diff --git a/can_bus/quadruna/BMS/BMS_alerts.json b/can_bus/quadruna/BMS/BMS_alerts.json
index c4c943b8fa..99856ccdaf 100644
--- a/can_bus/quadruna/BMS/BMS_alerts.json
+++ b/can_bus/quadruna/BMS/BMS_alerts.json
@@ -4,115 +4,111 @@
     "warnings_counts_id": 152,
     "faults_counts_id": 153,
     "warnings": {
-        "StackWaterMarkHighTask1Hz" : {
-            "id" :101,
-            "description" : "Example"
+        "StackWaterMarkHighTask1Hz": {
+            "id": 101,
+            "description": "Example"
         },
-        "StackWaterMarkHighTask100Hz" : {
-            "id" :102,
-            "description" : "Example"
+        "StackWaterMarkHighTask100Hz": {
+            "id": 102,
+            "description": "Example"
         },
-        "StackWaterMarkHighTask1kHz" :{
-            "id" :103,
-            "description" : "Example"
+        "StackWaterMarkHighTask1kHz": {
+            "id": 103,
+            "description": "Example"
         },
         "StackWaterMarkHighTaskCanRx": {
-            "id" :104,
-            "description" : "Example"
+            "id": 104,
+            "description": "Example"
         },
-        "StackWaterMarkHighTaskCanTx":{
-            "id" :105,
-            "description" : "Example"
+        "StackWaterMarkHighTaskCanTx": {
+            "id": 105,
+            "description": "Example"
         },
-        "WatchdogTimeout" :{
-            "id" :106,
-            "description" : "Example"
+        "WatchdogTimeout": {
+            "id": 106,
+            "description": "Example"
         },
         "TxOverflow": {
-            "id" :107,
-            "description" : "Example"
+            "id": 107,
+            "description": "Example"
         },
-        "RxOverflow" : {
-            "id" :108,
-            "description" : "Example"
+        "RxOverflow": {
+            "id": 108,
+            "description": "Example"
+        },
+        "MissingVCHeartbeat": {
+            "id": 109,
+            "description": "Example"
         }
     },
     "faults": {
-        "MissingVCHeartbeat":{
-            "id" :151,
-            "description" : "Example"
-        },
-        "MissingRSMHeartbeat":{
-            "id" :152,
-            "description" : "Example"
-        },
-        "StateMachine" :{
-            "id" :154,
-            "description" : "Example"
+        "StateMachine": {
+            "id": 154,
+            "description": "Example"
         },
         "CellUndervoltage": {
-            "id" :155,
-            "description" : "Example"
+            "id": 155,
+            "description": "Example"
         },
         "CellOvervoltage": {
-            "id" :156,
-            "description" : "Example"
+            "id": 156,
+            "description": "Example"
         },
         "ModuleCommunicationError": {
-            "id" :157,
-            "description" : "Example"
+            "id": 157,
+            "description": "Example"
         },
         "CellUndertemp": {
-            "id" :158,
-            "description" : "Example"
+            "id": 158,
+            "description": "Example"
         },
         "CellOvertemp": {
-            "id" :159,
-            "description" : "Example"
+            "id": 159,
+            "description": "Example"
         },
         "Charger": {
-            "id" :160,
-            "description" : "Example"
+            "id": 160,
+            "description": "Example"
         },
         "ChargerDisconnectedDuringCharge": {
-            "id" :161,
-            "description" : "Example"
+            "id": 161,
+            "description": "Example"
         },
         "ChargerExternalShutdown": {
-            "id" :162,
-            "description" : "Example"
+            "id": 162,
+            "description": "Example"
         },
         "TractiveSystemOvercurrent": {
-            "id" :163,
-            "description" : "Example"
+            "id": 163,
+            "description": "Example"
         },
         "PrechargeFailure": {
-            "id" :164,
-            "description" : "Example"
+            "id": 164,
+            "description": "Example"
         },
         "OpenWireCheckFault": {
-            "id" :165,
-            "description" : "Example"
+            "id": 165,
+            "description": "Example"
         },
         "OpenWireCheck_Segment0_GND": {
-            "id" :166,
-            "description" : "Example"
+            "id": 166,
+            "description": "Example"
         },
         "OpenWireCheck_Segment1_GND": {
-            "id" :167,
-            "description" : "Example"
+            "id": 167,
+            "description": "Example"
         },
         "OpenWireCheck_Segment2_GND": {
-            "id" :168,
-            "description" : "Example"
+            "id": 168,
+            "description": "Example"
         },
         "OpenWireCheck_Segment3_GND": {
-            "id" :169,
-            "description" : "Example"
+            "id": 169,
+            "description": "Example"
         },
         "OpenWireCheck_Segment4_GND": {
-            "id" :170,
-            "description" : "Example"
+            "id": 170,
+            "description": "Example"
         }
     }
-}
+}
\ No newline at end of file
diff --git a/can_bus/quadruna/BMS/BMS_rx.json b/can_bus/quadruna/BMS/BMS_rx.json
index ba478e61f8..476c6b4c56 100644
--- a/can_bus/quadruna/BMS/BMS_rx.json
+++ b/can_bus/quadruna/BMS/BMS_rx.json
@@ -1,6 +1,5 @@
 {
     "messages": [
-        "RSM_Vitals",
         "VC_Vitals",
         "BRUSA_Vitals",
         "Debug_Charging",
@@ -8,4 +7,4 @@
         "Debug_CellBalancing",
         "Debug_ResetSoc"
     ]
-}
+}
\ No newline at end of file
diff --git a/can_bus/quadruna/CRIT/CRIT_alerts.json b/can_bus/quadruna/CRIT/CRIT_alerts.json
index df913756c2..b78b414a9e 100644
--- a/can_bus/quadruna/CRIT/CRIT_alerts.json
+++ b/can_bus/quadruna/CRIT/CRIT_alerts.json
@@ -5,54 +5,54 @@
     "faults_counts_id": 551,
     "warnings": {
         "StackWaterMarkHighTask1Hz": {
-            "id" :201,
-            "description" : "Example"
+            "id": 201,
+            "description": "1Hz task stack watermark exceeded."
         },
         "StackWaterMarkHighTask100Hz": {
-            "id" :202,
-            "description" : "Example"
+            "id": 202,
+            "description": "100Hz task stack watermark exceeded."
         },
         "StackWaterMarkHighTask1kHz": {
-            "id" :203,
-            "description" : "Example"
+            "id": 203,
+            "description": "1kHz task stack watermark exceeded."
         },
         "StackWaterMarkHighTaskCanRx": {
-            "id" :204,
-            "description" : "Example"
+            "id": 204,
+            "description": "CAN RX task stack watermark exceeded."
         },
         "StackWaterMarkHighTaskCanTx": {
-            "id" :205,
-            "description" : "Example"
+            "id": 205,
+            "description": "CAN TX task stack watermark exceeded."
         },
         "WatchdogTimeout": {
-            "id" :206,
-            "description" : "Example"
+            "id": 206,
+            "description": "Watchdog timeout detected."
         },
         "TxOverflow": {
-            "id" :207,
-            "description" : "Example"
+            "id": 207,
+            "description": "CAN TX queue has overflowed."
         },
         "RxOverflow": {
-            "id" :208,
-            "description" : "Example"
+            "id": 208,
+            "description": "CAN RX queue has overflowed."
         }
     },
     "faults": {
         "MissingBMSHeartbeat": {
-            "id" :251,
-            "description" : "Example"
+            "id": 251,
+            "description": "Missing heartbeat signal from the BMS."
         },
         "MissingFSMHeartbeat": {
-            "id" :252,
-            "description" : "Example"
+            "id": 252,
+            "description": "Missing heartbeat signal from the FSM."
         },
         "MissingRSMHeartbeat": {
-            "id" :253,
-            "description" : "Example"
+            "id": 253,
+            "description": "Missing heartbeat signal from the RSM."
         },
         "MissingVCHeartbeat": {
-            "id":254,
-            "description" : "Example"
+            "id": 254,
+            "description": "Missing heartbeat signal from the VC."
         }
-}
+    }
 }
\ No newline at end of file
diff --git a/can_bus/quadruna/FSM/FSM_alerts.json b/can_bus/quadruna/FSM/FSM_alerts.json
index d0d0d74aa6..1ea4554f50 100644
--- a/can_bus/quadruna/FSM/FSM_alerts.json
+++ b/can_bus/quadruna/FSM/FSM_alerts.json
@@ -97,10 +97,6 @@
         "SappsOCSC": {
             "id": 353,
             "description": "Secondary accelerator pedal voltage out of acceptable range (OCSC)."
-        },
-        "MissingBMSHeartbeat": {
-            "id": 354,
-            "description": "BMS heartbeat no longer captured."
         }
     }
 }
\ No newline at end of file
diff --git a/can_bus/quadruna/FSM/FSM_rx.json b/can_bus/quadruna/FSM/FSM_rx.json
index 2009a685dc..1e4e50e8a7 100644
--- a/can_bus/quadruna/FSM/FSM_rx.json
+++ b/can_bus/quadruna/FSM/FSM_rx.json
@@ -1,6 +1,5 @@
 {
     "messages": [
-        "BMS_Vitals",
         "Debug_CanMode"
     ]
 }
\ No newline at end of file
diff --git a/can_bus/quadruna/RSM/RSM_alerts.json b/can_bus/quadruna/RSM/RSM_alerts.json
index 544901a849..6487ba702a 100644
--- a/can_bus/quadruna/RSM/RSM_alerts.json
+++ b/can_bus/quadruna/RSM/RSM_alerts.json
@@ -82,9 +82,13 @@
             "id": 452,
             "description": "VC Missing Heart beat"
         },
+        "MissingBMSHeartbeat": {
+            "id": 452,
+            "description": "BMS Missing Heart beat"
+        },
         "MissingFSMHeartbeat": {
             "id": 453,
-            "description": "FSM Missing Heart beat"
+            "description": "FSM Missing Heartbeat"
         }
     }
 }
\ No newline at end of file
diff --git a/can_bus/quadruna/VC/VC_alerts.json b/can_bus/quadruna/VC/VC_alerts.json
index 3e3c7d5c74..4bdd727401 100644
--- a/can_bus/quadruna/VC/VC_alerts.json
+++ b/can_bus/quadruna/VC/VC_alerts.json
@@ -6,94 +6,89 @@
     "warnings": {
         "StackWaterMarkHighTask1Hz": {
             "id": 501,
-            "description": "Example"
+            "description": "1Hz task stack watermark exceeded."
         },
         "StackWaterMarkHighTask100Hz": {
             "id": 502,
-            "description": "Example"
+            "description": "100Hz task stack watermark exceeded."
         },
         "StackWaterMarkHighTask1kHz": {
             "id": 503,
-            "description": "Example"
+            "description": "1kHz task stack watermark exceeded."
         },
         "StackWaterMarkHighTaskCanRx": {
             "id": 504,
-            "description": "Example"
+            "description": "CAN RX task stack watermark exceeded."
         },
         "StackWaterMarkHighTaskCanTx": {
             "id": 505,
-            "description": "Example"
+            "description": "CAN TX task stack watermark exceeded."
         },
         "WatchdogTimeout": {
             "id": 506,
-            "description": "Example"
+            "description": "Watchdog timeout detected."
         },
         "TxOverflow": {
             "id": 507,
-            "description": "Example"
+            "description": "CAN TX queue has overflowed."
         },
         "RxOverflow": {
             "id": 508,
-            "description": "Example"
+            "description": "CAN RX queue has overflowed."
         },
         "RegenNotAvailable": {
             "id": 509,
-            "description": "Example"
+            "description": "Regen is not currently available."
         },
-        "SbgRxOverflow": {
-            "id": 510,
-            "description": "Example"
-        },
-        "ImuIo": {
+        "ImuInitFailed": {
             "id": 516,
-            "description": "Example"
+            "description": "Initializing the embedded IMU failed."
         },
-        "FlowRateInputOutOfRange":
-        {
+        "FlowRateInputOutOfRange": {
             "id": 517,
             "description": "Input to app_pumpControl_setFlowRate out of range"
+        },
+        "BatteryRailOvercurrentFault": {
+            "id": 557,
+            "description": "LV rail from the 18650 batteries was overcurrent."
+        },
+        "AccumulatorRailOvercurrentFault": {
+            "id": 558,
+            "description": "LV rail from the HV DCDC was overcurrent."
+        },
+        "LvChargeFault": {
+            "id": 559,
+            "description": "LV battery charger has faulted."
+        },
+        "BoostControllerFault": {
+            "id": 560,
+            "description": "Boost controller has faulted."
         }
     },
     "faults": {
         "MissingBMSHeartbeat": {
             "id": 551,
-            "description": "Example"
+            "description": "Missing heartbeat signal from the BMS."
         },
         "MissingFSMHeartbeat": {
             "id": 552,
-            "description": "Example"
+            "description": "Missing heartbeat signal from the FSM."
         },
         "MissingRSMHeartbeat": {
             "id": 553,
-            "description": "Example"
+            "description": "Missing heartbeat signal from the RSM."
         },
         "MissingCRITHeartbeat": {
             "id": 554,
-            "description": "Example"
+            "description": "Missing heartbeat signal from the CRIT."
         },
         "LeftInverterFault": {
             "id": 555,
-            "description": "Example"
+            "description": "Left inverter entered fault state."
         },
         "RightInverterFault": {
             "id": 556,
-            "description": "Example"
-        },
-        "BatteryFault": {
-            "id": 557,
-            "description": "Example"
-        },
-        "AccumulatorFault": {
-            "id": 558,
-            "description": "Example"
-        },
-        "LvChargeFault": {
-            "id": 559,
-            "description": "Example"
-        },
-        "BoostControllerFault": {
-            "id": 560,
-            "description": "Example"
+            "description": "Right inverter entered fault state."
         }
     }
 }
\ No newline at end of file
diff --git a/can_bus/quadruna/VC/VC_rx.json b/can_bus/quadruna/VC/VC_rx.json
index 15f1abca46..c055300ea7 100644
--- a/can_bus/quadruna/VC/VC_rx.json
+++ b/can_bus/quadruna/VC/VC_rx.json
@@ -19,13 +19,12 @@
         "FSM_Steering",
         "FSM_Vitals",
         "FSM_Wheels",
+        "RSM_Vitals",
         "INVL_InternalStates",
         "INVL_MotorPositionInfo",
         "INVL_Temperatures3",
         "INVR_InternalStates",
         "INVR_MotorPositionInfo",
-        "INVR_Temperatures3",
-        "RSM_Vitals",
-        "Boot_VC"
+        "INVR_Temperatures3"
     ]
 }
\ No newline at end of file
diff --git a/firmware/quadruna/BMS/src/tasks.c b/firmware/quadruna/BMS/src/tasks.c
index a886d6b7a3..653813b6a7 100644
--- a/firmware/quadruna/BMS/src/tasks.c
+++ b/firmware/quadruna/BMS/src/tasks.c
@@ -213,50 +213,38 @@ static const GlobalsConfig globals_config = {
 };
 
 // config for heartbeat monitor (can funcs and flags)
-// BMS relies on RSM, VC
+// BMS relies on VC
 static const bool heartbeatMonitorChecklist[HEARTBEAT_BOARD_COUNT] = {
-    [BMS_HEARTBEAT_BOARD] = false, [VC_HEARTBEAT_BOARD] = true,   [RSM_HEARTBEAT_BOARD] = true,
+    [BMS_HEARTBEAT_BOARD] = false, [VC_HEARTBEAT_BOARD] = true,   [RSM_HEARTBEAT_BOARD] = false,
     [FSM_HEARTBEAT_BOARD] = false, [DIM_HEARTBEAT_BOARD] = false, [CRIT_HEARTBEAT_BOARD] = false
 };
 
 // heartbeatGetters - get heartbeat signals from other boards
 static bool (*const heartbeatGetters[HEARTBEAT_BOARD_COUNT])(void) = {
-    [BMS_HEARTBEAT_BOARD]  = NULL,
-    [VC_HEARTBEAT_BOARD]   = app_canRx_VC_Heartbeat_get,
-    [RSM_HEARTBEAT_BOARD]  = app_canRx_RSM_Heartbeat_get,
-    [FSM_HEARTBEAT_BOARD]  = NULL,
-    [DIM_HEARTBEAT_BOARD]  = NULL,
-    [CRIT_HEARTBEAT_BOARD] = NULL
+    [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canRx_VC_Heartbeat_get,
+    [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = NULL,
+    [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
 };
 
 // heartbeatUpdaters - update local CAN table with heartbeat status
 static void (*const heartbeatUpdaters[HEARTBEAT_BOARD_COUNT])(bool) = {
-    [BMS_HEARTBEAT_BOARD]  = NULL,
-    [VC_HEARTBEAT_BOARD]   = app_canRx_VC_Heartbeat_update,
-    [RSM_HEARTBEAT_BOARD]  = app_canRx_RSM_Heartbeat_update,
-    [FSM_HEARTBEAT_BOARD]  = NULL,
-    [DIM_HEARTBEAT_BOARD]  = NULL,
-    [CRIT_HEARTBEAT_BOARD] = NULL
+    [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canRx_VC_Heartbeat_update,
+    [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = NULL,
+    [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
 };
 
 // heartbeatFaultSetters - broadcast heartbeat faults over CAN
 static void (*const heartbeatFaultSetters[HEARTBEAT_BOARD_COUNT])(bool) = {
-    [BMS_HEARTBEAT_BOARD]  = NULL,
-    [VC_HEARTBEAT_BOARD]   = app_canAlerts_BMS_Fault_MissingVCHeartbeat_set,
-    [RSM_HEARTBEAT_BOARD]  = app_canAlerts_BMS_Fault_MissingRSMHeartbeat_set,
-    [FSM_HEARTBEAT_BOARD]  = NULL,
-    [DIM_HEARTBEAT_BOARD]  = NULL,
-    [CRIT_HEARTBEAT_BOARD] = NULL
+    [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canAlerts_BMS_Warning_MissingVCHeartbeat_set,
+    [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = NULL,
+    [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
 };
 
 // heartbeatFaultGetters - gets fault statuses over CAN
 static bool (*const heartbeatFaultGetters[HEARTBEAT_BOARD_COUNT])(void) = {
-    [BMS_HEARTBEAT_BOARD]  = NULL,
-    [VC_HEARTBEAT_BOARD]   = app_canAlerts_BMS_Fault_MissingVCHeartbeat_get,
-    [RSM_HEARTBEAT_BOARD]  = app_canAlerts_BMS_Fault_MissingRSMHeartbeat_get,
-    [FSM_HEARTBEAT_BOARD]  = NULL,
-    [DIM_HEARTBEAT_BOARD]  = NULL,
-    [CRIT_HEARTBEAT_BOARD] = NULL
+    [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canAlerts_BMS_Warning_MissingVCHeartbeat_get,
+    [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = NULL,
+    [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
 };
 
 const Gpio *id_to_gpio[] = { [BMS_GpioNetName_ACCEL_BRAKE_OK_3V3]     = &accel_brake_ok_pin,
diff --git a/firmware/quadruna/BMS/test/test_bmsBaseStateMachineTest.h b/firmware/quadruna/BMS/test/test_bmsBaseStateMachineTest.h
index c99f7a0df5..87f365b2e1 100644
--- a/firmware/quadruna/BMS/test/test_bmsBaseStateMachineTest.h
+++ b/firmware/quadruna/BMS/test/test_bmsBaseStateMachineTest.h
@@ -122,46 +122,38 @@ class BmsBaseStateMachineTest : public BaseStateMachineTest
     const FaultLatch           bspd_ok_latch      = {};
 
     // config for heartbeat monitor (can funcs and flags)
-    // BMS relies on RSM, VC
+    // BMS relies on VC
     bool heartbeatMonitorChecklist[HEARTBEAT_BOARD_COUNT] = {
-        [BMS_HEARTBEAT_BOARD] = false, [VC_HEARTBEAT_BOARD] = true,   [RSM_HEARTBEAT_BOARD] = true,
+        [BMS_HEARTBEAT_BOARD] = false, [VC_HEARTBEAT_BOARD] = true,   [RSM_HEARTBEAT_BOARD] = false,
         [FSM_HEARTBEAT_BOARD] = false, [DIM_HEARTBEAT_BOARD] = false, [CRIT_HEARTBEAT_BOARD] = false
     };
 
     // heartbeatGetters - get heartbeat signals from other boards
-    bool (*heartbeatGetters[HEARTBEAT_BOARD_COUNT])() = { [BMS_HEARTBEAT_BOARD]  = NULL,
-                                                          [VC_HEARTBEAT_BOARD]   = app_canRx_VC_Heartbeat_get,
-                                                          [RSM_HEARTBEAT_BOARD]  = app_canRx_RSM_Heartbeat_get,
-                                                          [FSM_HEARTBEAT_BOARD]  = NULL,
-                                                          [DIM_HEARTBEAT_BOARD]  = NULL,
-                                                          [CRIT_HEARTBEAT_BOARD] = NULL };
+    bool (*heartbeatGetters[HEARTBEAT_BOARD_COUNT])() = {
+        [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canRx_VC_Heartbeat_get,
+        [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = NULL,
+        [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
+    };
 
     // heartbeatUpdaters - update local CAN table with heartbeat status
-    void (*heartbeatUpdaters[HEARTBEAT_BOARD_COUNT])(bool) = { [BMS_HEARTBEAT_BOARD]  = NULL,
-                                                               [VC_HEARTBEAT_BOARD]   = app_canRx_VC_Heartbeat_update,
-                                                               [RSM_HEARTBEAT_BOARD]  = app_canRx_RSM_Heartbeat_update,
-                                                               [FSM_HEARTBEAT_BOARD]  = NULL,
-                                                               [DIM_HEARTBEAT_BOARD]  = NULL,
-                                                               [CRIT_HEARTBEAT_BOARD] = NULL };
+    void (*heartbeatUpdaters[HEARTBEAT_BOARD_COUNT])(bool) = {
+        [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canRx_VC_Heartbeat_update,
+        [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = NULL,
+        [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
+    };
 
     // heartbeatFaultSetters - broadcast heartbeat faults over CAN
     void (*heartbeatFaultSetters[HEARTBEAT_BOARD_COUNT])(bool) = {
-        [BMS_HEARTBEAT_BOARD]  = NULL,
-        [VC_HEARTBEAT_BOARD]   = app_canAlerts_BMS_Fault_MissingVCHeartbeat_set,
-        [RSM_HEARTBEAT_BOARD]  = app_canAlerts_BMS_Fault_MissingRSMHeartbeat_set,
-        [FSM_HEARTBEAT_BOARD]  = NULL,
-        [DIM_HEARTBEAT_BOARD]  = NULL,
-        [CRIT_HEARTBEAT_BOARD] = NULL
+        [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canAlerts_BMS_Warning_MissingVCHeartbeat_set,
+        [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = NULL,
+        [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
     };
 
     // heartbeatFaultGetters - gets fault statuses over CAN
     bool (*heartbeatFaultGetters[HEARTBEAT_BOARD_COUNT])() = {
-        [BMS_HEARTBEAT_BOARD]  = NULL,
-        [VC_HEARTBEAT_BOARD]   = app_canAlerts_BMS_Fault_MissingVCHeartbeat_get,
-        [RSM_HEARTBEAT_BOARD]  = app_canAlerts_BMS_Fault_MissingRSMHeartbeat_get,
-        [FSM_HEARTBEAT_BOARD]  = NULL,
-        [DIM_HEARTBEAT_BOARD]  = NULL,
-        [CRIT_HEARTBEAT_BOARD] = NULL
+        [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canAlerts_BMS_Warning_MissingVCHeartbeat_get,
+        [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = NULL,
+        [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
     };
 
     const GlobalsConfig globals_config = {
diff --git a/firmware/quadruna/BMS/test/test_stateMachine.cpp b/firmware/quadruna/BMS/test/test_stateMachine.cpp
index 03ca0d5e75..d8bc28b396 100644
--- a/firmware/quadruna/BMS/test/test_stateMachine.cpp
+++ b/firmware/quadruna/BMS/test/test_stateMachine.cpp
@@ -373,7 +373,6 @@ TEST_F(BmsStateMachineTest, no_charger_connected_missing_hb_init_state)
     fake_io_airs_isNegativeClosed_returns(true);
     app_heartbeatMonitor_blockFaults(false);
     app_canRx_VC_Heartbeat_update(false);
-    app_canRx_RSM_Heartbeat_update(false);
 
     LetTimePass(500U);
 
diff --git a/firmware/quadruna/CRIT/test/test_ledStatus.cpp b/firmware/quadruna/CRIT/test/test_ledStatus.cpp
index 0873541eef..01dc258fc5 100644
--- a/firmware/quadruna/CRIT/test/test_ledStatus.cpp
+++ b/firmware/quadruna/CRIT/test/test_ledStatus.cpp
@@ -106,7 +106,7 @@ TEST_F(LedStatusTest, vc_board_status_led_control_with_warning)
     // Set any critical error and check that the DCM LED turns red
     for (const auto &[can_update, assert_func] :
          std::vector<std::pair<std::function<void(bool)>, std::function<uint32_t(BoardLEDStatus)>>>{
-             { app_canRx_VC_Warning_ImuIo_update, fake_io_led_vc_status_set_callCountForArgs },
+             { app_canRx_VC_Warning_ImuInitFailed_update, fake_io_led_vc_status_set_callCountForArgs },
              { app_canRx_BMS_Warning_RxOverflow_update, fake_io_led_bms_status_set_callCountForArgs },
              { app_canRx_FSM_Warning_LeftSuspensionOCSC_update, fake_io_led_fsm_status_set_callCountForArgs },
              { app_canRx_RSM_Warning_LoadCell3OCSC_update, fake_io_led_rsm_status_set_callCountForArgs },
diff --git a/firmware/quadruna/FSM/CMakeLists.txt b/firmware/quadruna/FSM/CMakeLists.txt
index 66a04f3973..f83c706a26 100644
--- a/firmware/quadruna/FSM/CMakeLists.txt
+++ b/firmware/quadruna/FSM/CMakeLists.txt
@@ -9,7 +9,6 @@ list(APPEND APP_SRCS
     "${SHARED_APP_INCLUDE_DIR}/app_rangeCheck.c"
     "${SHARED_APP_INCLUDE_DIR}/app_signal.c"
     "${SHARED_APP_INCLUDE_DIR}/app_timer.c"
-    "${SHARED_APP_INCLUDE_DIR}/app_heartbeatMonitor.c"
     "${SHARED_APP_INCLUDE_DIR}/app_shdnLoop.c"
 )
 set(APP_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src/app" "${SHARED_APP_INCLUDE_DIR}" "${SHARED_APP_INCLUDE_QUADRUNA_DIR}")
diff --git a/firmware/quadruna/FSM/src/app/app_mainState.c b/firmware/quadruna/FSM/src/app/app_mainState.c
index 5bb3cc9e06..32484dbca7 100644
--- a/firmware/quadruna/FSM/src/app/app_mainState.c
+++ b/firmware/quadruna/FSM/src/app/app_mainState.c
@@ -11,10 +11,11 @@
 #include "app_suspension.h"
 #include "app_loadCell.h"
 #include "app_shdnLoop.h"
-#include "app_heartbeatMonitor.h"
 
 void mainStateRunOnTick100Hz(void)
 {
+    app_canTx_FSM_Heartbeat_set(true);
+
     app_apps_broadcast();
     app_brake_broadcast();
     app_steering_broadcast();
@@ -22,19 +23,6 @@ void mainStateRunOnTick100Hz(void)
     app_suspension_broadcast();
     app_loadCell_broadcast();
     app_shdn_loop_broadcast();
-
-    app_heartbeatMonitor_checkIn();
-    app_heartbeatMonitor_broadcastFaults();
-
-    bool missing_hb = app_heartbeatMonitor_isSendingMissingHeartbeatFault();
-
-    if (missing_hb)
-    {
-        // Redundancy if FSM is missing heartbeats
-        // Suppress accelerator pedal percentages (set to 0%)
-        app_canTx_FSM_PappsMappedPedalPercentage_set(0);
-        app_canTx_FSM_SappsMappedPedalPercentage_set(0);
-    }
 }
 
 const State *app_mainState_get(void)
diff --git a/firmware/quadruna/FSM/src/tasks.c b/firmware/quadruna/FSM/src/tasks.c
index 8c29cba151..908bb48898 100644
--- a/firmware/quadruna/FSM/src/tasks.c
+++ b/firmware/quadruna/FSM/src/tasks.c
@@ -2,7 +2,6 @@
 #include "main.h"
 #include "cmsis_os.h"
 
-#include "app_heartbeatMonitor.h"
 #include "app_mainState.h"
 
 #include "app_canTx.h"
@@ -128,53 +127,6 @@ static const PwmInputFreqOnlyConfig right_wheel_config = { .htim
                                                            .tim_auto_reload_reg = TIM12_AUTO_RELOAD_REG,
                                                            .tim_active_channel  = HAL_TIM_ACTIVE_CHANNEL_1 };
 
-// config for heartbeat monitor (can funcs and flags)
-// FSM rellies on BMS
-static const bool heartbeatMonitorChecklist[HEARTBEAT_BOARD_COUNT] = {
-    [BMS_HEARTBEAT_BOARD] = true,  [VC_HEARTBEAT_BOARD] = false,  [RSM_HEARTBEAT_BOARD] = false,
-    [FSM_HEARTBEAT_BOARD] = false, [DIM_HEARTBEAT_BOARD] = false, [CRIT_HEARTBEAT_BOARD] = false
-};
-
-// heartbeatGetters - get heartbeat signals from other boards
-static bool (*const heartbeatGetters[HEARTBEAT_BOARD_COUNT])(void) = {
-    [BMS_HEARTBEAT_BOARD]  = app_canRx_BMS_Heartbeat_get,
-    [VC_HEARTBEAT_BOARD]   = NULL,
-    [RSM_HEARTBEAT_BOARD]  = NULL,
-    [FSM_HEARTBEAT_BOARD]  = NULL,
-    [DIM_HEARTBEAT_BOARD]  = NULL,
-    [CRIT_HEARTBEAT_BOARD] = NULL
-};
-
-// heartbeatUpdaters - update local CAN table with heartbeat status
-static void (*const heartbeatUpdaters[HEARTBEAT_BOARD_COUNT])(bool) = {
-    [BMS_HEARTBEAT_BOARD]  = app_canRx_BMS_Heartbeat_update,
-    [VC_HEARTBEAT_BOARD]   = NULL,
-    [RSM_HEARTBEAT_BOARD]  = NULL,
-    [FSM_HEARTBEAT_BOARD]  = NULL,
-    [DIM_HEARTBEAT_BOARD]  = NULL,
-    [CRIT_HEARTBEAT_BOARD] = NULL
-};
-
-// heartbeatFaultSetters - broadcast heartbeat faults over CAN
-static void (*const heartbeatFaultSetters[HEARTBEAT_BOARD_COUNT])(bool) = {
-    [BMS_HEARTBEAT_BOARD]  = app_canAlerts_FSM_Fault_MissingBMSHeartbeat_set,
-    [VC_HEARTBEAT_BOARD]   = NULL,
-    [RSM_HEARTBEAT_BOARD]  = NULL,
-    [FSM_HEARTBEAT_BOARD]  = NULL,
-    [DIM_HEARTBEAT_BOARD]  = NULL,
-    [CRIT_HEARTBEAT_BOARD] = NULL
-};
-
-// heartbeatFaultGetters - gets fault statuses over CAN
-static bool (*const heartbeatFaultGetters[HEARTBEAT_BOARD_COUNT])(void) = {
-    [BMS_HEARTBEAT_BOARD]  = app_canAlerts_FSM_Fault_MissingBMSHeartbeat_get,
-    [VC_HEARTBEAT_BOARD]   = NULL,
-    [RSM_HEARTBEAT_BOARD]  = NULL,
-    [FSM_HEARTBEAT_BOARD]  = NULL,
-    [DIM_HEARTBEAT_BOARD]  = NULL,
-    [CRIT_HEARTBEAT_BOARD] = NULL
-};
-
 void tasks_preInit(void)
 {
     hw_bootup_enableInterruptsForApp();
@@ -218,10 +170,6 @@ void tasks_init(void)
     io_suspension_init(&suspension_config);
     io_wheels_init(&left_wheel_config, &right_wheel_config);
 
-    app_heartbeatMonitor_init(
-        heartbeatMonitorChecklist, heartbeatGetters, heartbeatUpdaters, &app_canTx_FSM_Heartbeat_set,
-        heartbeatFaultSetters, heartbeatFaultGetters);
-
     app_stateMachine_init(app_mainState_get());
 
     app_canTx_FSM_Hash_set(GIT_COMMIT_HASH);
diff --git a/firmware/quadruna/FSM/test/test_faults.cpp b/firmware/quadruna/FSM/test/test_faults.cpp
index 3550847f23..0a39baa90d 100644
--- a/firmware/quadruna/FSM/test/test_faults.cpp
+++ b/firmware/quadruna/FSM/test/test_faults.cpp
@@ -6,73 +6,6 @@ class FsmFaultsTest : public FsmBaseStateMachineTest
 {
 };
 
-TEST_F(FsmFaultsTest, check_state_transition_fault_state_heartbeat_timeout)
-{
-    // Test that a missing heartbeat will put the FSM into fault state. The FSM only monitors the BMS' heartbeat.
-
-    // Re-enable heartbeat module.
-    app_heartbeatMonitor_blockFaults(false);
-
-    // Start with a non-zero pedal positions to prevent false positive
-    int time_ms = 0;
-    fake_io_apps_getPrimary_returns(50.0f);
-    fake_io_apps_getSecondary_returns(50.0f);
-    LetTimePass(10);
-
-    // Check in all heartbeats within timeout period
-    time_ms += HEARTBEAT_MONITOR_TIMEOUT_PERIOD_MS - 10U;
-    fake_io_time_getCurrentMs_returns(time_ms);
-    LetTimePass(HEARTBEAT_MONITOR_TIMEOUT_PERIOD_MS - 10U);
-    // Heartbeat faults initially present at startup until cleared
-    ASSERT_EQ(app_mainState_get(), app_stateMachine_getCurrentState());
-    ASSERT_TRUE(app_canAlerts_FSM_Fault_MissingBMSHeartbeat_get());
-    ASSERT_FLOAT_EQ(0.0f, app_canTx_FSM_PappsMappedPedalPercentage_get());
-    ASSERT_FLOAT_EQ(0.0f, app_canTx_FSM_SappsMappedPedalPercentage_get());
-
-    app_canRx_BMS_Heartbeat_update(true); // Check in heartbeat
-    time_ms += 10;
-    fake_io_time_getCurrentMs_returns(time_ms);
-    LetTimePass(10);
-    ASSERT_EQ(app_mainState_get(), app_stateMachine_getCurrentState());
-    ASSERT_FALSE(app_canAlerts_FSM_Fault_MissingBMSHeartbeat_get());
-    ASSERT_NEAR(50.0f, app_canTx_FSM_PappsMappedPedalPercentage_get(), 0.5f);
-    ASSERT_NEAR(50.0f, app_canTx_FSM_SappsMappedPedalPercentage_get(), 0.5f);
-
-    // Fail to check heartbeat, FSM should fault
-    time_ms += HEARTBEAT_MONITOR_TIMEOUT_PERIOD_MS - 10U;
-    fake_io_time_getCurrentMs_returns(time_ms);
-    LetTimePass(HEARTBEAT_MONITOR_TIMEOUT_PERIOD_MS - 10U);
-    ASSERT_EQ(app_mainState_get(), app_stateMachine_getCurrentState());
-    ASSERT_FALSE(app_canAlerts_FSM_Fault_MissingBMSHeartbeat_get());
-    ASSERT_NEAR(50.0f, app_canTx_FSM_PappsMappedPedalPercentage_get(), 0.5f);
-    ASSERT_NEAR(50.0f, app_canTx_FSM_SappsMappedPedalPercentage_get(), 0.5f);
-
-    time_ms += 20;
-    fake_io_time_getCurrentMs_returns(time_ms);
-    LetTimePass(20);
-    ASSERT_TRUE(app_canAlerts_FSM_Fault_MissingBMSHeartbeat_get());
-    ASSERT_FLOAT_EQ(0.0f, app_canTx_FSM_PappsMappedPedalPercentage_get());
-    ASSERT_FLOAT_EQ(0.0f, app_canTx_FSM_SappsMappedPedalPercentage_get());
-
-    // Stay faulted indefinitely
-    time_ms += 1000;
-    fake_io_time_getCurrentMs_returns(time_ms);
-    LetTimePass(1000);
-    ASSERT_TRUE(app_canAlerts_FSM_Fault_MissingBMSHeartbeat_get());
-    ASSERT_FLOAT_EQ(0.0f, app_canTx_FSM_PappsMappedPedalPercentage_get());
-    ASSERT_FLOAT_EQ(0.0f, app_canTx_FSM_SappsMappedPedalPercentage_get());
-
-    // Check heartbeat back in, fault should clear and transition back to init
-    app_canRx_BMS_Heartbeat_update(true); // Check in heartbeat
-    time_ms += HEARTBEAT_MONITOR_TIMEOUT_PERIOD_MS;
-    fake_io_time_getCurrentMs_returns(time_ms);
-    LetTimePass(HEARTBEAT_MONITOR_TIMEOUT_PERIOD_MS);
-    ASSERT_EQ(app_mainState_get(), app_stateMachine_getCurrentState());
-    ASSERT_FALSE(app_canAlerts_FSM_Fault_MissingBMSHeartbeat_get());
-    ASSERT_NEAR(50.0f, app_canTx_FSM_PappsMappedPedalPercentage_get(), 0.5f);
-    ASSERT_NEAR(50.0f, app_canTx_FSM_SappsMappedPedalPercentage_get(), 0.5f);
-}
-
 TEST_F(FsmFaultsTest, papps_ocsc_sets_mapped_pedal_percentage_to_zero)
 {
     // For the following test we will select a secondary APPS sensor
diff --git a/firmware/quadruna/FSM/test/test_fsmBaseStateMachineTest.h b/firmware/quadruna/FSM/test/test_fsmBaseStateMachineTest.h
index 2881b9b019..e6814322e4 100644
--- a/firmware/quadruna/FSM/test/test_fsmBaseStateMachineTest.h
+++ b/firmware/quadruna/FSM/test/test_fsmBaseStateMachineTest.h
@@ -13,7 +13,6 @@ extern "C"
 #include "app_canTx.h"
 #include "app_canRx.h"
 #include "app_canAlerts.h"
-#include "app_heartbeatMonitor.h"
 #include "app_stateMachine.h"
 #include "app_canUtils.h"
 #include "app_utils.h"
@@ -39,14 +38,7 @@ class FsmBaseStateMachineTest : public BaseStateMachineTest
         app_canRx_init();
 
         app_apps_init();
-        app_heartbeatMonitor_init(
-            heartbeatMonitorChecklist, heartbeatGetters, heartbeatUpdaters, &app_canTx_FSM_Heartbeat_set,
-            heartbeatFaultSetters, heartbeatFaultGetters);
         app_stateMachine_init(app_mainState_get());
-
-        // Disable heartbeat monitor in the nominal case. To use representative heartbeat behavior,
-        // re-enable the heartbeat monitor.
-        app_heartbeatMonitor_blockFaults(true);
     }
 
     void TearDown() override
@@ -82,47 +74,4 @@ class FsmBaseStateMachineTest : public BaseStateMachineTest
         fake_io_loadCell_sensor1OCSC_reset();
         fake_io_loadCell_sensor2OCSC_reset();
     }
-
-    // config for heartbeat monitor (can funcs and flags)
-    // FSM rellies on BMS
-    bool heartbeatMonitorChecklist[HEARTBEAT_BOARD_COUNT] = {
-        [BMS_HEARTBEAT_BOARD] = true,  [VC_HEARTBEAT_BOARD] = false,  [RSM_HEARTBEAT_BOARD] = false,
-        [FSM_HEARTBEAT_BOARD] = false, [DIM_HEARTBEAT_BOARD] = false, [CRIT_HEARTBEAT_BOARD] = false
-    };
-
-    // heartbeatGetters - get heartbeat signals from other boards
-    bool (*heartbeatGetters[HEARTBEAT_BOARD_COUNT])() = { [BMS_HEARTBEAT_BOARD]  = app_canRx_BMS_Heartbeat_get,
-                                                          [VC_HEARTBEAT_BOARD]   = NULL,
-                                                          [RSM_HEARTBEAT_BOARD]  = NULL,
-                                                          [FSM_HEARTBEAT_BOARD]  = NULL,
-                                                          [DIM_HEARTBEAT_BOARD]  = NULL,
-                                                          [CRIT_HEARTBEAT_BOARD] = NULL };
-
-    // heartbeatUpdaters - update local CAN table with heartbeat status
-    void (*heartbeatUpdaters[HEARTBEAT_BOARD_COUNT])(bool) = { [BMS_HEARTBEAT_BOARD]  = app_canRx_BMS_Heartbeat_update,
-                                                               [VC_HEARTBEAT_BOARD]   = NULL,
-                                                               [RSM_HEARTBEAT_BOARD]  = NULL,
-                                                               [FSM_HEARTBEAT_BOARD]  = NULL,
-                                                               [DIM_HEARTBEAT_BOARD]  = NULL,
-                                                               [CRIT_HEARTBEAT_BOARD] = NULL };
-
-    // heartbeatFaultSetters - broadcast heartbeat faults over CAN
-    void (*heartbeatFaultSetters[HEARTBEAT_BOARD_COUNT])(bool) = {
-        [BMS_HEARTBEAT_BOARD]  = app_canAlerts_FSM_Fault_MissingBMSHeartbeat_set,
-        [VC_HEARTBEAT_BOARD]   = NULL,
-        [RSM_HEARTBEAT_BOARD]  = NULL,
-        [FSM_HEARTBEAT_BOARD]  = NULL,
-        [DIM_HEARTBEAT_BOARD]  = NULL,
-        [CRIT_HEARTBEAT_BOARD] = NULL
-    };
-
-    // heartbeatFaultGetters - gets fault statuses over CAN
-    bool (*heartbeatFaultGetters[HEARTBEAT_BOARD_COUNT])() = {
-        [BMS_HEARTBEAT_BOARD]  = app_canAlerts_FSM_Fault_MissingBMSHeartbeat_get,
-        [VC_HEARTBEAT_BOARD]   = NULL,
-        [RSM_HEARTBEAT_BOARD]  = NULL,
-        [FSM_HEARTBEAT_BOARD]  = NULL,
-        [DIM_HEARTBEAT_BOARD]  = NULL,
-        [CRIT_HEARTBEAT_BOARD] = NULL
-    };
 };
diff --git a/firmware/quadruna/RSM/src/tasks.c b/firmware/quadruna/RSM/src/tasks.c
index 6c1cfb7cdd..085a20c80d 100644
--- a/firmware/quadruna/RSM/src/tasks.c
+++ b/firmware/quadruna/RSM/src/tasks.c
@@ -4,7 +4,6 @@
 
