* ss, ModeListEntry& entryHelper);
+void buildSafeSequence(Subsystem* ss, ModeListEntry& entryHelper);
+void buildIdleSequence(Subsystem* ss, ModeListEntry& entryHelper);
+void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& entryHelper);
+void buildTargetPtSequence(Subsystem* ss, ModeListEntry& entryHelper);
+
+// Alias for checker function
+const auto check = checkInsert;
+static const auto OFF = HasModesIF::MODE_OFF;
+static const auto NML = DeviceHandlerIF::MODE_NORMAL;
+
+auto ACS_SEQUENCE_OFF =
+    std::make_pair(acs::CtrlModes::OFF << 24, FixedArrayList<ModeListEntry, 2>());
+auto ACS_TABLE_OFF_TGT =
+    std::make_pair((acs::CtrlModes::OFF << 24) | 1, FixedArrayList<ModeListEntry, 0>());
+auto ACS_TABLE_OFF_TRANS =
+    std::make_pair((acs::CtrlModes::OFF << 24) | 2, FixedArrayList<ModeListEntry, 6>());
+
+auto ACS_SEQUENCE_DETUMBLE =
+    std::make_pair(acs::CtrlModes::DETUMBLE << 24, FixedArrayList<ModeListEntry, 3>());
+auto ACS_TABLE_DETUMBLE_TGT =
+    std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
+auto ACS_TABLE_DETUMBLE_TRANS_0 =
+    std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto ACS_TABLE_DETUMBLE_TRANS_1 =
+    std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+
+auto ACS_SEQUENCE_SAFE =
+    std::make_pair(acs::CtrlModes::SAFE << 24, FixedArrayList<ModeListEntry, 3>());
+auto ACS_TABLE_SAFE_TGT =
+    std::make_pair((acs::CtrlModes::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
+auto ACS_TABLE_SAFE_TRANS_0 =
+    std::make_pair((acs::CtrlModes::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto ACS_TABLE_SAFE_TRANS_1 =
+    std::make_pair((acs::CtrlModes::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+
+auto ACS_SEQUENCE_IDLE =
+    std::make_pair(acs::CtrlModes::IDLE << 24, FixedArrayList<ModeListEntry, 3>());
+auto ACS_TABLE_IDLE_TGT =
+    std::make_pair((acs::CtrlModes::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto ACS_TABLE_IDLE_TRANS_0 =
+    std::make_pair((acs::CtrlModes::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto ACS_TABLE_IDLE_TRANS_1 =
+    std::make_pair((acs::CtrlModes::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+
+auto ACS_SEQUENCE_IDLE_CHRG = std::make_pair(acs::CtrlModes::IDLE << 24 | (acs::IDLE_CHARGE << 8),
+                                             FixedArrayList<ModeListEntry, 3>());
+auto ACS_TABLE_IDLE_CHRG_TGT = std::make_pair(
+    (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 1, FixedArrayList<ModeListEntry, 4>());
+auto ACS_TABLE_IDLE_CHRG_TRANS_0 = std::make_pair(
+    (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 2, FixedArrayList<ModeListEntry, 5>());
+auto ACS_TABLE_IDLE_CHRG_TRANS_1 = std::make_pair(
+    (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 3, FixedArrayList<ModeListEntry, 1>());
+
+auto ACS_SEQUENCE_TARGET_PT =
+    std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
+auto ACS_TABLE_TARGET_PT_TGT =
+    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 6>());
+auto ACS_TABLE_TARGET_PT_TRANS_0 =
+    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto ACS_TABLE_TARGET_PT_TRANS_1 =
+    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+
+void satsystem::initAcsSubsystem(object_id_t satSystemObjId) {
+  ModeListEntry entry;
+  buildOffSequence(&ACS_SUBSYSTEM, entry);
+  buildSafeSequence(&ACS_SUBSYSTEM, entry);
+  buildDetumbleSequence(&ACS_SUBSYSTEM, entry);
+  buildIdleSequence(&ACS_SUBSYSTEM, entry);
+  buildIdleChargeSequence(&ACS_SUBSYSTEM, entry);
+  buildTargetPtSequence(&ACS_SUBSYSTEM, entry);
+  ACS_SUBSYSTEM.setInitialMode(HasModesIF::MODE_OFF);
+}
+
+void buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildOffSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  // OFF Target table is empty
+  check(ss->addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc);
+
+  // Build OFF transition
+  iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
+  iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
+  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
+  iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
+  iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
+  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
+  check(ss->addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true), ctxc);
+
+  // Build OFF sequence
+  ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TGT.first, 0, false);
+  ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS.first, 0, false);
+  check(ss->addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first,
+                        false, true),
+        ctxc);
+}
+
+void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildSafeSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                 ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(sequence.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+  // Build SAFE target
+  iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TGT.second);
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
+  check(ss->addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);
+
+  // Build SAFE transition 0
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
+  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
+  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
+  check(ss->addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
+        ctxc);
+
+  // Build SAFE transition 1
+  iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second);
+  check(ss->addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
+        ctxc);
+
+  // Build SAFE sequence
+  ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false);
+  ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false);
+  check(ss->addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first,
+                        false, true),
+        ctxc);
+}
+
+void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildDetumbleSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                 ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(sequence.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+  // Build DETUMBLE target
+  iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TGT.second);
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
+  check(ss->addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true),
+        ctxc);
+
+  // Build DETUMBLE transition 0
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
