diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp
index 8f969a1d1..2342c24c2 100644
--- a/osal/rtems/MultiObjectTask.cpp
+++ b/osal/rtems/MultiObjectTask.cpp
@@ -78,8 +78,9 @@ ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
-	ReturnValue_t result = newObject->initializeAfterTaskCreation();
-	return result;
+	newObject->setTaskIF(this);
+
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 uint32_t MultiObjectTask::getPeriodMs() const {
diff --git a/osal/rtems/MultiObjectTask.h b/osal/rtems/MultiObjectTask.h
index 28d05fb1a..736e79dd1 100644
--- a/osal/rtems/MultiObjectTask.h
+++ b/osal/rtems/MultiObjectTask.h
@@ -1,11 +1,5 @@
-/**
- * @file	MultiObjectTask.h
- * @brief	This file defines the MultiObjectTask class.
- * @date	30.01.2014
- * @author	baetz
- */
-#ifndef MULTIOBJECTTASK_H_
-#define MULTIOBJECTTASK_H_
+#ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
+#define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
 
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../tasks/PeriodicTaskIF.h"
@@ -21,7 +15,7 @@ class ExecutableObjectIF;
  * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
  * 			multiple objects that implement the ExecutableObjectIF interface. The objects must be
  * 			added prior to starting the task.
- *
+ * @author  baetz
  * @ingroup task_handling
  */
 class MultiObjectTask: public TaskBase, public PeriodicTaskIF {
@@ -63,11 +57,11 @@ public:
 	 * @param object Id of the object to add.
 	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 protected:
 	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.
 	/**
@@ -110,4 +104,4 @@ protected:
 	void taskFunctionality(void);
 };
 
-#endif /* MULTIOBJECTTASK_H_ */
+#endif /* FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ */
diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp
index d8babcde7..9553ac79c 100644
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@@ -1,7 +1,6 @@
 #include "Mutex.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
-const uint32_t MutexIF::NO_TIMEOUT = RTEMS_NO_TIMEOUT;
 uint8_t Mutex::count = 0;
 
 Mutex::Mutex() :
@@ -24,8 +23,22 @@ Mutex::~Mutex() {
 	}
 }
 
-ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
-	rtems_status_code status = rtems_semaphore_obtain(mutexId, RTEMS_WAIT, timeoutMs);
+ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType =
+        TimeoutType::BLOCKING, uint32_t timeoutMs) {
+	if(timeoutMs == MutexIF::TimeoutType::BLOCKING) {
+		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+				RTEMS_WAIT, RTEMS_NO_TIMEOUT);
+	}
+	else if(timeoutMs == MutexIF::TimeoutType::POLLING) {
+		timeoutMs = RTEMS_NO_TIMEOUT;
+		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+				RTEMS_NO_WAIT, 0);
+	}
+	else {
+		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+				RTEMS_WAIT, timeoutMs);
+	}
+
 	switch(status){
 	case RTEMS_SUCCESSFUL:
 		//semaphore obtained successfully
diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h
index 340bb16b7..723682104 100644
--- a/osal/rtems/Mutex.h
+++ b/osal/rtems/Mutex.h
@@ -1,5 +1,5 @@
-#ifndef OS_RTEMS_MUTEX_H_
-#define OS_RTEMS_MUTEX_H_
+#ifndef FRAMEWORK_OSAL_RTEMS_MUTEX_H_
+#define FRAMEWORK_OSAL_RTEMS_MUTEX_H_
 
 #include "../../ipc/MutexIF.h"
 #include "RtemsBasic.h"
@@ -8,7 +8,7 @@ class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs);
+	ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs = 0);
 	ReturnValue_t unlockMutex();
 private:
 	rtems_id mutexId;
diff --git a/osal/rtems/PollingTask.cpp b/osal/rtems/PollingTask.cpp
index efb425d97..04191515b 100644
--- a/osal/rtems/PollingTask.cpp
+++ b/osal/rtems/PollingTask.cpp
@@ -1,7 +1,7 @@
-#include "../../tasks/FixedSequenceSlot.h"
+#include "../../devicehandlers/FixedSequenceSlot.h"
 #include "../../objectmanager/SystemObjectIF.h"
-#include "../../osal/rtems/PollingTask.h"
-#include "../../osal/rtems/RtemsBasic.h"
+#include "PollingTask.h"
+#include "RtemsBasic.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 #include <rtems/bspIo.h>
@@ -73,7 +73,7 @@ ReturnValue_t PollingTask::addSlot(object_id_t componentId,
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
-	sif::error << "Component " << std::hex << componentId <<
+	error << "Component " << std::hex << componentId <<
 			" not found, not adding it to pst" << std::endl;
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
@@ -82,7 +82,7 @@ uint32_t PollingTask::getPeriodMs() const {
 	return pst.getLengthMs();
 }
 
-ReturnValue_t PollingTask::checkAndInitializeSequence() const {
+ReturnValue_t PollingTask::checkSequence() const {
 	return pst.checkSequence();
 }
 
diff --git a/osal/rtems/PollingTask.h b/osal/rtems/PollingTask.h
index 1502f0c60..199c34e71 100644
--- a/osal/rtems/PollingTask.h
+++ b/osal/rtems/PollingTask.h
@@ -1,7 +1,7 @@
 #ifndef POLLINGTASK_H_
 #define POLLINGTASK_H_
 
-#include "../../tasks/FixedSlotSequence.h"
+#include "../../devicehandlers/FixedSlotSequence.h"
 #include "../../tasks/FixedTimeslotTaskIF.h"
 #include "TaskBase.h"
 
@@ -42,7 +42,7 @@ class PollingTask: public TaskBase, public FixedTimeslotTaskIF {
 
 	uint32_t getPeriodMs() const;
 
-	ReturnValue_t checkAndInitializeSequence() const;
+	ReturnValue_t checkSequence() const;
 
 	ReturnValue_t sleepFor(uint32_t ms);
 protected: