2022-11-28 18:29:31 +01:00
26 changed files with 583 additions and 89 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -10,8 +10,9 @@ list yields a list of all related PRs for each release.

 # [unreleased]

- Add IRQ mode for PDEC handler
-  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/310
+- ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231
+- Payload Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231
+- Add IRQ mode for PDEC handler. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/310
 - Extended TM funnels to allow multiple TM recipients.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/312
 - DHB: Transitions to normal mode now possible directly, which simplifies subsystem implementations
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@ -67,12 +67,6 @@ void initmission::initTasks() {
  void (*missedDeadlineFunc)(void) = nullptr;
 #endif

-  PeriodicTaskIF* sysCtrlTask = factory->createPeriodicTask(
-      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
-  result = sysCtrlTask->addComponent(objects::CORE_CONTROLLER);
-  if (result != returnvalue::OK) {
-    initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
-  }
 #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.
@ -84,6 +78,17 @@ void initmission::initTasks() {
  }
 #endif

+  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
+      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  result = sysTask->addComponent(objects::CORE_CONTROLLER);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
+  }
+  result = sysTask->addComponent(objects::PL_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
+  }
+
  /* TMTC Distribution */
  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
@ -127,9 +132,7 @@ void initmission::initTasks() {
    initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
  }

-  // Minimal distance between two received TCs amounts to 0.6 seconds
-  // If a command has not been read before the next one arrives, the old command will be
-  // overwritten by the PDEC.
+  // Runs in IRQ mode, frequency does not really matter
  PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
@ -275,14 +278,11 @@ void initmission::initTasks() {
  }
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */

-#if OBSW_TEST_CCSDS_BRIDGE == 1
-  PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
-      "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
-  if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
-  }
-#endif
+  PeriodicTaskIF* plTask = factory->createPeriodicTask(
+      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  scheduling::addMpsocSupvHandlers(plTask);
+  plTask->addComponent(objects::CAM_SWITCHER);
+
 #if OBSW_ADD_SCEX_DEVICE == 1
  PeriodicTaskIF* scexDevHandler;
  PeriodicTaskIF* scexReaderTask;
@ -295,6 +295,14 @@ void initmission::initTasks() {
  createPstTasks(*factory, missedDeadlineFunc, pstTasks);

 #if OBSW_ADD_TEST_CODE == 1
+#if OBSW_TEST_CCSDS_BRIDGE == 1
+  PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
+      "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
+  }
+#endif
  std::vector<PeriodicTaskIF*> testTasks;
  createTestTasks(*factory, missedDeadlineFunc, testTasks);
 #endif
@ -321,7 +329,7 @@ void initmission::initTasks() {
  pdecHandlerTask->startTask();
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */

-  sysCtrlTask->startTask();
+  sysTask->startTask();
 #if OBSW_ADD_SA_DEPL == 1
  solarArrayDeplTask->startTask();
 #endif
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@ -1,5 +1,8 @@
 #include "ObjectFactory.h"

+#include <fsfw/subsystem/Subsystem.h>
+#include <mission/system/objects/CamSwitcher.h>
+
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
@ -45,6 +48,7 @@
 #include "mission/system/objects/RwAssembly.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/tree/acsModeTree.h"
+#include "mission/system/tree/payloadModeTree.h"
 #include "tmtc/pusIds.h"
 #if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
@ -464,6 +468,7 @@ 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,
@ -479,7 +484,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
    }
  }
  gpsCtrl->connectModeTreeParent(*acsAss);
-  acsAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
+  acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }

@ -582,9 +587,13 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
 #endif
 }

-void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
+void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitch) {
  using namespace gpio;
  std::stringstream consumer;
+  auto* camSwitcher =
+      new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, pcdu::PDU2_CH8_PAYLOAD_CAMERA);
+  camSwitcher->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
+  // camSwitcher->
 #if OBSW_ADD_PLOC_MPSOC == 1
  consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
  auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
@ -597,9 +606,10 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
                     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,
-                       plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
-                       objects::PLOC_SUPERVISOR_HANDLER);
+  auto* mpsocHandler = new PlocMPSoCHandler(
+      objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie, plocMpsocHelper,
+      Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF), objects::PLOC_SUPERVISOR_HANDLER);
+  mpsocHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
  consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
@ -613,9 +623,10 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
                     uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
  supervisorCookie->setNoFixedSizeReply();
  auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
-  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
-                            supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
-                            pcdu::PDU1_CH6_PLOC_12V, supvHelper);
+  auto* supvHandler = new PlocSupervisorHandler(
+      objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, supervisorCookie,
+      Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF), pcdu::PDU1_CH6_PLOC_12V, supvHelper);
+  supvHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
  static_cast<void>(consumer);
 }
@ -701,7 +712,7 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
                 << std::endl;
    }
  }
-  rwAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
+  rwAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_RW == 1 */
 }

@ -876,6 +887,7 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
  plPcduHandler->setToGoToNormalModeImmediately(true);
  plPcduHandler->enablePeriodicPrintout(true, 10);
 #endif
+  plPcduHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 }

 void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
@ -902,7 +914,7 @@ 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);
+  starTracker->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 }

 void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
@ -911,7 +923,7 @@ 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);
+  imtqHandler->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
  static_cast<void>(imtqHandler);
 #if OBSW_TEST_IMTQ == 1
  imtqHandler->setStartUpImmediately();
--- a/bsp_q7s/core/ObjectFactory.h
+++ b/bsp_q7s/core/ObjectFactory.h
@ -38,7 +38,7 @@ void createBpxBatteryComponent();
 void createStrComponents(PowerSwitchIF* pwrSwitcher);
 void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
 void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
-void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
+void createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
 ReturnValue_t createCcsdsComponents(LinuxLibgpioIF* gpioComIF, CcsdsIpCoreHandler** ipCoreHandler);
 void createMiscComponents();
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@ -11,7 +11,7 @@
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "mission/core/GenericFactory.h"
-#include "mission/system/tree/acsModeTree.h"
+#include "mission/system/tree/system.h"

 void ObjectFactory::produce(void* args) {
  ObjectFactory::setStatics();
@ -49,7 +49,7 @@ void ObjectFactory::produce(void* args) {
  createSyrlinksComponents(pwrSwitcher);
 #endif /* OBSW_ADD_SYRLINKS == 1 */
  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
-  createPayloadComponents(gpioComIF);
+  createPayloadComponents(gpioComIF, *pwrSwitcher);

 #if OBSW_ADD_MGT == 1
  createImtqComponents(pwrSwitcher);
@ -67,7 +67,7 @@ void ObjectFactory::produce(void* args) {
  CcsdsIpCoreHandler* ipCoreHandler = nullptr;
  createCcsdsComponents(gpioComIF, &ipCoreHandler);
 #if OBSW_TM_TO_PTME == 1
-  ObjectFactory::addTmtcIpCoresToFunnels(*ipCoreHandler, *pusFunnel, *cfdpFunnel);
+  addTmtcIpCoresToFunnels(*ipCoreHandler, *pusFunnel, *cfdpFunnel);
 #endif
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */

@ -83,5 +83,5 @@ void ObjectFactory::produce(void* args) {
  createMiscComponents();
  createThermalController();
  createAcsController(true);
-  satsystem::initAcsSubsystem(objects::NO_OBJECT);
+  satsystem::init();
 }
--- a/common/config/devConf.h
+++ b/common/config/devConf.h
@ -55,7 +55,7 @@ namespace uart {

 static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
 static constexpr UartBaudRate SYRLINKS_BAUD = UartBaudRate::RATE_38400;
-static constexpr UartBaudRate SCEX_BAUD = UartBaudRate::RATE_115200;
+static constexpr UartBaudRate SCEX_BAUD = UartBaudRate::RATE_38400;
 static constexpr UartBaudRate GNSS_BAUD = UartBaudRate::RATE_9600;
 static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200;
 static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_115200;
--- a/common/config/eive/objects.h
+++ b/common/config/eive/objects.h
@ -127,13 +127,15 @@ enum commonObjects : uint32_t {
  SUS_BOARD_ASS = 0x73000002,
  TCS_BOARD_ASS = 0x73000003,
  RW_ASS = 0x73000004,
+  CAM_SWITCHER = 0x73000006,
  ACS_SUBSYSTEM = 0x73010001,
+  PL_SUBSYSTEM = 0x73010002,
  EIVE_SYSTEM = 0x73010000,
-  CFDP_HANDLER = 0x73000005,
-  CFDP_DISTRIBUTOR = 0x73000006,
  TM_FUNNEL = 0x73000100,
  PUS_TM_FUNNEL = 0x73000101,
  CFDP_TM_FUNNEL = 0x73000102,
+  CFDP_HANDLER = 0x73000205,
+  CFDP_DISTRIBUTOR = 0x73000206,
 };
 }

--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 0e8f5ddd26d586dd40e69f52aef1a63c0d5a9da6
+Subproject commit 177c39dd53198a1b05e2f40fc3c5e88e7f7c2e0b
--- a/linux/InitMission.cpp
+++ b/linux/InitMission.cpp
@ -45,3 +45,21 @@ void scheduling::schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHa
    printAddObjectError("SCEX_UART_READER", objects::SCEX_UART_READER);
  }
 }
+
+void scheduling::addMpsocSupvHandlers(PeriodicTaskIF* plTask) {
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::PERFORM_OPERATION);
+  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::SEND_READ);
+  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_READ);
+  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::SEND_WRITE);
+  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_WRITE);
+#endif
+
+#if OBSW_ADD_PLOC_MPSOC == 1
+  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::PERFORM_OPERATION);
+  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::SEND_READ);
+  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_READ);
+  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::SEND_WRITE);
+  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_WRITE);
+#endif
+}
--- a/linux/InitMission.h
+++ b/linux/InitMission.h
@ -4,4 +4,6 @@
 namespace scheduling {
 void schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHandler,
                    PeriodicTaskIF*& scexReaderTask);
-}
+void addMpsocSupvHandlers(PeriodicTaskIF* task);
+
+}  // namespace scheduling
--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@ -27,6 +27,7 @@
 #include "mission/system/objects/SusAssembly.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/tree/acsModeTree.h"
+#include "mission/system/tree/payloadModeTree.h"

 void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
                                              PowerSwitchIF* pwrSwitcher, std::string spiDev) {
@ -185,7 +186,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 #endif
    }
  }
-  susAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
+  susAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_SUN_SENSORS == 1 */
 }

@ -336,6 +337,7 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr
  if (switchId) {
    scexHandler->setPowerSwitcher(*pwrSwitcher, switchId.value());
  }
+  scexHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 }

 void ObjectFactory::createThermalController() {
@ -345,7 +347,7 @@ void ObjectFactory::createThermalController() {
 AcsController* ObjectFactory::createAcsController(bool connectSubsystem) {
  auto acsCtrl = new AcsController(objects::ACS_CONTROLLER);
  if (connectSubsystem) {
-    acsCtrl->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
+    acsCtrl->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
  }
  return acsCtrl;
 }
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@ -461,26 +461,6 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
  // Length of a communication cycle
  uint32_t length = thisSequence->getPeriodMs();
  static_cast<void>(length);
-#if OBSW_ADD_PLOC_MPSOC == 1
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::PLOC_MEMORY_DUMPER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-#endif
-
-#if OBSW_ADD_PLOC_SUPERVISOR == 1
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2,
-                        DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif

 #if OBSW_ADD_SYRLINKS == 1
  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
--- a/mission/devices/devicedefinitions/payloadPcduDefinitions.h
+++ b/mission/devices/devicedefinitions/payloadPcduDefinitions.h
@ -101,6 +101,9 @@ enum NormalSubmodeBits {
 };

 static constexpr Submode_t ALL_OFF_SUBMODE = 0;
+static constexpr Submode_t ALL_ON_SUBMODE = (1 << HPA_ON) | (1 << MPA_ON) | (1 << TX_ON) |
+                                            (1 << X8_ON) | (1 << DRO_ON) |
+                                            (1 << SOLID_STATE_RELAYS_ADC_ON);

 // 12 ADC values * 2 + trailing zero
 static constexpr size_t ADC_REPLY_SIZE = 25;
--- a/mission/system/objects/CMakeLists.txt
+++ b/mission/system/objects/CMakeLists.txt
@ -1,6 +1,7 @@
 target_sources(
  ${LIB_EIVE_MISSION}
  PRIVATE EiveSystem.cpp
+          CamSwitcher.cpp
          AcsSubsystem.cpp
          ComSubsystem.cpp
          PayloadSubsystem.cpp
--- a/mission/system/objects/CamSwitcher.cpp
+++ b/mission/system/objects/CamSwitcher.cpp
@ -0,0 +1,5 @@
+#include "CamSwitcher.h"
+
+CamSwitcher::CamSwitcher(object_id_t objectId, PowerSwitchIF &pwrSwitcher,
+                         power::Switch_t pwrSwitch)
+    : PowerSwitcherComponent(objectId, &pwrSwitcher, pwrSwitch) {}
--- a/mission/system/objects/CamSwitcher.h
+++ b/mission/system/objects/CamSwitcher.h
@ -0,0 +1,13 @@
+#ifndef MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_
+#define MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_
+
+#include <fsfw/power/PowerSwitcherComponent.h>
+
+class CamSwitcher : public PowerSwitcherComponent {
+ public:
+  CamSwitcher(object_id_t objectId, PowerSwitchIF &pwrSwitcher, power::Switch_t pwrSwitch);
+
+ private:
+};
+
+#endif /* MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_ */
--- a/mission/system/objects/definitions.h
+++ b/mission/system/objects/definitions.h
@ -16,4 +16,16 @@ enum Submodes : Submode_t { A_SIDE = 0, B_SIDE = 1, DUAL_MODE = 2 };

