diff --git a/CHANGELOG b/CHANGELOG
index f05f09c2..546bab41 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -6,8 +6,10 @@
 - vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
 a C file without issues
 
-### PUS Services 
+### PUS Services
 
+- It is now possible to change the message queue depth for the telecommand verification service (PUS1)
+- The same is possible for the event reporting service (PUS5)
 - PUS Health Service added, which allows to command and retrieve health via PUS packets
 
 ### Device Handler Base
diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 088c1b45..86e94a96 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -26,6 +26,8 @@ public:
 	static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
 	static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
 
+	static constexpr Command_t NO_COMMAND = -1;
+
 	/**
 	 * @brief This is the mode the <strong>device handler</strong> is in.
 	 *
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
index 4b7fe3eb..eb735185 100644
--- a/osal/FreeRTOS/TaskManagement.h
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -13,7 +13,7 @@ extern "C" {
  * Architecture dependant portmacro.h function call.
  * Should be implemented in bsp.
  */
-extern void vRequestContextSwitchFromISR();
+extern "C" void vRequestContextSwitchFromISR();
 
 /*!
  * Used by functions to tell if they are being called from
diff --git a/pus/CService200ModeCommanding.cpp b/pus/CService200ModeCommanding.cpp
index c63b47a6..c4e99359 100644
--- a/pus/CService200ModeCommanding.cpp
+++ b/pus/CService200ModeCommanding.cpp
@@ -7,9 +7,10 @@
 #include "../modes/ModeMessage.h"
 
 CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId,
-        uint16_t apid, uint8_t serviceId):
+        uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
+        uint16_t commandTimeoutSeconds):
         CommandingServiceBase(objectId, apid, serviceId,
-	    NUMBER_OF_PARALLEL_COMMANDS,COMMAND_TIMEOUT_SECONDS) {}
+                numParallelCommands, commandTimeoutSeconds) {}
 
 CService200ModeCommanding::~CService200ModeCommanding() {}
 
diff --git a/pus/CService200ModeCommanding.h b/pus/CService200ModeCommanding.h
index 89347dbd..84040212 100644
--- a/pus/CService200ModeCommanding.h
+++ b/pus/CService200ModeCommanding.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
-#define FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
+#ifndef FSFW_PUS_CSERVICE200MODECOMMANDING_H_
+#define FSFW_PUS_CSERVICE200MODECOMMANDING_H_
 
 #include "../tmtcservices/CommandingServiceBase.h"
 
@@ -15,11 +15,10 @@
  */
 class CService200ModeCommanding: public CommandingServiceBase {
 public:
-	static constexpr uint8_t NUMBER_OF_PARALLEL_COMMANDS = 4;
-	static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
 
 	CService200ModeCommanding(object_id_t objectId,
-	        uint16_t apid, uint8_t serviceId);
+	        uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands = 4,
+            uint16_t commandTimeoutSeconds = 60);
 	virtual~ CService200ModeCommanding();
 
 protected:
@@ -82,4 +81,4 @@ private:
 	};
 };
 
-#endif /* FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ */
+#endif /* FSFW_PUS_CSERVICE200MODECOMMANDING_H_ */
diff --git a/pus/Service1TelecommandVerification.cpp b/pus/Service1TelecommandVerification.cpp
index 578eb02d..86b0dcde 100644
--- a/pus/Service1TelecommandVerification.cpp
+++ b/pus/Service1TelecommandVerification.cpp
@@ -6,15 +6,13 @@
 #include "../tmtcpacket/pus/TmPacketStored.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../tmtcservices/AcceptsTelemetryIF.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-
 
 Service1TelecommandVerification::Service1TelecommandVerification(
         object_id_t objectId, uint16_t apid, uint8_t serviceId,
-        object_id_t targetDestination):
+        object_id_t targetDestination, uint16_t messageQueueDepth):
         SystemObject(objectId), apid(apid), serviceId(serviceId),
         targetDestination(targetDestination) {
-	tmQueue = QueueFactory::instance()->createMessageQueue();
+	tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
 Service1TelecommandVerification::~Service1TelecommandVerification() {}
@@ -53,7 +51,7 @@ ReturnValue_t Service1TelecommandVerification::sendVerificationReport(
 		result = generateSuccessReport(message);
 	}
 	if(result != HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Service1TelecommandVerification::initialize: "
+		sif::error << "Service1TelecommandVerification::sendVerificationReport: "
 		        "Sending verification packet failed !" << std::endl;
 	}
 	return result;
diff --git a/pus/Service1TelecommandVerification.h b/pus/Service1TelecommandVerification.h
index 37562d1c..3d68a4e0 100644
--- a/pus/Service1TelecommandVerification.h
+++ b/pus/Service1TelecommandVerification.h
@@ -1,5 +1,5 @@
-#ifndef MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
-#define MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
+#ifndef FSFW_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
+#define FSFW_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
 
 #include "../objectmanager/SystemObject.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
@@ -44,14 +44,15 @@ public:
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_1;
 
 	Service1TelecommandVerification(object_id_t objectId,
-	        uint16_t apid, uint8_t serviceId, object_id_t targetDestination);
+	        uint16_t apid, uint8_t serviceId, object_id_t targetDestination,
+			uint16_t messageQueueDepth);
 	virtual ~Service1TelecommandVerification();
 
 	/**
 	 *
 	 * @return ID of Verification Queue
 	 */
-	virtual MessageQueueId_t getVerificationQueue();
+	virtual MessageQueueId_t getVerificationQueue() override;
 
 	/**
 	 * Performs the service periodically as specified in init_mission().
@@ -91,4 +92,4 @@ private:
 	};
 };
 
-#endif /* MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_ */
+#endif /* FSFW_PUS_SERVICE1TELECOMMANDVERIFICATION_H_ */
diff --git a/pus/Service2DeviceAccess.cpp b/pus/Service2DeviceAccess.cpp
index 2093a617..3648b7eb 100644
--- a/pus/Service2DeviceAccess.cpp
+++ b/pus/Service2DeviceAccess.cpp
@@ -21,8 +21,8 @@ Service2DeviceAccess::~Service2DeviceAccess() {}
 
 ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) {
 	switch(static_cast<Subservice>(subservice)){
-	case Subservice::RAW_COMMANDING:
-	case Subservice::TOGGLE_WIRETAPPING:
+	case Subservice::COMMAND_RAW_COMMANDING:
+	case Subservice::COMMAND_TOGGLE_WIRETAPPING:
 		return HasReturnvaluesIF::RETURN_OK;
 	default:
 		sif::error << "Invalid Subservice" << std::endl;
@@ -39,8 +39,7 @@ ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject(
     SerializeAdapter::deSerialize(objectId, &tcData,
                 &tcDataLen, SerializeIF::Endianness::BIG);
 
-	ReturnValue_t result = checkInterfaceAndAcquireMessageQueue(id,objectId);
-	return result;
+    return checkInterfaceAndAcquireMessageQueue(id,objectId);
 }
 
 ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
@@ -59,14 +58,12 @@ ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message,
 		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
 		uint32_t* state, object_id_t objectId) {
 	switch(static_cast<Subservice>(subservice)){
-	case Subservice::RAW_COMMANDING: {
-		return prepareRawCommand(dynamic_cast<CommandMessage*>(message),
-				tcData, tcDataLen);
+	case Subservice::COMMAND_RAW_COMMANDING: {
+		return prepareRawCommand(message, tcData, tcDataLen);
 	}
 	break;
-	case Subservice::TOGGLE_WIRETAPPING: {
-		return prepareWiretappingCommand(dynamic_cast<CommandMessage*>(message),
-				tcData, tcDataLen);
+	case Subservice::COMMAND_TOGGLE_WIRETAPPING: {
+		return prepareWiretappingCommand(message, tcData, tcDataLen);
 	}
 	break;
 	default:
@@ -121,11 +118,11 @@ void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) {
 	switch(reply->getCommand()) {
 	case DeviceHandlerMessage::REPLY_RAW_COMMAND:
 		sendWiretappingTm(reply,
-				static_cast<uint8_t>(Subservice::WIRETAPPING_RAW_TC));
+				static_cast<uint8_t>(Subservice::REPLY_WIRETAPPING_RAW_TC));
 		break;
 	case DeviceHandlerMessage::REPLY_RAW_REPLY:
 		sendWiretappingTm(reply,
-				static_cast<uint8_t>(Subservice::RAW_REPLY));
+				static_cast<uint8_t>(Subservice::REPLY_RAW));
 		break;
 	default:
 		sif::error << "Unknown message in Service2DeviceAccess::"
diff --git a/pus/Service2DeviceAccess.h b/pus/Service2DeviceAccess.h
index f6aa8b52..b62e6854 100644
--- a/pus/Service2DeviceAccess.h
+++ b/pus/Service2DeviceAccess.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
-#define FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
+#ifndef FSFW_PUS_SERVICE2DEVICEACCESS_H_
+#define FSFW_PUS_SERVICE2DEVICEACCESS_H_
 
 #include "../objectmanager/SystemObjectIF.h"
 #include "../devicehandlers/AcceptsDeviceResponsesIF.h"
@@ -81,12 +81,16 @@ private:
 	        const uint8_t* tcData, size_t tcDataLen);
 
 	enum class Subservice {
-		RAW_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Command in device native protocol
-		TOGGLE_WIRETAPPING = 129, //!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication
-		RAW_REPLY = 130, //!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device
-		WIRETAPPING_RAW_TC = 131 //!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler
+	    //!< [EXPORT] : [COMMAND] Command in device native protocol
+		COMMAND_RAW_COMMANDING = 128,
+		//!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication
+		COMMAND_TOGGLE_WIRETAPPING = 129,
+		//!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device
+		REPLY_RAW = 130,
+		//!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler
+		REPLY_WIRETAPPING_RAW_TC = 131
 	};
 };
 
 
-#endif /* MISSION_PUS_DEVICE2DEVICECOMMANDING_H_ */
+#endif /* FSFW_PUS_DEVICE2DEVICECOMMANDING_H_ */
diff --git a/pus/Service5EventReporting.cpp b/pus/Service5EventReporting.cpp
index 829d04bd..e0b34a5b 100644
--- a/pus/Service5EventReporting.cpp
+++ b/pus/Service5EventReporting.cpp
@@ -8,10 +8,11 @@
 
 
 Service5EventReporting::Service5EventReporting(object_id_t objectId,
-            uint16_t apid, uint8_t serviceId, size_t maxNumberReportsPerCycle):
+            uint16_t apid, uint8_t serviceId, size_t maxNumberReportsPerCycle,
+            uint32_t messageQueueDepth):
 		PusServiceBase(objectId, apid, serviceId),
 		maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
-	eventQueue = QueueFactory::instance()->createMessageQueue();
+	eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
 Service5EventReporting::~Service5EventReporting(){}
diff --git a/pus/Service5EventReporting.h b/pus/Service5EventReporting.h
index 0b6ee9a8..69242801 100644
--- a/pus/Service5EventReporting.h
+++ b/pus/Service5EventReporting.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_
-#define FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_
+#ifndef FSFW_PUS_SERVICE5EVENTREPORTING_H_
+#define FSFW_PUS_SERVICE5EVENTREPORTING_H_
 
 #include "../tmtcservices/PusServiceBase.h"
 #include "../events/EventMessage.h"
@@ -42,7 +42,8 @@ class Service5EventReporting: public PusServiceBase {
 public:
 
 	Service5EventReporting(object_id_t objectId, uint16_t apid,
-	        uint8_t serviceId, size_t maxNumberReportsPerCycle = 10);
+	        uint8_t serviceId, size_t maxNumberReportsPerCycle = 10,
+	        uint32_t messageQueueDepth = 10);
 	virtual ~Service5EventReporting();
 
 	/***
@@ -83,4 +84,4 @@ private:
 	ReturnValue_t generateEventReport(EventMessage message);
 };
 
-#endif /* MISSION_PUS_SERVICE5EVENTREPORTING_H_ */
+#endif /* FSFW_PUS_SERVICE5EVENTREPORTING_H_ */
diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp
index 2c2e590b..d710c56e 100644
--- a/pus/Service8FunctionManagement.cpp
+++ b/pus/Service8FunctionManagement.cpp
@@ -7,10 +7,10 @@
 #include "../serialize/SerializeAdapter.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 
-Service8FunctionManagement::Service8FunctionManagement(object_id_t object_id,
+Service8FunctionManagement::Service8FunctionManagement(object_id_t objectId,
 		uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
 		uint16_t commandTimeoutSeconds):
-		CommandingServiceBase(object_id, apid, serviceId, numParallelCommands,
+		CommandingServiceBase(objectId, apid, serviceId, numParallelCommands,
 		commandTimeoutSeconds) {}
 
 Service8FunctionManagement::~Service8FunctionManagement() {}
@@ -19,7 +19,7 @@ Service8FunctionManagement::~Service8FunctionManagement() {}
 ReturnValue_t Service8FunctionManagement::isValidSubservice(
 		uint8_t subservice) {
 	switch(static_cast<Subservice>(subservice)) {
-	case Subservice::DIRECT_COMMANDING:
+	case Subservice::COMMAND_DIRECT_COMMANDING:
 		return HasReturnvaluesIF::RETURN_OK;
 	default:
 		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
@@ -131,7 +131,7 @@ ReturnValue_t Service8FunctionManagement::handleDataReply(
     }
     DataReply dataReply(objectId, actionId, buffer, size);
     result = sendTmPacket(static_cast<uint8_t>(
-            Subservice::DIRECT_COMMANDING_DATA_REPLY), &dataReply);
+            Subservice::REPLY_DIRECT_COMMANDING_DATA), &dataReply);
 
     auto deletionResult = IPCStore->deleteData(storeId);
     if(deletionResult != HasReturnvaluesIF::RETURN_OK) {
diff --git a/pus/Service8FunctionManagement.h b/pus/Service8FunctionManagement.h
index b5ebcda8..00153cfb 100644
--- a/pus/Service8FunctionManagement.h
+++ b/pus/Service8FunctionManagement.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
-#define FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
+#ifndef FSFW_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
+#define FSFW_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
 
 #include "../action/ActionMessage.h"
 #include "../tmtcservices/CommandingServiceBase.h"
@@ -52,8 +52,10 @@ protected:
 
 private:
 	enum class Subservice {
-		DIRECT_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Functional commanding
-		DIRECT_COMMANDING_DATA_REPLY = 130, //!< [EXPORT] : [REPLY] Data reply
+	    //!< [EXPORT] : [COMMAND] Functional commanding
+		COMMAND_DIRECT_COMMANDING = 128,
+		//!< [EXPORT] : [REPLY] Data reply
+		REPLY_DIRECT_COMMANDING_DATA = 130,
 	};
 
 	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
@@ -64,4 +66,4 @@ private:
 	        object_id_t objectId, ActionId_t actionId);
 };
 
-#endif /* FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */
+#endif /* FSFW_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */
diff --git a/pus/servicepackets/Service1Packets.h b/pus/servicepackets/Service1Packets.h
index dbd31028..ecb62693 100644
--- a/pus/servicepackets/Service1Packets.h
+++ b/pus/servicepackets/Service1Packets.h
@@ -1,3 +1,6 @@
+#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
+#define FSFW_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
+
 /**
  * @defgroup spacepackets PUS Packet Definitions
  *  This group contains all implemented TM or TM packages that are sent to
@@ -5,9 +8,6 @@
  *  packet structures in Mission Information Base (MIB).
  */
 
-#ifndef MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
-#define MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
-
 #include "../../serialize/SerializeAdapter.h"
 #include "../../tmtcservices/VerificationCodes.h"
 
diff --git a/pus/servicepackets/Service200Packets.h b/pus/servicepackets/Service200Packets.h
index efcf65fc..cb9ad4a7 100644
--- a/pus/servicepackets/Service200Packets.h
+++ b/pus/servicepackets/Service200Packets.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
-#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
+#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
+#define FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
 
 #include "../../serialize/SerialLinkedListAdapter.h"
 #include "../../modes/ModeMessage.h"
@@ -60,4 +60,4 @@ public:
 	SerializeElement<ReturnValue_t> reason; //!< [EXPORT] : [COMMENT] Reason the mode could not be reached
 };
 
-#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */
+#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */
diff --git a/pus/servicepackets/Service2Packets.h b/pus/servicepackets/Service2Packets.h
index d4f3fb17..285a8f9f 100644
--- a/pus/servicepackets/Service2Packets.h
+++ b/pus/servicepackets/Service2Packets.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
-#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
+#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
+#define FSFW_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
 
 #include "../../action/ActionMessage.h"
 #include "../../objectmanager/SystemObjectIF.h"
@@ -73,4 +73,4 @@ public:
 	}
 };
 
-#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */
+#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */
diff --git a/pus/servicepackets/Service5Packets.h b/pus/servicepackets/Service5Packets.h
index 9655608a..f903d6a2 100644
--- a/pus/servicepackets/Service5Packets.h
+++ b/pus/servicepackets/Service5Packets.h
@@ -1,5 +1,5 @@
-#ifndef MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
-#define MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
+#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
+#define FSFW_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
 
 #include "../../serialize/SerializeAdapter.h"
 #include "../../tmtcservices/VerificationCodes.h"
@@ -73,4 +73,4 @@ private:
 };
 
 
-#endif /* MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_ */
+#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_ */
diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h
index 14f8b6e6..b026edf5 100644
--- a/pus/servicepackets/Service8Packets.h
+++ b/pus/servicepackets/Service8Packets.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
-#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
+#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
+#define FSFW_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
 
 #include "../../action/ActionMessage.h"
 #include "../../objectmanager/SystemObjectIF.h"
@@ -118,4 +118,4 @@ private:
 
 };
 
-#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */
+#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */