diff --git a/Libs/rtos2-utils b/Libs/rtos2-utils
index 0e96b2e..c609dc8 160000
--- a/Libs/rtos2-utils
+++ b/Libs/rtos2-utils
@@ -1 +1 @@
-Subproject commit 0e96b2ec29fde1e56e12fc9f0dceb80012e0caf3
+Subproject commit c609dc81cc70327948aa8173c9d6ad804ae7a642
diff --git a/Tacos/src/manager.cpp b/Tacos/src/manager.cpp
index 2b511ef..468c5fb 100644
--- a/Tacos/src/manager.cpp
+++ b/Tacos/src/manager.cpp
@@ -80,7 +80,7 @@ namespace sta
 
 		void Manager::func()
 		{
-			Statemachine::stateChangeEvent.wait(Statemachine::EventFlags::ALL, osWaitForever);
+			Statemachine::stateChangeEvent.wait(EventFlags::ALL, osWaitForever);
 
 			HeapStats_t stats;
 			vPortGetHeapStats(&stats);
diff --git a/Tacos/src/statemachine.cpp b/Tacos/src/statemachine.cpp
index aade590..a3b0227 100644
--- a/Tacos/src/statemachine.cpp
+++ b/Tacos/src/statemachine.cpp
@@ -17,11 +17,8 @@ namespace sta
 		Statemachine::Statemachine()
 			: TacosThread{"Statemachine", STA_TACOS_STATEMACHINE_PRIORITY},
 			  currentState_{STA_TACOS_INITIAL_STATE},
-			  failsafeState_{STA_TACOS_INITIAL_STATE},
 			  lockoutTimer_{[](void *){}, nullptr},
 			  failsafeTimer_{[](void *){}, nullptr},
-			  transitionFunc_{[](uint16_t) -> uint16_t { return Statemachine::instance()->getCurrentState(); }},
-			  timerFunc_{[](uint16_t, uint16_t, uint16_t) {}},
 			  queue_{STA_TACOS_STATEMACHINE_QUEUE_LENGTH}
 		{
 			STA_ASSERT(STA_TACOS_INITIAL_STATE < STA_TACOS_NUM_STATES);
@@ -29,7 +26,7 @@ namespace sta
 
 		void Statemachine::init()
 		{
-			timerFunc_(0, 0, EventFlags::STARTUP);
+
 		}
 
 		void Statemachine::func()
@@ -55,18 +52,10 @@ namespace sta
 				}
 
 				// Start the lockout timer if requested.
-				if (transition.lockout != NULL)
+				if (transition.lockout != 0)
 				{
 					setLockoutTimer(transition.lockout);
 				}
-
-				// Start the failsafe timer if requested.
-				if (transition.failsafe != NULL)
-				{
-					std::tie(millis, state) = transition.failsafe;
-
-					setFailsafeTimer(millis, state);
-				}
 			}
 		}
 
@@ -89,12 +78,12 @@ namespace sta
 
 		void Statemachine::requestTimedStateTransition(uint32_t from, uint32_t to, uint32_t millis, uint32_t lockout /* = 0 */)
 		{
-			STA_ASSERT(nextState < STA_TACOS_NUM_STATES);
+			STA_ASSERT(to < STA_TACOS_NUM_STATES);
 			STA_ASSERT(!failsafeTimer_.isRunning());
 
 			failsafeTimer_.setCallback([from, to, lockout](void* arg) {
-				Statemachine::requestStateTransition(from, to, lockout);
-			}, &failsafeState_);
+				Statemachine::instance()->requestStateTransition(from, to, lockout);
+			}, NULL);
 
 			failsafeTimer_.start(millis);
 		}