diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9830c767..7e21a18d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -25,6 +25,7 @@ will consitute of a breaking change warranting a new major release:
 ## Fixed
 
 - PTME was not reset after configuration changes.
+- GPS health devices: ACS board assembly not reacts to health changes.
 
 ## Changed
 
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index dea4a675..8da0e6ec 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -518,8 +518,6 @@ 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/dummies/helperFactory.cpp b/dummies/helperFactory.cpp
index 703683f4..404b640c 100644
--- a/dummies/helperFactory.cpp
+++ b/dummies/helperFactory.cpp
@@ -99,8 +99,6 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
         new GyroAdisDummy(objects::GYRO_2_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     assemblyDhbs[7] =
         new GyroL3GD20Dummy(objects::GYRO_3_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-    new HealthDevice(objects::GPS_0_HEALTH_DEV, objects::ACS_BOARD_ASS);
-    new HealthDevice(objects::GPS_1_HEALTH_DEV, objects::ACS_BOARD_ASS);
     auto* gpsCtrl = new GpsCtrlDummy(objects::GPS_CONTROLLER);
     ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyDhbs, gpsCtrl, gpioIF);
   }
diff --git a/fsfw b/fsfw
index e2e87b14..7a392dc3 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit e2e87b149d91c51196c76d6b84243fce1c77a28a
+Subproject commit 7a392dc33a7e406986fa3684e114a41b0e91de9a
diff --git a/mission/genericFactory.cpp b/mission/genericFactory.cpp
index ca05a309..ce338097 100644
--- a/mission/genericFactory.cpp
+++ b/mission/genericFactory.cpp
@@ -359,6 +359,10 @@ void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher,
     }
   }
   gpsCtrl->connectModeTreeParent(*acsAss);
+  auto* gps0HealthDev = new HealthDevice(objects::GPS_0_HEALTH_DEV, acsAss->getCommandQueue());
+  auto* gps1HealthDev = new HealthDevice(objects::GPS_1_HEALTH_DEV, acsAss->getCommandQueue());
+  acsAss->registerChild(objects::GPS_0_HEALTH_DEV, gps0HealthDev->getCommandQueue());
+  acsAss->registerChild(objects::GPS_1_HEALTH_DEV, gps1HealthDev->getCommandQueue());
   acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 }
 
diff --git a/mission/genericFactory.h b/mission/genericFactory.h
index 58edfc02..496c516b 100644
--- a/mission/genericFactory.h
+++ b/mission/genericFactory.h
@@ -2,6 +2,7 @@
 #define MISSION_CORE_GENERICFACTORY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/devicehandlers/HealthDevice.h>
 #include <mission/memory/SdCardMountedIF.h>
 #include <mission/persistentTmStoreDefs.h>
 #include <mission/tcs/Max31865Definitions.h>
diff --git a/mission/system/acs/AcsBoardAssembly.cpp b/mission/system/acs/AcsBoardAssembly.cpp
index 1868185e..de820535 100644
--- a/mission/system/acs/AcsBoardAssembly.cpp
+++ b/mission/system/acs/AcsBoardAssembly.cpp
@@ -77,16 +77,14 @@ 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) or
-        (healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY)) {
+        (helper.gpsMode != MODE_ON) or gps0HealthDevFaulty()) {
       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) or
-        (healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY)) {
+        (helper.gpsMode != MODE_ON) or gps1HealthDevFaulty()) {
       return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
     }
     return returnvalue::OK;
@@ -121,7 +119,8 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
       modeTable[tableIdx].setSubmode(SUBMODE_NONE);
     }
   };
-  bool gpsUsable = isModeCommandable(helper.gpsId, helper.gpsMode);
+
+  bool gpsUsable = isGpsUsable(submode);
   auto gpsCmd = [&](bool gnss0NReset, bool gnss1NReset, uint8_t gnssSelect) {
     if (gpsUsable) {
       if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL) {
@@ -296,15 +295,13 @@ void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
   // 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) {
+    if (gps0HealthDevFaulty()) {
       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) {
+    if (gps1HealthDevFaulty()) {
       triggerEvent(DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY, submode, 0);
       startTransition(mode, Submodes::DUAL_MODE);
       return;
@@ -312,3 +309,38 @@ void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
   }
   DualLaneAssemblyBase::handleChildrenLostMode(result);
 }
+
+bool AcsBoardAssembly::gps0HealthDevFaulty() const {
+  auto health = healthHelper.healthTable->getHealth(helper.healthDevGps0);
+  if (health == FAULTY or health == PERMANENT_FAULTY) {
+    return true;
+  }
+  return false;
+}
+
+bool AcsBoardAssembly::gps1HealthDevFaulty() const {
+  auto health = healthHelper.healthTable->getHealth(helper.healthDevGps1);
+  if (health == FAULTY or health == PERMANENT_FAULTY) {
+    return true;
+  }
+  return false;
+}
+
+bool AcsBoardAssembly::isGpsUsable(uint8_t targetSubmode) const {
+  if (targetSubmode == duallane::A_SIDE and
+      healthHelper.healthTable->isFaulty(helper.healthDevGps0)) {
+    // Causes a OFF command to be sent, which triggers a side switch or a switch to dual side.
+    return false;
+  }
+  if (targetSubmode == duallane::B_SIDE and
+      healthHelper.healthTable->isFaulty(helper.healthDevGps1)) {
+    // Causes a OFF command to be sent, which triggers a side switch or a switch to dual side.
+    return false;
+  }
+  auto gpsIter = childrenMap.find(helper.gpsId);
+  // Check if device is already in target mode
+  if (gpsIter != childrenMap.end() and gpsIter->second.mode == mode) {
+    return true;
+  }
+  return true;
+}
diff --git a/mission/system/acs/AcsBoardAssembly.h b/mission/system/acs/AcsBoardAssembly.h
index 6619dadb..01e74862 100644
--- a/mission/system/acs/AcsBoardAssembly.h
+++ b/mission/system/acs/AcsBoardAssembly.h
@@ -21,7 +21,9 @@ struct AcsBoardHelper {
         gyro1L3gIdSideA(gyro1Id),
         gyro2AdisIdSideB(gyro2Id),
         gyro3L3gIdSideB(gyro3Id),
-        gpsId(gpsId) {}
+        gpsId(gpsId),
+        healthDevGps0(gps0HealthDev),
+        healthDevGps1(gps1HealthDev) {}
 
   object_id_t mgm0Lis3IdSideA = objects::NO_OBJECT;
   object_id_t mgm1Rm3100IdSideA = objects::NO_OBJECT;
@@ -133,6 +135,9 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
   ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
   ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
   void refreshHelperModes();
+  bool gps0HealthDevFaulty() const;
+  bool gps1HealthDevFaulty() const;
+  bool isGpsUsable(uint8_t targetSubmode) const;
 };
 
 #endif /* MISSION_SYSTEM_ACSBOARDASSEMBLY_H_ */
diff --git a/mission/system/acs/DualLaneAssemblyBase.cpp b/mission/system/acs/DualLaneAssemblyBase.cpp
index 858e6892..ecb91689 100644
--- a/mission/system/acs/DualLaneAssemblyBase.cpp
+++ b/mission/system/acs/DualLaneAssemblyBase.cpp
@@ -74,7 +74,7 @@ bool DualLaneAssemblyBase::isModeCommandable(object_id_t object, Mode_t mode) {
     return true;
   }
   // Check for external control health state is done by base class.
-  return false;
+  return true;
 }
 
 ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
diff --git a/tmtc b/tmtc
index b72dad49..5f870924 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit b72dad49a9c05a37c094a22d5fdaa15643b5ca7f
+Subproject commit 5f87092465b3d298b9f66410d333e8069e78df95