diff --git a/CHANGELOG.md b/CHANGELOG.md
index 85b96c32..3d982765 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -20,6 +20,17 @@ will consitute of a breaking change warranting a new major release:
 
 - SCEX filename updates. Also use T as the file ID / date separator between date and time.
 
+## Fixed
+
+- Bugfix for side lane transitions of the dual lane assemblies, which only worked when the
+  assembly was directly commanded
+
+## Added
+
+- Added GPS0 and GPS1 health device which are used by the ACS board assembly when deciding whether
+  to change to the other side or to go to dual side directly. Setting the health devices to faulty
+  should also trigger a side switch or a switch to dual mode.
+
 # [v1.41.0] 2023-03-28
 
 eive-tmtc: v2.20.0
diff --git a/bsp_hosted/fsfwconfig/events/translateEvents.cpp b/bsp_hosted/fsfwconfig/events/translateEvents.cpp
index e89c7276..7fcdfe4c 100644
--- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp
+++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 283 translations.
+ * @brief    Auto-generated event translation file. Contains 284 translations.
  * @details
- * Generated on: 2023-03-28 22:20:01
+ * Generated on: 2023-03-30 17:19:31
  */
 #include "translateEvents.h"
 
@@ -209,6 +209,8 @@ const char *TRANSITION_OTHER_SIDE_FAILED_STRING = "TRANSITION_OTHER_SIDE_FAILED"
 const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE";
 const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
 const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
+const char *DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING =
+    "DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY";
 const char *TRANSITION_OTHER_SIDE_FAILED_12900_STRING = "TRANSITION_OTHER_SIDE_FAILED_12900";
 const char *NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE_12901";
 const char *POWER_STATE_MACHINE_TIMEOUT_12902_STRING = "POWER_STATE_MACHINE_TIMEOUT_12902";
@@ -700,6 +702,8 @@ const char *translateEvents(Event event) {
       return POWER_STATE_MACHINE_TIMEOUT_STRING;
     case (12803):
       return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
+    case (12804):
+      return DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING;
     case (12900):
       return TRANSITION_OTHER_SIDE_FAILED_12900_STRING;
     case (12901):
diff --git a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
index 6db8614c..264f2581 100644
--- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
+++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 169 translations.
- * Generated on: 2023-03-28 22:20:01
+ * Contains 171 translations.
+ * Generated on: 2023-03-30 17:19:31
  */
 #include "translateObjects.h"
 
@@ -38,6 +38,8 @@ const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
 const char *RW4_STRING = "RW4";
 const char *STAR_TRACKER_STRING = "STAR_TRACKER";
 const char *GPS_CONTROLLER_STRING = "GPS_CONTROLLER";
+const char *GPS_0_HEALTH_DEV_STRING = "GPS_0_HEALTH_DEV";
+const char *GPS_1_HEALTH_DEV_STRING = "GPS_1_HEALTH_DEV";
 const char *IMTQ_POLLING_STRING = "IMTQ_POLLING";
 const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
 const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
@@ -242,6 +244,10 @@ const char *translateObject(object_id_t object) {
       return STAR_TRACKER_STRING;
     case 0x44130045:
       return GPS_CONTROLLER_STRING;
+    case 0x44130046:
+      return GPS_0_HEALTH_DEV_STRING;
+    case 0x44130047:
+      return GPS_1_HEALTH_DEV_STRING;
     case 0x44140013:
       return IMTQ_POLLING_STRING;
     case 0x44140014:
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 00e87330..e7a5fca0 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -1,5 +1,6 @@
 #include "ObjectFactory.h"
 
+#include <fsfw/devicehandlers/HealthDevice.h>
 #include <fsfw/subsystem/Subsystem.h>
 #include <linux/acs/AcsBoardPolling.h>
 #include <linux/acs/GpsHyperionLinuxController.h>
@@ -21,9 +22,9 @@
 #include <mission/acs/str/strHelpers.h>
 #include <mission/power/CspCookie.h>
 #include <mission/system/acs/ImtqAssembly.h>
+#include <mission/system/acs/StrAssembly.h>
 #include <mission/system/fdir/StrFdir.h>
 #include <mission/system/objects/CamSwitcher.h>
-#include <mission/system/acs/StrAssembly.h>
 #include <mission/system/objects/SyrlinksAssembly.h>
 #include <mission/tmtc/LiveTmTask.h>
 #include <mission/tmtc/PersistentLogTmStoreTask.h>
@@ -516,6 +517,8 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
       new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
   gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
 
+  new HealthDevice(objects::GPS_0_HEALTH_DEV, objects::ACS_BOARD_ASS);
+  new HealthDevice(objects::GPS_1_HEALTH_DEV, objects::ACS_BOARD_ASS);
   ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, gpsCtrl, gpioComIF);
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp
index 25f8ede4..2d767687 100644
--- a/bsp_q7s/core/scheduling.cpp
+++ b/bsp_q7s/core/scheduling.cpp
@@ -291,6 +291,14 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("STR_ASSY", objects::STR_ASSY);
   }
+  result = acsSysTask->addComponent(objects::GPS_0_HEALTH_DEV);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("GPS_0_HEALTH_DEV", objects::GPS_0_HEALTH_DEV);
+  }
+  result = acsSysTask->addComponent(objects::GPS_1_HEALTH_DEV);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("GPS_1_HEALTH_DEV", objects::GPS_1_HEALTH_DEV);
+  }
 
   PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
       "TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
diff --git a/common/config/eive/objects.h b/common/config/eive/objects.h
index 667067bb..0cc4b9d9 100644
--- a/common/config/eive/objects.h
+++ b/common/config/eive/objects.h
@@ -43,6 +43,8 @@ enum commonObjects : uint32_t {
   RW4 = 0x44120350,
   STAR_TRACKER = 0x44130001,
   GPS_CONTROLLER = 0x44130045,
+  GPS_0_HEALTH_DEV = 0x44130046,
+  GPS_1_HEALTH_DEV = 0x44130047,
 
   IMTQ_POLLING = 0x44140013,
   IMTQ_HANDLER = 0x44140014,
diff --git a/generators/bsp_hosted_events.csv b/generators/bsp_hosted_events.csv
index 45403043..7184d8ce 100644
--- a/generators/bsp_hosted_events.csv
+++ b/generators/bsp_hosted_events.csv
@@ -203,6 +203,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;No description;mission/system/acs/AcsBoardAssembly.h
 12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/acs/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/acs/AcsBoardAssembly.h
+12804;0x3204;DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY;MEDIUM;This is triggered when the assembly would have normally switched the board side, but the GPS device of the other side was marked faulty. P1: Current submode.;mission/system/acs/AcsBoardAssembly.h
 12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;No description;mission/system/acs/SusAssembly.h
 12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;No description;mission/system/acs/SusAssembly.h
 12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/acs/SusAssembly.h
diff --git a/generators/bsp_hosted_objects.csv b/generators/bsp_hosted_objects.csv
index a30fc9d8..3faac37c 100644
--- a/generators/bsp_hosted_objects.csv
+++ b/generators/bsp_hosted_objects.csv
@@ -30,6 +30,8 @@
 0x44120350;RW4
 0x44130001;STAR_TRACKER
 0x44130045;GPS_CONTROLLER
+0x44130046;GPS_0_HEALTH_DEV
+0x44130047;GPS_1_HEALTH_DEV
 0x44140013;IMTQ_POLLING
 0x44140014;IMTQ_HANDLER
 0x442000A1;PCDU_HANDLER
diff --git a/generators/bsp_q7s_events.csv b/generators/bsp_q7s_events.csv
index 45403043..7184d8ce 100644
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@@ -203,6 +203,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;No description;mission/system/acs/AcsBoardAssembly.h
 12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/acs/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/acs/AcsBoardAssembly.h
+12804;0x3204;DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY;MEDIUM;This is triggered when the assembly would have normally switched the board side, but the GPS device of the other side was marked faulty. P1: Current submode.;mission/system/acs/AcsBoardAssembly.h
 12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;No description;mission/system/acs/SusAssembly.h
 12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;No description;mission/system/acs/SusAssembly.h
 12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/acs/SusAssembly.h
diff --git a/generators/bsp_q7s_objects.csv b/generators/bsp_q7s_objects.csv
index 68be8ef2..eedafc52 100644
--- a/generators/bsp_q7s_objects.csv
+++ b/generators/bsp_q7s_objects.csv
@@ -29,6 +29,8 @@
 0x44120350;RW4
 0x44130001;STAR_TRACKER
 0x44130045;GPS_CONTROLLER
+0x44130046;GPS_0_HEALTH_DEV
+0x44130047;GPS_1_HEALTH_DEV
 0x44140013;IMTQ_POLLING
 0x44140014;IMTQ_HANDLER
 0x442000A1;PCDU_HANDLER
diff --git a/generators/events/translateEvents.cpp b/generators/events/translateEvents.cpp
index c7a92358..84da4990 100644
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 283 translations.
+ * @brief    Auto-generated event translation file. Contains 284 translations.
  * @details
- * Generated on: 2023-03-28 22:20:01
+ * Generated on: 2023-03-30 17:19:31
  */
 #include "translateEvents.h"
 
@@ -209,6 +209,7 @@ const char *TRANSITION_OTHER_SIDE_FAILED_STRING = "TRANSITION_OTHER_SIDE_FAILED"
 const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE";
 const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
 const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
+const char *DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING = "DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY";
 const char *TRANSITION_OTHER_SIDE_FAILED_12900_STRING = "TRANSITION_OTHER_SIDE_FAILED_12900";
 const char *NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE_12901";
 const char *POWER_STATE_MACHINE_TIMEOUT_12902_STRING = "POWER_STATE_MACHINE_TIMEOUT_12902";
@@ -699,6 +700,8 @@ const char *translateEvents(Event event) {
       return POWER_STATE_MACHINE_TIMEOUT_STRING;
     case (12803):
       return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
+    case (12804):
+      return DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING;
     case (12900):
       return TRANSITION_OTHER_SIDE_FAILED_12900_STRING;
     case (12901):
diff --git a/generators/objects/translateObjects.cpp b/generators/objects/translateObjects.cpp
index 7e6d913b..dcbbdb75 100644
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 173 translations.
- * Generated on: 2023-03-28 22:20:01
+ * Contains 175 translations.
+ * Generated on: 2023-03-30 17:19:31
  */
 #include "translateObjects.h"
 
@@ -37,6 +37,8 @@ const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
 const char *RW4_STRING = "RW4";
 const char *STAR_TRACKER_STRING = "STAR_TRACKER";
 const char *GPS_CONTROLLER_STRING = "GPS_CONTROLLER";
+const char *GPS_0_HEALTH_DEV_STRING = "GPS_0_HEALTH_DEV";
+const char *GPS_1_HEALTH_DEV_STRING = "GPS_1_HEALTH_DEV";
 const char *IMTQ_POLLING_STRING = "IMTQ_POLLING";
 const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
 const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
@@ -244,6 +246,10 @@ const char *translateObject(object_id_t object) {
       return STAR_TRACKER_STRING;
     case 0x44130045:
       return GPS_CONTROLLER_STRING;
+    case 0x44130046:
+      return GPS_0_HEALTH_DEV_STRING;
+    case 0x44130047:
+      return GPS_1_HEALTH_DEV_STRING;
     case 0x44140013:
       return IMTQ_POLLING_STRING;
     case 0x44140014:
diff --git a/linux/acs/GpsHyperionLinuxController.cpp b/linux/acs/GpsHyperionLinuxController.cpp
index 0b971f49..b5dc8a1f 100644
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -99,6 +99,7 @@ void GpsHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t
 ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
   handleQueue();
   poolManager.performHkOperation();
+
   while (true) {
 #if OBSW_THREAD_TRACING == 1
     trace::threadTrace(opCounter, "GPS CTRL");
diff --git a/linux/fsfwconfig/events/translateEvents.cpp b/linux/fsfwconfig/events/translateEvents.cpp
index e89c7276..7fcdfe4c 100644
--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 283 translations.
+ * @brief    Auto-generated event translation file. Contains 284 translations.
  * @details
- * Generated on: 2023-03-28 22:20:01
+ * Generated on: 2023-03-30 17:19:31
  */
 #include "translateEvents.h"
 
@@ -209,6 +209,8 @@ const char *TRANSITION_OTHER_SIDE_FAILED_STRING = "TRANSITION_OTHER_SIDE_FAILED"
 const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE";
 const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
 const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
+const char *DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING =
+    "DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY";
 const char *TRANSITION_OTHER_SIDE_FAILED_12900_STRING = "TRANSITION_OTHER_SIDE_FAILED_12900";
 const char *NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE_12901";
 const char *POWER_STATE_MACHINE_TIMEOUT_12902_STRING = "POWER_STATE_MACHINE_TIMEOUT_12902";
@@ -700,6 +702,8 @@ const char *translateEvents(Event event) {
       return POWER_STATE_MACHINE_TIMEOUT_STRING;
     case (12803):
       return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
+    case (12804):
+      return DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING;
     case (12900):
       return TRANSITION_OTHER_SIDE_FAILED_12900_STRING;
     case (12901):
diff --git a/linux/fsfwconfig/objects/translateObjects.cpp b/linux/fsfwconfig/objects/translateObjects.cpp
index 7e6d913b..dcbbdb75 100644
--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 173 translations.
- * Generated on: 2023-03-28 22:20:01
+ * Contains 175 translations.
+ * Generated on: 2023-03-30 17:19:31
  */
 #include "translateObjects.h"
 
@@ -37,6 +37,8 @@ const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
 const char *RW4_STRING = "RW4";
 const char *STAR_TRACKER_STRING = "STAR_TRACKER";
 const char *GPS_CONTROLLER_STRING = "GPS_CONTROLLER";
+const char *GPS_0_HEALTH_DEV_STRING = "GPS_0_HEALTH_DEV";
+const char *GPS_1_HEALTH_DEV_STRING = "GPS_1_HEALTH_DEV";
 const char *IMTQ_POLLING_STRING = "IMTQ_POLLING";
 const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
 const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
@@ -244,6 +246,10 @@ const char *translateObject(object_id_t object) {
       return STAR_TRACKER_STRING;
     case 0x44130045:
       return GPS_CONTROLLER_STRING;
+    case 0x44130046:
+      return GPS_0_HEALTH_DEV_STRING;
+    case 0x44130047:
+      return GPS_1_HEALTH_DEV_STRING;
     case 0x44140013:
       return IMTQ_POLLING_STRING;
     case 0x44140014:
diff --git a/mission/acs/GyrAdis1650XHandler.cpp b/mission/acs/GyrAdis1650XHandler.cpp
index 63a28366..57033e80 100644
--- a/mission/acs/GyrAdis1650XHandler.cpp
+++ b/mission/acs/GyrAdis1650XHandler.cpp
@@ -87,12 +87,11 @@ ReturnValue_t GyrAdis1650XHandler::scanForReply(const uint8_t *start, size_t rem
       getMode() == _MODE_POWER_DOWN) {
     return IGNORE_FULL_PACKET;
   }
+  *foundLen = remainingSize;
   if (remainingSize != sizeof(acs::Adis1650XReply)) {
-    *foundLen = remainingSize;
     return returnvalue::FAILED;
   }
   *foundId = adis1650x::REPLY;
-  *foundLen = remainingSize;
   if (internalState == InternalState::SHUTDOWN) {
     commandExecuted = true;
   }
diff --git a/mission/acs/GyrL3gCustomHandler.cpp b/mission/acs/GyrL3gCustomHandler.cpp
index fd576791..934fba99 100644
--- a/mission/acs/GyrL3gCustomHandler.cpp
+++ b/mission/acs/GyrL3gCustomHandler.cpp
@@ -99,12 +99,11 @@ ReturnValue_t GyrL3gCustomHandler::scanForReply(const uint8_t *start, size_t len
   if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON or getMode() == _MODE_POWER_DOWN) {
     return IGNORE_FULL_PACKET;
   }
+  *foundLen = len;
   if (len != sizeof(acs::GyroL3gReply)) {
-    *foundLen = len;
     return returnvalue::FAILED;
   }
-  *foundId = l3gd20h::REPLY;
-  *foundLen = len;
+  *foundId = adis1650x::REPLY;
   if (internalState == InternalState::SHUTDOWN) {
     commandExecuted = true;
   }
diff --git a/mission/genericFactory.cpp b/mission/genericFactory.cpp
index f93e4df6..e29d1b0f 100644
--- a/mission/genericFactory.cpp
+++ b/mission/genericFactory.cpp
@@ -347,7 +347,8 @@ void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher,
   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);
+      objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER,
+      objects::GPS_0_HEALTH_DEV, objects::GPS_1_HEALTH_DEV);
   auto acsAss =
       new AcsBoardAssembly(objects::ACS_BOARD_ASS, &pwrSwitcher, acsBoardHelper, gpioComIF);
   for (auto& assChild : assemblyDhbs) {
diff --git a/mission/system/acs/AcsBoardAssembly.cpp b/mission/system/acs/AcsBoardAssembly.cpp
index 08711f76..6c4023f8 100644
--- a/mission/system/acs/AcsBoardAssembly.cpp
+++ b/mission/system/acs/AcsBoardAssembly.cpp
@@ -77,14 +77,16 @@ ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
   if (wantedSubmode == A_SIDE) {
     if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
         (helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
-        helper.gpsMode != MODE_ON) {
+        (helper.gpsMode != MODE_ON) or
+        (healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY)) {
       return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
     }
     return returnvalue::OK;
   } else if (wantedSubmode == B_SIDE) {
     if ((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or
         (helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
-        helper.gpsMode != MODE_ON) {
+        (helper.gpsMode != MODE_ON) or
+        (healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY)) {
       return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
     }
     return returnvalue::OK;
@@ -126,12 +128,33 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
   auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, ModeTableIdx tableIdx) {
     if (mode == devMode) {
       modeTable[tableIdx].setMode(mode);
-    } else if (isUseable(objectId, devMode)) {
+    } else if (isModeCommandable(objectId, devMode)) {
       modeTable[tableIdx].setMode(mode);
       modeTable[tableIdx].setSubmode(SUBMODE_NONE);
     }
   };
-  bool gpsUsable = isUseable(helper.gpsId, helper.gpsMode);
+  bool gpsUsable = isModeCommandable(helper.gpsId, helper.gpsMode);
+  auto gpsCmd = [&](bool gnss0NReset, bool gnss1NReset, uint8_t gnssSelect) {
+    if (gpsUsable) {
+      if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL) {
+        modeTable[ModeTableIdx::GPS].setMode(MODE_ON);
+      } else if (mode == MODE_OFF) {
+        gnss0NReset = true;
+        gnss1NReset = true;
+        modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
+      }
+      modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
+
+      gpioHandler(gpioIds::GNSS_0_NRESET, gnss0NReset,
+                  "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
+                  "of GNSS 0");
+      gpioHandler(gpioIds::GNSS_1_NRESET, gnss1NReset,
+                  "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
+                  "of GNSS 1");
+      gpioHandler(gpioIds::GNSS_SELECT, gnssSelect,
+                  "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select");
+    }
+  };
   switch (submode) {
     case (A_SIDE): {
       modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
@@ -146,16 +169,7 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
       cmdSeq(helper.gyro1L3gIdSideA, helper.gyro1SideAMode, ModeTableIdx::GYRO_1_A);
       cmdSeq(helper.mgm0Lis3IdSideA, helper.mgm0SideAMode, ModeTableIdx::MGM_0_A);
       cmdSeq(helper.mgm1Rm3100IdSideA, helper.mgm1SideAMode, ModeTableIdx::MGM_1_A);
-      if (gpsUsable) {
-        gpioHandler(gpioIds::GNSS_0_NRESET, true,
-                    "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-                    "of GNSS 0 high (used GNSS)");
-        gpioHandler(gpioIds::GNSS_1_NRESET, false,
-                    "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-                    "of GNSS 1 low (unused GNSS)");
-        gpioHandler(gpioIds::GNSS_SELECT, false,
-                    "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select low");
-      }
+      gpsCmd(true, false, 0);
       break;
     }
     case (B_SIDE): {
@@ -171,20 +185,10 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
       cmdSeq(helper.gyro3L3gIdSideB, helper.gyro3SideBMode, ModeTableIdx::GYRO_3_B);
       cmdSeq(helper.mgm2Lis3IdSideB, helper.mgm2SideBMode, ModeTableIdx::MGM_2_B);
       cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
-      if (gpsUsable) {
-        gpioHandler(gpioIds::GNSS_0_NRESET, false,
-                    "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-                    "of GNSS 0 low (unused GNSS)");
-        gpioHandler(gpioIds::GNSS_1_NRESET, true,
-                    "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-                    "of GNSS 1 high (used GNSS)");
-        gpioHandler(gpioIds::GNSS_SELECT, true,
-                    "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select high");
-      }
+      gpsCmd(false, true, 1);
       break;
     }
     case (DUAL_MODE): {
-      cmdSeq(helper.gpsId, helper.gpsMode, ModeTableIdx::GPS);
       cmdSeq(helper.gyro0AdisIdSideA, helper.gyro0SideAMode, ModeTableIdx::GYRO_0_A);
       cmdSeq(helper.gyro1L3gIdSideA, helper.gyro1SideAMode, ModeTableIdx::GYRO_1_A);
       cmdSeq(helper.mgm0Lis3IdSideA, helper.mgm0SideAMode, ModeTableIdx::MGM_0_A);
@@ -193,26 +197,10 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
       cmdSeq(helper.gyro3L3gIdSideB, helper.gyro3SideBMode, ModeTableIdx::GYRO_3_B);
       cmdSeq(helper.mgm2Lis3IdSideB, helper.mgm2SideBMode, ModeTableIdx::MGM_2_B);
       cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
-      ReturnValue_t status = returnvalue::OK;
-      if (gpsUsable) {
-        gpioHandler(gpioIds::GNSS_0_NRESET, true,
-                    "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-                    "of GNSS 0 high (used GNSS)");
-        gpioHandler(gpioIds::GNSS_1_NRESET, true,
-                    "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-                    "of GNSS 1 high (used GNSS)");
-        if (defaultSubmode == Submodes::A_SIDE) {
-          status = gpioIF->pullLow(gpioIds::GNSS_SELECT);
-        } else {
-          status = gpioIF->pullHigh(gpioIds::GNSS_SELECT);
-        }
-        if (status != returnvalue::OK) {
-#if OBSW_VERBOSE_LEVEL >= 1
-          sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select to"
-                        "default side for dual mode"
-                     << std::endl;
-#endif
-        }
+      if (defaultSubmode == Submodes::A_SIDE) {
+        gpsCmd(true, true, 0);
+      } else {
+        gpsCmd(true, true, 1);
       }
       break;
     }
@@ -220,10 +208,6 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
       sif::error << "AcsBoardAssembly::handleNormalModeCmd: Unknown submode" << std::endl;
     }
   }
-  if (gpsUsable) {
-    modeTable[ModeTableIdx::GPS].setMode(MODE_ON);
-    modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
-  }
   if (needsSecondStep) {
     result = NEED_SECOND_STEP;
   }
@@ -307,6 +291,9 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
       modeHelper.setForced(true);
     }
   };
+  if (healthHelper.healthTable->getHealth(helper.gpsId) == EXTERNAL_CONTROL) {
+    modeHelper.setForced(true);
+  }
   if (deviceSubmode == duallane::DUAL_MODE) {
     checkAcsBoardSensorGroup(helper.mgm0Lis3IdSideA, helper.mgm1Rm3100IdSideA,
                              helper.mgm2Lis3IdSideB, helper.mgm3Rm3100IdSideB);
@@ -315,3 +302,25 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
   }
   return status;
 }
+
+void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
+  using namespace duallane;
+  // Special handling to account for GPS devices being faulty. If the GPS device on the other
+  // side is marked faulty, directly to to dual side.
+  if (submode == Submodes::A_SIDE) {
+    if (healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY or
+        healthHelper.healthTable->getHealth(helper.healthDevGps1) == PERMANENT_FAULTY) {
+      triggerEvent(DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY, submode, 0);
+      startTransition(mode, Submodes::DUAL_MODE);
+      return;
+    }
+  } else if (submode == Submodes::B_SIDE) {
+    if (healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY or
+        healthHelper.healthTable->getHealth(helper.healthDevGps0) == PERMANENT_FAULTY) {
+      triggerEvent(DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY, submode, 0);
+      startTransition(mode, Submodes::DUAL_MODE);
+      return;
+    }
+  }
+  DualLaneAssemblyBase::handleChildrenLostMode(result);
+}
diff --git a/mission/system/acs/AcsBoardAssembly.h b/mission/system/acs/AcsBoardAssembly.h
index 7427e808..b9255704 100644
--- a/mission/system/acs/AcsBoardAssembly.h
+++ b/mission/system/acs/AcsBoardAssembly.h
@@ -12,7 +12,7 @@
 struct AcsBoardHelper {
   AcsBoardHelper(object_id_t mgm0Id, object_id_t mgm1Id, object_id_t mgm2Id, object_id_t mgm3Id,
                  object_id_t gyro0Id, object_id_t gyro1Id, object_id_t gyro2Id, object_id_t gyro3Id,
-                 object_id_t gpsId)
+                 object_id_t gpsId, object_id_t gps0HealthDev, object_id_t gps1HealthDev)
       : mgm0Lis3IdSideA(mgm0Id),
         mgm1Rm3100IdSideA(mgm1Id),
         mgm2Lis3IdSideB(mgm2Id),
@@ -35,6 +35,9 @@ struct AcsBoardHelper {
 
   object_id_t gpsId = objects::NO_OBJECT;
 
+  object_id_t healthDevGps0 = objects::NO_OBJECT;
+  object_id_t healthDevGps1 = objects::NO_OBJECT;
+
   Mode_t gyro0SideAMode = HasModesIF::MODE_OFF;
   Mode_t gyro1SideAMode = HasModesIF::MODE_OFF;
   Mode_t gyro2SideBMode = HasModesIF::MODE_OFF;
@@ -91,6 +94,11 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
   //! desired mode/submode combination
   static constexpr Event SIDE_SWITCH_TRANSITION_NOT_ALLOWED =
       event::makeEvent(SUBSYSTEM_ID, 3, severity::LOW);
+  //! [EXPORT] : [COMMENT] This is triggered when the assembly would have normally switched
+  //! the board side, but the GPS device of the other side was marked faulty.
+  //! P1: Current submode.
+  static constexpr Event DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY =
+      event::makeEvent(SUBSYSTEM_ID, 4, severity::MEDIUM);
 
   static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;
 
@@ -120,6 +128,8 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
   ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
   ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
 
+  void handleChildrenLostMode(ReturnValue_t result) override;
+
   ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
   ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
   void refreshHelperModes();
diff --git a/mission/system/acs/DualLaneAssemblyBase.cpp b/mission/system/acs/DualLaneAssemblyBase.cpp
index 18369924..e32717de 100644
--- a/mission/system/acs/DualLaneAssemblyBase.cpp
+++ b/mission/system/acs/DualLaneAssemblyBase.cpp
@@ -46,6 +46,9 @@ void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
       AssemblyBase::startTransition(mode, submode);
       return;
     }
+    if (sideSwitchState == SideSwitchState::NONE and sideSwitchTransition(mode, submode)) {
+      sideSwitchState = SideSwitchState::REQUESTED;
+    }
     uint8_t pwrSubmode = submode;
     if (sideSwitchState == SideSwitchState::REQUESTED) {
       pwrSubmode = duallane::DUAL_MODE;
@@ -61,7 +64,7 @@ void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
   }
 }
 
-bool DualLaneAssemblyBase::isUseable(object_id_t object, Mode_t mode) {
+bool DualLaneAssemblyBase::isModeCommandable(object_id_t object, Mode_t mode) {
   if (healthHelper.healthTable->isFaulty(object)) {
     return false;
   }
@@ -70,10 +73,7 @@ bool DualLaneAssemblyBase::isUseable(object_id_t object, Mode_t mode) {
   if (childrenMap[object].mode == mode) {
     return true;
   }
-
-  if (healthHelper.healthTable->isCommandable(object)) {
-    return true;
-  }
+  // Check for external control health state is done by base class.
   return false;
 }
 
@@ -115,9 +115,6 @@ ReturnValue_t DualLaneAssemblyBase::isModeCombinationValid(Mode_t mode, Submode_
   if (submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE) {
     return returnvalue::FAILED;
   }
-  if (sideSwitchTransition(mode, submode)) {
-    sideSwitchState = SideSwitchState::REQUESTED;
-  }
   return returnvalue::OK;
 }
 
diff --git a/mission/system/acs/DualLaneAssemblyBase.h b/mission/system/acs/DualLaneAssemblyBase.h
index d7ea31aa..fb17365c 100644
--- a/mission/system/acs/DualLaneAssemblyBase.h
+++ b/mission/system/acs/DualLaneAssemblyBase.h
@@ -49,12 +49,12 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
   MessageQueueIF* eventQueue = nullptr;
 
   /**
-   * Check whether it makes sense to send mode commands to the device
+   * Check whether it makes sense to send mode commands to the device.
    * @param object
    * @param mode
    * @return
    */
-  bool isUseable(object_id_t object, Mode_t mode);
+  bool isModeCommandable(object_id_t object, Mode_t mode);
 
   /**
    * Thin wrapper function which is required because the helper class
diff --git a/tmtc b/tmtc
index e8ccb470..aab50dce 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit e8ccb4700a34c549eb7d943ee4a401258c69d8cb
+Subproject commit aab50dce5ace6878432377fff5e6b2cd1c485213