install etl library in ci/cd

2022-07-04 10:13:48 +02:00
81 changed files with 398 additions and 1256 deletions
--- a/.run/fsfw-tests_coverage.run.xml
+++ b/.run/fsfw-tests_coverage.run.xml
@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="fsfw-tests_coverage" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw-tests_coverage" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
+    <method v="2">
+      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+    </method>
+  </configuration>
+</component>
--- a/.run/fsfw.run.xml
+++ b/.run/fsfw.run.xml
@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="fsfw" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
+    <method v="2">
+      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+    </method>
+  </configuration>
+</component>
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -19,6 +19,12 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Bump C++ required version to C++17. Every project which uses the FSFW and every modern
  compiler supports it
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
+- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
+  and mode
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
+- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
+  name clashes with Windows defines.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
@ -85,7 +91,6 @@ PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1

 ### Time

@ -134,6 +139,7 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
    - https://gitlab.kitware.com/cmake/cmake/-/issues/21696
  Easiest solution for now: Keep this option OFF by default.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
+- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
  inside `fsfw/version.h`
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -183,10 +183,7 @@ if(FSFW_BUILD_UNITTESTS)
  endif()
 endif()

-message(
-  STATUS
-    "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}"
-)
+message(STATUS "${MSG_PREFIX} Finding and/or providing ETL library")

 # Check whether the user has already installed ETL first
 find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
@ -194,7 +191,7 @@ find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
  message(
    STATUS
-      "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
+      "No ETL installation was found with find_package. Installing and providing "
      "etl with FindPackage")
  include(FetchContent)

--- a/automation/Dockerfile
+++ b/automation/Dockerfile
@ -12,3 +12,9 @@ RUN git clone https://github.com/catchorg/Catch2.git && \
 	git checkout v3.0.0-preview5 && \
 	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
 	cmake --build build/ --target install
+
+RUN git clone https://github.com/ETLCPP/etl.git && \
+	cd etl && \
+	git checkout 20.28.0 && \
+	cmake -B build . && \
+	cmake --install build/
--- a/hal/src/fsfw_hal/common/gpio/GpioIF.h
+++ b/hal/src/fsfw_hal/common/gpio/GpioIF.h
@ -46,9 +46,9 @@ class GpioIF : public HasReturnvaluesIF {
   *          an ouput or input gpio.
   *
   * @param gpioId    A unique number which specifies the GPIO to read.
-   * @param gpioState State of GPIO will be written to this reference
+   * @param gpioState State of GPIO will be written to this pointer.
   */
-  virtual ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) = 0;
+  virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
 };

 #endif /* COMMON_GPIO_GPIOIF_H_ */
--- a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
+++ b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
@ -9,7 +9,7 @@ using gpioId_t = uint16_t;

 namespace gpio {

-enum class Levels : int { LOW = 0, HIGH = 1, FAILED = -1, NONE = 99 };
+enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 };

 enum class Direction : int { IN = 0, OUT = 1 };

--- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
@ -252,7 +252,6 @@ ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &l
  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
-  poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
  return HasReturnvaluesIF::RETURN_OK;
 }

--- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
@ -375,16 +375,13 @@ float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {

 ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
                                                         size_t commandDataLen) {
-  if (commandData == nullptr) {
-    return INVALID_COMMAND_PARAMETER;
-  }
  triggerEvent(CHANGE_OF_SETUP_PARAMETER);
  uint32_t size = 2;
  commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
  if (commandDataLen > 1) {
    return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
  }
-  switch (commandData[0]) {
+  switch (*commandData) {
    case (MGMLIS3MDL::ON): {
      commandBuffer[1] = registers[0] | (1 << 7);
      break;
@ -475,7 +472,6 @@ ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &lo
  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
-  poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
  return HasReturnvaluesIF::RETURN_OK;
 }

--- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
@ -312,7 +312,6 @@ ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &loc
  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
-  poolManager.subscribeForPeriodicPacket(primaryDataset.getSid(), false, 10.0, false);
  return HasReturnvaluesIF::RETURN_OK;
 }

--- a/hal/src/fsfw_hal/linux/CommandExecutor.cpp
+++ b/hal/src/fsfw_hal/linux/CommandExecutor.cpp
@ -32,8 +32,6 @@ ReturnValue_t CommandExecutor::execute() {
  } else if (state == States::PENDING) {
    return COMMAND_PENDING;
  }
-  // Reset data in read vector
-  std::memset(readVec.data(), 0, readVec.size());
  currentCmdFile = popen(currentCmd.c_str(), "r");
  if (currentCmdFile == nullptr) {
    lastError = errno;
@ -207,5 +205,3 @@ ReturnValue_t CommandExecutor::executeBlocking() {
  }
  return HasReturnvaluesIF::RETURN_OK;
 }
-
-const std::vector<char>& CommandExecutor::getReadVector() const { return readVec; }
--- a/hal/src/fsfw_hal/linux/CommandExecutor.h
+++ b/hal/src/fsfw_hal/linux/CommandExecutor.h
@ -109,8 +109,6 @@ class CommandExecutor {
   */
  void reset();

-  const std::vector<char>& getReadVector() const;
-
 private:
  std::string currentCmd;
  bool blocking = true;
--- a/hal/src/fsfw_hal/linux/UnixFileGuard.cpp
+++ b/hal/src/fsfw_hal/linux/UnixFileGuard.cpp
@ -6,7 +6,7 @@
 #include "fsfw/FSFW.h"
 #include "fsfw/serviceinterface.h"

-UnixFileGuard::UnixFileGuard(const std::string& device, int* fileDescriptor, int flags,
+UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
                             std::string diagnosticPrefix)
    : fileDescriptor(fileDescriptor) {
  if (fileDescriptor == nullptr) {
--- a/hal/src/fsfw_hal/linux/UnixFileGuard.h
+++ b/hal/src/fsfw_hal/linux/UnixFileGuard.h
@ -15,7 +15,7 @@ class UnixFileGuard {

  static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;

-  UnixFileGuard(const std::string& device, int* fileDescriptor, int flags,
+  UnixFileGuard(std::string device, int* fileDescriptor, int flags,
                std::string diagnosticPrefix = "");

  virtual ~UnixFileGuard();
--- a/hal/src/fsfw_hal/linux/gpio/Gpio.h
+++ b/hal/src/fsfw_hal/linux/gpio/Gpio.h
@ -1,27 +0,0 @@
-#ifndef FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_
-#define FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_
-
-#include "fsfw_hal/common/gpio/GpioIF.h"
-#include "fsfw_hal/common/gpio/gpioDefinitions.h"
-
-/**
- * @brief   Additional abstraction layer for handling GPIOs.
- *
- * @author  J. Meier
- */
-class Gpio {
- public:
-  Gpio(gpioId_t gpioId, GpioIF* gpioIF) : gpioId(gpioId), gpioIF(gpioIF) {
-    if (gpioIF == nullptr) {
-      sif::error << "Gpio::Gpio: Invalid GpioIF" << std::endl;
-    }
-  }
-  ReturnValue_t pullHigh() { return gpioIF->pullHigh(gpioId); }
-  ReturnValue_t pullLow() { return gpioIF->pullLow(gpioId); }
-
- private:
-  gpioId_t gpioId = gpio::NO_GPIO;
-  GpioIF* gpioIF = nullptr;
-};
-
-#endif /* FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_ */
--- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
+++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
@ -294,7 +294,7 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regul
  return RETURN_OK;
 }

-ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) {
+ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
  gpioMapIter = gpioMap.find(gpioId);
  if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@ -313,10 +313,7 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState)
    if (regularGpio == nullptr) {
      return GPIO_TYPE_FAILURE;
    }
-    gpioState = static_cast<gpio::Levels>(gpiod_line_get_value(regularGpio->lineHandle));
-    if (gpioState == gpio::Levels::FAILED) {
-      return GPIO_GET_VALUE_FAILED;
-    }
+    *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
  } else {
    auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
    if (gpioCallback->callback == nullptr) {
--- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
@ -31,16 +31,14 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
  static constexpr ReturnValue_t GPIO_INIT_FAILED =
      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6);
-  // Will be returned if getting the line value failed. Error type will be set to errno in this case
-  static constexpr ReturnValue_t GPIO_GET_VALUE_FAILED =
-      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 7);
+
  LinuxLibgpioIF(object_id_t objectId);
  virtual ~LinuxLibgpioIF();

  ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
  ReturnValue_t pullHigh(gpioId_t gpioId) override;
  ReturnValue_t pullLow(gpioId_t gpioId) override;
-  ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) override;
+  ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;

 private:
  static const size_t MAX_CHIPNAME_LENGTH = 11;
--- a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
+++ b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
@ -170,20 +170,18 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe

  int readLen = read(fd, replyBuffer, requestLen);
  if (readLen != static_cast<int>(requestLen)) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    if (readLen < 0) {
-      sif::warning << "I2cComIF::requestReceiveMessage: Reading from I2C "
-                   << "device failed with error code " << errno << " | " << strerror(errno)
-                   << std::endl;
-    } else {
-      sif::warning << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
-                   << requestLen << " bytes" << std::endl;
-    }
-#else
-#endif
+#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
+               << "device failed with error code " << errno << ". Description"
+               << " of error: " << strerror(errno) << std::endl;
+    sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
+               << " bytes" << std::endl;
 #endif
    i2cDeviceMapIter->second.replyLen = 0;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
+               << " bytes" << std::endl;
+#endif
    return HasReturnvaluesIF::RETURN_FAILED;
  }

--- a/hal/src/fsfw_hal/linux/spi/ManualCsLockGuard.h
+++ b/hal/src/fsfw_hal/linux/spi/ManualCsLockGuard.h
@ -1,43 +0,0 @@
-#pragma once
-
-#include "fsfw/ipc/MutexIF.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-#include "fsfw_hal/common/gpio/GpioIF.h"
-
-class ManualCsLockWrapper : public HasReturnvaluesIF {
- public:
-  ManualCsLockWrapper(MutexIF* lock, GpioIF* gpioIF, SpiCookie* cookie,
-                      MutexIF::TimeoutType type = MutexIF::TimeoutType::BLOCKING,
-                      uint32_t timeoutMs = 0)
-      : lock(lock), gpioIF(gpioIF), cookie(cookie), type(type), timeoutMs(timeoutMs) {
-    if (cookie == nullptr) {
-      // TODO: Error? Or maybe throw exception..
-      return;
-    }
-    cookie->setCsLockManual(true);
-    lockResult = lock->lockMutex(type, timeoutMs);
-    if (lockResult != RETURN_OK) {
-      return;
-    }
-    gpioResult = gpioIF->pullLow(cookie->getChipSelectPin());
-  }
-
-  ~ManualCsLockWrapper() {
-    if (gpioResult == RETURN_OK) {
-      gpioIF->pullHigh(cookie->getChipSelectPin());
-    }
-    cookie->setCsLockManual(false);
-    if (lockResult == RETURN_OK) {
-      lock->unlockMutex();
-    }
-  }
-  ReturnValue_t lockResult;
-  ReturnValue_t gpioResult;
-
- private:
-  MutexIF* lock;
-  GpioIF* gpioIF;
-  SpiCookie* cookie;
-  MutexIF::TimeoutType type;
-  uint32_t timeoutMs = 0;
-};
--- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
+++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
@ -15,8 +15,8 @@
 #include "fsfw_hal/linux/spi/SpiCookie.h"
 #include "fsfw_hal/linux/utility.h"

-SpiComIF::SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF)
-    : SystemObject(objectId), gpioComIF(gpioComIF), dev(std::move(devname)) {
+SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
+    : SystemObject(objectId), gpioComIF(gpioComIF) {
  if (gpioComIF == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@ -27,7 +27,7 @@ SpiComIF::SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF)
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
  }

-  csMutex = MutexFactory::instance()->createMutex();
+  spiMutex = MutexFactory::instance()->createMutex();
 }

 ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
@ -85,7 +85,8 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
  spiCookie->getSpiParameters(spiMode, spiSpeed, &params);

  int fileDescriptor = 0;
-  UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
+  UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
+                           "SpiComIF::initializeInterface");
  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
    return fileHelper.getOpenResult();
  }
@ -181,7 +182,8 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
  int retval = 0;
  /* Prepare transfer */
  int fileDescriptor = 0;
-  UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+  std::string device = spiCookie->getSpiDevice();
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
    return OPENING_FILE_FAILED;
  }
@ -194,27 +196,20 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const

  bool fullDuplex = spiCookie->isFullDuplex();
  gpioId_t gpioId = spiCookie->getChipSelectPin();
-  bool csLockManual = spiCookie->getCsLockManual();

-  MutexIF::TimeoutType csType;
-  dur_millis_t csTimeout = 0;
-  // Pull SPI CS low. For now, no support for active high given
-  if (gpioId != gpio::NO_GPIO and not csLockManual) {
-    spiCookie->getMutexParams(csType, csTimeout);
-    result = csMutex->lockMutex(csType, csTimeout);
+  /* Pull SPI CS low. For now, no support for active high given  */
+  if (gpioId != gpio::NO_GPIO) {
+    result = spiMutex->lockMutex(timeoutType, timeoutMs);
    if (result != RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
-                 << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
-                 << std::endl;
+      sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
 #else
-      sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
+      sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
 #endif
 #endif
      return result;
    }
-    updateLinePolarity(fileDescriptor);
    result = gpioComIF->pullLow(gpioId);
    if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
@ -226,8 +221,6 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
 #endif
      return result;
    }
-  } else {
-    updateLinePolarity(fileDescriptor);
  }

  /* Execute transfer */
@ -255,9 +248,9 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
    }
  }

-  if (gpioId != gpio::NO_GPIO and not csLockManual) {
+  if (gpioId != gpio::NO_GPIO) {
    gpioComIF->pullHigh(gpioId);
-    result = csMutex->unlockMutex();
+    result = spiMutex->unlockMutex();
    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
@ -285,8 +278,9 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe

 ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  std::string device = spiCookie->getSpiDevice();
  int fileDescriptor = 0;
-  UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
    return OPENING_FILE_FAILED;
  }
@ -298,22 +292,12 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
    return result;
  }

-  bool csLockManual = spiCookie->getCsLockManual();
  gpioId_t gpioId = spiCookie->getChipSelectPin();
-  MutexIF::TimeoutType csType;
-  dur_millis_t csTimeout = 0;
-  if (gpioId != gpio::NO_GPIO and not csLockManual) {
-    spiCookie->getMutexParams(csType, csTimeout);
-    result = csMutex->lockMutex(csType, csTimeout);
+  if (gpioId != gpio::NO_GPIO) {
+    result = spiMutex->lockMutex(timeoutType, timeoutMs);
    if (result != RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
-                 << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
-                 << std::endl;
-#else
-      sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
-#endif
+      sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
 #endif
      return result;
    }
@ -331,9 +315,9 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
    result = HALF_DUPLEX_TRANSFER_FAILED;
  }

-  if (gpioId != gpio::NO_GPIO and not csLockManual) {
+  if (gpioId != gpio::NO_GPIO) {
    gpioComIF->pullHigh(gpioId);
-    result = csMutex->unlockMutex();
+    result = spiMutex->unlockMutex();
    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
@ -362,7 +346,15 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
  return HasReturnvaluesIF::RETURN_OK;
 }

-MutexIF* SpiComIF::getCsMutex() { return csMutex; }
+MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
+  if (timeoutType != nullptr) {
+    *timeoutType = this->timeoutType;
+  }
+  if (timeoutMs != nullptr) {
+    *timeoutMs = this->timeoutMs;
+  }
+  return spiMutex;
+}

 void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
  if (spiCookie == nullptr) {
@ -409,27 +401,11 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
  if (retval != 0) {
    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
  }
-}
-
-void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const {
-  uint8_t tmpMode = 0;
-  int retval = ioctl(spiFd, SPI_IOC_RD_MODE, &tmpMode);
-  if (retval != 0) {
-    utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Reading SPI mode failed");
-  }
-  mode = static_cast<spi::SpiModes>(tmpMode);
-
-  retval = ioctl(spiFd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
-  if (retval != 0) {
-    utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Getting SPI speed failed");
-  }
-}
-
-const std::string& SpiComIF::getSpiDev() const { return dev; }
-
-void SpiComIF::updateLinePolarity(int spiFd) {
+  // This updates the SPI clock default polarity. Only setting the mode does not update
+  // the line state, which can be an issue on mode switches because the clock line will
+  // switch the state after the chip select is pulled low
  clockUpdateTransfer.len = 0;
-  int retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
+  retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
  if (retval != 0) {
    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
  }
--- a/hal/src/fsfw_hal/linux/spi/SpiComIF.h
+++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.h
@ -22,17 +22,17 @@ class SpiCookie;
 */
 class SpiComIF : public DeviceCommunicationIF, public SystemObject {
 public:
-  static constexpr uint8_t CLASS_ID = CLASS_ID::HAL_SPI;
+  static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
  static constexpr ReturnValue_t OPENING_FILE_FAILED =
-      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
  /* Full duplex (ioctl) transfer failure */
  static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
-      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
  /* Half duplex (read/write) transfer failure */
  static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
-      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);

-  SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF);
+  SpiComIF(object_id_t objectId, GpioIF* gpioComIF);

  ReturnValue_t initializeInterface(CookieIF* cookie) override;
  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
@ -44,8 +44,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
   * @brief   This function returns the mutex which can be used to protect the spi bus when
   *          the chip select must be driven from outside of the com if.
   */
-  MutexIF* getCsMutex();
-  void setMutexParams(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
+  MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);

  /**
   * Perform a regular send operation using Linux iotcl. This is public so it can be used
@ -60,20 +59,6 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {

  GpioIF* getGpioInterface();
  void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
-  void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const;
-
-  /**
-   * This updates the SPI clock default polarity. Only setting the mode does not update
-   * the line state, which can be an issue on mode switches because the clock line will
-   * switch the state after the chip select is pulled low.
-   *
-   * It is recommended to call this function after #setSpiSpeedAndMode and after locking the
-   * CS mutex if the SPI bus has multiple SPI devices with different speed and SPI modes attached.
-   * @param spiFd
-   */
-  void updateLinePolarity(int spiFd);
-
-  const std::string& getSpiDev() const;
  void performSpiWiretapping(SpiCookie* spiCookie);

  ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
@ -85,14 +70,10 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
  };

  GpioIF* gpioComIF = nullptr;
-  std::string dev = "";
-  /**
-   * Protects the chip select operations. Lock when GPIO is pulled low, unlock after it was
-   * pulled high
-   */
-  MutexIF* csMutex = nullptr;
-  // MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
-  // uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT;
+
+  MutexIF* spiMutex = nullptr;
+  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+  uint32_t timeoutMs = 20;
  spi_ioc_transfer clockUpdateTransfer = {};

  using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
--- a/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
+++ b/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
@ -1,25 +1,26 @@
 #include "SpiCookie.h"

-SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
+SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
+                     const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)
+    : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
+                spiSpeed, nullptr, nullptr) {}
+
+SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
                     spi::SpiModes spiMode, uint32_t spiSpeed)
-    : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
-                nullptr, nullptr) {}
+    : SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}

-SpiCookie::SpiCookie(address_t spiAddress, const size_t maxSize, spi::SpiModes spiMode,
-                     uint32_t spiSpeed)
-    : SpiCookie(spiAddress, gpio::NO_GPIO, maxSize, spiMode, spiSpeed) {}
-
-SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
-                     spi::SpiModes spiMode, uint32_t spiSpeed,
-                     spi::send_callback_function_t callback, void* args)
-    : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
-                callback, args) {}
-
-SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
+SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
                     const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
                     spi::send_callback_function_t callback, void* args)
+    : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, spiMode,
+                spiSpeed, callback, args) {}
+
+SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
+                     std::string spiDev, const size_t maxSize, spi::SpiModes spiMode,
+                     uint32_t spiSpeed, spi::send_callback_function_t callback, void* args)
    : spiAddress(spiAddress),
      chipSelectPin(chipSelect),
+      spiDevice(spiDev),
      comIfMode(comIfMode),
      maxSize(maxSize),
      spiMode(spiMode),
@ -49,6 +50,8 @@ size_t SpiCookie::getMaxBufferSize() const { return maxSize; }

 address_t SpiCookie::getSpiAddress() const { return spiAddress; }

+std::string SpiCookie::getSpiDevice() const { return spiDevice; }
+
 void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }

 void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }
@ -104,17 +107,3 @@ void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args
  *callback = this->sendCallback;
  *args = this->callbackArgs;
 }
-
-void SpiCookie::setCsLockManual(bool enable) { manualCsLock = enable; }
-
-bool SpiCookie::getCsLockManual() const { return manualCsLock; }
-
-void SpiCookie::getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const {
-  csTimeoutType = this->csTimeoutType;
-  csTimeout = this->csTimeout;
-}
-
-void SpiCookie::setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout) {
-  this->csTimeoutType = csTimeoutType;
-  this->csTimeout = csTimeout;
-}
--- a/hal/src/fsfw_hal/linux/spi/SpiCookie.h
+++ b/hal/src/fsfw_hal/linux/spi/SpiCookie.h
@ -2,8 +2,6 @@
 #define LINUX_SPI_SPICOOKIE_H_

 #include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw/ipc/MutexIF.h>
-#include <fsfw/timemanager/clockDefinitions.h>
 #include <linux/spi/spidev.h>

 #include "../../common/gpio/gpioDefinitions.h"
@ -22,8 +20,6 @@
 */
 class SpiCookie : public CookieIF {
 public:
-  static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20;
-
  /**
   * Each SPI device will have a corresponding cookie. The cookie is used by the communication
   * interface and contains device specific information like the largest expected size to be
@ -33,22 +29,23 @@ class SpiCookie : public CookieIF {
   * @param spiDev
   * @param maxSize
   */
-  SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode,
-            uint32_t spiSpeed);
+  SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
+            spi::SpiModes spiMode, uint32_t spiSpeed);

  /**
   * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
   * slave select or if CS logic is performed with decoders.
   */
-  SpiCookie(address_t spiAddress, const size_t maxReplySize, spi::SpiModes spiMode,
-            uint32_t spiSpeed);
+  SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
+            spi::SpiModes spiMode, uint32_t spiSpeed);

  /**
   * Use the callback mode of the SPI communication interface. The user can pass the callback
   * function here or by using the setter function #setCallbackMode
   */
-  SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode,
-            uint32_t spiSpeed, spi::send_callback_function_t callback, void* args);
+  SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
+            spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback,
+            void* args);

  /**
   * Get the callback function
@ -58,6 +55,7 @@ class SpiCookie : public CookieIF {
  void getCallback(spi::send_callback_function_t* callback, void** args);

  address_t getSpiAddress() const;
+  std::string getSpiDevice() const;
  gpioId_t getChipSelectPin() const;
  size_t getMaxBufferSize() const;

@ -141,42 +139,9 @@ class SpiCookie : public CookieIF {
   */
  void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);

-  void getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const;
-  void setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout);
-
-  void setCsLockManual(bool enable);
-  bool getCsLockManual() const;
-
  spi_ioc_transfer* getTransferStructHandle();

 private:
-  address_t spiAddress;
-  gpioId_t chipSelectPin;
-
-  spi::SpiComIfModes comIfMode;
-
-  // Required for regular mode
-  const size_t maxSize;
-  spi::SpiModes spiMode;
-  /**
-   * If this is set to true, the SPI ComIF will not perform any mutex locking for the
-   * CS mechanism. The user is responsible to locking and unlocking the mutex for the
-   * whole duration of the transfers.
-   */
-  bool manualCsLock = false;
-  uint32_t spiSpeed;
-  bool halfDuplex = false;
-
-  MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::WAITING;
-  dur_millis_t csTimeout = DEFAULT_MUTEX_TIMEOUT;
-
-  // Required for callback mode
-  spi::send_callback_function_t sendCallback = nullptr;
-  void* callbackArgs = nullptr;
-
-  struct spi_ioc_transfer spiTransferStruct = {};
-  UncommonParameters uncommonParameters;
-
  /**
   * Internal constructor which initializes every field
   * @param spiAddress
@ -189,8 +154,27 @@ class SpiCookie : public CookieIF {
   * @param args
   */
  SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
-            const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+            std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
            spi::send_callback_function_t callback, void* args);
+
+  address_t spiAddress;
+  gpioId_t chipSelectPin;
+  std::string spiDevice;
+
+  spi::SpiComIfModes comIfMode;
+
+  // Required for regular mode
+  const size_t maxSize;
+  spi::SpiModes spiMode;
+  uint32_t spiSpeed;
+  bool halfDuplex = false;
+
+  // Required for callback mode
+  spi::send_callback_function_t sendCallback = nullptr;
+  void* callbackArgs = nullptr;
+
+  struct spi_ioc_transfer spiTransferStruct = {};
+  UncommonParameters uncommonParameters;
 };

 #endif /* LINUX_SPI_SPICOOKIE_H_ */
--- a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp
+++ b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp
@ -2,8 +2,8 @@

 #include <fsfw/serviceinterface.h>

-UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
-                       size_t maxReplyLen, UartModes uartMode)
+UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
+                       UartBaudRate baudrate, size_t maxReplyLen)
    : handlerId(handlerId),
      deviceFile(deviceFile),
      uartMode(uartMode),
--- a/hal/src/fsfw_hal/linux/uart/UartCookie.h
+++ b/hal/src/fsfw_hal/linux/uart/UartCookie.h
@ -69,8 +69,8 @@ class UartCookie : public CookieIF {
   *                        8 databits (number of bits transfered with one uart frame)
   *                        One stop bit
   */
-  UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
-             size_t maxReplyLen, UartModes uartMode = UartModes::NON_CANONICAL);
+  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
+             UartBaudRate baudrate, size_t maxReplyLen);

  virtual ~UartCookie();

--- a/scripts/auto-formatter.sh
+++ b/scripts/auto-formatter.sh
@ -3,12 +3,6 @@ if [[ ! -f README.md ]]; then
  cd ..
 fi

-folder_list=(
-  "./src"
-  "./hal"
-  "./tests"
-)
-
 cmake_fmt="cmake-format"
 file_selectors="-iname CMakeLists.txt"
 if command -v ${cmake_fmt} &> /dev/null; then
@ -21,10 +15,9 @@ fi
 cpp_format="clang-format"
 file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
 if command -v ${cpp_format} &> /dev/null; then
-  for dir in ${folder_list[@]}; do
-    echo "Auto-formatting ${dir} recursively"
-    find ${dir} ${file_selectors} | xargs clang-format --style=file -i
-  done
+  find ./src ${file_selectors} | xargs ${cpp_format} --style=file -i
+  find ./hal ${file_selectors} | xargs ${cpp_format} --style=file -i
+  find ./tests ${file_selectors} | xargs ${cpp_format} --style=file -i
 else
  echo "No ${cpp_format} tool found, not formatting C++/C files"
 fi
--- a/src/fsfw/action/CommandActionHelper.h
+++ b/src/fsfw/action/CommandActionHelper.h
@ -16,8 +16,8 @@ class CommandActionHelper {
 public:
  CommandActionHelper(CommandsActionsIF* owner);
  virtual ~CommandActionHelper();
-  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId,
-                              const uint8_t* data = nullptr, uint32_t size = 0);
+  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data,
+                              uint32_t size);
  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
  ReturnValue_t initialize();
  ReturnValue_t handleReply(CommandMessage* reply);
--- a/src/fsfw/cfdp/CFDPHandler.cpp
+++ b/src/fsfw/cfdp/CFDPHandler.cpp
@ -12,9 +12,7 @@ object_id_t CFDPHandler::packetDestination = 0;

 CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
    : SystemObject(setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  requestQueue = QueueFactory::instance()->createMessageQueue(
-      CFDP_HANDLER_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION);
  distributor = dist;
 }

--- a/src/fsfw/controller/ControllerBase.cpp
+++ b/src/fsfw/controller/ControllerBase.cpp
@ -13,9 +13,7 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
      submode(SUBMODE_NONE),
      modeHelper(this),
      healthHelper(this, setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      commandQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
 }

 ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
--- a/src/fsfw/datapool/PoolEntry.cpp
+++ b/src/fsfw/datapool/PoolEntry.cpp
@ -7,26 +7,24 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"

 template <typename T>
-PoolEntry<T>::PoolEntry(uint8_t len, bool setValid) : length(len), valid(setValid) {
-  this->address = new T[this->length]();
+PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, bool setValid)
+    : length(static_cast<uint8_t>(initValue.size())), valid(setValid) {
+  this->address = new T[this->length];
+  if (initValue.size() == 0) {
    std::memset(this->address, 0, this->getByteSize());
-}
-
-template <typename T>
-PoolEntry<T>::PoolEntry(std::initializer_list<T> initValues, bool setValid)
-    : length(static_cast<uint8_t>(initValues.size())), valid(setValid) {
-  this->address = new T[this->length]();
-  if (initValues.size() > 0) {
-    std::copy(initValues.begin(), initValues.end(), this->address);
+  } else {
+    std::copy(initValue.begin(), initValue.end(), this->address);
  }
 }

 template <typename T>
-PoolEntry<T>::PoolEntry(const T* initValue, uint8_t setLength, bool setValid)
+PoolEntry<T>::PoolEntry(T* initValue, uint8_t setLength, bool setValid)
    : length(setLength), valid(setValid) {
-  this->address = new T[this->length]();
+  this->address = new T[this->length];
  if (initValue != nullptr) {
    std::memcpy(this->address, initValue, this->getByteSize());
+  } else {
+    std::memset(this->address, 0, this->getByteSize());
  }
 }

--- a/src/fsfw/datapool/PoolEntry.h
+++ b/src/fsfw/datapool/PoolEntry.h
@ -33,9 +33,6 @@ class PoolEntry : public PoolEntryIF {
                "instead! The ECSS standard defines a boolean as a one bit "
                "field. Therefore it is preferred to store a boolean as an "
                "uint8_t");
-
-  PoolEntry(uint8_t len = 1, bool setValid = false);
-
  /**
   * @brief	In the classe's constructor, space is allocated on the heap and
   * 			potential initialization values are copied to that space.
@ -52,7 +49,7 @@ class PoolEntry : public PoolEntryIF {
   * @param setValid
   * Sets the initialization flag. It is invalid by default.
   */
-  PoolEntry(std::initializer_list<T> initValue, bool setValid = false);
+  PoolEntry(std::initializer_list<T> initValue = {0}, bool setValid = false);

  /**
   * @brief	In the classe's constructor, space is allocated on the heap and
@ -65,7 +62,7 @@ class PoolEntry : public PoolEntryIF {
   * @param setValid
   * Sets the initialization flag. It is invalid by default.
   */
-  PoolEntry(const T* initValue, uint8_t setLength = 1, bool setValid = false);
+  PoolEntry(T* initValue, uint8_t setLength = 1, bool setValid = false);

  //! Explicitely deleted copy ctor, copying is not allowed.
  PoolEntry(const PoolEntry&) = delete;
--- a/src/fsfw/datapoollocal/LocalDataPoolManager.cpp
+++ b/src/fsfw/datapoollocal/LocalDataPoolManager.cpp
@ -577,10 +577,6 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me

  CommandMessage reply;
  if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result == WRONG_HK_PACKET_TYPE) {
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleHousekeepingMessage",
-                          WRONG_HK_PACKET_TYPE);
-    }
    HousekeepingMessage::setHkRequestFailureReply(&reply, sid, result);
  } else {
    HousekeepingMessage::setHkRequestSuccessReply(&reply, sid);
@ -838,8 +834,6 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
      errorPrint = "Dataset not found";
    } else if (error == POOLOBJECT_NOT_FOUND) {
      errorPrint = "Pool Object not found";
-    } else if (error == WRONG_HK_PACKET_TYPE) {
-      errorPrint = "Wrong Packet Type";
    } else if (error == HasReturnvaluesIF::RETURN_FAILED) {
      if (outputType == sif::OutputTypes::OUT_WARNING) {
        errorPrint = "Generic Warning";
--- a/src/fsfw/datapoollocal/LocalPoolDataSetBase.h
+++ b/src/fsfw/datapoollocal/LocalPoolDataSetBase.h
@ -162,7 +162,6 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
  object_id_t getCreatorObjectId();

  bool getReportingEnabled() const;
-  void setReportingEnabled(bool enabled);

  /**
   * Returns the current periodic HK generation interval this set
@ -190,6 +189,7 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
   * Used for periodic generation.
   */
  bool reportingEnabled = false;
+  void setReportingEnabled(bool enabled);

  void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval,
                                uint8_t nonDiagIntervalFactor = 5);
--- a/src/fsfw/devicehandlers/AssemblyBase.cpp
+++ b/src/fsfw/devicehandlers/AssemblyBase.cpp
@ -26,7 +26,11 @@ void AssemblyBase::performChildOperation() {

 void AssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
  doStartTransition(mode, submode);
-  triggerModeHelperEvents(mode, submode);
+  if (modeHelper.isForced()) {
+    triggerEvent(FORCING_MODE, mode, submode);
+  } else {
+    triggerEvent(CHANGING_MODE, mode, submode);
+  }
 }

 void AssemblyBase::doStartTransition(Mode_t mode, Submode_t submode) {
@ -73,10 +77,9 @@ bool AssemblyBase::handleChildrenChangedHealth() {
  }
  HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
  if (healthState == HasHealthIF::NEEDS_RECOVERY) {
-    triggerEvent(TRYING_RECOVERY, iter->first, 0);
+    triggerEvent(TRYING_RECOVERY);
    recoveryState = RECOVERY_STARTED;
    recoveringDevice = iter;
-    // The user needs to take care of commanding the children off in commandChildren
    doStartTransition(targetMode, targetSubmode);
  } else {
    triggerEvent(CHILD_CHANGED_HEALTH);
@ -225,9 +228,6 @@ ReturnValue_t AssemblyBase::handleHealthReply(CommandMessage* message) {
 bool AssemblyBase::checkAndHandleRecovery() {
  switch (recoveryState) {
    case RECOVERY_STARTED:
-      // The recovery was already start in #handleChildrenChangedHealth and we just need
-      // to wait for an off time period.
-      // TODO: make time period configurable
      recoveryState = RECOVERY_WAIT;
      recoveryOffTimer.resetTimer();
      return true;
@ -266,11 +266,3 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
  modeHelper.setForced(true);
  sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL);
 }
-
-void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
-  if (modeHelper.isForced()) {
-    triggerEvent(FORCING_MODE, mode, submode);
-  } else {
-    triggerEvent(CHANGING_MODE, mode, submode);
-  }
-}
--- a/src/fsfw/devicehandlers/AssemblyBase.h
+++ b/src/fsfw/devicehandlers/AssemblyBase.h
@ -12,8 +12,7 @@
 * Documentation: Dissertation Baetz p.156, 157.
 *
 * This class reduces the complexity of controller components which would
- * otherwise be needed for the handling of redundant devices. However, it can also be used to
- * manage the mode keeping and recovery of non-redundant devices
+ * otherwise be needed for the handling of redundant devices.
 *
 * The template class monitors mode and health state of its children
 * and checks availability of devices on every detected change.
@ -27,9 +26,11 @@
 *
 * Important:
 *
- * The implementation must call #registerChild for all commanded children during initialization.
+ * The implementation must call registerChild(object_id_t child)
+ * for all commanded children during initialization.
 * The implementation must call the initialization function of the base class.
 * (This will call the function in SubsystemBase)
+ *
 */
 class AssemblyBase : public SubsystemBase {
 public:
@ -46,14 +47,13 @@ class AssemblyBase : public SubsystemBase {

 protected:
  /**
-   * Command children to reach [mode,submode] combination. Can be done by setting
-   * #commandsOutstanding correctly, or using #executeTable. In case of an FDIR recovery,
-   * the user needs to ensure that the target devices are healthy. If a device is not healthy,
-   * a recovery might be on-going and the device needs to be commanded to off first.
+   * Command children to reach [mode,submode] combination
+   * Can be done by setting #commandsOutstanding correctly,
+   * or using executeTable()
   * @param mode
   * @param submode
   * @return
-   *    - @c RETURN_OK if OK
+   *    - @c RETURN_OK if ok
   *    - @c NEED_SECOND_STEP if children need to be commanded again
   */
  virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
@ -120,19 +120,8 @@ class AssemblyBase : public SubsystemBase {

  virtual ReturnValue_t handleHealthReply(CommandMessage *message);

-  /**
-   * @brief Default periodic handler
-   * @details
-   * This is the default periodic handler which will be called by the SubsystemBase
-   * performOperation. It performs the child transitions or reacts to changed health/mode states
-   * of children objects
-   */
-  virtual void performChildOperation() override;
+  virtual void performChildOperation();

-  /**
-   * This function handles changed mode or health states of children
-   * @return
-   */
  bool handleChildrenChanged();

  /**
@ -145,37 +134,12 @@ class AssemblyBase : public SubsystemBase {

  bool handleChildrenChangedHealth();

-  /**
-   * Core transition handler. The default implementation will only do something if
-   * #commandsOutstanding is smaller or equal to zero, which means that all mode commands
-   * from the #doPerformTransition call were executed successfully.
-   *
-   * Unless a second step was requested, the function will then use #checkChildrenState to
-   * determine whether the target mode was reached.
-   *
-   * There is some special handling for certain (internal) modes:
-   *  - A second step is necessary. #commandChildren will be performed again
-   *  - The device health was overwritten. #commandChildren will be called
-   *  - A recovery is ongoing. #checkAndHandleRecovery will be called.
-   */
  virtual void handleChildrenTransition();

  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode);

-  /**
-   * Calls #doStartTransition and triggers an informative event as well that the mode will
-   * change
-   * @param mode
-   * @param submode
-   */
  virtual void startTransition(Mode_t mode, Submode_t submode);

-  /**
-   * This function starts the transition by setting the internal #targetSubmode and #targetMode
-   * variables and then calling the #commandChildren function.
-   * @param mode
-   * @param submode
-   */
  virtual void doStartTransition(Mode_t mode, Submode_t submode);

  virtual bool isInTransition();
@ -196,7 +160,7 @@ class AssemblyBase : public SubsystemBase {
   * Manages recovery of a device
   * @return true if recovery is still ongoing, false else.
   */
-  virtual bool checkAndHandleRecovery();
+  bool checkAndHandleRecovery();

  /**
   * Helper method to overwrite health state of one of the children.
@ -204,8 +168,6 @@ class AssemblyBase : public SubsystemBase {
   * @param objectId Must be a registered child.
   */
  void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
-
-  void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
 };

 #endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */
--- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
+++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
@ -39,9 +39,8 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
      childTransitionDelay(5000),
      transitionSourceMode(_MODE_POWER_DOWN),
      transitionSourceSubMode(SUBMODE_NONE) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
  commandQueue = QueueFactory::instance()->createMessageQueue(
-      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
  insertInCommandMap(RAW_COMMAND_ID);
  cookieInfo.state = COOKIE_UNUSED;
  cookieInfo.pendingCommand = deviceCommandMap.end();
@ -49,6 +48,9 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
    printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase",
                        HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie");
  }
+  if (this->fdirInstance == nullptr) {
+    this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
+  }
 }

 void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
@ -124,18 +126,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
  if (result != RETURN_OK) {
    return result;
  }
-  if (this->fdirInstance == nullptr) {
-    this->fdirInstance =
-        new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
-  }
-
-  if (this->parent != objects::NO_OBJECT) {
-    HasModesIF* modeIF = ObjectManager::instance()->get<HasModesIF>(this->parent);
-    HasHealthIF* healthIF = ObjectManager::instance()->get<HasHealthIF>(this->parent);
-    if (modeIF != nullptr and healthIF != nullptr) {
-      setParentQueue(modeIF->getCommandQueue());
-    }
-  }

  communicationInterface =
      ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
@ -243,27 +233,16 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 }

 void DeviceHandlerBase::decrementDeviceReplyMap() {
-  bool timedOut = false;
  for (std::pair<const DeviceCommandId_t, DeviceReplyInfo>& replyPair : deviceReplyMap) {
-    if (replyPair.second.countdown != nullptr && replyPair.second.active) {
-      if (replyPair.second.countdown->hasTimedOut()) {
-        timedOut = true;
-      }
-    }
-    if (replyPair.second.delayCycles != 0 && replyPair.second.countdown == nullptr) {
+    if (replyPair.second.delayCycles != 0) {
      replyPair.second.delayCycles--;
      if (replyPair.second.delayCycles == 0) {
        if (replyPair.second.periodic) {
          replyPair.second.delayCycles = replyPair.second.maxDelayCycles;
        }
-        timedOut = true;
-      }
-    }
-    if (timedOut) {
        replyToReply(replyPair.first, replyPair.second, TIMEOUT);
        missedReply(replyPair.first);
-      timedOut = false;
-      replyPair.second.active = false;
+      }
    }
  }
 }
@ -373,12 +352,14 @@ void DeviceHandlerBase::doStateMachine() {
      }
    } break;
    case _MODE_WAIT_OFF: {
+      uint32_t currentUptime;
+      Clock::getUptime(&currentUptime);
+
      if (powerSwitcher == nullptr) {
        setMode(MODE_OFF);
        break;
      }
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
+
      if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
        triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
        setMode(MODE_ERROR_ON);
@ -427,22 +408,20 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode, Submode_t s

 ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
    DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* replyDataSet,
-    size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId,
-    Countdown* countdown) {
+    size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
  // No need to check, as we may try to insert multiple times.
  insertInCommandMap(deviceCommand, hasDifferentReplyId, replyId);
  if (hasDifferentReplyId) {
-    return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic, countdown);
+    return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic);
  } else {
-    return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic,
-                            countdown);
+    return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic);
  }
 }

 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
                                                  uint16_t maxDelayCycles,
                                                  LocalPoolDataSetBase* dataSet, size_t replyLen,
-                                                  bool periodic, Countdown* countdown) {
+                                                  bool periodic) {
  DeviceReplyInfo info;
  info.maxDelayCycles = maxDelayCycles;
  info.periodic = periodic;
@ -450,10 +429,6 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
  info.replyLen = replyLen;
  info.dataSet = dataSet;
  info.command = deviceCommandMap.end();
-  info.countdown = countdown;
-  if (info.periodic) {
-    info.active = true;
-  }
  auto resultPair = deviceReplyMap.emplace(replyId, info);
  if (resultPair.second) {
    return RETURN_OK;
@ -489,8 +464,7 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) {
  }
  DeviceReplyIter iter = deviceReplyMap.find(replyId);
  if (iter != deviceReplyMap.end()) {
-    if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) ||
-        (iter->second.active && iter->second.countdown != nullptr)) {
+    if (iter->second.delayCycles != 0) {
      return iter->second.replyLen;
    }
  }
@ -572,9 +546,6 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
  mode = newMode;
  modeChanged();
  setNormalDatapoolEntriesInvalid();
-  if (newMode == MODE_OFF) {
-    disableCommandsAndReplies();
-  }
  if (!isTransitionalMode()) {
    modeHelper.modeChanged(newMode, newSubmode);
    announceMode(false);
@ -837,18 +808,17 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId

  DeviceReplyInfo* info = &(iter->second);

-  if ((info->delayCycles != 0 && info->countdown == nullptr) ||
-      (info->active && info->countdown != nullptr)) {
+  if (info->delayCycles != 0) {
    result = interpretDeviceReply(foundId, receivedData);

    if (result == IGNORE_REPLY_DATA) {
      return;
    }

-    if (info->active && info->countdown != nullptr) {
-      disableTimeoutControlledReply(info);
-    } else if (info->delayCycles != 0) {
-      disableDelayCyclesControlledReply(info);
+    if (info->periodic) {
+      info->delayCycles = info->maxDelayCycles;
+    } else {
+      info->delayCycles = 0;
    }

    if (result != RETURN_OK) {
@ -867,24 +837,6 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
  }
 }

-void DeviceHandlerBase::disableTimeoutControlledReply(DeviceReplyInfo* info) {
-  if (info->periodic) {
-    info->countdown->resetTimer();
-  } else {
-    info->active = false;
-    info->countdown->timeOut();
-  }
-}
-
-void DeviceHandlerBase::disableDelayCyclesControlledReply(DeviceReplyInfo* info) {
-  if (info->periodic) {
-    info->delayCycles = info->maxDelayCycles;
-  } else {
-    info->delayCycles = 0;
-    info->active = false;
-  }
-}
-
 ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress, uint8_t** data,
                                                size_t* len) {
  size_t lenTmp;
@ -1010,10 +962,6 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(DeviceCommandMap::iterato
    info->delayCycles = info->maxDelayCycles;
    info->command = command;
    command->second.expectedReplies = expectedReplies;
-    if (info->countdown != nullptr) {
-      info->countdown->resetTimer();
-    }
-    info->active = true;
    return RETURN_OK;
  } else {
    return NO_REPLY_EXPECTED;
@ -1248,8 +1196,7 @@ void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
 bool DeviceHandlerBase::isAwaitingReply() {
  std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter;
  for (iter = deviceReplyMap.begin(); iter != deviceReplyMap.end(); ++iter) {
-    if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) ||
-        (iter->second.active && iter->second.countdown != nullptr)) {
+    if (iter->second.delayCycles != 0) {
      return true;
    }
  }
@ -1404,8 +1351,6 @@ uint8_t DeviceHandlerBase::getReplyDelayCycles(DeviceCommandId_t deviceCommand)
  DeviceReplyMap::iterator iter = deviceReplyMap.find(deviceCommand);
  if (iter == deviceReplyMap.end()) {
    return 0;
-  } else if (iter->second.countdown != nullptr) {
-    return 0;
  }
  return iter->second.delayCycles;
 }
@ -1454,8 +1399,6 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task) { executingTask = task;
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId,
                                       uint32_t parameter) {}

-Submode_t DeviceHandlerBase::getInitialSubmode() { return SUBMODE_NONE; }
-
 void DeviceHandlerBase::performOperationHook() {}

 ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -1478,7 +1421,7 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
  this->poolManager.initializeAfterTaskCreation();

  if (setStartupImmediately) {
-    startTransition(MODE_ON, getInitialSubmode());
+    startTransition(MODE_ON, SUBMODE_NONE);
  }
  return HasReturnvaluesIF::RETURN_OK;
 }
@ -1562,29 +1505,3 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
  }
  return commandIter->second.sendReplyTo;
 }
-
-void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
-
-void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; }
-
-void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
-  this->powerSwitcher = switcher;
-}
-
-void DeviceHandlerBase::disableCommandsAndReplies() {
-  for (auto& command : deviceCommandMap) {
-    if (command.second.isExecuting) {
-      command.second.isExecuting = false;
-    }
-  }
-  for (auto& reply : deviceReplyMap) {
-    if (!reply.second.periodic) {
-      if (reply.second.countdown != nullptr) {
-        reply.second.countdown->timeOut();
-      } else {
-        reply.second.delayCycles = 0;
-      }
-      reply.second.active = false;
-    }
-  }
-}
--- a/src/fsfw/devicehandlers/DeviceHandlerBase.h
+++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h
@ -7,7 +7,6 @@
 #include "DeviceHandlerFailureIsolation.h"
 #include "DeviceHandlerIF.h"
 #include "DeviceHandlerThermalSet.h"
-#include "DhbCfgHelpers.h"
 #include "fsfw/action/ActionHelper.h"
 #include "fsfw/action/HasActionsIF.h"
 #include "fsfw/datapool/PoolVariableIF.h"
@ -104,9 +103,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
  DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
                    FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);

-  void setCustomFdir(FailureIsolationBase *fdir);
-  void setParent(object_id_t parent);
-  void setPowerSwitcher(PowerSwitchIF *switcher);
  void setHkDestination(object_id_t hkDestination);

  /**
@ -452,9 +448,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   * by the device repeatedly without request) or not. Default is aperiodic (0).
   * Please note that periodic replies are disabled by default. You can enable them with
   * #updatePeriodicReply
-   * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
-   *                  to provide a pointer to a Countdown object which will signal the timeout
-   *                  when expired
   * @return	- @c RETURN_OK when the command was successfully inserted,
   *          - @c RETURN_FAILED else.
   */
@ -462,8 +455,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
                                           LocalPoolDataSetBase *replyDataSet = nullptr,
                                           size_t replyLen = 0, bool periodic = false,
                                           bool hasDifferentReplyId = false,
-                                           DeviceCommandId_t replyId = 0,
-                                           Countdown *countdown = nullptr);
+                                           DeviceCommandId_t replyId = 0);
  /**
   * @brief 	This is a helper method to insert replies in the reply map.
   * @param deviceCommand	Identifier of the reply to add.
@ -473,15 +465,12 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   * by the device repeatedly without request) or not. Default is aperiodic (0).
   * Please note that periodic replies are disabled by default. You can enable them with
   * #updatePeriodicReply
-   * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
-   *    to provide a pointer to a Countdown object which will signal the timeout
-   *    when expired
   * @return	- @c RETURN_OK when the command was successfully inserted,
   *          - @c RETURN_FAILED else.
   */
  ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
                                 LocalPoolDataSetBase *dataSet = nullptr, size_t replyLen = 0,
-                                 bool periodic = false, Countdown *countdown = nullptr);
+                                 bool periodic = false);

  /**
   * @brief   A simple command to add a command to the commandList.
@ -489,9 +478,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   * @return - @c RETURN_OK when the command was successfully inserted,
   *         - @c RETURN_FAILED else.
   */
-  ReturnValue_t insertInCommandMap(
-      DeviceCommandId_t deviceCommand, bool useAlternativeReply = false,
-      DeviceCommandId_t alternativeReplyId = DeviceHandlerIF::NO_COMMAND_ID);
+  ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand,
+                                   bool useAlternativeReply = false,
+                                   DeviceCommandId_t alternativeReplyId = 0);

  /**
   * Enables a periodic reply for a given command. It sets to delay cycles to the specified
@ -660,12 +649,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
  virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
                              uint32_t parameter = 0);

-  /**
-   * @brief Can be overwritten by a child to specify the initial submode when device has been set
-   *        to startup immediately.
-   */
-  virtual Submode_t getInitialSubmode();
-
 protected:
  static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;

@ -784,18 +767,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   * This is used to keep track of pending replies.
   */
  struct DeviceReplyInfo {
-    //! For Command-Reply combinations:
    //! The maximum number of cycles the handler should wait for a reply
    //! to this command.
-    //!
-    //! Reply Only:
-    //! For periodic replies, this variable will be the number of delay cycles between the replies.
-    //! For the non-periodic variant, this variable is not used as there is no meaningful
-    //! definition for delay
    uint16_t maxDelayCycles;
-    //! This variable will be set to #maxDelayCycles if a reply is expected.
-    //! For non-periodic replies without a command, this variable is unused.
-    //! A runtime value of 0 means there is no reply is currently expected.
+    //! The currently remaining cycles the handler should wait for a reply,
+    //! 0 means there is no reply expected
    uint16_t delayCycles;
    size_t replyLen = 0;  //!< Expected size of the reply.
    //! if this is !=0, the delayCycles will not be reset to 0 but to
@ -807,11 +783,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    LocalPoolDataSetBase *dataSet = nullptr;
    //! The command that expects this reply.
    DeviceCommandMap::iterator command;
-    //! Instead of using delayCycles to specify the maximum time to wait for the device reply, it
-    //! is also possible specify a countdown
-    Countdown *countdown = nullptr;
-    //! will be set to true when reply is enabled
-    bool active = false;
  };

  using DeviceReplyMap = std::map<DeviceCommandId_t, DeviceReplyInfo>;
@ -851,7 +822,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
  /** Pointer to the used FDIR instance. If not provided by child,
   * default class is instantiated. */
  FailureIsolationBase *fdirInstance;
-  object_id_t parent = objects::NO_OBJECT;

  //! To correctly delete the default instance.
  bool defaultFDIRUsed;
@ -1274,17 +1244,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   */
  void doGetRead(void);

-  /**
-   * @brief Handles disabling of replies which use a timeout to detect missed replies.
-   */
-  void disableTimeoutControlledReply(DeviceReplyInfo *info);
-
-  /**
-   * @brief Handles disabling of replies which use a number of maximum delay cycles to detect
-   *        missed replies.
-   */
-  void disableDelayCyclesControlledReply(DeviceReplyInfo *info);
-
  /**
   * Retrive data from the #IPCStore.
   *
@ -1326,11 +1285,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
  void printWarningOrError(sif::OutputTypes errorType, const char *functionName,
                           ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED,
                           const char *errorPrint = nullptr);
-
-  /**
-   * @brief Disables all commands and replies when device is set to MODE_OFF
-   */
-  void disableCommandsAndReplies();
 };

 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */
--- a/src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp
+++ b/src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp
@ -29,7 +29,6 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
  switch (event->getEvent()) {
    case HasModesIF::MODE_TRANSITION_FAILED:
    case HasModesIF::OBJECT_IN_INVALID_MODE:
-    case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
      // We'll try a recovery as long as defined in MAX_REBOOT.
      // Might cause some AssemblyBase cycles, so keep number low.
      handleRecovery(event->getEvent());
--- a/src/fsfw/devicehandlers/DeviceHandlerIF.h
+++ b/src/fsfw/devicehandlers/DeviceHandlerIF.h
@ -109,7 +109,6 @@ class DeviceHandlerIF {
  static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW);
  static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
  static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
-  static const Event DEVICE_WANTS_HARD_REBOOT = MAKE_EVENT(11, severity::HIGH);

  static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;

--- a/src/fsfw/devicehandlers/DhbCfgHelpers.h
+++ b/src/fsfw/devicehandlers/DhbCfgHelpers.h
@ -1,72 +0,0 @@
-#ifndef FSFW_SRC_FSFW_DEVICEHANDLERS_DHBCFGHELPERS_H_
-#define FSFW_SRC_FSFW_DEVICEHANDLERS_DHBCFGHELPERS_H_
-
-/**
- * @brief   This is the base class for configuration related to both DHB commands, replies and their
- *          combination
- */
-struct CfgBase {
- public:
-  explicit CfgBase(DeviceCommandId_t cmdAndOrReplyId) : cmdAndOrReplyId(cmdAndOrReplyId){};
-  DeviceCommandId_t cmdAndOrReplyId;
-};
-
-/**
- * @brief   Configuration class for commands
- */
-struct CmdCfg {
- public:
-  explicit CmdCfg(DeviceCommandId_t cmdId) : baseCfg(cmdId){};
-
-  CfgBase baseCfg;
-  //! This can be used if a command can trigger multiple replies
-  std::pair<bool, DeviceCommandId_t> alternativeReply = {false, DeviceHandlerIF::NO_COMMAND_ID};
-};
-
-/**
- * @brief   Configuration class for replies
- */
-struct ReplyCfg {
- public:
-  ReplyCfg(DeviceCommandId_t replyId, uint16_t maxDelayCycles)
-      : baseCfg(replyId), maxDelayCycles(maxDelayCycles){};
-  ReplyCfg(DeviceCommandId_t replyId, uint16_t maxDelayCycles, LocalPoolDataSetBase* set)
-      : ReplyCfg(replyId, maxDelayCycles) {
-    dataSet = set;
-  };
-
-  CfgBase baseCfg;
-  //! A data set can be mapped to a reply ID. This allows to omit the #getDataSetHandle
-  //! override in a user device handler as this pointer will be passed as long as the device
-  //! command ID is equal to the set ID.
-  LocalPoolDataSetBase* dataSet = nullptr;
-  //! For Command-Reply combinations:
-  //! The maximum number of cycles the handler should wait for a reply
-  //! to this command.
-  //!
-  //! Reply Only:
-  //! For periodic replies, this variable will be the number of delay cycles between the replies.
-  //! For the non-periodic variant, this variable is not used as there is no meaningful
-  //! definition for delay
-  uint16_t maxDelayCycles = 0;
-  //! First parameter: Specify whether reply is arriving periodically
-  //! Second parameter: Specify whether periodic reply should be enabled immediately
-  std::pair<bool, bool> periodicCfg = {false, false};
-  //! If a reply needs to be requested with a specific length, the length can be specified here
-  size_t replyLen = 0;
-  //! It is also possible to use a time based instead of a cycle based mechanism to specify
-  //! how long a reply takes. For non-periodic replies without a command, this variable is not used.
-  Countdown* countdown = nullptr;
-};
-
-/**
- * @brief   Configuration class for commands and replies
- */
-struct CmdReplyCfg {
- public:
-  CmdReplyCfg(CmdCfg cmdCfg, ReplyCfg replyCfg) : cmdCfg(cmdCfg), replyCfg(replyCfg) {}
-  CmdCfg cmdCfg;
-  ReplyCfg replyCfg;
-};
-
-#endif /* FSFW_SRC_FSFW_DEVICEHANDLERS_DHBCFGHELPERS_H_ */
--- a/src/fsfw/devicehandlers/HealthDevice.cpp
+++ b/src/fsfw/devicehandlers/HealthDevice.cpp
@ -8,9 +8,7 @@ HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue
      parentQueue(parentQueue),
      commandQueue(),
      healthHelper(this, setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(3);
 }

 HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
--- a/src/fsfw/events/EventManager.cpp
+++ b/src/fsfw/events/EventManager.cpp
@ -18,9 +18,8 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
 EventManager::EventManager(object_id_t setObjectId)
    : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
  mutex = MutexFactory::instance()->createMutex();
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  eventReportQueue = QueueFactory::instance()->createMessageQueue(
-      MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
+                                                                  EventMessage::EVENT_MESSAGE_SIZE);
 }

 EventManager::~EventManager() {
@ -47,20 +46,9 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {

 void EventManager::notifyListeners(EventMessage* message) {
  lockMutex();
-  for (auto& listener : listenerList) {
-    if (listener.second.match(message)) {
-      ReturnValue_t result =
-          MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
-                   << std::setw(8) << listener.first << " failed with result 0x" << std::setw(4)
-                   << result << std::setfill(' ') << std::endl;
-#else
-        sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
-                        listener.first, result);
-#endif
-      }
+  for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
+    if (iter->second.match(message)) {
+      MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender());
    }
  }
  unlockMutex();
@ -201,19 +189,4 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
  }
 }

-void EventManager::printListeners() {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
-  for (auto& listener : listenerList) {
-    sif::info << "0x" << std::setw(8) << listener.first << std::endl;
-  }
-  sif::info << std::dec << std::setfill(' ');
-#else
-  sif::printInfo("Event manager listener MQ IDs:\n");
-  for (auto& listener : listenerList) {
-    sif::printInfo("0x%08x\n", listener.first);
-  }
-#endif
-}
-
 #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */
--- a/src/fsfw/events/EventManager.h
+++ b/src/fsfw/events/EventManager.h
@ -42,7 +42,6 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
                                          object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
                                          bool reporterInverted = false);
  ReturnValue_t performOperation(uint8_t opCode);
-  void printListeners();

 protected:
  MessageQueueIF* eventReportQueue = nullptr;
--- a/src/fsfw/fdir/FailureIsolationBase.cpp
+++ b/src/fsfw/fdir/FailureIsolationBase.cpp
@ -9,9 +9,8 @@
 FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent,
                                           uint8_t messageDepth, uint8_t parameterDomainBase)
    : ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
-  auto mqArgs = MqArgs(owner, static_cast<void*>(this));
-  eventQueue = QueueFactory::instance()->createMessageQueue(
-      messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  eventQueue =
+      QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE);
 }

 FailureIsolationBase::~FailureIsolationBase() {
@ -52,12 +51,11 @@ ReturnValue_t FailureIsolationBase::initialize() {
        ObjectManager::instance()->get<ConfirmsFailuresIF>(faultTreeParent);
    if (parentIF == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "FailureIsolationBase::intialize: Parent object "
-                 << "invalid" << std::endl;
-      sif::error << "Make sure it implements ConfirmsFailuresIF" << std::endl;
-#else
-      sif::printError("FailureIsolationBase::intialize: Parent object invalid\n");
-      sif::printError("Make sure it implements ConfirmsFailuresIF\n");
+      sif::error << "FailureIsolationBase::intialize: Parent object"
+                 << "invalid." << std::endl;
+#endif
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl;
 #endif
      return ObjectManagerIF::CHILD_INIT_FAILED;
      return RETURN_FAILED;
--- a/src/fsfw/fdir/FailureIsolationBase.h
+++ b/src/fsfw/fdir/FailureIsolationBase.h
@ -14,12 +14,13 @@ class FailureIsolationBase : public HasReturnvaluesIF,
                             public HasParametersIF {
 public:
  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FDIR_1;
-  //! FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
-  static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, severity::INFO);
-  //! FDIR tries to restart device. Par1: event that caused recovery.
-  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, severity::MEDIUM);
-  //! FDIR turns off device. Par1: event that caused recovery.
-  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, severity::MEDIUM);
+  static const Event FDIR_CHANGED_STATE =
+      MAKE_EVENT(1, severity::INFO);  //!< FDIR has an internal state, which changed from par2
+                                      //!< (oldState) to par1 (newState).
+  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(
+      2, severity::MEDIUM);  //!< FDIR tries to restart device. Par1: event that caused recovery.
+  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(
+      3, severity::MEDIUM);  //!< FDIR turns off device. Par1: event that caused recovery.

  FailureIsolationBase(object_id_t owner, object_id_t parent = objects::NO_OBJECT,
                       uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0);
--- a/src/fsfw/globalfunctions/CMakeLists.txt
+++ b/src/fsfw/globalfunctions/CMakeLists.txt
@ -4,7 +4,6 @@ target_sources(
          AsciiConverter.cpp
          CRC.cpp
          DleEncoder.cpp
-          DleParser.cpp
          PeriodicOperationDivider.cpp
          timevalOperations.cpp
          Type.cpp
--- a/src/fsfw/globalfunctions/DleParser.cpp
+++ b/src/fsfw/globalfunctions/DleParser.cpp
@ -1,230 +0,0 @@
-#include "DleParser.h"
-
-#include <fsfw/serviceinterface/ServiceInterface.h>
-
-#include <cstdio>
-
-DleParser::DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
-                     BufPair decodedBuf, UserHandler handler, void* args)
-    : decodeRingBuf(decodeRingBuf),
-      decoder(decoder),
-      encodedBuf(encodedBuf),
-      decodedBuf(decodedBuf),
-      handler(handler),
-      ctx(args) {
-  if (handler == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "DleParser::DleParser: Invalid user handler" << std::endl;
-#else
-    sif::printError("DleParser::DleParser: Invalid user handler\n");
-#endif
-  }
-}
-
-ReturnValue_t DleParser::passData(uint8_t* data, size_t len) {
-  if (data == nullptr or len == 0 or handler == nullptr) {
-    return RETURN_FAILED;
-  }
-  size_t copyIntoRingBufFromHere = 0;
-  size_t copyAmount = len;
-  size_t startIdx = 0;
-  ReturnValue_t result = RETURN_OK;
-  bool startFoundInThisPacket = false;
-  for (size_t idx = 0; idx < len; idx++) {
-    if (data[idx] == DleEncoder::STX_CHAR) {
-      if (not startFound and not startFoundInThisPacket) {
-        startIdx = idx;
-        copyIntoRingBufFromHere = idx;
-        copyAmount = len - idx;
-      } else {
-        // Maybe print warning, should not happen
-        decodeRingBuf.clear();
-        ErrorInfo info;
-        info.len = idx;
-        prepareErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info);
-        handler(ctx);
-        copyIntoRingBufFromHere = idx;
-        copyAmount = len - idx;
-      }
-      startFound = true;
-      startFoundInThisPacket = true;
-    } else if (data[idx] == DleEncoder::ETX_CHAR) {
-      if (startFoundInThisPacket) {
-        size_t readLen = 0;
-        size_t decodedLen = 0;
-        result = decoder.decode(data + startIdx, idx + 1 - startIdx, &readLen, decodedBuf.first,
-                                decodedBuf.second, &decodedLen);
-        if (result == HasReturnvaluesIF::RETURN_OK) {
-          ctx.setType(ContextType::PACKET_FOUND);
-          ctx.decodedPacket.first = decodedBuf.first;
-          ctx.decodedPacket.second = decodedLen;
-          this->handler(ctx);
-        } else if (result == DleEncoder::STREAM_TOO_SHORT) {
-          ErrorInfo info;
-          info.res = result;
-          prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
-          handler(ctx);
-        } else {
-          ErrorInfo info;
-          info.res = result;
-          prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
-          handler(ctx);
-        }
-        decodeRingBuf.clear();
-        if ((idx + 1) < len) {
-          copyIntoRingBufFromHere = idx + 1;
-          copyAmount = len - idx - 1;
-        } else {
-          copyAmount = 0;
-        }
-      } else if (startFound) {
-        // ETX found but STX was found in another mini packet. Reconstruct the full packet
-        // to decode it
-        result = decodeRingBuf.writeData(data, idx + 1);
-        if (result != HasReturnvaluesIF::RETURN_OK) {
-          ErrorInfo info;
-          info.res = result;
-          prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
-          handler(ctx);
-        }
-        size_t fullEncodedLen = decodeRingBuf.getAvailableReadData();
-        if (fullEncodedLen > encodedBuf.second) {
-          ErrorInfo info;
-          info.len = fullEncodedLen;
-          prepareErrorContext(ErrorTypes::ENCODED_BUF_TOO_SMALL, info);
-          handler(ctx);
-          decodeRingBuf.clear();
-        } else {
-          size_t decodedLen = 0;
-          size_t readLen = 0;
-          decodeRingBuf.readData(encodedBuf.first, fullEncodedLen, true);
-          result = decoder.decode(encodedBuf.first, fullEncodedLen, &readLen, decodedBuf.first,
-                                  decodedBuf.second, &decodedLen);
-          if (result == HasReturnvaluesIF::RETURN_OK) {
-            if (this->handler != nullptr) {
-              ctx.setType(ContextType::PACKET_FOUND);
-              ctx.decodedPacket.first = decodedBuf.first;
-              ctx.decodedPacket.second = decodedLen;
-              this->handler(ctx);
-            }
-          } else if (result == DleEncoder::STREAM_TOO_SHORT) {
-            ErrorInfo info;
-            info.res = result;
-            prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
-            handler(ctx);
-          } else {
-            ErrorInfo info;
-            info.res = result;
-            prepareErrorContext(ErrorTypes::DECODE_ERROR, info);
-            handler(ctx);
-          }
-          decodeRingBuf.clear();
-          startFound = false;
-          startFoundInThisPacket = false;
-          if ((idx + 1) < len) {
-            copyIntoRingBufFromHere = idx + 1;
-            copyAmount = len - idx - 1;
-          } else {
-            copyAmount = 0;
-          }
-        }
-      } else {
-        // End data without preceeding STX
-        ErrorInfo info;
-        info.len = idx + 1;
-        prepareErrorContext(ErrorTypes::CONSECUTIVE_ETX_CHARS, info);
-        handler(ctx);
-        decodeRingBuf.clear();
-        if ((idx + 1) < len) {
-          copyIntoRingBufFromHere = idx + 1;
-          copyAmount = len - idx - 1;
-        } else {
-          copyAmount = 0;
-        }
-      }
-      startFoundInThisPacket = false;
-      startFound = false;
-    }
-  }
-  if (copyAmount > 0) {
-    result = decodeRingBuf.writeData(data + copyIntoRingBufFromHere, copyAmount);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      ErrorInfo info;
-      info.res = result;
-      prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
-      handler(ctx);
-    }
-  }
-  return RETURN_OK;
-}
-
-void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "DleParserBase::handleFoundPacket: Detected DLE packet with " << len << " bytes"
-            << std::endl;
-#else
-  sif::printInfo("DleParserBase::handleFoundPacket: Detected DLE packet with %d bytes\n", len);
-#endif
-#endif
-}
-
-void DleParser::defaultErrorHandler(ErrorTypes err, ErrorInfo ctx) {
-  switch (err) {
-    case (ErrorTypes::NONE): {
-      errorPrinter("No error");
-      break;
-    }
-    case (ErrorTypes::DECODE_ERROR): {
-      errorPrinter("Decode Error");
-      break;
-    }
-    case (ErrorTypes::RING_BUF_ERROR): {
-      errorPrinter("Ring Buffer Error");
-      break;
-    }
-    case (ErrorTypes::ENCODED_BUF_TOO_SMALL):
-    case (ErrorTypes::DECODING_BUF_TOO_SMALL): {
-      char opt[64];
-      snprintf(opt, sizeof(opt), ": Too small for packet with length %zu", ctx.len);
-      if (err == ErrorTypes::ENCODED_BUF_TOO_SMALL) {
-        errorPrinter("Encoded buf too small", opt);
-      } else {
-        errorPrinter("Decoding buf too small", opt);
-      }
-      break;
-    }
-    case (ErrorTypes::CONSECUTIVE_STX_CHARS): {
-      errorPrinter("Consecutive STX chars detected");
-      break;
-    }
-    case (ErrorTypes::CONSECUTIVE_ETX_CHARS): {
-      errorPrinter("Consecutive ETX chars detected");
-      break;
-    }
-  }
-}
-
-void DleParser::errorPrinter(const char* str, const char* opt) {
-  if (opt == nullptr) {
-    opt = "";
-  }
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "DleParserBase::handleParseError: " << str << opt << std::endl;
-#else
-  sif::printInfo("DleParserBase::handleParseError: %s%s\n", str, opt);
-#endif
-#endif
-}
-
-void DleParser::prepareErrorContext(ErrorTypes err, ErrorInfo info) {
-  ctx.setType(ContextType::ERROR);
-  ctx.error.first = err;
-  ctx.error.second = info;
-}
-
-void DleParser::reset() {
-  startFound = false;
-  decodeRingBuf.clear();
-}
--- a/src/fsfw/globalfunctions/DleParser.h
+++ b/src/fsfw/globalfunctions/DleParser.h
@ -1,124 +0,0 @@
-#pragma once
-
-#include <fsfw/container/SimpleRingBuffer.h>
-#include <fsfw/globalfunctions/DleEncoder.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
-
-#include <cstddef>
-#include <utility>
-
-/**
- * @brief This base helper class can be used to extract DLE encoded packets from a data stream
- * @details
- * The core API of the parser takes received packets which can contains DLE packets. The parser
- * can deal with DLE packets split across multiple packets. It does so by using a dedicated
- * decoding ring buffer. The user can process received packets and detect errors by
- * overriding two provided virtual methods. This also allows detecting multiple DLE packets
- * inside one passed packet.
- */
-class DleParser : public HasReturnvaluesIF {
- public:
-  using BufPair = std::pair<uint8_t*, size_t>;
-
-  enum class ContextType { PACKET_FOUND, ERROR };
-
-  enum class ErrorTypes {
-    NONE,
-    ENCODED_BUF_TOO_SMALL,
-    DECODING_BUF_TOO_SMALL,
-    DECODE_ERROR,
-    RING_BUF_ERROR,
-    CONSECUTIVE_STX_CHARS,
-    CONSECUTIVE_ETX_CHARS
-  };
-
-  union ErrorInfo {
-    size_t len;
-    ReturnValue_t res;
-  };
-
-  using ErrorPair = std::pair<ErrorTypes, ErrorInfo>;
-
-  struct Context {
-   public:
-    Context(void* args) : userArgs(args) { setType(ContextType::PACKET_FOUND); }
-
-    void setType(ContextType type) {
-      if (type == ContextType::PACKET_FOUND) {
-        error.first = ErrorTypes::NONE;
-        error.second.len = 0;
-      } else {
-        decodedPacket.first = nullptr;
-        decodedPacket.second = 0;
-      }
-    }
-
-    ContextType getType() const { return type; }
-
-    BufPair decodedPacket = {};
-    ErrorPair error;
-    void* userArgs;
-
-   private:
-    ContextType type;
-  };
-
-  using UserHandler = void (*)(const Context& ctx);
-
-  /**
-   * Base class constructor
-   * @param decodeRingBuf Ring buffer used to store multiple packets to allow detecting DLE packets
-   * split across multiple packets
-   * @param decoder Decoder instance
-   * @param encodedBuf Buffer used to store encoded packets. It has to be large enough to hold
-   * the largest expected encoded DLE packet size
-   * @param decodedBuf Buffer used to store decoded packets. It has to be large enough to hold the
-   * largest expected decoded DLE packet size
-   * @param handler Function which will be called on a found packet
-   * @param args Arbitrary user argument
-   */
-  DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
-            BufPair decodedBuf, UserHandler handler, void* args);
-
-  /**
-   * This function allows to pass new data into the parser. It then scans for DLE packets
-   * automatically and inserts (part of) the packet into a ring buffer if necessary.
-   * @param data
-   * @param len
-   * @return
-   */
-  ReturnValue_t passData(uint8_t* data, size_t len);
-
-  /**
-   * Example found packet handler
-   * function call
-   * @param packet Decoded packet
-   * @param len Length of detected packet
-   */
-  void defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args);
-  /**
-   * Will be called if an error occured in the #passData call
-   * @param err
-   * @param ctx Context information depending on the error type
-   *  - For buffer length errors, will be set to the detected packet length which is too large
-   *  - For decode or ring buffer errors, will be set to the result returned from the failed call
-   */
-  static void defaultErrorHandler(ErrorTypes err, ErrorInfo ctx);
-
-  static void errorPrinter(const char* str, const char* opt = nullptr);
-
-  void prepareErrorContext(ErrorTypes err, ErrorInfo ctx);
-  /**
-   * Resets the parser by resetting the internal states and clearing the decoding ring buffer
-   */
-  void reset();
-
- private:
-  SimpleRingBuffer& decodeRingBuf;
-  DleEncoder& decoder;
-  BufPair encodedBuf;
-  BufPair decodedBuf;
-  UserHandler handler = nullptr;
-  Context ctx;
-  bool startFound = false;
-};
--- a/src/fsfw/health/HasHealthIF.h
+++ b/src/fsfw/health/HasHealthIF.h
@ -16,27 +16,26 @@ class HasHealthIF {
  };

  static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF;
-  static constexpr ReturnValue_t OBJECT_NOT_HEALTHY =
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
-  static constexpr ReturnValue_t INVALID_HEALTH_STATE =
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2);
-  static constexpr ReturnValue_t IS_EXTERNALLY_CONTROLLED =
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
+  static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1);
+  static const ReturnValue_t INVALID_HEALTH_STATE = MAKE_RETURN_CODE(2);

  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER_1;
-  //! P1: New Health, P2: Old Health
  static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO);
  static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO);
  static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
-  //! Assembly overwrites health information of children to keep satellite alive.
-  static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW);
-  //! Someone starts a recovery of a component (typically power-cycle). No parameters.
-  static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM);
-  //! Recovery is ongoing. Comes twice during recovery.
-  //! P1: 0 for the first, 1 for the second event. P2: 0
-  static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM);
-  //! Recovery was completed. Not necessarily successful. No parameters.
-  static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM);
+  static const Event OVERWRITING_HEALTH =
+      MAKE_EVENT(9, severity::LOW);  //!< Assembly overwrites health information of children to keep
+                                     //!< satellite alive.
+  static const Event TRYING_RECOVERY =
+      MAKE_EVENT(10, severity::MEDIUM);  //!< Someone starts a recovery of a component (typically
+                                         //!< power-cycle). No parameters.
+  static const Event RECOVERY_STEP =
+      MAKE_EVENT(11, severity::MEDIUM);  //!< Recovery is ongoing. Comes twice during recovery. P1:
+                                         //!< 0 for the first, 1 for the second event. P2: 0
+  static const Event RECOVERY_DONE = MAKE_EVENT(
+      12,
+      severity::MEDIUM);  //!< Recovery was completed. Not necessarily successful. No parameters.
+
  virtual ~HasHealthIF() {}

  virtual MessageQueueId_t getCommandQueue() const = 0;
--- a/src/fsfw/internalerror/InternalErrorReporter.cpp
+++ b/src/fsfw/internalerror/InternalErrorReporter.cpp
@ -7,13 +7,11 @@

 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
    : SystemObject(setObjectId),
+      commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)),
      poolManager(this, commandQueue),
      internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
      internalErrorDataset(this) {
  mutex = MutexFactory::instance()->createMutex();
-  auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }

 InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
@ -38,14 +36,15 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
    if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::debug << "InternalErrorReporter::performOperation: Errors "
-                 << "occured: Queue | TM | Store : " << newQueueHits << " | " << newTmHits << " | "
-                 << newStoreHits << std::endl;
+                 << "occured!" << std::endl;
+      sif::debug << "Queue errors: " << newQueueHits << std::endl;
+      sif::debug << "TM errors: " << newTmHits << std::endl;
+      sif::debug << "Store errors: " << newStoreHits << std::endl;
 #else
-      sif::printDebug(
-          "InternalErrorReporter::performOperation: Errors occured: Queue | TM | Store: %lu | %lu "
-          "| %lu\n",
-          static_cast<unsigned int>(newQueueHits), static_cast<unsigned int>(newTmHits),
-          static_cast<unsigned int>(newStoreHits));
+      sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n");
+      sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits));
+      sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
+      sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits));
 #endif
    }
  }
--- a/src/fsfw/ipc/CommandMessageIF.h
+++ b/src/fsfw/ipc/CommandMessageIF.h
@ -34,7 +34,7 @@ class CommandMessageIF {
  static const Command_t CMD_NONE = MAKE_COMMAND_ID(0);
  static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID(1);
  //! Reply indicating that the current command was rejected,
-  //! Parameter 1 should contain the error code
+  //! par1 should contain the error code
  static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID(2);

  virtual ~CommandMessageIF(){};
--- a/src/fsfw/modes/HasModesIF.h
+++ b/src/fsfw/modes/HasModesIF.h
@ -19,33 +19,32 @@ class HasModesIF {
  static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04);

  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER;
-  //! An object announces changing the mode. p1: target mode. p2: target submode
-  static const Event CHANGING_MODE = MAKE_EVENT(0, severity::INFO);
-  //! An Object announces its mode; parameter1 is mode, parameter2 is submode
-  static const Event MODE_INFO = MAKE_EVENT(1, severity::INFO);
+  static const Event CHANGING_MODE =
+      MAKE_EVENT(0, severity::INFO);  //!< An object announces changing the mode. p1: target mode.
+                                      //!< p2: target submode
+  static const Event MODE_INFO = MAKE_EVENT(
+      1,
+      severity::INFO);  //!< An Object announces its mode; parameter1 is mode, parameter2 is submode
  static const Event FALLBACK_FAILED = MAKE_EVENT(2, severity::HIGH);
  static const Event MODE_TRANSITION_FAILED = MAKE_EVENT(3, severity::LOW);
  static const Event CANT_KEEP_MODE = MAKE_EVENT(4, severity::HIGH);
-  //! Indicates a bug or configuration failure: Object is in a mode it should never be in.
-  static const Event OBJECT_IN_INVALID_MODE = MAKE_EVENT(5, severity::LOW);
-  //! The mode is changed, but for some reason, the change is forced, i.e. EXTERNAL_CONTROL ignored.
-  //! p1: target mode. p2: target submode
-  static const Event FORCING_MODE = MAKE_EVENT(6, severity::MEDIUM);
-  //! A mode command was rejected by the called object. Par1: called object id, Par2: return code.
-  static const Event MODE_CMD_REJECTED = MAKE_EVENT(7, severity::LOW);
+  static const Event OBJECT_IN_INVALID_MODE =
+      MAKE_EVENT(5, severity::LOW);  //!< Indicates a bug or configuration failure: Object is in a
+                                     //!< mode it should never be in.
+  static const Event FORCING_MODE = MAKE_EVENT(
+      6, severity::MEDIUM);  //!< The mode is changed, but for some reason, the change is forced,
+                             //!< i.e. EXTERNAL_CONTROL ignored. p1: target mode. p2: target submode
+  static const Event MODE_CMD_REJECTED =
+      MAKE_EVENT(7, severity::LOW);  //!< A mode command was rejected by the called object. Par1:
+                                     //!< called object id, Par2: return code.

-  //! The device is powered and ready to perform operations. In this mode, no commands are
-  //! sent by the device handler itself, but direct commands van be commanded and will be
-  //! interpreted
-  static constexpr Mode_t MODE_ON = 1;
-  //! The device is powered off. The only command accepted in this mode is a mode change to on.
-  static constexpr Mode_t MODE_OFF = 0;
-
-  static constexpr Mode_t MODE_INVALID = -1;
-  static constexpr Mode_t MODE_UNDEFINED = -2;
-
-  //! To avoid checks against magic number "0".
-  static const Submode_t SUBMODE_NONE = 0;
+  static const Mode_t MODE_ON =
+      1;  //!< The device is powered and ready to perform operations. In this mode, no commands are
+          //!< sent by the device handler itself, but direct commands van be commanded and will be
+          //!< interpreted
+  static const Mode_t MODE_OFF = 0;  //!< The device is powered off. The only command accepted in
+                                     //!< this mode is a mode change to on.
+  static const Submode_t SUBMODE_NONE = 0;  //!< To avoid checks against magic number "0".

  virtual ~HasModesIF() {}
  virtual MessageQueueId_t getCommandQueue() const = 0;
--- a/src/fsfw/objectmanager/ObjectManager.cpp
+++ b/src/fsfw/objectmanager/ObjectManager.cpp
@ -95,16 +95,13 @@ void ObjectManager::initialize() {
  for (auto const& it : objectList) {
    result = it.second->initialize();
    if (result != RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
+      object_id_t var = it.first;
      sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8)
-                 << std::setfill('0') << it.first << " failed to initialize with code 0x" << result
-                 << std::dec << std::setfill(' ') << std::endl;
-#else
-      sif::printError(
-          "ObjectManager::initialize: Object 0x%08x failed to initialize with code 0x%04x\n", var,
-          it.first);
-#endif
+                 << std::setfill('0') << var
+                 << " failed to "
+                    "initialize with code 0x"
+                 << result << std::dec << std::setfill(' ') << std::endl;
 #endif
      errorCount++;
    }
--- a/src/fsfw/osal/CMakeLists.txt
+++ b/src/fsfw/osal/CMakeLists.txt
@ -16,9 +16,7 @@ elseif(FSFW_OSAL MATCHES "host")

 else()

-  message(
-    WARNING
-      "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..")
+  message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
  # Not set. Assumuing this is a host build, try to determine host OS
  if(WIN32)
    add_subdirectory(host)
--- a/src/fsfw/parameters/HasParametersIF.h
+++ b/src/fsfw/parameters/HasParametersIF.h
@ -66,7 +66,7 @@ class HasParametersIF {
   * @param newValues
   * @param startAtIndex Linear index, runs left to right, top to bottom for
   * matrix indexes.
-   * @return RETURN_OK if parameter is valid and a set function of the parameter wrapper was called.
+   * @return
   */
  virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
                                     ParameterWrapper *parameterWrapper,
--- a/src/fsfw/parameters/ParameterWrapper.cpp
+++ b/src/fsfw/parameters/ParameterWrapper.cpp
@ -211,13 +211,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
  if (data == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable or "
-                    "data pointer not set"
-                 << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable!" << std::endl;
 #else
-    sif::printWarning(
-        "ParameterWrapper::copyFrom: Called on read-only variable "
-        "or data pointer not set\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Called on read-only variable!\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
    return READONLY;
@ -226,9 +222,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
  if (from->readonlyData == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Source not set" << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Source not set!" << std::endl;
 #else
-    sif::printWarning("ParameterWrapper::copyFrom: Source not set\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Source not set!\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
    return SOURCE_NOT_SET;
@ -237,9 +233,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
  if (type != from->type) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch" << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch!" << std::endl;
 #else
-    sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch!\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
    return DATATYPE_MISSMATCH;
@ -249,9 +245,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
  if (rows == 0 or columns == 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero" << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero!" << std::endl;
 #else
-    sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero!\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
    return COLUMN_OR_ROWS_ZERO;
--- a/src/fsfw/power/PowerSwitchIF.h
+++ b/src/fsfw/power/PowerSwitchIF.h
@ -29,9 +29,9 @@ class PowerSwitchIF : public HasReturnvaluesIF {
  static const ReturnValue_t FUSE_ON = MAKE_RETURN_CODE(3);
  static const ReturnValue_t FUSE_OFF = MAKE_RETURN_CODE(4);
  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_2;
-  //!< Someone detected that a switch went off which shouldn't. Severity:
+  static const Event SWITCH_WENT_OFF = MAKE_EVENT(
+      0, severity::LOW);  //!< Someone detected that a switch went off which shouldn't. Severity:
                          //!< Low, Parameter1: switchId1, Parameter2: switchId2
-  static const Event SWITCH_WENT_OFF = MAKE_EVENT(0, severity::LOW);
  /**
   * send a direct command to the Power Unit to enable/disable the specified switch.
   *
--- a/src/fsfw/pus/Service11TelecommandScheduling.tpp
+++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp
@ -78,7 +78,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::performService
  // NOTE: The iterator is increased in the loop here. Increasing the iterator as for-loop arg
  // does not work in this case as we are deleting the current element here.
  for (auto it = telecommandMap.begin(); it != telecommandMap.end();) {
-    if (it->first <= static_cast<uint32_t>(tNow.tv_sec)) {
+    if (it->first <= tNow.tv_sec) {
      if (schedulingEnabled) {
        // release tc
        TmTcMessage releaseMsg(it->second.storeAddr);
--- a/src/fsfw/pus/Service1TelecommandVerification.cpp
+++ b/src/fsfw/pus/Service1TelecommandVerification.cpp
@ -16,9 +16,7 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
      apid(apid),
      serviceId(serviceId),
      targetDestination(targetDestination) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  tmQueue = QueueFactory::instance()->createMessageQueue(
-      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }

 Service1TelecommandVerification::~Service1TelecommandVerification() {
--- a/src/fsfw/pus/Service3Housekeeping.cpp
+++ b/src/fsfw/pus/Service3Housekeeping.cpp
@ -208,17 +208,17 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
      ReturnValue_t error = HasReturnvaluesIF::RETURN_FAILED;
      HousekeepingMessage::getHkRequestFailureReply(reply, &error);
      failureParameter2 = error;
-      return RETURN_FAILED;
+      return CommandingServiceBase::EXECUTION_COMPLETE;
    }

    default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::warning << "Service3Housekeeping::handleReply: Invalid reply with "
-                   << "reply command " << command << std::endl;
+                   << "reply command " << command << "!" << std::endl;
 #else
      sif::printWarning(
          "Service3Housekeeping::handleReply: Invalid reply with "
-          "reply command %hu\n",
+          "reply command %hu!\n",
          command);
 #endif
      return CommandingServiceBase::INVALID_REPLY;
@ -248,25 +248,19 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) {
    case (HousekeepingMessage::HK_REQUEST_FAILURE): {
      break;
    }
-    case (CommandMessage::REPLY_REJECTED): {
-      sif::warning << "Service3Housekeeping::handleUnrequestedReply: Unexpected reply "
-                      "rejected with error code"
-                   << reply->getParameter() << std::endl;
-      break;
-    }

    default: {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::warning << "Service3Housekeeping::handleUnrequestedReply: Invalid reply with reply "
                      "command "
-                   << command << "" << std::endl;
+                   << command << "!" << std::endl;
 #else
      sif::printWarning(
          "Service3Housekeeping::handleUnrequestedReply: Invalid reply with "
-          "reply command %hu\n",
+          "reply command %hu!\n",
          command);
 #endif
-      break;
+      return;
    }
  }

@ -281,7 +275,6 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) {
        "Could not generate reply!\n");
 #endif
  }
-  CommandingServiceBase::handleUnrequestedReply(reply);
 }

 MessageQueueId_t Service3Housekeeping::getHkQueue() const { return commandQueue->getId(); }
--- a/src/fsfw/pus/Service5EventReporting.cpp
+++ b/src/fsfw/pus/Service5EventReporting.cpp
@ -12,9 +12,7 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, uint16_t ap
                                               uint32_t messageQueueDepth)
    : PusServiceBase(objectId, apid, serviceId),
      maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  eventQueue = QueueFactory::instance()->createMessageQueue(
-      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }

 Service5EventReporting::~Service5EventReporting() {
@ -38,6 +36,9 @@ ReturnValue_t Service5EventReporting::performService() {
      }
    }
  }
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "Service5EventReporting::generateEventReport: Too many events" << std::endl;
+#endif
  return HasReturnvaluesIF::RETURN_OK;
 }

--- a/src/fsfw/pus/Service5EventReporting.h
+++ b/src/fsfw/pus/Service5EventReporting.h
@ -41,7 +41,7 @@
 class Service5EventReporting : public PusServiceBase {
 public:
  Service5EventReporting(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                         size_t maxNumberReportsPerCycle, uint32_t messageQueueDepth);
+                         size_t maxNumberReportsPerCycle = 10, uint32_t messageQueueDepth = 10);
  virtual ~Service5EventReporting();

  /***
--- a/src/fsfw/pus/Service9TimeManagement.h
+++ b/src/fsfw/pus/Service9TimeManagement.h
@ -6,10 +6,10 @@
 class Service9TimeManagement : public PusServiceBase {
 public:
  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
-  //!< Clock has been set. P1: New Uptime. P2: Old Uptime
-  static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO);
-  //!< Clock could not be set. P1: Returncode.
-  static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, severity::LOW);
+  static constexpr Event CLOCK_SET =
+      MAKE_EVENT(0, severity::INFO);  //!< Clock has been set. P1: New Uptime. P2: Old Uptime
+  static constexpr Event CLOCK_SET_FAILURE =
+      MAKE_EVENT(1, severity::LOW);  //!< Clock could not be set. P1: Returncode.

  static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;

--- a/src/fsfw/subsystem/Subsystem.h
+++ b/src/fsfw/subsystem/Subsystem.h
@ -33,12 +33,8 @@ struct SequenceEntry : public TableSequenceBase {
 };

 /**
- * @brief   This class extends the SubsystemBase to perform the management of mode tables
- *          and mode sequences
+ * @brief   TODO: documentation missing
 * @details
- * This class is able to use mode tables and sequences to command all its children into the
- * right mode. Fallback sequences can be used to handle failed transitions or have a fallback
- * in case a component can't keep its current mode.
 */
 class Subsystem : public SubsystemBase, public HasModeSequenceIF {
 public:
--- a/src/fsfw/subsystem/SubsystemBase.cpp
+++ b/src/fsfw/subsystem/SubsystemBase.cpp
@ -8,13 +8,11 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t
                             uint16_t commandQueueDepth)
    : SystemObject(setObjectId),
      mode(initialMode),
+      commandQueue(QueueFactory::instance()->createMessageQueue(commandQueueDepth,
+                                                                CommandMessage::MAX_MESSAGE_SIZE)),
      healthHelper(this, setObjectId),
      modeHelper(this),
-      parentId(parent) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
-}
+      parentId(parent) {}

 SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

@ -33,9 +31,8 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
      info.mode = MODE_OFF;
    }
  } else {
-    // intentional to force an initial command during system startup
    info.commandQueue = child->getCommandQueue();
-    info.mode = HasModesIF::MODE_UNDEFINED;
+    info.mode = -1;  // intentional to force an initial command during system startup
  }

  info.submode = SUBMODE_NONE;
--- a/src/fsfw/subsystem/SubsystemBase.h
+++ b/src/fsfw/subsystem/SubsystemBase.h
@ -15,14 +15,7 @@

 /**
 * @defgroup subsystems Subsystem Objects
- * All Subsystem and Assemblies can derive from this class. It contains helper classes to
- * perform mode and health handling, which allows OBSW developers to build a mode tree for
- * the whole satellite.
- *
- * Aside from setting up a mode tree and being able to executing mode tables, this class does not
- * provide an implementation on what to do with the features. To build a mode tree, helper classes
- * like the #AssemblyBase or the #Subsystem class extend and use the functionality of the base
- * class.
+ * Contains all Subsystem and Assemblies
 */
 class SubsystemBase : public SystemObject,
                      public HasModesIF,
@ -103,7 +96,6 @@ class SubsystemBase : public SystemObject,
                                       Submode_t targetSubmode);

  /**
-   * This function takes care of sending all according mode commands specified inside a mode table.
   * We need to know the target Submode, as children are able to inherit the submode
   * Still, we have a default for all child implementations which do not use submode inheritance
   */
--- a/src/fsfw/tcdistribution/TcDistributor.cpp
+++ b/src/fsfw/tcdistribution/TcDistributor.cpp
@ -5,9 +5,7 @@
 #include "fsfw/tmtcservices/TmTcMessage.h"

 TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) {
-  auto mqArgs = MqArgs(objectId);
-  tcQueue = QueueFactory::instance()->createMessageQueue(
-      DISTRIBUTER_MAX_PACKETS, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS);
 }

 TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); }
--- a/src/fsfw/thermal/AbstractTemperatureSensor.cpp
+++ b/src/fsfw/thermal/AbstractTemperatureSensor.cpp
@ -4,13 +4,14 @@

 AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid,
                                                     ThermalModuleIF *thermalModule)
-    : SystemObject(setObjectid), healthHelper(this, setObjectid), parameterHelper(this) {
-  if (thermalModule != nullptr) {
+    : SystemObject(setObjectid),
+      commandQueue(NULL),
+      healthHelper(this, setObjectid),
+      parameterHelper(this) {
+  if (thermalModule != NULL) {
    thermalModule->registerSensor(this);
  }
-  auto mqArgs = MqArgs(setObjectid, static_cast<void *>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue();
 }

 AbstractTemperatureSensor::~AbstractTemperatureSensor() {
--- a/src/fsfw/thermal/AbstractTemperatureSensor.h
+++ b/src/fsfw/thermal/AbstractTemperatureSensor.h
@ -51,7 +51,7 @@ class AbstractTemperatureSensor : public HasHealthIF,
  HasHealthIF::HealthState getHealth();

 protected:
-  MessageQueueIF* commandQueue = nullptr;
+  MessageQueueIF* commandQueue;
  HealthHelper healthHelper;
  ParameterHelper parameterHelper;

--- a/src/fsfw/thermal/Heater.cpp
+++ b/src/fsfw/thermal/Heater.cpp
@ -12,9 +12,7 @@ Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1)
      switch1(switch1),
      heaterOnCountdown(10800000) /*about two orbits*/,
      parameterHelper(this) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  eventQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  eventQueue = QueueFactory::instance()->createMessageQueue();
 }

 Heater::~Heater() { QueueFactory::instance()->deleteMessageQueue(eventQueue); }
--- a/src/fsfw/thermal/ThermalComponentIF.h
+++ b/src/fsfw/thermal/ThermalComponentIF.h
@ -13,9 +13,9 @@ class ThermalComponentIF : public HasParametersIF {
  static const Event COMPONENT_TEMP_HIGH = MAKE_EVENT(2, severity::LOW);
  static const Event COMPONENT_TEMP_OOL_LOW = MAKE_EVENT(3, severity::LOW);
  static const Event COMPONENT_TEMP_OOL_HIGH = MAKE_EVENT(4, severity::LOW);
-  //!< Is thrown when a device should start-up, but the temperature is out
+  static const Event TEMP_NOT_IN_OP_RANGE = MAKE_EVENT(
+      5, severity::LOW);  //!< Is thrown when a device should start-up, but the temperature is out
                          //!< of OP range. P1: thermalState of the component, P2: 0
-  static const Event TEMP_NOT_IN_OP_RANGE = MAKE_EVENT(5, severity::LOW);

  static const uint8_t INTERFACE_ID = CLASS_ID::THERMAL_COMPONENT_IF;
  static const ReturnValue_t INVALID_TARGET_STATE = MAKE_RETURN_CODE(1);
--- a/src/fsfw/timemanager/Countdown.cpp
+++ b/src/fsfw/timemanager/Countdown.cpp
@ -1,11 +1,7 @@
 #include "fsfw/timemanager/Countdown.h"

-Countdown::Countdown(uint32_t initialTimeout, bool startImmediately) : timeout(initialTimeout) {
-  if (startImmediately) {
+Countdown::Countdown(uint32_t initialTimeout) : timeout(initialTimeout) {
  setTimeout(initialTimeout);
-  } else {
-    timeout = initialTimeout;
-  }
 }

 Countdown::~Countdown() {}
--- a/src/fsfw/timemanager/Countdown.h
+++ b/src/fsfw/timemanager/Countdown.h
@ -26,9 +26,8 @@ class Countdown {
   * Otherwise a call to hasTimedOut might return True.
   *
   * @param initialTimeout Countdown duration in milliseconds
-   * @param startImmediately  Set to false if countdown should not be started immediately
   */
-  Countdown(uint32_t initialTimeout = 0, bool startImmediately = true);
+  Countdown(uint32_t initialTimeout = 0);
  ~Countdown();
  /**
   * Call to set a new countdown duration.
--- a/src/fsfw/tmstorage/TmStoreBackendIF.h
+++ b/src/fsfw/tmstorage/TmStoreBackendIF.h
@ -33,47 +33,50 @@ class TmStoreBackendIF : public HasParametersIF {
  static const ReturnValue_t INVALID_REQUEST = MAKE_RETURN_CODE(15);

  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MEMORY;
-  //! Initiating sending data to store failed. Low, par1:
-  //! returnCode, par2: integer (debug info)
-  static const Event STORE_SEND_WRITE_FAILED = MAKE_EVENT(0, severity::LOW);
-  //! Data was sent, but writing failed. Low, par1: returnCode, par2: 0
-  static const Event STORE_WRITE_FAILED = MAKE_EVENT(1, severity::LOW);
-  //! Initiating reading data from store failed. Low, par1: returnCode, par2: 0
-  static const Event STORE_SEND_READ_FAILED = MAKE_EVENT(2, severity::LOW);
-  //! Data was requested, but access failed. Low, par1: returnCode, par2: 0
-  static const Event STORE_READ_FAILED = MAKE_EVENT(3, severity::LOW);
-  //! An unexpected TM packet or data message occurred. Low, par1: 0, par2: integer (debug info)
-  static const Event UNEXPECTED_MSG = MAKE_EVENT(4, severity::LOW);
-  //! Storing data failed. May simply be a full store. Low, par1: returnCode,
-  //! par2: integer (sequence count of failed packet).
-  static const Event STORING_FAILED = MAKE_EVENT(5, severity::LOW);
-  //! Dumping retrieved data failed. Low, par1: returnCode,
-  //! par2: integer (sequence count of failed packet).
-  static const Event TM_DUMP_FAILED = MAKE_EVENT(6, severity::LOW);
-  //! Corrupted init data or read error. Low, par1: returnCode, par2: integer (debug info)
-  //! Store was not initialized. Starts empty. Info, parameters both zero.
-  static const Event STORE_INIT_FAILED = MAKE_EVENT(7, severity::LOW);
-  //! Data was read out, but it is inconsistent. Low par1:
-  //! Memory address of corruption, par2: integer (debug info)
-  static const Event STORE_INIT_EMPTY = MAKE_EVENT(8, severity::INFO);
-
-  static const Event STORE_CONTENT_CORRUPTED = MAKE_EVENT(9, severity::LOW);
-  //! Info event indicating the store will be initialized, either at boot or after IOB switch.
-  //! Info. pars: 0
-  static const Event STORE_INITIALIZE = MAKE_EVENT(10, severity::INFO);
-  //! Info event indicating the store was successfully initialized, either at boot or after
-  //! IOB switch. Info. pars: 0
-  static const Event INIT_DONE = MAKE_EVENT(11, severity::INFO);
-  //! Info event indicating that dumping finished successfully.
-  //! par1: Number of dumped packets. par2: APID/SSC (16bits each)
-  static const Event DUMP_FINISHED = MAKE_EVENT(12, severity::INFO);
-  //! Info event indicating that deletion finished successfully.
-  //! par1:Number of deleted packets. par2: APID/SSC (16bits each)
-  static const Event DELETION_FINISHED = MAKE_EVENT(13, severity::INFO);
-  //! Info event indicating that something went wrong during deletion. pars: 0
-  static const Event DELETION_FAILED = MAKE_EVENT(14, severity::LOW);
-  //! Info that the a auto catalog report failed
-  static const Event AUTO_CATALOGS_SENDING_FAILED = MAKE_EVENT(15, severity::INFO);
+  static const Event STORE_SEND_WRITE_FAILED =
+      MAKE_EVENT(0, severity::LOW);  //!< Initiating sending data to store failed. Low, par1:
+                                     //!< returnCode, par2: integer (debug info)
+  static const Event STORE_WRITE_FAILED = MAKE_EVENT(
+      1, severity::LOW);  //!< Data was sent, but writing failed. Low, par1: returnCode, par2: 0
+  static const Event STORE_SEND_READ_FAILED =
+      MAKE_EVENT(2, severity::LOW);  //!< Initiating reading data from store failed. Low, par1:
+                                     //!< returnCode, par2: 0
+  static const Event STORE_READ_FAILED = MAKE_EVENT(
+      3, severity::LOW);  //!< Data was requested, but access failed. Low, par1: returnCode, par2: 0
+  static const Event UNEXPECTED_MSG =
+      MAKE_EVENT(4, severity::LOW);  //!< An unexpected TM packet or data message occurred. Low,
+                                     //!< par1: 0, par2: integer (debug info)
+  static const Event STORING_FAILED = MAKE_EVENT(
+      5, severity::LOW);  //!< Storing data failed. May simply be a full store. Low, par1:
+                          //!< returnCode, par2: integer (sequence count of failed packet).
+  static const Event TM_DUMP_FAILED =
+      MAKE_EVENT(6, severity::LOW);  //!< Dumping retrieved data failed. Low, par1: returnCode,
+                                     //!< par2: integer (sequence count of failed packet).
+  static const Event STORE_INIT_FAILED =
+      MAKE_EVENT(7, severity::LOW);  //!< Corrupted init data or read error. Low, par1: returnCode,
+                                     //!< par2: integer (debug info)
+  static const Event STORE_INIT_EMPTY = MAKE_EVENT(
+      8, severity::INFO);  //!< Store was not initialized. Starts empty. Info, parameters both zero.
+  static const Event STORE_CONTENT_CORRUPTED =
+      MAKE_EVENT(9, severity::LOW);  //!< Data was read out, but it is inconsistent. Low par1:
+                                     //!< Memory address of corruption, par2: integer (debug info)
+  static const Event STORE_INITIALIZE =
+      MAKE_EVENT(10, severity::INFO);  //!< Info event indicating the store will be initialized,
+                                       //!< either at boot or after IOB switch. Info. pars: 0
+  static const Event INIT_DONE = MAKE_EVENT(
+      11, severity::INFO);  //!< Info event indicating the store was successfully initialized,
+                            //!< either at boot or after IOB switch. Info. pars: 0
+  static const Event DUMP_FINISHED = MAKE_EVENT(
+      12, severity::INFO);  //!< Info event indicating that dumping finished successfully. par1:
+                            //!< Number of dumped packets. par2: APID/SSC (16bits each)
+  static const Event DELETION_FINISHED = MAKE_EVENT(
+      13, severity::INFO);  //!< Info event indicating that deletion finished successfully. par1:
+                            //!< Number of deleted packets. par2: APID/SSC (16bits each)
+  static const Event DELETION_FAILED = MAKE_EVENT(
+      14,
+      severity::LOW);  //!< Info event indicating that something went wrong during deletion. pars: 0
+  static const Event AUTO_CATALOGS_SENDING_FAILED =
+      MAKE_EVENT(15, severity::INFO);  //!< Info that the a auto catalog report failed

  virtual ~TmStoreBackendIF() {}

--- a/src/fsfw/tmtcpacket/SpacePacket.h
+++ b/src/fsfw/tmtcpacket/SpacePacket.h
@ -25,7 +25,7 @@ class SpacePacket : public SpacePacketBase {
   * @param apid Sets the packet's APID field. The default value describes an idle packet.
   * @param sequenceCount ets the packet's Source Sequence Count field.
   */
-  SpacePacket(uint16_t packetDataLength = 0, bool isTelecommand = false,
+  SpacePacket(uint16_t packetDataLength, bool isTelecommand = false,
              uint16_t apid = APID_IDLE_PACKET, uint16_t sequenceCount = 0);
  /**
   * The class's default destructor.
--- a/src/fsfw/tmtcservices/CommandingServiceBase.cpp
+++ b/src/fsfw/tmtcservices/CommandingServiceBase.cpp
@ -20,10 +20,8 @@ CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t a
      service(service),
      timeoutSeconds(commandTimeoutSeconds),
      commandMap(numberOfParallelCommands) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  size_t mqSz = MessageQueueMessage::MAX_MESSAGE_SIZE;
-  commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
-  requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
+  requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 }

 void CommandingServiceBase::setPacketSource(object_id_t packetSource) {
--- a/src/fsfw/tmtcservices/PusServiceBase.cpp
+++ b/src/fsfw/tmtcservices/PusServiceBase.cpp
@ -13,9 +13,7 @@ object_id_t PusServiceBase::packetDestination = 0;

 PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId)
    : SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  requestQueue = QueueFactory::instance()->createMessageQueue(
-      PUS_SERVICE_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
 }

 PusServiceBase::~PusServiceBase() { QueueFactory::instance()->deleteMessageQueue(requestQueue); }
--- a/src/fsfw/tmtcservices/SourceSequenceCounter.h
+++ b/src/fsfw/tmtcservices/SourceSequenceCounter.h
@ -5,10 +5,10 @@

 class SourceSequenceCounter {
 private:
-  uint16_t sequenceCount = 0;
+  uint16_t sequenceCount;

 public:
-  SourceSequenceCounter(uint16_t initialSequenceCount = 0) : sequenceCount(initialSequenceCount) {}
+  SourceSequenceCounter() : sequenceCount(0) {}
  void increment() {
    sequenceCount = (sequenceCount + 1) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
  }
@ -19,20 +19,6 @@ class SourceSequenceCounter {
  void reset(uint16_t toValue = 0) {
    sequenceCount = toValue % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
  }
-  SourceSequenceCounter& operator++(int) {
-    this->increment();
-    return *this;
-  }
-  SourceSequenceCounter& operator--(int) {
-    this->decrement();
-    return *this;
-  }
-  SourceSequenceCounter& operator=(const uint16_t& newCount) {
-    sequenceCount = newCount;
-    return *this;
-  }
-
-  operator uint16_t() { return this->get(); }
 };

 #endif /* FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_ */
--- a/src/fsfw/tmtcservices/TmTcBridge.cpp
+++ b/src/fsfw/tmtcservices/TmTcBridge.cpp
@ -15,9 +15,7 @@ TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_i
      tcDestination(tcDestination)

 {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(
-      TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
 }

 TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); }
@ -36,7 +34,7 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerC
  }
 }

-ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored) {
+ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored) {
  if (maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) {
    this->maxNumberOfPacketsStored = maxNumberOfPacketsStored;
    return RETURN_OK;
@ -174,7 +172,6 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) {
  }

  if (tmFifo->full()) {
-    if (warningSwitch) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
                    "of stored packet IDs reached!"
@ -184,8 +181,6 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) {
        "TmTcBridge::storeDownlinkData: TM downlink max. number "
        "of stored packet IDs reached!\n");
 #endif
-      warningSwitch = true;
-    }
    if (overwriteOld) {
      tmFifo->retrieve(&storeId);
      tmStore->deleteData(storeId);
--- a/src/fsfw/tmtcservices/TmTcBridge.h
+++ b/src/fsfw/tmtcservices/TmTcBridge.h
@ -18,7 +18,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
 public:
  static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
  static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
-  static constexpr unsigned int LIMIT_DOWNLINK_PACKETS_STORED = 1000;
+  static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 200;

  static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
  static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
@ -43,7 +43,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
   * @return -@c RETURN_OK if value was set successfully
   *         -@c RETURN_FAILED otherwise, stored value stays the same
   */
-  ReturnValue_t setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored);
+  ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);

  /**
   * This will set up the bridge to overwrite old data in the FIFO.
@ -72,8 +72,6 @@ class TmTcBridge : public AcceptsTelemetryIF,
  virtual uint16_t getIdentifier() override;
  virtual MessageQueueId_t getRequestQueue() override;

-  bool warningSwitch = true;
-
 protected:
  //! Cached for initialize function.
  object_id_t tmStoreId = objects::NO_OBJECT;
@ -152,7 +150,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
   */
  DynamicFIFO<store_address_t>* tmFifo = nullptr;
  uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
-  unsigned int maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
+  uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
 };

 #endif /* FSFW_TMTCSERVICES_TMTCBRIDGE_H_ */
--- a/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
+++ b/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
@ -78,7 +78,7 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
    REQUIRE(result != CommandExecutor::COMMAND_ERROR);
    // This ensures that the tests do not block indefinitely
    usleep(500);
-    REQUIRE(limitIdx < 50000);
+    REQUIRE(limitIdx < 500);
  }
  limitIdx = 0;
  CHECK(bytesHaveBeenRead == true);