diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp
index bc57468a..55d36a9a 100644
--- a/datapoollocal/LocalDataPoolManager.cpp
+++ b/datapoollocal/LocalDataPoolManager.cpp
@@ -105,18 +105,18 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid) {
 	}
 
 	// and now we set a HK message and send it the HK packet destination.
-	//HousekeepingMessage hkMessage;
-//	hkMessage.setHkReportMessage(sid, storeId);
-//	if(hkQueue == nullptr) {
-//	    return QUEUE_NOT_SET;
-//	}
-//
-//	if(currentHkPacketDestination != MessageQueueIF::NO_QUEUE) {
-//	    result = hkQueue->sendMessage(currentHkPacketDestination, &hkMessage);
-//	}
-//	else {
-//	    result = hkQueue->sendToDefault(&hkMessage);
-//	}
+	CommandMessage hkMessage;
+	HousekeepingMessage::setHkReportMessage(&hkMessage, sid, storeId);
+	if(hkQueue == nullptr) {
+	    return QUEUE_NOT_SET;
+	}
+
+	if(currentHkPacketDestination != MessageQueueIF::NO_QUEUE) {
+	    result = hkQueue->sendMessage(currentHkPacketDestination, &hkMessage);
+	}
+	else {
+	    result = hkQueue->sendToDefault(&hkMessage);
+	}
 
 	return result;
 }
diff --git a/datapoollocal/LocalDataSet.cpp b/datapoollocal/LocalDataSet.cpp
index 27ad4bc2..3fc8592e 100644
--- a/datapoollocal/LocalDataSet.cpp
+++ b/datapoollocal/LocalDataSet.cpp
@@ -42,7 +42,7 @@ ReturnValue_t LocalDataSet::serializeWithValidityBuffer(uint8_t **buffer,
         if(registeredVariables[count]->isValid()) {
             // set validity buffer here.
             this->bitSetter(validityMask + validBufferIndex,
-                    validBufferIndexBit, true);
+                    validBufferIndexBit);
             if(validBufferIndexBit == 7) {
                 validBufferIndex ++;
                 validBufferIndexBit = 0;
@@ -83,13 +83,12 @@ ReturnValue_t LocalDataSet::serializeLocalPoolIds(uint8_t** buffer,
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-void LocalDataSet::bitSetter(uint8_t* byte, uint8_t position,
-        bool value) const {
+void LocalDataSet::bitSetter(uint8_t* byte, uint8_t position) const {
     if(position > 7) {
         sif::debug << "Pool Raw Access: Bit setting invalid position" << std::endl;
         return;
     }
     uint8_t shiftNumber = position + (7 - 2 * position);
-    *byte |= 1UL << shiftNumber;
+    *byte |= 1 << shiftNumber;
 }
 
diff --git a/datapoollocal/LocalDataSet.h b/datapoollocal/LocalDataSet.h
index 48138e63..aea699d8 100644
--- a/datapoollocal/LocalDataSet.h
+++ b/datapoollocal/LocalDataSet.h
@@ -98,14 +98,10 @@ private:
 	LocalDataPoolManager* hkManager;
 
 	/**
-	 * Sets the bit at the bit-position of a byte provided by its address
-	 * to the specified value (zero or one).
-	 * @param byte Pointer to byte to bitset.
-	 * @param position MSB first, 0 to 7 possible.
-	 * @param value Value to set.
-	 * @return
+	 * Set n-th bit of a byte, with n being the position from 0
+	 * (most significant bit) to 7 (least significant bit)
 	 */
-	void bitSetter(uint8_t* byte, uint8_t position, bool value) const;
+	void bitSetter(uint8_t* byte, uint8_t position) const;
 };
 
 #endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_ */
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 0442be89..cebe8953 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1374,6 +1374,15 @@ ReturnValue_t DeviceHandlerBase::changeCollectionInterval(sid_t sid,
     return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
+    // In this function, the task handle should be valid if the task
+    // was implemented correctly. We still check to be 1000 % sure :-)
+    if(executingTask != nullptr) {
+        pstIntervalMs = executingTask->getPeriodMs();
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
 DataSetIF* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
 	auto iter = deviceReplyMap.find(sid.ownerSetId);
 	if(iter != deviceReplyMap.end()) {
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 1290742c..b2b4798d 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -11,6 +11,8 @@
 #include <framework/modes/HasModesIF.h>
 #include <framework/power/PowerSwitchIF.h>
 #include <framework/ipc/MessageQueueIF.h>
+#include <framework/tasks/PeriodicTaskIF.h>
+
 #include <framework/action/ActionHelper.h>
 #include <framework/health/HealthHelper.h>
 #include <framework/parameters/ParameterHelper.h>
@@ -18,6 +20,7 @@
 #include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
 #include <framework/datapoollocal/OwnsLocalDataPoolIF.h>
+
 #include <map>
 
 namespace Factory{
@@ -563,6 +566,8 @@ protected:
 
 	/** This is the counter value from performOperation(). */
 	uint8_t pstStep = 0;
+	uint32_t pstIntervalMs = 0;
+
 	/**
 	 * Wiretapping flag:
 	 *
@@ -1196,9 +1201,11 @@ private:
 
 	ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
 
-	void parseReply(const uint8_t* receivedData,
-			size_t receivedDataLen);
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
 	DataSetIF* getDataSetHandle(sid_t sid) override;
+
+	void parseReply(const uint8_t* receivedData,
+	            size_t receivedDataLen);
 };
 
 #endif /* DEVICEHANDLERBASE_H_ */
diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index e1d4dfae..8c296abd 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -68,6 +68,10 @@ size_t CommandMessage::getMinimumMessageSize() const {
     return MINIMUM_COMMAND_MESSAGE_SIZE;
 }
 
+void CommandMessage::clearCommandMessage() {
+    clear();
+}
+
 void CommandMessage::clear() {
     CommandMessageCleaner::clearCommandMessage(this);
 }
@@ -84,18 +88,15 @@ void CommandMessage::setToUnknownCommand() {
 
 void CommandMessage::setReplyRejected(ReturnValue_t reason,
         Command_t initialCommand) {
-    std::memcpy(getData(), &reason, sizeof(reason));
-    std::memcpy(getData() + sizeof(reason), &initialCommand,
-            sizeof(initialCommand));
+    setParameter(reason);
+    setParameter2(initialCommand);
 }
 
 ReturnValue_t CommandMessage::getReplyRejectedReason(
         Command_t *initialCommand) const {
-    ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED;
-    std::memcpy(&reason, getData(), sizeof(reason));
+    ReturnValue_t reason = getParameter();
     if(initialCommand != nullptr) {
-        std::memcpy(initialCommand, getData() + sizeof(reason),
-                sizeof(Command_t));
+        *initialCommand = getParameter2();
     }
     return reason;
 }
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 021fa49a..d843e4c5 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -111,7 +111,9 @@ public:
     ReturnValue_t getReplyRejectedReason(
             Command_t* initialCommand = nullptr) const override;
 
+
     virtual void clear() override;
+    void clearCommandMessage();
 
     /**
      * Extract message ID, which is the first byte of the command ID for the
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 170eb0a4..2ebfebf4 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -94,7 +94,8 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
 	if(setTaskIF) {
 	     newObject->setTaskIF(this);
 	}
-	return HasReturnvaluesIF::RETURN_OK;
+	ReturnValue_t result = newObject->initializeAfterTaskCreation();
+	return result;
 }
 
 uint32_t PeriodicTask::getPeriodMs() const {
diff --git a/osal/host/FixedTimeslotTask.cpp b/osal/host/FixedTimeslotTask.cpp
index 48d11843..dac399f6 100644
--- a/osal/host/FixedTimeslotTask.cpp
+++ b/osal/host/FixedTimeslotTask.cpp
@@ -92,7 +92,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 void FixedTimeslotTask::taskFunctionality() {
     // A local iterator for the Polling Sequence Table is created to
     // find the start time for the first entry.
-    SlotListIter slotListIter = pollingSeqTable.current;
+    FixedSlotSequence::SlotListIter slotListIter = pollingSeqTable.current;
     // Get start time for first entry.
     chron_ms interval(slotListIter->pollingTimeMs);
     auto currentStartTime {
diff --git a/osal/host/QueueMapManager.h b/osal/host/QueueMapManager.h
index 34f0fc95..499b1622 100644
--- a/osal/host/QueueMapManager.h
+++ b/osal/host/QueueMapManager.h
@@ -36,7 +36,7 @@ public:
 private:
 	//! External instantiation is forbidden.
 	QueueMapManager();
-	std::atomic<uint32_t> queueCounter = MessageQueueIF::NO_QUEUE + 1;
+	std::atomic<uint32_t> queueCounter = 1;
 	MutexIF* mapLock;
 	QueueMap queueMap;
 	static QueueMapManager* mqManagerInstance;
diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index db4005b0..b811274b 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -36,7 +36,9 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
 	if(setTaskIF) {
 	    newObject->setTaskIF(this);
 	}
-	return HasReturnvaluesIF::RETURN_OK;
+
+	ReturnValue_t result = newObject->initializeAfterTaskCreation();
+	return result;
 }
 
 ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp
index bb8c2c81..6b9c8c8e 100644
--- a/osal/rtems/MultiObjectTask.cpp
+++ b/osal/rtems/MultiObjectTask.cpp
@@ -78,7 +78,8 @@ ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
-	return HasReturnvaluesIF::RETURN_OK;
+	ReturnValue_t result = newObject->initializeAfterTaskCreation();
+	return result;
 }
 
 uint32_t MultiObjectTask::getPeriodMs() const {
diff --git a/tasks/ExecutableObjectIF.h b/tasks/ExecutableObjectIF.h
index 516b4084..d716cdfb 100644
--- a/tasks/ExecutableObjectIF.h
+++ b/tasks/ExecutableObjectIF.h
@@ -1,15 +1,5 @@
-/**
- * @file	ExecutableObjectIF.h
- *
- * @brief	This file contains the definition for the ExecutableObjectIF interface.
- *
- * @author	Bastian Baetz
- *
- * @date	12.03.2012
- */
-
-#ifndef EXECUTABLEOBJECTIF_H_
-#define EXECUTABLEOBJECTIF_H_
+#ifndef FRAMEWORK_TASKS_EXECUTABLEOBJECTIF_H_
+#define FRAMEWORK_TASKS_EXECUTABLEOBJECTIF_H_
 
 class PeriodicTaskIF;
 
@@ -20,6 +10,7 @@ class PeriodicTaskIF;
  * @brief	The interface provides a method to execute objects within a task.
  * @details	The performOperation method, that is required by the interface is
  * 			executed cyclically within a task context.
+ * @author  Bastian Baetz
  */
 class ExecutableObjectIF {
 public:
@@ -43,9 +34,20 @@ public:
 	 * a reference to the executing task
 	 * @param task_ Pointer to the taskIF of this task
 	 */
-	virtual void setTaskIF(PeriodicTaskIF* task_) {
+	virtual void setTaskIF(PeriodicTaskIF* task_) {};
 
+	/**
+	 * This function should be called after the object was assigned to a
+	 * specific task.
+	 *
+	 * Example: Can be used to get task execution frequency.
+	 * The task is created after initialize() and the object ctors have been
+	 * called so the execution frequency can't be cached in initialize()
+	 * @return
+	 */
+	virtual ReturnValue_t initializeAfterTaskCreation() {
+	    return HasReturnvaluesIF::RETURN_OK;
 	}
 };
 
-#endif /* EXECUTABLEOBJECTIF_H_ */
+#endif /* FRAMEWORK_TASKS_EXECUTABLEOBJECTIF_H_ */
diff --git a/tasks/FixedSequenceSlot.cpp b/tasks/FixedSequenceSlot.cpp
index c46b4fc0..4331aada 100644
--- a/tasks/FixedSequenceSlot.cpp
+++ b/tasks/FixedSequenceSlot.cpp
@@ -9,6 +9,7 @@ FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
 	if(executingTask != nullptr) {
 	    handler->setTaskIF(executingTask);
 	}
+	handler->initializeAfterTaskCreation();
 }
 
 FixedSequenceSlot::~FixedSequenceSlot() {}
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index acf66389..f8af15af 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -57,7 +57,9 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
 	if (packetForwarding == nullptr or distributor == nullptr) {
-		return RETURN_FAILED;
+	    sif::error << "CommandingServiceBase::intialize: Packet source or "
+	            "packet destination invalid!" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	distributor->registerService(this);
@@ -68,7 +70,9 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 
 	if (IPCStore == nullptr or TCStore == nullptr) {
-		return RETURN_FAILED;
+	    sif::error << "CommandingServiceBase::intialize: IPC store or TC store "
+	                    "not initialized yet!" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	return RETURN_OK;
@@ -109,8 +113,8 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 	 * command as failure parameter 1 */
 	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
 			result == RETURN_FAILED) {
-		result = reply->getReplyRejectedReason(
-				reinterpret_cast<Command_t*>(&failureParameter1));
+	    result = reply->getReplyRejectedReason();
+	    failureParameter1 = iter->command;
 	}
 
 	switch (result) {
@@ -176,14 +180,14 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
 	}
 	else {
 		if (isStep) {
-			nextCommand->clear();
+			nextCommand->clearCommandMessage();
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
 					iter->tcInfo.tcPacketId,
 					iter->tcInfo.tcSequenceControl, sendResult,
 					++iter->step, failureParameter1, failureParameter2);
 		} else {
-			nextCommand->clear();
+			nextCommand->clearCommandMessage();
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE,
 					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
@@ -318,7 +322,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 					storedPacket->getPacketSequenceControl();
 			acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
 		} else {
-			command.clear();
+			command.clearCommandMessage();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
@@ -335,7 +339,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 			acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
 			checkAndExecuteFifo(iter);
 		} else {
-			command.clear();
+			command.clearCommandMessage();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
@@ -374,7 +378,7 @@ void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
 
 
 void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) {
-	reply->clear();
+	reply->clearCommandMessage();
 }
 
 
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 8806bd52..37fa0a04 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -276,7 +276,6 @@ protected:
 	void checkAndExecuteFifo(CommandMapIter iter);
 
 private:
-
 	/**
 	 * This method handles internal execution of a command,
 	 * once it has been started by @sa{startExecution()} in the request
@@ -296,10 +295,13 @@ private:
 	void handleCommandQueue();
 
 	/**
+	 * @brief       Handler function for request queue
+	 * @details
 	 * Sequence of request queue handling:
 	 * isValidSubservice -> getMessageQueueAndObject -> startExecution
-	 * Generates Start Success Reports TM[1,3] in subfunction @sa{startExecution()}
-	 * or Start Failure Report TM[1,4] by using the TC Verification Service
+	 * Generates a Start Success Reports TM[1,3] in subfunction
+	 * @sa{startExecution()} or  a Start Failure Report TM[1,4] by using the
+	 * TC Verification Service.
 	 */
 	void handleRequestQueue();
 
diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp
index f5d1e30b..82e5ff5c 100644
--- a/tmtcservices/PusServiceBase.cpp
+++ b/tmtcservices/PusServiceBase.cpp
@@ -32,6 +32,10 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
 	return RETURN_OK;
 }
 
+void PusServiceBase::setTaskIF(PeriodicTaskIF* taskHandle) {
+    this->taskHandle = taskHandle;
+}
+
 void PusServiceBase::handleRequestQueue() {
 	TmTcMessage message;
 	ReturnValue_t result = RETURN_FAILED;
@@ -108,3 +112,10 @@ ReturnValue_t PusServiceBase::initialize() {
 		return RETURN_FAILED;
 	}
 }
+
+ReturnValue_t PusServiceBase::initializeAfterTaskCreation() {
+    // If task parameters, for example task frequency are required, this
+    // function should be overriden and the system object task IF can
+    // be used to get those parameters.
+    return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h
index 39600c41..6d3d9bac 100644
--- a/tmtcservices/PusServiceBase.h
+++ b/tmtcservices/PusServiceBase.h
@@ -96,11 +96,20 @@ public:
 	 * @return	@c RETURN_OK if the periodic performService was successful.
 	 * 			@c RETURN_FAILED else.
 	 */
-	ReturnValue_t performOperation(uint8_t opCode);
-	virtual uint16_t getIdentifier();
-	MessageQueueId_t getRequestQueue();
-	virtual ReturnValue_t initialize();
+	ReturnValue_t performOperation(uint8_t opCode) override;
+	virtual uint16_t getIdentifier() override;
+	MessageQueueId_t getRequestQueue() override;
+	virtual ReturnValue_t initialize() override;
+
+	virtual void setTaskIF(PeriodicTaskIF* taskHandle) override;
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
 protected:
+	/**
+	 * @brief   Handle to the underlying task
+	 * @details
+	 * Will be set by setTaskIF(), which is called on task creation.
+	 */
+	PeriodicTaskIF* taskHandle = nullptr;
 	/**
 	 * The APID of this instance of the Service.
 	 */