diff --git a/datapool/PoolDataSetBase.cpp b/datapool/PoolDataSetBase.cpp
index f9a6f391..1acd3fd3 100644
--- a/datapool/PoolDataSetBase.cpp
+++ b/datapool/PoolDataSetBase.cpp
@@ -5,9 +5,6 @@ PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
         const size_t maxFillCount):
         registeredVariables(registeredVariablesArray),
         maxFillCount(maxFillCount) {
-	for (uint8_t count = 0; count < maxFillCount; count++) {
-		registeredVariables[count] = nullptr;
-	}
 }
 
 PoolDataSetBase::~PoolDataSetBase() {}
diff --git a/datapoollocal/HasLocalDataPoolIF.h b/datapoollocal/HasLocalDataPoolIF.h
index d923b391..9eb1c9f1 100644
--- a/datapoollocal/HasLocalDataPoolIF.h
+++ b/datapoollocal/HasLocalDataPoolIF.h
@@ -48,9 +48,14 @@ public:
 	/** Command queue for housekeeping messages. */
 	virtual MessageQueueId_t getCommandQueue() const = 0;
 
-	/** Is used by pool owner to initialize the pool map once */
-	virtual ReturnValue_t initializePoolEntries(
-	        LocalDataPool& localDataPoolMap) = 0;
+	/**
+	 * Is used by pool owner to initialize the pool map once
+	 * The manager instance shall also be passed to this function.
+	 * It can be used to subscribe for periodic packets for for updates.
+	 */
+	virtual ReturnValue_t initializeLocalDataPool(
+	        LocalDataPool& localDataPoolMap,
+	        LocalDataPoolManager& poolManager) = 0;
 
 	/** Can be used to get a handle to the local data pool manager. */
 	virtual LocalDataPoolManager* getHkManagerHandle() = 0;
diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp
index a437519e..87a0a3cb 100644
--- a/datapoollocal/LocalDataPoolManager.cpp
+++ b/datapoollocal/LocalDataPoolManager.cpp
@@ -8,6 +8,8 @@
 #include <array>
 #include <cmath>
 
+object_id_t LocalDataPoolManager::defaultHkDestination = objects::NO_OBJECT;
+
 LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner,
         MessageQueueIF* queueToUse, bool appendValidityBuffer):
         appendValidityBuffer(appendValidityBuffer) {
@@ -28,48 +30,41 @@ LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner,
 	}
 
 	hkQueue = queueToUse;
+
+	if(defaultHkDestination != objects::NO_OBJECT) {
+	    AcceptsHkPacketsIF* hkPacketReceiver =
+	            objectManager->get<AcceptsHkPacketsIF>(defaultHkDestination);
+	    if(hkPacketReceiver != nullptr) {
+	        defaultHkDestinationId = hkPacketReceiver->getHkQueue();
+	    }
+	}
 }
 
-ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse,
-        object_id_t hkDestination, uint8_t nonDiagInvlFactor) {
+LocalDataPoolManager::~LocalDataPoolManager() {}
+
+ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
     if(queueToUse == nullptr) {
         sif::error << "LocalDataPoolManager::initialize: Supplied queue "
                 "invalid!" << std::endl;
     }
     hkQueue = queueToUse;
 
-    if(hkDestination == objects::NO_OBJECT) {
-        return initializeHousekeepingPoolEntriesOnce();
-    }
-
-    AcceptsHkPacketsIF* hkReceiver =
-            objectManager->get<AcceptsHkPacketsIF>(hkDestination);
-    if(hkReceiver != nullptr) {
-        setHkPacketDestination(hkReceiver->getHkQueue());
-    }
-    else {
-        sif::warning << "LocalDataPoolManager::initialize: Could not retrieve"
-                " queue ID from HK destination object ID. " << std::flush;
-        sif::warning << "Make sure it exists and the object impements "
-                "AcceptsHkPacketsIF!" << std::endl;
-    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
 
+ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation(
+        uint8_t nonDiagInvlFactor) {
     setNonDiagnosticIntervalFactor(nonDiagInvlFactor);
     diagnosticMinimumInterval = owner->getPeriodicOperationFrequency();
-    regularMinimumInterval = diagnosticMinimumInterval * nonDiagnosticIntervalFactor;
+    regularMinimumInterval = diagnosticMinimumInterval *
+            nonDiagnosticIntervalFactor;
     return initializeHousekeepingPoolEntriesOnce();
 }
 
-void LocalDataPoolManager::setHkPacketDestination(
-        MessageQueueId_t hkDestination) {
-    this->hkDestination = hkDestination;
-}
-
-LocalDataPoolManager::~LocalDataPoolManager() {}
-
 ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
 	if(not mapInitialized) {
-		ReturnValue_t result = owner->initializePoolEntries(localPoolMap);
+		ReturnValue_t result = owner->initializeLocalDataPool(localPoolMap,
+		        *this);
 		if(result == HasReturnvaluesIF::RETURN_OK) {
 			mapInitialized = true;
 		}
@@ -80,6 +75,67 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t LocalDataPoolManager::performHkOperation() {
+    for(auto& hkReceiversIter: hkReceiversMap) {
+        HkReceiver* receiver = &hkReceiversIter.second;
+        if(not receiver->reportingEnabled) {
+            return HasReturnvaluesIF::RETURN_OK;
+        }
+
+        switch(receiver->reportingType) {
+        case(ReportingType::PERIODIC): {
+            if(receiver->dataId.dataSetSid.notSet()) {
+                // Periodic packets shall only be generated from datasets.
+                continue;
+            }
+            performPeriodicHkGeneration(receiver);
+            break;
+        }
+        case(ReportingType::UPDATE_SNAPSHOT): {
+            // check whether data has changed and send messages in case it has.
+            break;
+        }
+        default:
+            // This should never happen.
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid,
+		bool enableReporting, float collectionInterval, bool isDiagnostics,
+		object_id_t packetDestination) {
+	AcceptsHkPacketsIF* hkReceiverObject =
+			objectManager->get<AcceptsHkPacketsIF>(packetDestination);
+	if(hkReceiverObject == nullptr) {
+		sif::error << "LocalDataPoolManager::subscribeForPeriodicPacket:"
+				" Invalid receiver!"<< std::endl;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	struct HkReceiver hkReceiver;
+	hkReceiver.dataId.dataSetSid = sid;
+	hkReceiver.reportingType = ReportingType::PERIODIC;
+	hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
+	hkReceiver.reportingEnabled = enableReporting;
+	if(not isDiagnostics) {
+	    hkReceiver.hkParameter.collectionIntervalTicks =
+	            intervalSecondsToInterval(isDiagnostics, collectionInterval *
+	            nonDiagnosticIntervalFactor);
+	}
+	else {
+	    hkReceiver.hkParameter.collectionIntervalTicks =
+	            intervalSecondsToInterval(isDiagnostics, collectionInterval);
+	}
+
+	hkReceiver.isDiagnostics = isDiagnostics;
+	hkReceiver.intervalCounter = 1;
+
+	hkReceiversMap.emplace(packetDestination, hkReceiver);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
 ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
 		CommandMessage* message) {
     Command_t command = message->getCommand();
@@ -121,15 +177,15 @@ const HasLocalDataPoolIF* LocalDataPoolManager::getOwner() const {
 }
 
 ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
-        float collectionInterval, MessageQueueId_t sendTo) {
-	LocalPoolDataSetBase* dataSetToSerialize = dynamic_cast<LocalPoolDataSetBase*>(
-			owner->getDataSetHandle(sid));
+        float collectionInterval, MessageQueueId_t destination) {
+	LocalPoolDataSetBase* dataSetToSerialize =
+			dynamic_cast<LocalPoolDataSetBase*>(owner->getDataSetHandle(sid));
 	if(dataSetToSerialize == nullptr) {
 		sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
-				" Set ID not found" << std::endl;
+				" Set ID not found or dataset not assigned!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-
+	sif::info << "hk gen called" << std::endl;
 	store_address_t storeId;
 	HousekeepingPacketDownlink hkPacket(sid, collectionInterval,
 	        dataSetToSerialize->getFillCount(), dataSetToSerialize);
@@ -144,30 +200,23 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
 	if(hkQueue == nullptr) {
 	    return QUEUE_OR_DESTINATION_NOT_SET;
 	}
-
-	if(sendTo != MessageQueueIF::NO_QUEUE) {
-	    result = hkQueue->sendMessage(sendTo, &hkMessage);
-	}
-	else {
-	    if(hkDestination == MessageQueueIF::NO_QUEUE) {
-	        sif::warning << "LocalDataPoolManager::generateHousekeepingPacket:"
-	                " Destination is not set properly!" << std::endl;
-	        return QUEUE_OR_DESTINATION_NOT_SET;
-	    }
-	    else {
-	        result = hkQueue->sendMessage(hkDestination, &hkMessage);
+	if(destination == MessageQueueIF::NO_QUEUE) {
+	    if(defaultHkDestinationId == MessageQueueIF::NO_QUEUE) {
+	        // error, all destinations invalid
+	        return HasReturnvaluesIF::RETURN_FAILED;
 	    }
+	    destination = defaultHkDestinationId;
 	}
 
-	return result;
+	return hkQueue->sendMessage(destination, &hkMessage);
 }
 
 ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
         HousekeepingPacketDownlink& hkPacket,
         store_address_t *storeId) {
     uint8_t* dataPtr = nullptr;
-    size_t serializedSize = hkPacket.getSerializedSize();
-    const size_t maxSize = serializedSize;
+    size_t serializedSize = 0;
+    const size_t maxSize = hkPacket.getSerializedSize();
     ReturnValue_t  result = ipcStore->getFreeElement(storeId,
             serializedSize, &dataPtr);
     if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -212,46 +261,17 @@ void LocalDataPoolManager::setNonDiagnosticIntervalFactor(
 }
 
 
-ReturnValue_t LocalDataPoolManager::performHkOperation() {
-    for(auto& hkReceiversIter: hkReceiversMap) {
-        HkReceiver* receiver = &hkReceiversIter.second;
-        if(not receiver->reportingEnabled) {
-            return HasReturnvaluesIF::RETURN_OK;
-        }
-
-        switch(receiver->reportingType) {
-        case(ReportingType::PERIODIC): {
-            if(receiver->dataId.dataSetSid.notSet()) {
-                // Periodic packets shall only be generated from datasets.
-                continue;
-            }
-            performPeriodicHkGeneration(receiver);
-            break;
-        }
-        case(ReportingType::ON_UPDATE): {
-            // check whether data has changed and send messages in case it has.
-            break;
-        }
-        default:
-            // This should never happen.
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-    }
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
 void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver* receiver) {
-    if(receiver->intervalCounter >= intervalSecondsToInterval(
-            receiver->isDiagnostics,
-            receiver->hkParameter.collectionIntervalSeconds)) {
+    if(receiver->intervalCounter >=
+            receiver->hkParameter.collectionIntervalTicks) {
         ReturnValue_t result = generateHousekeepingPacket(
-                receiver->dataId.dataSetSid, receiver->destinationQueue);
+                receiver->dataId.dataSetSid);
         if(result != HasReturnvaluesIF::RETURN_OK) {
             // configuration error
             sif::debug << "LocalDataPoolManager::performHkOperation:"
                     << "0x" << std::setfill('0') << std::setw(8)
-            << owner->getObjectId() << " Error generating "
-            << "HK packet" << std::setfill(' ') << std::endl;
+                    << owner->getObjectId() << " Error generating "
+                    << "HK packet" << std::setfill(' ') << std::endl;
         }
         receiver->intervalCounter = 1;
     }
@@ -263,19 +283,23 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver* receiver) {
 uint32_t LocalDataPoolManager::intervalSecondsToInterval(bool isDiagnostics,
         float collectionIntervalSeconds) {
     if(isDiagnostics) {
-        return std::ceil(collectionIntervalSeconds/diagnosticMinimumInterval);
+        return std::ceil(collectionIntervalSeconds * 1000
+                /diagnosticMinimumInterval);
     }
     else {
-        return std::ceil(collectionIntervalSeconds/regularMinimumInterval);
+        return std::ceil(collectionIntervalSeconds * 1000
+                /regularMinimumInterval);
     }
 }
 
 float LocalDataPoolManager::intervalToIntervalSeconds(bool isDiagnostics,
         uint32_t collectionInterval) {
     if(isDiagnostics) {
-        return static_cast<float>(collectionInterval * diagnosticMinimumInterval);
+        return static_cast<float>(collectionInterval *
+        		diagnosticMinimumInterval);
     }
     else {
-        return static_cast<float>(collectionInterval * regularMinimumInterval);
+        return static_cast<float>(collectionInterval *
+                regularMinimumInterval);
     }
 }
diff --git a/datapoollocal/LocalDataPoolManager.h b/datapoollocal/LocalDataPoolManager.h
index a4113ffe..c851978c 100644
--- a/datapoollocal/LocalDataPoolManager.h
+++ b/datapoollocal/LocalDataPoolManager.h
@@ -15,8 +15,13 @@
 
 #include <map>
 
+namespace Factory {
+void setStaticFrameworkObjectIds();
+}
+
 class LocalDataSetBase;
 
+
 /**
  * @brief 	This class is the managing instance for local data pool.
  * @details
@@ -40,6 +45,7 @@ class LocalDataPoolManager {
 	template<typename T, uint16_t vecSize>
 	friend class LocalPoolVector;
 	friend class LocalPoolDataSetBase;
+	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER;
 
@@ -47,7 +53,6 @@ public:
     static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x1);
 
     static constexpr ReturnValue_t QUEUE_OR_DESTINATION_NOT_SET = MAKE_RETURN_CODE(0x2);
-    //static constexpr ReturnValue_t SET_NOT_FOUND = MAKE_RETURN_CODE(0x3);
 
     /**
      * This constructor is used by a class which wants to implement
@@ -70,8 +75,16 @@ public:
 	 * @param nonDiagInvlFactor See #setNonDiagnosticIntervalFactor doc
 	 * @return
 	 */
-	ReturnValue_t initialize(MessageQueueIF* queueToUse,
-	        object_id_t hkDestination, uint8_t nonDiagInvlFactor = 5);
+	ReturnValue_t initialize(MessageQueueIF* queueToUse);
+
+	ReturnValue_t initializeAfterTaskCreation(uint8_t nonDiagInvlFactor = 5);
+
+	/**
+	 * @return
+	 */
+	ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
+			float collectionInterval, bool isDiagnostics,
+			object_id_t packetDestination = defaultHkDestination);
 
 	/**
 	 * Non-Diagnostics packets usually have a lower minimum sampling frequency
@@ -90,20 +103,15 @@ public:
 	 * @return
 	 */
 	ReturnValue_t performHkOperation();
-	/**
-	 * This function is used to set the default HK packet destination.
-	 * This destination will usually only be set once.
-	 * @param hkDestination
-	 */
-	void setHkPacketDestination(MessageQueueId_t hkDestination);
 
 	/**
 	 * Generate a housekeeping packet with a given SID.
 	 * @param sid
 	 * @return
 	 */
-	ReturnValue_t generateHousekeepingPacket(sid_t sid, float collectionInterval,
-	        MessageQueueId_t sendTo = MessageQueueIF::NO_QUEUE);
+	ReturnValue_t generateHousekeepingPacket(sid_t sid,
+	        float collectionInterval = 0,
+	        MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
 	ReturnValue_t generateSetStructurePacket(sid_t sid);
 
 	ReturnValue_t handleHousekeepingMessage(CommandMessage* message);
@@ -134,11 +142,13 @@ public:
      *  full dataset updates.
      */
     enum class ReportingType: uint8_t {
-        // Periodic generation of HK packets.
+        //! Periodic generation of HK packets.
         PERIODIC,
-        // Notification will be sent out as message.
-        // Data is accessed via shared data set or multiple local data sets.
-        ON_UPDATE,
+		//! Update notification will be sent out as message.
+		UPDATE_NOTIFICATION,
+        //! Notification will be sent out as message and a snapshot of the
+        //! current data will be generated.
+        UPDATE_SNAPSHOT,
     };
 
     /* Copying forbidden */
@@ -157,26 +167,31 @@ private:
     dur_millis_t regularMinimumInterval = 0;
     dur_millis_t diagnosticMinimumInterval = 0;
 
+	/** Default receiver for periodic HK packets */
+	static object_id_t defaultHkDestination;
+	MessageQueueId_t defaultHkDestinationId = MessageQueueIF::NO_QUEUE;
+
     /** The data pool manager will keep an internal map of HK receivers. */
     struct HkReceiver {
         /** Different member of this union will be used depending on the
         type of data the receiver is interested in (full datasets or
         single data variables. */
         union DataId {
+        	DataId(): dataSetSid() {}
             /** Will be initialized to INVALID_ADDRESS */
             sid_t dataSetSid;
             lp_id_t localPoolId = HasLocalDataPoolIF::NO_POOL_ID;
         };
         DataId dataId;
 
-        MessageQueueId_t destinationQueue = MessageQueueIF::NO_QUEUE;
         ReportingType reportingType = ReportingType::PERIODIC;
+        MessageQueueId_t destinationQueue = MessageQueueIF::NO_QUEUE;
         bool reportingEnabled = true;
         /** Different members of this union will be used depending on reporting
         type */
         union HkParameter {
             /** This parameter will be used for the PERIODIC type */
-            float collectionIntervalSeconds = 0;
+            uint32_t collectionIntervalTicks = 0;
             /** This parameter will be used for the ON_UPDATE type */
             bool hkDataChanged;
         };
@@ -205,13 +220,6 @@ private:
 	 */
 	MessageQueueIF* hkQueue = nullptr;
 
-	/**
-	 * HK replies will always be a reply to the commander, but HK packet
-	 * can be sent to another destination by specifying this message queue
-	 * ID, for example to a dedicated housekeeping service implementation.
-	 */
-	MessageQueueId_t hkDestination = MessageQueueIF::NO_QUEUE;
-
 	/** Global IPC store is used to store all packets. */
 	StorageManagerIF* ipcStore = nullptr;
 	/**
diff --git a/datapoollocal/LocalDataSet.cpp b/datapoollocal/LocalDataSet.cpp
index fe9b7d59..394a9abe 100644
--- a/datapoollocal/LocalDataSet.cpp
+++ b/datapoollocal/LocalDataSet.cpp
@@ -5,32 +5,17 @@
 #include <cmath>
 #include <cstring>
 
-LocalDataSet::LocalDataSet(HasLocalDataPoolIF *hkOwner,
+LocalDataSet::LocalDataSet(HasLocalDataPoolIF *hkOwner, uint32_t setId,
         const size_t maxNumberOfVariables):
-        LocalPoolDataSetBase(hkOwner,poolVarList.data(), maxNumberOfVariables) {
-    poolVarList.reserve(maxNumberOfVariables);
-    poolVarList.resize(maxNumberOfVariables);
-    if(hkOwner == nullptr) {
-        sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
-                << std::endl;
-        return;
-    }
-    hkManager = hkOwner->getHkManagerHandle();
+        LocalPoolDataSetBase(hkOwner, setId, nullptr, maxNumberOfVariables),
+        poolVarList(maxNumberOfVariables) {
+	this->setContainer(poolVarList.data());
 }
 
-LocalDataSet::LocalDataSet(object_id_t ownerId,
-        const size_t maxNumberOfVariables):
-        LocalPoolDataSetBase(ownerId, poolVarList.data(), maxNumberOfVariables)  {
-    poolVarList.reserve(maxNumberOfVariables);
-    poolVarList.resize(maxNumberOfVariables);
-    HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(
-            ownerId);
-    if(hkOwner == nullptr) {
-        sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
-                << std::endl;
-        return;
-    }
-    hkManager = hkOwner->getHkManagerHandle();
+LocalDataSet::LocalDataSet(sid_t sid, const size_t maxNumberOfVariables):
+        LocalPoolDataSetBase(sid, nullptr, maxNumberOfVariables),
+		poolVarList(maxNumberOfVariables) {
+	this->setContainer(poolVarList.data());
 }
 
 LocalDataSet::~LocalDataSet() {}
diff --git a/datapoollocal/LocalDataSet.h b/datapoollocal/LocalDataSet.h
index d306fae3..5641ebfb 100644
--- a/datapoollocal/LocalDataSet.h
+++ b/datapoollocal/LocalDataSet.h
@@ -5,8 +5,9 @@
 
 class LocalDataSet: public LocalPoolDataSetBase {
 public:
-    LocalDataSet(HasLocalDataPoolIF* hkOwner, const size_t maxSize);
-    LocalDataSet(object_id_t owner, const size_t maxSize);
+    LocalDataSet(HasLocalDataPoolIF* hkOwner, uint32_t setId,
+    		const size_t maxSize);
+    LocalDataSet(sid_t sid, const size_t maxSize);
     virtual~ LocalDataSet();
 
     //! Copying forbidden for now.
diff --git a/datapoollocal/LocalPoolDataSetBase.cpp b/datapoollocal/LocalPoolDataSetBase.cpp
index cbf2eeef..8abdc0e3 100644
--- a/datapoollocal/LocalPoolDataSetBase.cpp
+++ b/datapoollocal/LocalPoolDataSetBase.cpp
@@ -6,7 +6,7 @@
 #include <cstring>
 
 LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
-        PoolVariableIF** registeredVariablesArray,
+		uint32_t setId, PoolVariableIF** registeredVariablesArray,
         const size_t maxNumberOfVariables):
         PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
     if(hkOwner == nullptr) {
@@ -15,20 +15,23 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
         return;
     }
     hkManager = hkOwner->getHkManagerHandle();
+    this->sid.objectId = hkOwner->getObjectId();
+    this->sid.ownerSetId = setId;
 }
 
-LocalPoolDataSetBase::LocalPoolDataSetBase(object_id_t ownerId,
+LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid,
         PoolVariableIF** registeredVariablesArray,
         const size_t maxNumberOfVariables):
         PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables)  {
     HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(
-            ownerId);
+            sid.objectId);
     if(hkOwner == nullptr) {
         sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
                 << std::endl;
         return;
     }
     hkManager = hkOwner->getHkManagerHandle();
+    this->sid = sid;
 }
 
 LocalPoolDataSetBase::~LocalPoolDataSetBase() {
@@ -123,14 +126,6 @@ ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t** buffer,
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-void LocalPoolDataSetBase::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 |= 1 << shiftNumber;
-}
 
 size_t LocalPoolDataSetBase::getSerializedSize() const {
     if(withValidityBuffer) {
@@ -170,9 +165,21 @@ ReturnValue_t LocalPoolDataSetBase::serialize(uint8_t **buffer, size_t *size,
     }
 }
 
-bool LocalPoolDataSetBase::bitGetter(const uint8_t* byte, uint8_t position) const {
+void LocalPoolDataSetBase::bitSetter(uint8_t* byte, uint8_t position) const {
     if(position > 7) {
-        sif::debug << "Pool Raw Access: Bit setting invalid position" << std::endl;
+        sif::debug << "Pool Raw Access: Bit setting invalid position"
+        		<< std::endl;
+        return;
+    }
+    uint8_t shiftNumber = position + (7 - 2 * position);
+    *byte |= 1 << shiftNumber;
+}
+
+bool LocalPoolDataSetBase::bitGetter(const uint8_t* byte,
+		uint8_t position) const {
+    if(position > 7) {
+        sif::debug << "Pool Raw Access: Bit setting invalid position"
+        		<< std::endl;
         return false;
     }
     uint8_t shiftNumber = position + (7 - 2 * position);
diff --git a/datapoollocal/LocalPoolDataSetBase.h b/datapoollocal/LocalPoolDataSetBase.h
index 091670cf..bd127db4 100644
--- a/datapoollocal/LocalPoolDataSetBase.h
+++ b/datapoollocal/LocalPoolDataSetBase.h
@@ -30,28 +30,25 @@ class LocalDataPoolManager;
  *
  * @ingroup data_pool
  */
-// todo: make withValidityBuffer a member
 class LocalPoolDataSetBase: public PoolDataSetBase {
 public:
 	/**
 	 * @brief	Constructor for the creator of local pool data.
-	 * 			The constructor simply sets the fill_count to zero and sets
-	 *  		the state to "uninitialized".
 	 */
 	LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
-	        PoolVariableIF** registeredVariablesArray,
+			uint32_t setId, PoolVariableIF** registeredVariablesArray,
 	        const size_t maxNumberOfVariables);
 
 	/**
 	 * @brief	Constructor for users of local pool data. The passed pool
 	 * 			owner should implement the HasHkPoolParametersIF.
-	 * 			The constructor simply sets the fill_count to zero and sets
-	 *  		the state to "uninitialized".
 	 * @details
-	 *
+	 * @param sid Unique identifier of dataset consisting of object ID and
+	 * set ID.
+	 * @param registeredVariablesArray
+	 * @param maxNumberOfVariables
 	 */
-	LocalPoolDataSetBase(object_id_t ownerId,
-	        PoolVariableIF** registeredVariablesArray,
+	LocalPoolDataSetBase(sid_t sid, PoolVariableIF** registeredVariablesArray,
 	        const size_t maxNumberOfVariables);
 
 	/**
@@ -96,6 +93,7 @@ public:
 	bool isValid() const override;
 
 protected:
+	sid_t sid;
 	/**
 	 * If the valid state of a dataset is always relevant to the whole
 	 * data set we can use this flag.
diff --git a/datapoollocal/SharedLocalDataSet.cpp b/datapoollocal/SharedLocalDataSet.cpp
index d44d1eb3..73e0e1fb 100644
--- a/datapoollocal/SharedLocalDataSet.cpp
+++ b/datapoollocal/SharedLocalDataSet.cpp
@@ -1,8 +1,8 @@
 #include "SharedLocalDataSet.h"
 
-SharedLocalDataSet::SharedLocalDataSet(object_id_t objectId, object_id_t owner,
+SharedLocalDataSet::SharedLocalDataSet(object_id_t objectId, sid_t sid,
         const size_t maxSize): SystemObject(objectId),
-        LocalPoolDataSetBase(owner, nullptr, maxSize) {
+        LocalPoolDataSetBase(sid, nullptr, maxSize) {
     this->setContainer(poolVarVector.data());
     datasetLock = MutexFactory::instance()->createMutex();
 }
diff --git a/datapoollocal/SharedLocalDataSet.h b/datapoollocal/SharedLocalDataSet.h
index c5949e0a..f6748e4d 100644
--- a/datapoollocal/SharedLocalDataSet.h
+++ b/datapoollocal/SharedLocalDataSet.h
@@ -16,7 +16,7 @@ class SharedLocalDataSet: public SystemObject,
         public LocalPoolDataSetBase,
         public SharedDataSetIF {
 public:
-    SharedLocalDataSet(object_id_t objectId, object_id_t owner,
+    SharedLocalDataSet(object_id_t objectId, sid_t sid,
             const size_t maxSize);
     ReturnValue_t lockDataset(dur_millis_t mutexTimeout) override;
     ReturnValue_t unlockDataset() override;
diff --git a/datapoollocal/StaticLocalDataSet.h b/datapoollocal/StaticLocalDataSet.h
index 1819cc2d..b3e8422c 100644
--- a/datapoollocal/StaticLocalDataSet.h
+++ b/datapoollocal/StaticLocalDataSet.h
@@ -16,8 +16,8 @@
 template <uint8_t NUM_VARIABLES>
 class StaticLocalDataSet: public LocalPoolDataSetBase {
 public:
-    StaticLocalDataSet(object_id_t owner):
-        LocalPoolDataSetBase(owner, poolVarList.data(), NUM_VARIABLES) {
+    StaticLocalDataSet(sid_t sid):
+        LocalPoolDataSetBase(sid, poolVarList.data(), NUM_VARIABLES) {
     }
 
 private:
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 8d66411a..0253d6a7 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -19,7 +19,6 @@
 object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
 object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
 object_id_t DeviceHandlerBase::defaultFdirParentId = objects::NO_OBJECT;
-object_id_t DeviceHandlerBase::defaultHkDestination = objects::NO_OBJECT;
 
 DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * comCookie,
@@ -194,11 +193,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 		return result;
 	}
 
-	if(hkDestination == objects::NO_OBJECT) {
-		hkDestination = defaultHkDestination;
-	}
-
-	result = hkManager.initialize(commandQueue, hkDestination);
+	result = hkManager.initialize(commandQueue);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -396,24 +391,28 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 
 ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
 		DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
-		size_t replyLen, bool periodic, bool hasDifferentReplyId,
-		DeviceCommandId_t replyId) {
+		PoolDataSetIF* replyDataSet, size_t replyLen, bool periodic,
+		bool hasDifferentReplyId, DeviceCommandId_t replyId) {
 	//No need to check, as we may try to insert multiple times.
 	insertInCommandMap(deviceCommand);
 	if (hasDifferentReplyId) {
-		return insertInReplyMap(replyId, maxDelayCycles, replyLen, periodic);
+		return insertInReplyMap(replyId, maxDelayCycles,
+		        replyDataSet, replyLen, periodic);
 	} else {
-		return insertInReplyMap(deviceCommand, maxDelayCycles, replyLen, periodic);
+		return insertInReplyMap(deviceCommand, maxDelayCycles,
+		        replyDataSet, replyLen, periodic);
 	}
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
-		uint16_t maxDelayCycles, size_t replyLen, bool periodic) {
+		uint16_t maxDelayCycles, PoolDataSetIF* dataSet,
+		size_t replyLen, bool periodic) {
 	DeviceReplyInfo info;
 	info.maxDelayCycles = maxDelayCycles;
 	info.periodic = periodic;
 	info.delayCycles = 0;
 	info.replyLen = replyLen;
+	info.dataSet = dataSet;
 	info.command = deviceCommandMap.end();
 	auto resultPair = deviceReplyMap.emplace(replyId, info);
 	if (resultPair.second) {
@@ -439,13 +438,12 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(
 
 ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
 		uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) {
-	std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
-			deviceReplyMap.find(deviceReply);
-	if (iter == deviceReplyMap.end()) {
+	auto replyIter = deviceReplyMap.find(deviceReply);
+	if (replyIter == deviceReplyMap.end()) {
 		triggerEvent(INVALID_DEVICE_COMMAND, deviceReply);
 		return RETURN_FAILED;
 	} else {
-		DeviceReplyInfo *info = &(iter->second);
+		DeviceReplyInfo *info = &(replyIter->second);
 		if (maxDelayCycles != 0) {
 			info->maxDelayCycles = maxDelayCycles;
 		}
@@ -455,6 +453,17 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep
 	}
 }
 
+
+ReturnValue_t DeviceHandlerBase::setReplyDataset(DeviceCommandId_t replyId,
+        PoolDataSetIF *dataSet) {
+    auto replyIter = deviceReplyMap.find(replyId);
+    if(replyIter == deviceReplyMap.end()) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    replyIter->second.dataSet = dataSet;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
 void DeviceHandlerBase::callChildStatemachine() {
 	if (mode == _MODE_START_UP) {
 		doStartUp();
@@ -1368,8 +1377,9 @@ void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
 void DeviceHandlerBase::performOperationHook() {
 }
 
-ReturnValue_t DeviceHandlerBase::initializePoolEntries(
-		LocalDataPool &localDataPoolMap) {
+ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(
+		LocalDataPool &localDataPoolMap,
+        LocalDataPoolManager& poolManager) {
 	return RETURN_OK;
 }
 
@@ -1384,6 +1394,7 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
     if(executingTask != nullptr) {
         pstIntervalMs = executingTask->getPeriodMs();
     }
+    this->hkManager.initializeAfterTaskCreation();
     return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -1404,3 +1415,4 @@ object_id_t DeviceHandlerBase::getObjectId() const {
 dur_millis_t DeviceHandlerBase::getPeriodicOperationFrequency() const {
     return pstIntervalMs;
 }
+
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 4aa54fd6..5357148e 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -387,7 +387,8 @@ protected:
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = false,
+			uint16_t maxDelayCycles, PoolDataSetIF* replyDataSet = nullptr,
+			size_t replyLen = 0, bool periodic = false,
 			bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
 
 	/**
@@ -401,7 +402,8 @@ protected:
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = false);
+			uint16_t maxDelayCycles, PoolDataSetIF* dataSet = nullptr,
+			size_t replyLen = 0, bool periodic = false);
 
 	/**
 	 * @brief 	A simple command to add a command to the commandList.
@@ -429,6 +431,9 @@ protected:
 			uint16_t delayCycles, uint16_t maxDelayCycles,
 			bool periodic = false);
 
+	ReturnValue_t setReplyDataset(DeviceCommandId_t replyId,
+	        PoolDataSetIF* dataset);
+
 	/**
 	 * @brief   Can be implemented by child handler to
 	 *          perform debugging
@@ -482,8 +487,8 @@ protected:
 	 * @param localDataPoolMap
 	 * @return
 	 */
-	virtual ReturnValue_t initializePoolEntries(
-				LocalDataPool& localDataPoolMap) override;
+	virtual ReturnValue_t initializeLocalDataPool(LocalDataPool& localDataPoolMap,
+				LocalDataPoolManager& poolManager) override;
 
 	/** Get the HK manager object handle */
 	virtual LocalDataPoolManager* getHkManagerHandle() override;
@@ -656,7 +661,7 @@ protected:
 		//! The dataset used to access housekeeping data related to the
 		//! respective device reply. Will point to a dataset held by
 		//! the child handler (if one is specified)
-		DataSetIF* dataSet = nullptr;
+		PoolDataSetIF* dataSet = nullptr;
 		//! The command that expects this reply.
 		DeviceCommandMap::iterator command;
 	};
@@ -1043,8 +1048,6 @@ private:
 	/** the object used to set power switches */
 	PowerSwitchIF *powerSwitcher = nullptr;
 
-	/** Cached for initialize() */
-	static object_id_t defaultHkDestination;
 	/** HK destination can also be set individually */
 	object_id_t hkDestination = objects::NO_OBJECT;
 
@@ -1199,7 +1202,7 @@ private:
 	ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
 
 	virtual ReturnValue_t initializeAfterTaskCreation() override;
-	DataSetIF* getDataSetHandle(sid_t sid) override;
+	virtual DataSetIF* getDataSetHandle(sid_t sid) override;
 
 	void parseReply(const uint8_t* receivedData,
 	            size_t receivedDataLen);
diff --git a/housekeeping/HousekeepingMessage.h b/housekeeping/HousekeepingMessage.h
index ff4b39f9..75b31505 100644
--- a/housekeeping/HousekeepingMessage.h
+++ b/housekeeping/HousekeepingMessage.h
@@ -12,6 +12,10 @@ union sid_t {
 			std::numeric_limits<uint64_t>::max();
 	sid_t(): raw(INVALID_ADDRESS) {}
 
+	sid_t(object_id_t objectId, uint32_t setId):
+			objectId(objectId),
+			ownerSetId(setId) {}
+
 	struct {
 		object_id_t objectId ;
 		/**
diff --git a/housekeeping/HousekeepingPacketDownlink.h b/housekeeping/HousekeepingPacketDownlink.h
index 97b6a994..bee0bac1 100644
--- a/housekeeping/HousekeepingPacketDownlink.h
+++ b/housekeeping/HousekeepingPacketDownlink.h
@@ -25,7 +25,7 @@ public:
 
     /**
      * Helper functions which can be used to move HK data from the IPC store
-     * to the telemetry store.
+     * to the telemetry store. TODO: maybe not needed.
      * @param formerStore
      * @param storeId
      * @param newStore
diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 769f31e1..a112092f 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -8,7 +8,7 @@ const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod overallPeriod,
 		void (*setDeadlineMissedFunc)()) :
-		started(false), handle(NULL), pst(overallPeriod * 1000) {
+		started(false), handle(nullptr), pst(overallPeriod * 1000) {
 	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
 	xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
 	// All additional attributes are applied to the object.
@@ -62,8 +62,10 @@ ReturnValue_t FixedTimeslotTask::startTask() {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
-	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-		pst.addSlot(componentId, slotTimeMs, executionStep, this);
+    ExecutableObjectIF* handler =
+            objectManager->get<ExecutableObjectIF>(componentId);
+	if (handler != nullptr) {
+		pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
@@ -76,8 +78,8 @@ uint32_t FixedTimeslotTask::getPeriodMs() const {
 	return pst.getLengthMs();
 }
 
-ReturnValue_t FixedTimeslotTask::checkSequence() const {
-	return pst.checkSequence();
+ReturnValue_t FixedTimeslotTask::checkAndInitializeSequence() const {
+	return pst.checkAndInitializeSequence();
 }
 
 void FixedTimeslotTask::taskFunctionality() {
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index 42af14b8..0e9611d2 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -54,7 +54,7 @@ public:
 
 	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t checkSequence() const override;
+	ReturnValue_t checkAndInitializeSequence() const override;
 
 	ReturnValue_t sleepFor(uint32_t ms) override;
 
diff --git a/osal/host/FixedTimeslotTask.cpp b/osal/host/FixedTimeslotTask.cpp
index 1999c9e6..2bb0f84d 100644
--- a/osal/host/FixedTimeslotTask.cpp
+++ b/osal/host/FixedTimeslotTask.cpp
@@ -132,7 +132,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
     return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-ReturnValue_t FixedTimeslotTask::checkSequence() const {
+ReturnValue_t FixedTimeslotTask::checkAndInitializeSequence() const {
     return pollingSeqTable.checkSequence();
 }
 
diff --git a/osal/host/FixedTimeslotTask.h b/osal/host/FixedTimeslotTask.h
index bbee94a6..861a072e 100644
--- a/osal/host/FixedTimeslotTask.h
+++ b/osal/host/FixedTimeslotTask.h
@@ -61,7 +61,7 @@ public:
     ReturnValue_t addSlot(object_id_t componentId,
                    uint32_t slotTimeMs, int8_t executionStep);
 
-    ReturnValue_t checkSequence() const;
+    ReturnValue_t checkAndInitializeSequence() const;
 
     uint32_t getPeriodMs() const;
 
diff --git a/osal/linux/FixedTimeslotTask.cpp b/osal/linux/FixedTimeslotTask.cpp
index 60ce9a63..c381bb78 100644
--- a/osal/linux/FixedTimeslotTask.cpp
+++ b/osal/linux/FixedTimeslotTask.cpp
@@ -49,7 +49,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-ReturnValue_t FixedTimeslotTask::checkSequence() const {
+ReturnValue_t FixedTimeslotTask::checkAndInitializeSequence() const {
 	return pst.checkSequence();
 }
 
diff --git a/osal/linux/FixedTimeslotTask.h b/osal/linux/FixedTimeslotTask.h
index 83bf203e..f7b6e954 100644
--- a/osal/linux/FixedTimeslotTask.h
+++ b/osal/linux/FixedTimeslotTask.h
@@ -33,7 +33,7 @@ public:
 	virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
 			int8_t executionStep);
 
-	virtual ReturnValue_t checkSequence() const;
+	virtual ReturnValue_t checkAndInitializeSequence() const;
 
 	/**
 	 * This static function can be used as #deadlineMissedFunc.
diff --git a/osal/rtems/PollingTask.cpp b/osal/rtems/PollingTask.cpp
index 527df367..b53d6a5a 100644
--- a/osal/rtems/PollingTask.cpp
+++ b/osal/rtems/PollingTask.cpp
@@ -82,7 +82,7 @@ uint32_t PollingTask::getPeriodMs() const {
 	return pst.getLengthMs();
 }
 
-ReturnValue_t PollingTask::checkSequence() const {
+ReturnValue_t PollingTask::checkAndInitializeSequence() const {
 	return pst.checkSequence();
 }
 
diff --git a/osal/rtems/PollingTask.h b/osal/rtems/PollingTask.h
index 759ed43d..60ce0816 100644
--- a/osal/rtems/PollingTask.h
+++ b/osal/rtems/PollingTask.h
@@ -42,7 +42,7 @@ class PollingTask: public TaskBase, public FixedTimeslotTaskIF {
 
 	uint32_t getPeriodMs() const;
 
-	ReturnValue_t checkSequence() const;
+	ReturnValue_t checkAndInitializeSequence() const;
 
 	ReturnValue_t sleepFor(uint32_t ms);
 protected:
diff --git a/tasks/FixedSequenceSlot.cpp b/tasks/FixedSequenceSlot.cpp
index cccc6371..9d290d19 100644
--- a/tasks/FixedSequenceSlot.cpp
+++ b/tasks/FixedSequenceSlot.cpp
@@ -3,13 +3,14 @@
 #include <cstddef>
 
 FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
-		int8_t setSequenceId, PeriodicTaskIF* executingTask) :
+		int8_t setSequenceId, ExecutableObjectIF* executableObject,
+		PeriodicTaskIF* executingTask) :
 		pollingTimeMs(setTime), opcode(setSequenceId) {
-	handler = objectManager->get<ExecutableObjectIF>(handlerId);
-	if(executingTask != nullptr) {
-	    handler->setTaskIF(executingTask);
-	}
-	handler->initializeAfterTaskCreation();
+    if(executableObject == nullptr) {
+        return;
+    }
+    this->executableObject = executableObject;
+    this->executableObject->setTaskIF(executingTask);
 }
 
 FixedSequenceSlot::~FixedSequenceSlot() {}
diff --git a/tasks/FixedSequenceSlot.h b/tasks/FixedSequenceSlot.h
index e33134de..9cf5894c 100644
--- a/tasks/FixedSequenceSlot.h
+++ b/tasks/FixedSequenceSlot.h
@@ -16,21 +16,23 @@ class PeriodicTaskIF;
 class FixedSequenceSlot {
 public:
 	FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs,
-			int8_t setSequenceId, PeriodicTaskIF* executingTask );
+			int8_t setSequenceId, ExecutableObjectIF* executableObject,
+			PeriodicTaskIF* executingTask);
 	virtual ~FixedSequenceSlot();
 
 	/**
-	 * @brief	Handler identifies which device handler object is executed in this slot.
+	 * @brief	Handler identifies which object is executed in this slot.
 	 */
-	ExecutableObjectIF*	handler = nullptr;
+	ExecutableObjectIF*	executableObject = nullptr;
 
 	/**
 	 * @brief	This attribute defines when a device handler object is executed.
-	 *
-	 * @details	The pollingTime attribute identifies the time the handler is executed in ms.
-	 * 			It must be smaller than the period length of the polling sequence.
+	 * @details
+	 * The pollingTime attribute identifies the time the handler is
+	 * executed in ms. It must be smaller than the period length of the
+	 * polling sequence.
 	 */
-	uint32_t	pollingTimeMs;
+	uint32_t pollingTimeMs;
 
 	/**
 	 * @brief	This value defines the type of device communication.
diff --git a/tasks/FixedSlotSequence.cpp b/tasks/FixedSlotSequence.cpp
index 27dfff2b..e51762ea 100644
--- a/tasks/FixedSlotSequence.cpp
+++ b/tasks/FixedSlotSequence.cpp
@@ -13,7 +13,7 @@ FixedSlotSequence::~FixedSlotSequence() {
 }
 
 void FixedSlotSequence::executeAndAdvance() {
-	current->handler->performOperation(current->opcode);
+	current->executableObject->performOperation(current->opcode);
 //	if (returnValue != RETURN_OK) {
 //		this->sendErrorMessage( returnValue );
 //	}
@@ -81,34 +81,38 @@ uint32_t FixedSlotSequence::getLengthMs() const {
 	return this->lengthMs;
 }
 
-ReturnValue_t FixedSlotSequence::checkSequence() const {
+ReturnValue_t FixedSlotSequence::checkAndInitializeSequence() const {
 	if(slotList.empty()) {
 		sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
-	auto slotIt = slotList.begin();
+	std::set<ExecutableObjectIF*> uniqueObjects;
 	uint32_t count = 0;
 	uint32_t time = 0;
-	while (slotIt != slotList.end()) {
-		if (slotIt->handler == nullptr) {
-			sif::error << "FixedSlotSequene::initialize: ObjectId does not exist!"
-					<< std::endl;
+	for(const auto& slot: slotList) {
+		if (slot.executableObject == nullptr) {
 			count++;
-		} else if (slotIt->pollingTimeMs < time) {
-			sif::error << "FixedSlotSequence::initialize: Time: "
-					<< slotIt->pollingTimeMs
-					<< " is smaller than previous with " << time << std::endl;
-			count++;
-		} else {
-			// All ok, print slot.
-			//info << "Current slot polling time: " << std::endl;
-			//info << std::dec << slotIt->pollingTimeMs << std::endl;
 		}
-		time = slotIt->pollingTimeMs;
-		slotIt++;
+		else if (slot.pollingTimeMs < time) {
+			sif::error << "FixedSlotSequence::initialize: Time: "
+					<< slot.pollingTimeMs << " is smaller than previous with "
+					<< time << std::endl;
+			count++;
+		}
+		else {
+			// All ok, print slot.
+			//sif::info << "Current slot polling time: " << std::endl;
+			//sif::info << std::dec << slotIt->pollingTimeMs << std::endl;
+		}
+		time = slot.pollingTimeMs;
+		// Ensure that each unique object is initialized once.
+		if(uniqueObjects.find(slot.executableObject) == uniqueObjects.end()) {
+		    slot.executableObject->initializeAfterTaskCreation();
+		    uniqueObjects.emplace(slot.executableObject);
+		}
 	}
-	//info << "Number of elements in slot list: "
+	//sif::info << "Number of elements in slot list: "
 	//	   << slotList.size() << std::endl;
 	if (count > 0) {
 		return HasReturnvaluesIF::RETURN_FAILED;
@@ -117,8 +121,9 @@ ReturnValue_t FixedSlotSequence::checkSequence() const {
 }
 
 void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
-		int8_t executionStep, PeriodicTaskIF* executingTask) {
-	this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, executionStep,
-			executingTask));
-	this->current = slotList.begin();
+		int8_t executionStep, ExecutableObjectIF* executableObject,
+		PeriodicTaskIF* executingTask) {
+    this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs,
+            executionStep, executableObject, executingTask));
+   this->current = slotList.begin();
 }
diff --git a/tasks/FixedSlotSequence.h b/tasks/FixedSlotSequence.h
index 67ce0094..1aa420ce 100644
--- a/tasks/FixedSlotSequence.h
+++ b/tasks/FixedSlotSequence.h
@@ -59,7 +59,7 @@ public:
 	 * 	@param
 	 */
 	void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
-			PeriodicTaskIF* executingTask);
+			ExecutableObjectIF* executableObject, PeriodicTaskIF* executingTask);
 
 	/**
 	 * Checks if the current slot shall be executed immediately after the one before.
@@ -125,11 +125,14 @@ public:
 	SlotListIter current;
 
 	/**
-	 * Iterate through slotList and check successful creation.
+	 * @brief   Check and initialize slot list.
+	 * @details
 	 * Checks if timing is ok (must be ascending) and if all handlers were found.
+	 * Also calls any initialization steps which are required after task
+	 * creation.
 	 * @return
 	 */
-	ReturnValue_t checkSequence() const;
+	ReturnValue_t checkAndInitializeSequence() const;
 
 protected:
 
diff --git a/tasks/FixedTimeslotTaskIF.h b/tasks/FixedTimeslotTaskIF.h
index 3456dae7..d3155490 100644
--- a/tasks/FixedTimeslotTaskIF.h
+++ b/tasks/FixedTimeslotTaskIF.h
@@ -22,8 +22,12 @@ public:
 	 */
 	virtual ReturnValue_t addSlot(object_id_t componentId,
 			uint32_t slotTimeMs, int8_t executionStep) = 0;
-	/** Check whether the sequence is valid */
-	virtual ReturnValue_t checkSequence() const = 0;
+
+	/**
+	 * Check whether the sequence is valid and perform all other required
+	 * initialization steps which are needed after task creation
+	 */
+	virtual ReturnValue_t checkAndInitializeSequence() const = 0;
 };
 
 #endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */