diff --git a/demoIsoObject.cpp b/demoIsoObject.cpp
index 2cb9c45..0f3e299 100644
--- a/demoIsoObject.cpp
+++ b/demoIsoObject.cpp
@@ -93,7 +93,7 @@ class myObject : public ISO22133::TestObject {
 	  ISO22133::TestObject(ip),
 	  dummyMember(0) {
 		ObjectSettingsType osem;
-		osem.testMode = TEST_MODE_UNAVAILABLE;
+		osem.testMode = TEST_MODE_PREPLANNED;
 		setMonr(1, 2, 3, 0.4, 5, 6);
 		setObjectSettings(osem);
 	}
diff --git a/iso22133 b/iso22133
index 6bbcee7..bf8347b 160000
--- a/iso22133
+++ b/iso22133
@@ -1 +1 @@
-Subproject commit 6bbcee765aa503c8b6349ffb25b0f3c3253e1db8
+Subproject commit bf8347b8fcbd67d121081e33bbb5829e9282c3e3
diff --git a/src/iso22133object.cpp b/src/iso22133object.cpp
index 2a0dafb..234b6f2 100644
--- a/src/iso22133object.cpp
+++ b/src/iso22133object.cpp
@@ -54,7 +54,7 @@ void TestObject::initialize() {
 	initSpd.isLongitudinalValid = false;
 	initAcc.isLateralValid		= false;
 	initAcc.isLongitudinalValid = false;
-	initTm						= TEST_MODE_UNAVAILABLE;
+	initTm						= TEST_MODE_PREPLANNED;
 	this->setPosition(initPos);
 	this->setSpeed(initSpd);
 	this->setAcceleration(initAcc);
@@ -332,7 +332,7 @@ int TestObject::handleMessage(std::vector<char>& dataBuffer) {
 	expectedMessageCounter = msgHeader.messageCounter + 1;
 	switch (msgHeader.messageID) {
 		case MESSAGE_ID_TRAJ:
-			bytesHandled = this->trajDecoder.DecodeTRAJ(dataBuffer, false);
+			bytesHandled = this->trajDecoder.DecodeTRAJ(dataBuffer, debug);
 			if (bytesHandled < 0) {
 				throw std::invalid_argument("Error decoding TRAJ");
 			}
diff --git a/src/iso22133state.cpp b/src/iso22133state.cpp
index 7bbe5a4..a07ce76 100644
--- a/src/iso22133state.cpp
+++ b/src/iso22133state.cpp
@@ -114,11 +114,11 @@ void ISO22133::State::handleOSEM(TestObject& obj, ObjectSettingsType& osem) {
 	msg << "Got OSEM - set transmitter ID to " << obj.transmitterID << std::endl;
 	std::cout << msg.str();
 
-	obj.expectedHeartbeatPeriod = std::chrono::milliseconds(1000 / (uint)osem.rate.heab);
-	msg.str(std::string());
-	msg << "Setting HEAB period to " << obj.expectedHeartbeatPeriod.count() << " ms. ("
-		<< 1000 / obj.expectedHeartbeatPeriod.count() << " Hz) " << std::endl;
-	std::cout << msg.str();
+	//obj.expectedHeartbeatPeriod = std::chrono::milliseconds((uint32_t)(osem.rate.communicationTimeout * 1000));
+	//msg.str(std::string());
+	//msg << "Setting HEAB period to " << obj.expectedHeartbeatPeriod.count() << " ms. ("
+	//	<< 1000 / obj.expectedHeartbeatPeriod.count() << " Hz) " << std::endl;
+	//std::cout << msg.str();
 
 	obj.heartbeatTimeout = 10 * obj.expectedHeartbeatPeriod;
 	msg.str(std::string());
diff --git a/src/trajDecoder.cpp b/src/trajDecoder.cpp
index 6cbcb12..21cd478 100644
--- a/src/trajDecoder.cpp
+++ b/src/trajDecoder.cpp
@@ -27,7 +27,7 @@ ssize_t TrajDecoder::DecodeTRAJ(std::vector<char>& dataBuffer, bool debug) {
 	}
 
 	// Decode TRAJ waypoints
-	int const tmpSize{trajecoryHeader.nWaypoints - nPointsHandled};
+	uint32_t const tmpSize{trajecoryHeader.nWaypoints - nPointsHandled};
 	TrajectoryWaypointType waypoint;
 
 	for (int i = 0; i < tmpSize; i++) {
diff --git a/tests/isoObject.cpp b/tests/isoObject.cpp
index 2fdb99b..74446b3 100644
--- a/tests/isoObject.cpp
+++ b/tests/isoObject.cpp
@@ -105,10 +105,10 @@ class ControlCenterEmulator {
 
 		TimeSetToCurrentSystemTime(&objSettings.currentTime);
 
-		objSettings.heabTimeout.tv_usec = 20000;
-		objSettings.heabTimeout.tv_sec	= 0;
+		objSettings.communicationTimeout.tv_usec = 20000;
+		objSettings.communicationTimeout.tv_sec	= 0;
 
-		objSettings.rate.heab  = 10;
+		objSettings.rate.heabTimeout  = 10;
 		objSettings.rate.monr  = 100;
 		objSettings.rate.monr2 = 1;
 
@@ -131,7 +131,7 @@ class ControlCenterEmulator {
 		header.messageCounter = this->messageCounter;
 		header.transmitterID  = this->transmitterID;
 		auto nBytesWritten =
-		  encodeOSEMMessage(&header, &objSettings, transmitBuffer.data(), transmitBuffer.size(), false);
+		  encodeOSEMMessage(&header, &objSettings, transmitBuffer.data(), transmitBuffer.size(), true);
 		transmitBuffer.resize(nBytesWritten);
 		sendTCP(transmitBuffer);
 	}