diff --git a/bsp_linux/core/InitMission.cpp b/bsp_linux/core/InitMission.cpp
index dc8fc5b..2656103 100644
--- a/bsp_linux/core/InitMission.cpp
+++ b/bsp_linux/core/InitMission.cpp
@@ -103,13 +103,12 @@ void InitMission::createTasks(){
 
 	PeriodicTaskIF* pusLowPrio = TaskFactory::instance()->
 			createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
-					1.6, nullptr);
+					4, nullptr);
 	result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
 	if(result!=HasReturnvaluesIF::RETURN_OK){
 		sif::error << "Object add component failed" << std::endl;
 	}
 	
-	sif::debug << "debug1: arduino tasks" << std::endl;
 	FixedTimeslotTaskIF* arduinoTask = TaskFactory::instance()->
 			createFixedTimeslotTask("ARDUINO_TASK",40,
 					PeriodicTaskIF::MINIMUM_STACK_SIZE, 2, nullptr);
@@ -119,16 +118,15 @@ void InitMission::createTasks(){
 				<< std::endl;
 	}
 	
-	sif::debug << "debug2: arduino tasks" << std::endl;
-	FixedTimeslotTaskIF* controllerTask = TaskFactory::instance()->
-			createFixedTimeslotTask("CONTROLLER_TASK",40,
-					PeriodicTaskIF::MINIMUM_STACK_SIZE, 3, nullptr);
-	result = pollingSequenceControllerFunction(controllerTask);
+	PeriodicTaskIF* controllerTask = TaskFactory::instance()->
+			createPeriodicTask("CONTROLLER_TASK",40,
+					PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, nullptr);
+	//result = pollingSequenceControllerFunction(controllerTask);
+	result = controllerTask->addComponent(objects::THERMAL_CONTROLLER);
 	if(result != HasReturnvaluesIF::RETURN_OK) {
 		sif::error << "InitMission::createTasks:ArduinoController initialization failed!"
 				<< std::endl;
 	}
-	sif::debug << "debug3: arduino tasks" << std::endl;
 
 #if OBSW_ADD_TEST_CODE == 1
 	FixedTimeslotTaskIF* testTimeslotTask = TaskFactory::instance()->
@@ -158,10 +156,8 @@ void InitMission::createTasks(){
 	udpBridgeTask->startTask();
 	udpPollingTask->startTask();
 	//serializeTask->startTask();
-	arduinoTask->startTask();
-	sif::debug << "debug4: arduino tasks" << std::endl;
+	//arduinoTask->startTask();
 	controllerTask->startTask();
-	sif::debug << "debug5: arduino tasks" << std::endl;
 
 	//payloadTask->startTask();
 	eventTask->startTask();
diff --git a/bsp_linux/main.cpp b/bsp_linux/main.cpp
index 7d8e926..24fbef6 100644
--- a/bsp_linux/main.cpp
+++ b/bsp_linux/main.cpp
@@ -39,11 +39,8 @@ int main() {
 	std::cout << "-- " <<  __DATE__ << " " << __TIME__ << " --" << std::endl;
 
 	objectManager = new ObjectManager(ObjectFactory::produce);
-	sif::debug << "debug_MAIN: object produced" << std::endl;
 	objectManager->initialize();
-	sif::debug << "debug_MAIN: object initialized" << std::endl;
 	InitMission::createTasks();
-	sif::debug << "debug_MAIN: tasks created" << std::endl;
 	//MutexExample::example();
 	PusPacketCreator::createPusPacketAndPrint();
 
diff --git a/mission/Controller/ArduinoTCSTemperatureSensor.cpp b/mission/Controller/ArduinoTCSTemperatureSensor.cpp
index 259e3d7..8b63331 100644
--- a/mission/Controller/ArduinoTCSTemperatureSensor.cpp
+++ b/mission/Controller/ArduinoTCSTemperatureSensor.cpp
@@ -32,7 +32,6 @@ void ArduinoTCSTemperatureSensor::doChildOperation() {
 		return;
 	}
 	outputTemperature = calculateOutputTemperature(*inputTemperature);
-	outputTemperature.setValid(PoolVariableIF::VALID);
 	if (outputTemperature<parameters.lowerLimit || outputTemperature>parameters.upperLimit){
 		outputTemperature.setValid(PoolVariableIF::INVALID);
 		outputTemperature = INVALID_TEMPERATURE;
diff --git a/mission/Controller/ThermalController.cpp b/mission/Controller/ThermalController.cpp
index 7f3a4fc..7fff273 100644
--- a/mission/Controller/ThermalController.cpp
+++ b/mission/Controller/ThermalController.cpp
@@ -40,8 +40,6 @@ ThermalController::~ThermalController() {
 
 ReturnValue_t ThermalController::initialize() {
 
-	sif::debug<<"\nDEBUG_TCS: Controller starts initialization. "<<std::endl;
-
 	ReturnValue_t result = ControllerBase::initialize();
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -65,7 +63,7 @@ ReturnValue_t ThermalController::initialize() {
 	}*/
 	/* ************************ */
 
-	sif::debug<<"\nDEBUG_TCS: Controller ends initialization. "<<std::endl;
+	sif::debug<<"\nDEBUG_TCS: Start initialization"<<std::endl;
 
 	return HasReturnvaluesIF::RETURN_OK;
 }
@@ -88,6 +86,7 @@ ReturnValue_t ThermalController::handleCommandMessage(CommandMessage *message) {
 ReturnValue_t ThermalController::performOperation() {
 	
 	sif::debug<<"\nDEBUG_TCS: Start of controller operations"<<std::endl;
+	std::cout << "\nDEBUG_TCS: Start of controller operations" << std::endl;
 
 	for (std::list<ArduinoTCSTemperatureSensor>::iterator iter = sensors.begin(); iter != sensors.end(); iter++) {
 		iter->performHealthOp();
@@ -105,14 +104,15 @@ ReturnValue_t ThermalController::performOperation() {
 	}
 	TCSData.commit();
 	
-	TCSData.read();
+	TCSData.read(); // ?check the read, separate dataset
 	//calculateStrategy(true, true);
 	ThermalComponentIF::HeaterRequest request;
 	for (std::list<TCS_ThermalComponent>::iterator iter = components.begin(); iter != components.end(); iter++) {
-		request = iter->performOperation(0, true, false);
+		request = iter->performOperation(0, true, false); // request returnvalue
 		//request = iter->performOperation(0, ThermalComponentIF::SAFE, true, false);
 	}
 	TCSData.commit();
+	std::cout << "\nDEBUG_TCS: End of controller operations" << std::endl;
 
 	return HasReturnvaluesIF::RETURN_OK;	
 }
diff --git a/mission/DeviceHandler/ArduinoComIF.cpp b/mission/DeviceHandler/ArduinoComIF.cpp
index c607cd7..73ca7a4 100644
--- a/mission/DeviceHandler/ArduinoComIF.cpp
+++ b/mission/DeviceHandler/ArduinoComIF.cpp
@@ -101,25 +101,20 @@ ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) {
 
 	Cookie->Serial_port_number = serial_port;
 
-	sif::debug<<"\nDEBUG_COMIF: debug0-IF"<<std::endl;
-
 	return RETURN_OK;
 }
 
 ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie,
 		const uint8_t *sendData, size_t sendLen) {
-	sif::debug<<"\nDEBUG_COMIF: debug1-IF"<<std::endl;
 	return RETURN_OK;
 }
 
 ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) {
-	sif::debug<<"\nDEBUG_COMIF: debug2-IF"<<std::endl;
 	return RETURN_OK;
 }
 
 ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie,
 		size_t requestLen) {
-	sif::debug<<"\nDEBUG_COMIF: debug3-IF"<<std::endl;
 	return RETURN_OK;
 }
 
@@ -134,8 +129,6 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
 	// which employ 8 different buffer array.
 	// At the end these 8 arrays are concatenated in
 	// the main buffer array read_buf.
-	
-	sif::debug<<"\nDEBUG_COMIF: start of copy received data in the buffer"<<std::endl;
 
 	uint8_t read_buf[2034]; // 2034 bytes from SPC serial output
 	uint8_t read_buf1[255]; // 255 bytes
diff --git a/mission/DeviceHandler/ArduinoDeviceHandler.cpp b/mission/DeviceHandler/ArduinoDeviceHandler.cpp
index 7958371..9b623e4 100644
--- a/mission/DeviceHandler/ArduinoDeviceHandler.cpp
+++ b/mission/DeviceHandler/ArduinoDeviceHandler.cpp
@@ -82,7 +82,7 @@ ReturnValue_t ArduinoDH::scanForReply(const uint8_t *start, size_t len,
 	/* Unless a command was sent explicitely, we don't expect any replies and ignore
 	 the packet. On a real device, there might be replies which are sent without a previous
 	 command. */
-	sif::debug<<"\nDEBUG_DH: scan for reply"<<std::endl;
+	//sif::debug<<"DEBUG_DH: scan for reply"<<std::endl;
 	/*if (not commandSent) {
 		sif::debug<<" DH: scan for reply2"<<std::endl;
 		return DeviceHandlerBase::IGNORE_FULL_PACKET;
@@ -114,7 +114,7 @@ ReturnValue_t ArduinoDH::scanForReply(const uint8_t *start, size_t len,
 ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
 		const uint8_t *packet) {
 	
-	sif::debug<<"\nDEBUG_DH: interprete for reply"<<std::endl;
+	//sif::debug<<"DEBUG_DH: interprete for reply"<<std::endl;
 	// The data stored in the read buffer are here copied in the variables with the SPC format.
 	// After copying, the data of temperature, environment and accelerometer are stored in three separated vectors.
 
@@ -157,7 +157,7 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
 	
 	// All data are here printed to monitor from the three vectors of data measurements.
 	
-	printf(
+	/*printf(
 			"\n***********************************************************************************************\n");
 	printf("TEMPERATURE parameters are: ");
 
@@ -169,8 +169,8 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
 		printf("\nTemperature: %f", vecTemp[i].temperature);
 		printf("\nTimestamp: %u", vecTemp[i].Timestamp);
 		printf("\nEnd: %7s", vecTemp[i].end_string);
-	}
-	printf(
+	}*/
+	/*printf(
 			"\n\n***********************************************************************************************\n");
 	printf("ENVIRONMENTAL parameters are: ");
 
@@ -262,7 +262,7 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
 		printf("\nEnd: %7s", vecAcc[3 * k + 2].end_string);
 	}
 
-	std::cout << "\n\nEnd reading data.\n" << std::endl;
+	std::cout << "\n\nEnd reading data.\n" << std::endl;*/
 
 	// The data are here written to the data pool where they would be available to be used for other objects
 	
@@ -270,41 +270,49 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
 	
 	PoolVector <float, 36> TempValueVec(datapool::Temperature_value, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
 	for (int i = 0; i < 36; i++) {
-		memcpy(&TempValueVec, &vecTemp[27 * i + 11], 4);
+		memcpy(&TempValueVec[i], &vecTemp[27 * i + 11], 4);
 	}
 	ArduinoDataSet.commit(PoolVariableIF::VALID);
 	
+	/*
 	PoolVector <unsigned int, 36> TempTimeVec(datapool::Temperature_Timestamp, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
 	for (int i = 0; i < 36; i++) {
-		memcpy(&TempTimeVec, &vecTemp[27 * i + 15], 4);
+		memcpy(&TempTimeVec[i], &vecTemp[27 * i + 15], 4);
 	}
 	ArduinoDataSet.commit(PoolVariableIF::VALID);
 	
+	sif::debug<<"\nDEBUG_DHi: End of copy to datapool"<<std::endl;
+
 	PoolVector <float, 9> EnvValueVec(datapool::Environmental_value, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
 	for (int j = 0; j < 9; j++) {
-		memcpy(&EnvValueVec, &vecEnv[27 * (36 + j) + 11], 4);
+		memcpy(&EnvValueVec[j], &vecEnv[27 * (36 + j) + 11], 4);
 	}
 	ArduinoDataSet.commit(PoolVariableIF::VALID);
 	
 	PoolVector <unsigned int, 9> EnvTimeVec(datapool::Environmental_Timestamp, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
 	for (int j = 0; j < 9; j++) {
-		memcpy(&EnvTimeVec, &vecEnv[27 * (36 + j) + 15], 4);
+		memcpy(&EnvTimeVec[j], &vecEnv[27 * (36 + j) + 15], 4);
 	}
 	ArduinoDataSet.commit(PoolVariableIF::VALID);
 	
+	sif::debug<<"\nDEBUG_DHj: End of copy to datapool"<<std::endl;
+
 	PoolVector <float, 15> AccValueVec(datapool::Accelerometer_value, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
 	for (int k = 0; k < 15; k++) {
-		memcpy(&AccValueVec, &vecAcc[27 * (36 + 9) + 91 * k + 11], 36);
+		memcpy(&AccValueVec[k], &vecAcc[27 * (36 + 9) + 91 * k + 11], 36);
+		sif::debug<<"\nDEBUG_DHk1: End of copy to datapool"<<std::endl;
 	}
 	ArduinoDataSet.commit(PoolVariableIF::VALID);
 	
 	PoolVector <unsigned int, 15> AccTimeVec(datapool::Accelerometer_Timestamp, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
 	for (int k = 0; k < 15; k++) {
-		memcpy(&AccTimeVec, &vecAcc[27 * (36 + 9) + 91 * k + 47], 36);
+		memcpy(&AccTimeVec[k], &vecAcc[27 * (36 + 9) + 91 * k + 47], 36);
+		sif::debug<<"\nDEBUG_DHk2: End of copy to datapool"<<std::endl;
 	}
 	ArduinoDataSet.commit(PoolVariableIF::VALID);
+	*/
 	
-	sif::debug<<"\nDEBUG_DH: End of copy to datapool"<<std::endl;
+	//sif::debug<<"DEBUG_DH: End of copy to datapool"<<std::endl;
 
 	return RETURN_OK;
 }