diff --git a/bsp_hosted/core/InitMission.cpp b/bsp_hosted/core/InitMission.cpp
index 0bd858e..c983861 100644
--- a/bsp_hosted/core/InitMission.cpp
+++ b/bsp_hosted/core/InitMission.cpp
@@ -283,7 +283,7 @@ void InitMission::createTasks() {
 #endif
 
 #if OBSW_ADD_DEVICE_HANDLER_DEMO
-    HasModesIF* assembly = objectManager->get<HasModesIF>(objects::TEST_ASSEMBLY);
+    HasModesIF* assembly = ObjectManager::instance()->get<HasModesIF>(objects::TEST_ASSEMBLY);
     if (assembly == nullptr){
         return;
     }
diff --git a/bsp_hosted/core/ObjectFactory.cpp b/bsp_hosted/core/ObjectFactory.cpp
index bf5839e..b61fda1 100644
--- a/bsp_hosted/core/ObjectFactory.cpp
+++ b/bsp_hosted/core/ObjectFactory.cpp
@@ -1,8 +1,6 @@
-#include <OBSWConfig.h>
-
-#include <bsp_hosted/core/ObjectFactory.h>
+#include "ObjectFactory.h"
+#include "OBSWConfig.h"
 #include <bsp_hosted/fsfwconfig/objects/systemObjectList.h>
-#include <bsp_hosted/fsfwconfig/OBSWConfig.h>
 #include <bsp_hosted/fsfwconfig/tmtc/apid.h>
 #include <bsp_hosted/fsfwconfig/tmtc/pusIds.h>
 
@@ -21,7 +19,7 @@
 #include <fsfw/osal/common/UdpTcPollingTask.h>
 #include <fsfw/osal/common/UdpTmTcBridge.h>
 
-void ObjectFactory::produce(){
+void ObjectFactory::produce(void* args) {
     Factory::setStaticFrameworkObjectIds();
 
 #if OBSW_ADD_CORE_COMPONENTS == 1
diff --git a/bsp_hosted/core/ObjectFactory.h b/bsp_hosted/core/ObjectFactory.h
index 75d77a5..4b2d84c 100644
--- a/bsp_hosted/core/ObjectFactory.h
+++ b/bsp_hosted/core/ObjectFactory.h
@@ -4,7 +4,7 @@
 namespace ObjectFactory {
 
 void setStatics();
-void produce();
+void produce(void* args);
 
 };
 
diff --git a/bsp_hosted/fsfwconfig/pollingsequence/pollingSequenceFactory.h b/bsp_hosted/fsfwconfig/pollingsequence/pollingSequenceFactory.h
index 87dd281..b696b78 100644
--- a/bsp_hosted/fsfwconfig/pollingsequence/pollingSequenceFactory.h
+++ b/bsp_hosted/fsfwconfig/pollingsequence/pollingSequenceFactory.h
@@ -1,7 +1,7 @@
 #ifndef POLLINGSEQUENCE_POLLINGSEQUENCFACTORY_H_
 #define POLLINGSEQUENCE_POLLINGSEQUENCFACTORY_H_
 
-#include <bsp_hosted/fsfwconfig/OBSWConfig.h>
+#include "OBSWConfig.h"
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
 class FixedTimeslotTaskIF;
diff --git a/bsp_hosted/main.cpp b/bsp_hosted/main.cpp
index 839fbab..26b4414 100644
--- a/bsp_hosted/main.cpp
+++ b/bsp_hosted/main.cpp
@@ -26,8 +26,6 @@ ServiceInterfaceStream sif::warning("WARNING", false);
 ServiceInterfaceStream sif::error("ERROR", false, true, true);
 #endif
 
-ObjectManagerIF *objectManager = nullptr;
-
 int main() {
 
     utility::commonInitPrint("Hosted", COMPILE_PRINTOUT);
@@ -38,7 +36,8 @@ int main() {
     sif::printInfo("Producing system objects..\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 
-	objectManager = new ObjectManager(ObjectFactory::produce);
+    ObjectManager* objManager = ObjectManager::instance();
+    objManager->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::info << "Objects created successfully.." << std::endl;
@@ -47,7 +46,7 @@ int main() {
     sif::printInfo("Objects created successfully..\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 
-	objectManager->initialize();
+    objManager->initialize();
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::info << "Creating tasks.." << std::endl;
diff --git a/bsp_linux/core/InitMission.cpp b/bsp_linux/core/InitMission.cpp
index 81ca23a..d74ba45 100644
--- a/bsp_linux/core/InitMission.cpp
+++ b/bsp_linux/core/InitMission.cpp
@@ -1,5 +1,5 @@
 #include "InitMission.h"
-#include <OBSWConfig.h>
+#include "OBSWConfig.h"
 
 #include <bsp_linux/fsfwconfig/objects/systemObjectList.h>
 #include <bsp_linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h>
@@ -216,7 +216,7 @@ void InitMission::createTasks() {
 
 
 #if OBSW_ADD_DEVICE_HANDLER_DEMO
-    HasModesIF* assembly = objectManager->get<HasModesIF>(objects::TEST_ASSEMBLY);
+    HasModesIF* assembly = ObjectManager::instance()->get<HasModesIF>(objects::TEST_ASSEMBLY);
     if (assembly == nullptr){
     	return;
     }
diff --git a/bsp_linux/core/ObjectFactory.cpp b/bsp_linux/core/ObjectFactory.cpp
index 0866c28..6a1fe59 100644
--- a/bsp_linux/core/ObjectFactory.cpp
+++ b/bsp_linux/core/ObjectFactory.cpp
@@ -20,7 +20,7 @@
 #include <fsfw/osal/common/UdpTmTcBridge.h>
 
 
-void ObjectFactory::produce() {
+void ObjectFactory::produce(void* args) {
     /* Located inside the GenericFactory source file */
 	Factory::setStaticFrameworkObjectIds();
 
diff --git a/bsp_linux/core/ObjectFactory.h b/bsp_linux/core/ObjectFactory.h
index 0d78319..1151a9e 100644
--- a/bsp_linux/core/ObjectFactory.h
+++ b/bsp_linux/core/ObjectFactory.h
@@ -4,7 +4,7 @@
 
 namespace ObjectFactory {
 	void setStatics();
-	void produce();
+	void produce(void* args);
 };
 
 #endif /* MISSION_CORE_OBJECTFACTORY_H_ */
diff --git a/bsp_linux/main.cpp b/bsp_linux/main.cpp
index 4437290..4696be2 100644
--- a/bsp_linux/main.cpp
+++ b/bsp_linux/main.cpp
@@ -39,7 +39,8 @@ int main() {
     sif::printInfo("Producing system objects..\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 
-    objectManager = new ObjectManager(ObjectFactory::produce);
+    ObjectManager* objManager = ObjectManager::instance();
+    objManager->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::info << "Objects created successfully.." << std::endl;
@@ -48,7 +49,7 @@ int main() {
     sif::printInfo("Objects created successfully..\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 
-    objectManager->initialize();
+    objManager->initialize();
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::info << "Creating tasks.." << std::endl;
diff --git a/bsp_stm32_freertos/core/InitMission.cpp b/bsp_stm32_freertos/core/InitMission.cpp
index 1b9cdcd..e4fa9da 100644
--- a/bsp_stm32_freertos/core/InitMission.cpp
+++ b/bsp_stm32_freertos/core/InitMission.cpp
@@ -1,6 +1,5 @@
 #include "InitMission.h"
 #include "OBSWConfig.h"
-
 #include "objects/systemObjectList.h"
 #include "pollingsequence/pollingSequenceFactory.h"
 
@@ -8,7 +7,7 @@
 #include "mission/assemblies/TestAssembly.h"
 
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
-#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 #include "fsfw/tasks/TaskFactory.h"
@@ -195,7 +194,7 @@ void InitMission::createTasks() {
 #endif
 
 #if OBSW_ADD_DEVICE_HANDLER_DEMO
-    HasModesIF* assembly = objectManager->get<HasModesIF>(objects::TEST_ASSEMBLY);
+    HasModesIF* assembly = ObjectManager::instance()->get<HasModesIF>(objects::TEST_ASSEMBLY);
     if (assembly == nullptr){
         return;
     }
diff --git a/bsp_stm32_freertos/core/ObjectFactory.cpp b/bsp_stm32_freertos/core/ObjectFactory.cpp
index 3935aa6..3c13e22 100644
--- a/bsp_stm32_freertos/core/ObjectFactory.cpp
+++ b/bsp_stm32_freertos/core/ObjectFactory.cpp
@@ -17,7 +17,7 @@
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
 
-void ObjectFactory::produce() {
+void ObjectFactory::produce(void* args) {
     /* Located inside GenericFactory source file */
 	Factory::setStaticFrameworkObjectIds();
 
diff --git a/bsp_stm32_freertos/core/ObjectFactory.h b/bsp_stm32_freertos/core/ObjectFactory.h
index 0d78319..1151a9e 100644
--- a/bsp_stm32_freertos/core/ObjectFactory.h
+++ b/bsp_stm32_freertos/core/ObjectFactory.h
@@ -4,7 +4,7 @@
 
 namespace ObjectFactory {
 	void setStatics();
-	void produce();
+	void produce(void* args);
 };
 
 #endif /* MISSION_CORE_OBJECTFACTORY_H_ */
diff --git a/bsp_stm32_freertos/main.cpp b/bsp_stm32_freertos/main.cpp
index 8383bbe..55c4eb1 100644
--- a/bsp_stm32_freertos/main.cpp
+++ b/bsp_stm32_freertos/main.cpp
@@ -33,8 +33,6 @@ ServiceInterfaceStream sif::warning("WARNING", true);
 ServiceInterfaceStream sif::error("ERROR", true);
 #endif
 
-ObjectManagerIF *objectManager = nullptr;
-
 void initTask(void *parameters);
 
 /**
@@ -70,8 +68,10 @@ void initTask(void *parameters) {
 	sif::printInfo("Creating objects..\n\r");
 #endif
 
-	objectManager = new ObjectManager(ObjectFactory::produce);
-	objectManager->initialize();
+    ObjectManager* objManager = ObjectManager::instance();
+    objManager->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
+    objManager->initialize();
+
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::info << "Creating tasks.." << std::endl;
 #else
diff --git a/common/stm32_nucleo/networking/UdpTcLwIpPollingTask.cpp b/common/stm32_nucleo/networking/UdpTcLwIpPollingTask.cpp
index 4972976..11cd564 100644
--- a/common/stm32_nucleo/networking/UdpTcLwIpPollingTask.cpp
+++ b/common/stm32_nucleo/networking/UdpTcLwIpPollingTask.cpp
@@ -6,6 +6,7 @@
 #include <hardware_init.h>
 
 #include <fsfw/ipc/MutexGuard.h>
+#include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
 #include <lwip/timeouts.h>
@@ -18,7 +19,7 @@ UdpTcLwIpPollingTask::~UdpTcLwIpPollingTask() {
 }
 
 ReturnValue_t UdpTcLwIpPollingTask::initialize() {
-    udpBridge = objectManager->get<TmTcLwIpUdpBridge>(bridgeId);
+    udpBridge = ObjectManager::instance()->get<TmTcLwIpUdpBridge>(bridgeId);
     if(udpBridge == nullptr) {
         return ObjectManagerIF::CHILD_INIT_FAILED;
     }
diff --git a/fsfw b/fsfw
index 070c3f3..145dd33 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 070c3f3bbfdbddbda54b18cdb5d1c9928640a0dd
+Subproject commit 145dd33fb1e467ef7370ccd44671a91d96c60e26
diff --git a/fsfw_hal b/fsfw_hal
index c50868c..d194b75 160000
--- a/fsfw_hal
+++ b/fsfw_hal
@@ -1 +1 @@
-Subproject commit c50868c9dc46e27ae59e79f83f27723766656f08
+Subproject commit d194b759c4781f6384786010c460382de97830c2
diff --git a/misc/eclipse/cmake/FreeRTOS/fsfw-stm32-freertos-debug.launch b/misc/eclipse/cmake/FreeRTOS/fsfw-stm32-freertos-debug.launch
index c2dbd65..a8c0c1e 100644
--- a/misc/eclipse/cmake/FreeRTOS/fsfw-stm32-freertos-debug.launch
+++ b/misc/eclipse/cmake/FreeRTOS/fsfw-stm32-freertos-debug.launch
@@ -59,6 +59,6 @@
     <listAttribute key="org.eclipse.debug.ui.favoriteGroups">
         <listEntry value="org.eclipse.debug.ui.launchGroup.debug"/>
     </listAttribute>
-    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#10;&lt;memoryBlockExpressionList context=&quot;Context string&quot;&gt;&#10;    &lt;memoryBlockExpression address=&quot;604291484&quot; label=&quot;*((((this)-&amp;gt;hkBuffer))+0)@100&quot;/&gt;&#10;&lt;/memoryBlockExpressionList&gt;&#10;"/>
+    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList context=&quot;Context string&quot;&gt;&#13;&#10;    &lt;memoryBlockExpression address=&quot;604291484&quot; label=&quot;*((((this)-&amp;gt;hkBuffer))+0)@100&quot;/&gt;&#13;&#10;&lt;/memoryBlockExpressionList&gt;&#13;&#10;"/>
     <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
 </launchConfiguration>
diff --git a/mission/assemblies/TestAssembly.cpp b/mission/assemblies/TestAssembly.cpp
index 86dab25..8f4debc 100644
--- a/mission/assemblies/TestAssembly.cpp
+++ b/mission/assemblies/TestAssembly.cpp
@@ -1,7 +1,7 @@
 #include <mission/assemblies/TestAssembly.h>
 #include <common/config/commonSystemObjects.h>
 
-#include <fsfw/objectmanager/ObjectManagerIF.h>
+#include <fsfw/objectmanager/ObjectManager.h>
 
 
 TestAssembly::TestAssembly(object_id_t objectId, object_id_t parentId):
@@ -149,8 +149,8 @@ ReturnValue_t TestAssembly::initialize() {
 	if(result != RETURN_OK){
 		return result;
 	}
-	handler0 = objectManager->get<TestDevice>(objects::TEST_DEVICE_HANDLER_0);
-	handler1 = objectManager->get<TestDevice>(objects::TEST_DEVICE_HANDLER_1);
+	handler0 = ObjectManager::instance()->get<TestDevice>(objects::TEST_DEVICE_HANDLER_0);
+	handler1 = ObjectManager::instance()->get<TestDevice>(objects::TEST_DEVICE_HANDLER_1);
 	if((handler0 == nullptr) or (handler1 == nullptr)){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
diff --git a/mission/controller/TestController.cpp b/mission/controller/TestController.cpp
index 46f75f3..385d07b 100644
--- a/mission/controller/TestController.cpp
+++ b/mission/controller/TestController.cpp
@@ -1,7 +1,8 @@
 #include "TestController.h"
-#include <OBSWConfig.h>
+#include "OBSWConfig.h"
 
 #include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
 TestController::TestController(object_id_t objectId, size_t commandQueueDepth):
@@ -161,7 +162,7 @@ ReturnValue_t TestController::initializeLocalDataPool(localpool::DataPool &local
 
 ReturnValue_t TestController::initializeAfterTaskCreation() {
     namespace td = testdevice;
-    HasLocalDataPoolIF* device0 = objectManager->get<HasLocalDataPoolIF>(
+    HasLocalDataPoolIF* device0 = ObjectManager::instance()->get<HasLocalDataPoolIF>(
             objects::TEST_DEVICE_HANDLER_0);
     if(device0 == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -183,7 +184,7 @@ ReturnValue_t TestController::initializeAfterTaskCreation() {
     }
 
 
-    HasLocalDataPoolIF* device1 = objectManager->get<HasLocalDataPoolIF>(
+    HasLocalDataPoolIF* device1 = ObjectManager::instance()->get<HasLocalDataPoolIF>(
             objects::TEST_DEVICE_HANDLER_1);
     if(device1 == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
diff --git a/mission/utility/TmFunnel.cpp b/mission/utility/TmFunnel.cpp
index b98c9e9..120cf4a 100644
--- a/mission/utility/TmFunnel.cpp
+++ b/mission/utility/TmFunnel.cpp
@@ -1,4 +1,5 @@
 #include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 #include <fsfw/tmtcpacket/pus/TmPacketPusC.h>
@@ -81,7 +82,7 @@ ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) {
 
 ReturnValue_t TmFunnel::initialize() {
 
-    tmPool = objectManager->get<StorageManagerIF>(objects::TM_STORE);
+    tmPool = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
     if(tmPool == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "TmFunnel::initialize: TM store not set." << std::endl;
@@ -91,8 +92,8 @@ ReturnValue_t TmFunnel::initialize() {
         return ObjectManagerIF::CHILD_INIT_FAILED;
     }
 
-    AcceptsTelemetryIF* tmTarget =
-            objectManager->get<AcceptsTelemetryIF>(downlinkDestination);
+    AcceptsTelemetryIF* tmTarget = ObjectManager::instance()->
+            get<AcceptsTelemetryIF>(downlinkDestination);
     if(tmTarget == nullptr){
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "TmFunnel::initialize: Downlink Destination not set." << std::endl;
@@ -108,8 +109,8 @@ ReturnValue_t TmFunnel::initialize() {
         return SystemObject::initialize();
     }
 
-    AcceptsTelemetryIF* storageTarget =
-            objectManager->get<AcceptsTelemetryIF>(storageDestination);
+    AcceptsTelemetryIF* storageTarget = ObjectManager::instance()->
+            get<AcceptsTelemetryIF>(storageDestination);
     if(storageTarget != nullptr) {
         storageQueue->setDefaultDestination(
                 storageTarget->getReportReceptionQueue());
diff --git a/test/FsfwExampleTask.cpp b/test/FsfwExampleTask.cpp
index 3476ab9..7fe35ac 100644
--- a/test/FsfwExampleTask.cpp
+++ b/test/FsfwExampleTask.cpp
@@ -1,9 +1,10 @@
 #include "FsfwExampleTask.h"
-#include <OBSWConfig.h>
-#include <commonSystemObjects.h>
-#include <objects/systemObjectList.h>
+#include "OBSWConfig.h"
+#include "commonSystemObjects.h"
+#include "objects/systemObjectList.h"
 
 #include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/ipc/CommandMessage.h>
@@ -83,8 +84,7 @@ object_id_t FsfwExampleTask::getSender() {
 ReturnValue_t FsfwExampleTask::initialize() {
     // Get the dataset of the sender. Will be cached for later checks.
     object_id_t sender = getSender();
-    HasLocalDataPoolIF* senderIF =
-            objectManager->get<HasLocalDataPoolIF>(sender);
+    HasLocalDataPoolIF* senderIF = ObjectManager::instance()->get<HasLocalDataPoolIF>(sender);
     if(senderIF == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "FsfwDemoTask::initialize: Sender object invalid!" << std::endl;
@@ -163,7 +163,7 @@ ReturnValue_t FsfwExampleTask::performMonitoringDemo() {
 
 ReturnValue_t FsfwExampleTask::performSendOperation() {
     object_id_t nextRecipient = getNextRecipient();
-    FsfwExampleTask* target = objectManager->get<FsfwExampleTask>(nextRecipient);
+    FsfwExampleTask* target = ObjectManager::instance()->get<FsfwExampleTask>(nextRecipient);
     if (target == nullptr) {
         /* Configuration error */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
diff --git a/test/TestTask.cpp b/test/TestTask.cpp
index b1353d5..cb1a79d 100644
--- a/test/TestTask.cpp
+++ b/test/TestTask.cpp
@@ -1,6 +1,6 @@
 #include "TestTask.h"
 
-#include <fsfw/objectmanager/ObjectManagerIF.h>
+#include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
 bool TestTask::oneShotAction = true;
@@ -12,7 +12,7 @@ TestTask::TestTask(object_id_t objectId, bool periodicPrintout):
 	if(testLock == nullptr) {
 		testLock = MutexFactory::instance()->createMutex();
 	}
-	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
 }
 
 TestTask::~TestTask() {