+  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
+  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
+  check(ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false,
+                     true),
+        ctxc);
+
+  // Build DETUMBLE transition 1
+  iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
+  check(ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
+                     true),
+        ctxc);
+
+  // Build DETUMBLE sequence
+  ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false);
+  ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false);
+  check(ss->addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
+                        ACS_SEQUENCE_SAFE.first, false, true),
+        ctxc);
+}
+
+void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildIdleSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                 ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(sequence.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+  // Build IDLE target
+  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TGT.second);
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
+  iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
+  ss->addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
+
+  // Build IDLE transition 0
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
+  iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
+  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_TRANS_0.second);
+  ss->addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
+
+  // Build IDLE transition 1
+  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TRANS_1.second);
+  ss->addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);
+
+  // Build IDLE sequence
+  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, true);
+  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, false);
+  ss->addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first,
+                  false, true);
+}
+
+void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildIdleChargeSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                 ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(sequence.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+  // Build IDLE target
+  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
+      ACS_TABLE_IDLE_CHRG_TGT.second);
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
+  check(ss->addTable(&ACS_TABLE_IDLE_CHRG_TGT.second, ACS_TABLE_IDLE_CHRG_TGT.first, false, true),
+        ctxc);
+
+  // Build IDLE transition 0
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
+  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
+  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
+  check(ss->addTable(&ACS_TABLE_IDLE_CHRG_TRANS_0.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, false,
+                     true),
+        ctxc);
+
+  // Build IDLE transition 1
+  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
+      ACS_TABLE_IDLE_CHRG_TRANS_1.second);
+  check(ss->addTable(&ACS_TABLE_IDLE_CHRG_TRANS_1.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, false,
+                     true),
+        ctxc);
+
+  // Build IDLE sequence
+  ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, 0, true);
+  ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, 0, false);
+  check(ss->addSequence(&ACS_SEQUENCE_IDLE_CHRG.second, ACS_SEQUENCE_IDLE_CHRG.first,
+                        ACS_SEQUENCE_SAFE.first, false, true),
+        ctxc);
+}
+
+void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildTargetPtSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                 ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(sequence.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  // Build TARGET PT table
+  iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TGT.second);
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
+  iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
+  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
+  check(ss->addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true),
+        ctxc);
+
+  // Build TARGET PT transition 0
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
+  iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
+  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
+  check(ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false,
+                     true),
+        ctxc);
+
+  // Build TARGET PT transition 1
+  iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TRANS_1.second);
+  check(ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false,
+                     true),
+        ctxc);
+
+  // Build IDLE sequence
+  ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_0.first, 0, true);
+  ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_1.first, 0, false);
+  check(ss->addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first,
+                        ACS_SEQUENCE_IDLE.first, false, true),
+        ctxc);
+}
+
+void checkInsert(ReturnValue_t result, const char* ctx) {
+  if (result != returnvalue::OK) {
+    sif::warning << "satsystem::checkInsert: Insertion failed at " << ctx;
+    if (result == mapdefs::KEY_ALREADY_EXISTS) {
+      sif::warning << ": Key already exists" << std::endl;
+    } else if (result == mapdefs::MAP_FULL) {
+      sif::warning << ": Map full" << std::endl;
+    } else {
+      sif::warning << std::endl;
+    }
+  }
+}
--- a/mission/system/tree/acsModeTree.h
+++ b/mission/system/tree/acsModeTree.h
@ -0,0 +1,11 @@
+#include <fsfw/subsystem/modes/ModeDefinitions.h>
+
+class Subsystem;
+
+namespace satsystem {
+
+extern Subsystem ACS_SUBSYSTEM;
+
+void initAcsSubsystem(object_id_t satSystemObjId);
+
+}  // namespace satsystem
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 044c600b1ce13d58781a8d06125619c8cc0080f9
+Subproject commit f3609b81799790578c095262f33c11add3c0b078
--- a/unittest/controller/testThermalController.cpp
+++ b/unittest/controller/testThermalController.cpp
@ -17,7 +17,7 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {

  // testEnvironment::initialize();

-  ThermalController controller(THERMAL_CONTROLLER_ID, objects::NO_OBJECT);
+  ThermalController controller(THERMAL_CONTROLLER_ID);
  ReturnValue_t result = controller.initialize();
  REQUIRE(result == returnvalue::OK);
				`@ -0,0 +1 @@`
				`target_sources(${LIB_EIVE_MISSION} PRIVATE acsModeTree.cpp)`