 }  // namespace duallane

+namespace payload {
+
+enum Modes { NONE = 0, SUPV_ONLY = 1, MPSOC_STREAM = 2, CAM_STREAM = 3, EARTH_OBSV = 4, SCEX = 5 };
+
+namespace ploc {
+
+enum Modes { OFF = 0, SUPV_ONLY = 1, MPSOC_ON = 2 };
+
+}
+
+}  // namespace payload
+
 #endif /* MISSION_SYSTEM_DEFINITIONS_H_ */
--- a/mission/system/tree/CMakeLists.txt
+++ b/mission/system/tree/CMakeLists.txt
@ -1 +1,2 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE acsModeTree.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE acsModeTree.cpp payloadModeTree.cpp
+                                           system.cpp util.cpp)
--- a/mission/system/tree/acsModeTree.cpp
+++ b/mission/system/tree/acsModeTree.cpp
@ -8,19 +8,22 @@

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

-Subsystem satsystem::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
+Subsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
+
+namespace {
+// Alias for checker function
+const auto check = subsystem::checkInsert;

-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);
+}  // namespace

-// Alias for checker function
-const auto check = checkInsert;
 static const auto OFF = HasModesIF::MODE_OFF;
 static const auto NML = DeviceHandlerIF::MODE_NORMAL;

@ -76,7 +79,7 @@ auto ACS_TABLE_TARGET_PT_TRANS_0 =
 auto ACS_TABLE_TARGET_PT_TRANS_1 =
    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());

-void satsystem::initAcsSubsystem(object_id_t satSystemObjId) {
+void satsystem::acs::init() {
  ModeListEntry entry;
  buildOffSequence(&ACS_SUBSYSTEM, entry);
  buildSafeSequence(&ACS_SUBSYSTEM, entry);
@ -87,8 +90,10 @@ void satsystem::initAcsSubsystem(object_id_t satSystemObjId) {
  ACS_SUBSYSTEM.setInitialMode(HasModesIF::MODE_OFF);
 }

+namespace {
+
 void buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildOffSequence";
+  std::string context = "satsystem::acs::buildOffSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
@ -127,7 +132,7 @@ void buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
 }

 void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildSafeSequence";
+  std::string context = "satsystem::acs::buildSafeSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
@ -176,7 +181,7 @@ void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
 }

 void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildDetumbleSequence";
+  std::string context = "satsystem::acs::buildDetumbleSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
@ -228,7 +233,7 @@ void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
 }

 void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildIdleSequence";
+  std::string context = "satsystem::acs::buildIdleSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
@ -275,7 +280,7 @@ void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
 }

 void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildIdleChargeSequence";
+  std::string context = "satsystem::acs::buildIdleChargeSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
@ -329,7 +334,7 @@ void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
 }

 void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildTargetPtSequence";
+  std::string context = "satsystem::acs::buildTargetPtSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
@ -383,15 +388,4 @@ void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
        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;
-    }
-  }
-}
+}  // namespace
--- a/mission/system/tree/acsModeTree.h
+++ b/mission/system/tree/acsModeTree.h
@ -3,9 +3,10 @@
 class Subsystem;

 namespace satsystem {
+namespace acs {

 extern Subsystem ACS_SUBSYSTEM;
+void init();

-void initAcsSubsystem(object_id_t satSystemObjId);
-
+}  // namespace acs
 }  // namespace satsystem
--- a/mission/system/tree/payloadModeTree.cpp
+++ b/mission/system/tree/payloadModeTree.cpp
@ -0,0 +1,372 @@
+#include "payloadModeTree.h"
+
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/modes/HasModesIF.h>
+#include <fsfw/retval.h>
+#include <fsfw/subsystem/Subsystem.h>
+
+#include "eive/objects.h"
+#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
+#include "mission/system/objects/PayloadSubsystem.h"
+#include "mission/system/objects/definitions.h"
+#include "util.h"
+
+namespace {
+void initOffSequence(Subsystem& ss, ModeListEntry& eh);
+void initPlMpsocStreamSequence(Subsystem& ss, ModeListEntry& eh);
+void initPlCamStreamSequence(Subsystem& ss, ModeListEntry& eh);
+void initPlSpvSequence(Subsystem& ss, ModeListEntry& eh);
+void initEarthObsvSequence(Subsystem& ss, ModeListEntry& eh);
+void initScexSequence(Subsystem& ss, ModeListEntry& eh);
+}  // namespace
+
+Subsystem satsystem::pl::SUBSYSTEM = Subsystem(objects::PL_SUBSYSTEM, 12, 24);
+
+const auto check = subsystem::checkInsert;
+static const auto OFF = HasModesIF::MODE_OFF;
+static const auto ON = HasModesIF::MODE_ON;
+static const auto NML = DeviceHandlerIF::MODE_NORMAL;
+
+auto PL_SEQUENCE_OFF = std::make_pair(OFF << 24, FixedArrayList<ModeListEntry, 3>());
+auto PL_TABLE_OFF_TGT = std::make_pair((OFF << 24) | 1, FixedArrayList<ModeListEntry, 0>());
+auto PL_TABLE_OFF_TRANS_0 = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto PL_TABLE_OFF_TRANS_1 = std::make_pair((OFF << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+
+auto PL_SEQUENCE_MPSOC_STREAM =
+    std::make_pair(payload::Modes::MPSOC_STREAM << 24, FixedArrayList<ModeListEntry, 3>());
+auto PL_TABLE_MPSOC_STREAM_TGT =
+    std::make_pair((payload::Modes::MPSOC_STREAM << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto PL_TABLE_MPSOC_STREAM_TRANS_0 =
+    std::make_pair((payload::Modes::MPSOC_STREAM << 24) | 2, FixedArrayList<ModeListEntry, 4>());
+auto PL_TABLE_MPSOC_STREAM_TRANS_1 =
+    std::make_pair((payload::Modes::MPSOC_STREAM << 24) | 3, FixedArrayList<ModeListEntry, 2>());
+
+auto PL_SEQUENCE_CAM_STREAM =
+    std::make_pair(payload::Modes::CAM_STREAM << 24, FixedArrayList<ModeListEntry, 3>());
+auto PL_TABLE_CAM_STREAM_TGT =
+    std::make_pair((payload::Modes::CAM_STREAM << 24) | 1, FixedArrayList<ModeListEntry, 2>());
+auto PL_TABLE_CAM_STREAM_TRANS_0 =
+    std::make_pair((payload::Modes::CAM_STREAM << 24) | 2, FixedArrayList<ModeListEntry, 4>());
+auto PL_TABLE_CAM_STREAM_TRANS_1 =
+    std::make_pair((payload::Modes::CAM_STREAM << 24) | 3, FixedArrayList<ModeListEntry, 2>());
+
+auto PL_SEQUENCE_SUPV_ONLY =
+    std::make_pair(payload::Modes::SUPV_ONLY << 24, FixedArrayList<ModeListEntry, 3>());
+auto PL_TABLE_SUPV_ONLY_TGT =
+    std::make_pair((payload::Modes::SUPV_ONLY << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto PL_TABLE_SUPV_ONLY_TRANS_0 =
+    std::make_pair((payload::Modes::SUPV_ONLY << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto PL_TABLE_SUPV_ONLY_TRANS_1 =
+    std::make_pair((payload::Modes::SUPV_ONLY << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+
+auto PL_SEQUENCE_EARTH_OBSV =
+    std::make_pair(payload::Modes::EARTH_OBSV << 24, FixedArrayList<ModeListEntry, 3>());
+auto PL_TABLE_EARTH_OBSV_TGT =
+    std::make_pair((payload::Modes::EARTH_OBSV << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto PL_TABLE_EARTH_OBSV_TRANS_0 =
+    std::make_pair((payload::Modes::EARTH_OBSV << 24) | 2, FixedArrayList<ModeListEntry, 3>());
+auto PL_TABLE_EARTH_OBSV_TRANS_1 =
+    std::make_pair((payload::Modes::EARTH_OBSV << 24) | 3, FixedArrayList<ModeListEntry, 2>());
+
+auto PL_SEQUENCE_SCEX =
+    std::make_pair(payload::Modes::SCEX << 24, FixedArrayList<ModeListEntry, 2>());
+auto PL_TABLE_SCEX_TGT =
+    std::make_pair((payload::Modes::SCEX << 24) | 1, FixedArrayList<ModeListEntry, 1>());
+auto PL_TABLE_SCEX_TRANS_0 =
+    std::make_pair((payload::Modes::SCEX << 24) | 2, FixedArrayList<ModeListEntry, 1>());
+
+void satsystem::pl::init() {
+  ModeListEntry entry;
+  initOffSequence(SUBSYSTEM, entry);
+  initPlMpsocStreamSequence(SUBSYSTEM, entry);
+  initPlCamStreamSequence(SUBSYSTEM, entry);
+  initPlSpvSequence(SUBSYSTEM, entry);
+  initEarthObsvSequence(SUBSYSTEM, entry);
+  initScexSequence(SUBSYSTEM, entry);
+  SUBSYSTEM.setInitialMode(OFF);
+}
+
+namespace {
+
+void initOffSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::payload::buildOffSequence";
+  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 OFF target. Is empty
+  check(ss.addTable(TableEntry(PL_TABLE_OFF_TGT.first, &PL_TABLE_OFF_TGT.second)), ctxc);
+
+  // Build OFF transition 0
+  iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
+  iht(objects::SCEX, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
+  iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
+  iht(objects::PLOC_MPSOC_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
+  check(ss.addTable(TableEntry(PL_TABLE_OFF_TRANS_0.first, &PL_TABLE_OFF_TRANS_0.second)), ctxc);
+
+  // Build OFF transition 1
+  iht(objects::PLOC_SUPERVISOR_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS_1.second);
+  check(ss.addTable(TableEntry(PL_TABLE_OFF_TRANS_1.first, &PL_TABLE_OFF_TRANS_1.second)), ctxc);
+
+  // Build OFF sequence
+  ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TGT.first, 0, false);
+  ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TRANS_0.first, 0, false);
+  ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TRANS_1.first, 0, false);
+  check(ss.addSequence(
+            SequenceEntry(PL_SEQUENCE_OFF.first, &PL_SEQUENCE_OFF.second, PL_SEQUENCE_OFF.first)),
+        ctxc);
+}
+
+void initPlMpsocStreamSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::payload::initPlMpsocStreamSequence";
+  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 MPSoC stream target
+  // Camera should always be off to prevent a conflict with the MPSoC streaming
+  // PL PCDU must be on and in normal mode, but this is commanded separately because of the
+  // number of commands invovled
+  iht(objects::PLPCDU_HANDLER, NML, plpcdu::ALL_ON_SUBMODE, PL_TABLE_MPSOC_STREAM_TGT.second);
+  iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
+  iht(objects::PLOC_MPSOC_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
+  iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
+  check(ss.addTable(TableEntry(PL_TABLE_MPSOC_STREAM_TGT.first, &PL_TABLE_MPSOC_STREAM_TGT.second)),
+        ctxc);
+
+  // Build MPSoC stream transition 0
+  iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
+  iht(objects::SCEX, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
+  iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
+  check(ss.addTable(
+            TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_0.first, &PL_TABLE_MPSOC_STREAM_TRANS_0.second)),
+        ctxc);
+
+  // Build MPSoC stream transition 1
+  iht(objects::PLOC_MPSOC_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TRANS_1.second);
+  check(ss.addTable(
+            TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_1.first, &PL_TABLE_MPSOC_STREAM_TRANS_1.second)),
+        ctxc);
+
+  // Build MPSoC stream sequence
+  ihs(PL_SEQUENCE_MPSOC_STREAM.second, PL_TABLE_MPSOC_STREAM_TGT.first, 0, true);
+  ihs(PL_SEQUENCE_MPSOC_STREAM.second, PL_TABLE_MPSOC_STREAM_TRANS_0.first, 0, true);
+  ihs(PL_SEQUENCE_MPSOC_STREAM.second, PL_TABLE_MPSOC_STREAM_TRANS_1.first, 0, false);
+  check(ss.addSequence(SequenceEntry(PL_SEQUENCE_MPSOC_STREAM.first,
+                                     &PL_SEQUENCE_MPSOC_STREAM.second, PL_SEQUENCE_OFF.first)),
+        ctxc);
+}
+
+void initPlCamStreamSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::payload::initPlCamStreamSequence";
+  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 CAM target
+  // Only check that the PL PCDU is on for now. It might later become necessary to switch on
+  // the PLOC, so we ignore its state.
+  iht(objects::PLPCDU_HANDLER, NML, plpcdu::ALL_ON_SUBMODE, PL_TABLE_CAM_STREAM_TGT.second);
+  check(ss.addTable(TableEntry(PL_TABLE_CAM_STREAM_TGT.first, &PL_TABLE_CAM_STREAM_TGT.second)),
+        ctxc);
+
+  // Build CAM transition 0
+  // PLOC is actively commanded off here
+  iht(objects::PLOC_MPSOC_HANDLER, OFF, 0, PL_TABLE_CAM_STREAM_TRANS_0.second);
+  iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_CAM_STREAM_TRANS_0.second);
+  iht(objects::SCEX, OFF, 0, PL_TABLE_CAM_STREAM_TRANS_0.second);
+  check(ss.addTable(
+            TableEntry(PL_TABLE_CAM_STREAM_TRANS_0.first, &PL_TABLE_CAM_STREAM_TRANS_0.second)),
+        ctxc);
+
+  // Build CAM transition 1
+  iht(objects::PLOC_SUPERVISOR_HANDLER, OFF, 0, PL_TABLE_CAM_STREAM_TRANS_1.second);
+  check(ss.addTable(
+            TableEntry(PL_TABLE_CAM_STREAM_TRANS_1.first, &PL_TABLE_CAM_STREAM_TRANS_1.second)),
+        ctxc);
+
+  // Build CAM stream sequence
+  ihs(PL_SEQUENCE_CAM_STREAM.second, PL_TABLE_CAM_STREAM_TGT.first, 0, true);
+  ihs(PL_SEQUENCE_CAM_STREAM.second, PL_TABLE_CAM_STREAM_TRANS_0.first, 0, true);
+  ihs(PL_SEQUENCE_CAM_STREAM.second, PL_TABLE_CAM_STREAM_TRANS_1.first, 0, false);
+  check(ss.addSequence(SequenceEntry(PL_SEQUENCE_CAM_STREAM.first, &PL_SEQUENCE_CAM_STREAM.second,
+                                     PL_SEQUENCE_OFF.first)),
+        ctxc);
+}
+
+void initPlSpvSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::payload::initPlSupvSequence";
+  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 Payload Supervisor Only target
+  iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_SUPV_ONLY_TGT.second);
+  check(ss.addTable(TableEntry(PL_TABLE_SUPV_ONLY_TGT.first, &PL_TABLE_SUPV_ONLY_TGT.second)),
+        ctxc);
+
+  // Build Payload Supervisor Only transition 0
+  iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_SUPV_ONLY_TRANS_0.second);
+  iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_SUPV_ONLY_TRANS_0.second);
+  check(
+      ss.addTable(TableEntry(PL_TABLE_SUPV_ONLY_TRANS_0.first, &PL_TABLE_SUPV_ONLY_TRANS_0.second)),
+      ctxc);
+
+  // Build Payload Supervisor Only transition 1
+  iht(objects::PLOC_MPSOC_HANDLER, OFF, 0, PL_TABLE_SUPV_ONLY_TRANS_1.second);
+  check(
+      ss.addTable(TableEntry(PL_TABLE_SUPV_ONLY_TRANS_1.first, &PL_TABLE_SUPV_ONLY_TRANS_1.second)),
+      ctxc);
+
+  // Build Payload Supervisor Only Sequence
+  ihs(PL_SEQUENCE_SUPV_ONLY.second, PL_TABLE_SUPV_ONLY_TGT.first, 0, true);
+  ihs(PL_SEQUENCE_SUPV_ONLY.second, PL_TABLE_SUPV_ONLY_TRANS_0.first, 0, true);
+  ihs(PL_SEQUENCE_SUPV_ONLY.second, PL_TABLE_SUPV_ONLY_TRANS_1.first, 0, false);
+  check(ss.addSequence(SequenceEntry(PL_SEQUENCE_SUPV_ONLY.first, &PL_SEQUENCE_SUPV_ONLY.second,
+                                     PL_SEQUENCE_OFF.first)),
+        ctxc);
+}
+
+void initEarthObsvSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::payload::initEarthObsvSequence";
+  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 Earth Observation target
+  iht(objects::PLOC_MPSOC_HANDLER, NML, 0, PL_TABLE_EARTH_OBSV_TGT.second);
+  iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_EARTH_OBSV_TGT.second);
+  iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_EARTH_OBSV_TGT.second);
+  iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_EARTH_OBSV_TGT.second);
+  check(ss.addTable(TableEntry(PL_TABLE_EARTH_OBSV_TGT.first, &PL_TABLE_EARTH_OBSV_TGT.second)),
+        ctxc);
+
+  // Build Earth Observation transition 0
+  iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_EARTH_OBSV_TRANS_0.second);
+  iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_EARTH_OBSV_TRANS_0.second);
+  iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_EARTH_OBSV_TRANS_0.second);
+  check(ss.addTable(
+            TableEntry(PL_TABLE_EARTH_OBSV_TRANS_0.first, &PL_TABLE_EARTH_OBSV_TRANS_0.second)),
+        ctxc);
+
+  // Build Earth Observation transition 1
+  iht(objects::PLOC_MPSOC_HANDLER, NML, 0, PL_TABLE_CAM_STREAM_TRANS_1.second);
+  check(ss.addTable(
+            TableEntry(PL_TABLE_EARTH_OBSV_TRANS_1.first, &PL_TABLE_EARTH_OBSV_TRANS_1.second)),
+        ctxc);
+
+  ihs(PL_SEQUENCE_EARTH_OBSV.second, PL_TABLE_EARTH_OBSV_TGT.first, 0, true);
+  ihs(PL_SEQUENCE_EARTH_OBSV.second, PL_TABLE_EARTH_OBSV_TRANS_0.first, 0, true);
+  ihs(PL_SEQUENCE_EARTH_OBSV.second, PL_TABLE_EARTH_OBSV_TRANS_1.first, 0, false);
+  check(ss.addSequence(SequenceEntry(PL_SEQUENCE_EARTH_OBSV.first, &PL_SEQUENCE_EARTH_OBSV.second,
+                                     PL_SEQUENCE_OFF.first)),
+        ctxc);
+}
+
+void initScexSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::payload::initScexSequence";
+  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 SCEX target
+  iht(objects::SCEX, NML, 0, PL_TABLE_SCEX_TGT.second);
+  check(ss.addTable(TableEntry(PL_TABLE_SCEX_TGT.first, &PL_TABLE_SCEX_TGT.second)), ctxc);
+
+  // Build SCEX transition 0
+  iht(objects::SCEX, NML, 0, PL_TABLE_SCEX_TRANS_0.second);
+  check(ss.addTable(TableEntry(PL_TABLE_SCEX_TRANS_0.first, &PL_TABLE_SCEX_TRANS_0.second)), ctxc);
+
+  // Build SCEX sequence
+  ihs(PL_SEQUENCE_SCEX.second, PL_TABLE_SCEX_TGT.first, 0, true);
+  ihs(PL_SEQUENCE_SCEX.second, PL_TABLE_SCEX_TRANS_0.first, 0, false);
+  check(ss.addSequence(
+            SequenceEntry(PL_SEQUENCE_SCEX.first, &PL_SEQUENCE_SCEX.second, PL_SEQUENCE_OFF.first)),
+        ctxc);
+}
+
+}  // namespace
--- a/mission/system/tree/payloadModeTree.h
+++ b/mission/system/tree/payloadModeTree.h
@ -0,0 +1,17 @@
+#ifndef MISSION_SYSTEM_TREE_PAYLOADMODETREE_H_
+#define MISSION_SYSTEM_TREE_PAYLOADMODETREE_H_
+
+#include <fsfw/subsystem/Subsystem.h>
+
+namespace satsystem {
+
+namespace pl {
+
+extern Subsystem SUBSYSTEM;
+
+void init();
+}  // namespace pl
+
+}  // namespace satsystem
+
+#endif /* MISSION_SYSTEM_TREE_PAYLOADMODETREE_H_ */
--- a/mission/system/tree/system.cpp
+++ b/mission/system/tree/system.cpp
@ -0,0 +1,9 @@
+#include "system.h"
+
+#include "acsModeTree.h"
+#include "payloadModeTree.h"
+
+void satsystem::init() {
+  acs::init();
+  pl::init();
+}
--- a/mission/system/tree/system.h
+++ b/mission/system/tree/system.h
@ -0,0 +1,10 @@
+#ifndef MISSION_SYSTEM_TREE_SYSTEM_H_
+#define MISSION_SYSTEM_TREE_SYSTEM_H_
+
+namespace satsystem {
+
+void init();
+
+}
+
+#endif /* MISSION_SYSTEM_TREE_SYSTEM_H_ */
--- a/mission/system/tree/util.cpp
+++ b/mission/system/tree/util.cpp
@ -0,0 +1,19 @@
+#include "util.h"
+
+#include "fsfw/container/FixedMap.h"
+#include "fsfw/serviceinterface.h"
+
+void subsystem::checkInsert(ReturnValue_t result, const char* ctx) {
+  if (result != returnvalue::OK) {
+    sif::warning << "satsystem::checkInsert: Insertion failed at " << ctx;
+    if (result == containers::KEY_ALREADY_EXISTS) {
+      sif::warning << ": Key already exists" << std::endl;
+    } else if (result == containers::MAP_FULL) {
+      sif::warning << ": Map full" << std::endl;
+    } else if (result == containers::LIST_FULL) {
+      sif::warning << ": List full" << std::endl;
+    } else {
+      sif::warning << std::endl;
+    }
+  }
+}
--- a/mission/system/tree/util.h
+++ b/mission/system/tree/util.h
@ -0,0 +1,12 @@
+#ifndef MISSION_SYSTEM_TREE_UTIL_H_
+#define MISSION_SYSTEM_TREE_UTIL_H_
+
+#include <fsfw/retval.h>
+
+namespace subsystem {
+
+void checkInsert(ReturnValue_t result, const char* ctx);
+
+}
+
+#endif /* MISSION_SYSTEM_TREE_UTIL_H_ */