 #include "app_heartbeatMonitor.h"
 #include "app_mainState.h"
-
 #include "app_canTx.h"
 #include "app_canRx.h"
 #include "app_canAlerts.h"
@@ -123,36 +122,48 @@ static const UART debug_uart = { .handle = &huart1 };
 // config for heartbeat monitor
 /// RSM rellies on BMS
 static const bool heartbeatMonitorChecklist[HEARTBEAT_BOARD_COUNT] = {
-    [BMS_HEARTBEAT_BOARD] = false, [VC_HEARTBEAT_BOARD] = true,   [RSM_HEARTBEAT_BOARD] = false,
-    [FSM_HEARTBEAT_BOARD] = true,  [DIM_HEARTBEAT_BOARD] = false, [CRIT_HEARTBEAT_BOARD] = false
+    [BMS_HEARTBEAT_BOARD] = true, [VC_HEARTBEAT_BOARD] = true,   [RSM_HEARTBEAT_BOARD] = false,
+    [FSM_HEARTBEAT_BOARD] = true, [DIM_HEARTBEAT_BOARD] = false, [CRIT_HEARTBEAT_BOARD] = false
 };
 
 // heartbeatGetters - get heartbeat signals from other boards
 static bool (*const heartbeatGetters[HEARTBEAT_BOARD_COUNT])(void) = {
-    [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canRx_VC_Heartbeat_get,
-    [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = app_canRx_FSM_Heartbeat_get,
-    [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
+    [BMS_HEARTBEAT_BOARD]  = app_canRx_BMS_Heartbeat_get,
+    [VC_HEARTBEAT_BOARD]   = app_canRx_VC_Heartbeat_get,
+    [RSM_HEARTBEAT_BOARD]  = NULL,
+    [FSM_HEARTBEAT_BOARD]  = app_canRx_FSM_Heartbeat_get,
+    [DIM_HEARTBEAT_BOARD]  = NULL,
+    [CRIT_HEARTBEAT_BOARD] = NULL
 };
 
 // heartbeatUpdaters - update local CAN table with heartbeat status
 static void (*const heartbeatUpdaters[HEARTBEAT_BOARD_COUNT])(bool) = {
-    [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canRx_VC_Heartbeat_update,
-    [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = app_canRx_VC_Heartbeat_update,
-    [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
+    [BMS_HEARTBEAT_BOARD]  = app_canRx_BMS_Heartbeat_update,
+    [VC_HEARTBEAT_BOARD]   = app_canRx_VC_Heartbeat_update,
+    [RSM_HEARTBEAT_BOARD]  = NULL,
+    [FSM_HEARTBEAT_BOARD]  = app_canRx_VC_Heartbeat_update,
+    [DIM_HEARTBEAT_BOARD]  = NULL,
+    [CRIT_HEARTBEAT_BOARD] = NULL
 };
 
 // heartbeatFaultSetters - broadcast heartbeat faults over CAN
 static void (*const heartbeatFaultSetters[HEARTBEAT_BOARD_COUNT])(bool) = {
-    [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canAlerts_RSM_Fault_MissingVCHeartbeat_set,
-    [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = app_canAlerts_RSM_Fault_MissingFSMHeartbeat_set,
-    [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
+    [BMS_HEARTBEAT_BOARD]  = app_canAlerts_RSM_Fault_MissingBMSHeartbeat_set,
+    [VC_HEARTBEAT_BOARD]   = app_canAlerts_RSM_Fault_MissingVCHeartbeat_set,
+    [RSM_HEARTBEAT_BOARD]  = NULL,
+    [FSM_HEARTBEAT_BOARD]  = app_canAlerts_RSM_Fault_MissingFSMHeartbeat_set,
+    [DIM_HEARTBEAT_BOARD]  = NULL,
+    [CRIT_HEARTBEAT_BOARD] = NULL
 };
 
 // heartbeatFaultGetters - gets fault statuses over CAN
 static bool (*const heartbeatFaultGetters[HEARTBEAT_BOARD_COUNT])(void) = {
-    [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canAlerts_RSM_Fault_MissingVCHeartbeat_get,
-    [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = app_canAlerts_RSM_Fault_MissingFSMHeartbeat_get,
-    [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
+    [BMS_HEARTBEAT_BOARD]  = app_canAlerts_RSM_Fault_MissingBMSHeartbeat_get,
+    [VC_HEARTBEAT_BOARD]   = app_canAlerts_RSM_Fault_MissingVCHeartbeat_get,
+    [RSM_HEARTBEAT_BOARD]  = NULL,
+    [FSM_HEARTBEAT_BOARD]  = app_canAlerts_RSM_Fault_MissingFSMHeartbeat_get,
+    [DIM_HEARTBEAT_BOARD]  = NULL,
+    [CRIT_HEARTBEAT_BOARD] = NULL
 };
 
 void tasks_preInit(void)
diff --git a/firmware/quadruna/VC/src/app/app_currentSensing.c b/firmware/quadruna/VC/src/app/app_currentSensing.c
index 33e5fecf4a..351d180c5f 100644
--- a/firmware/quadruna/VC/src/app/app_currentSensing.c
+++ b/firmware/quadruna/VC/src/app/app_currentSensing.c
@@ -5,8 +5,8 @@
 
 void app_currentSensing_broadcast(void)
 {
-    app_canAlerts_VC_Fault_AccumulatorFault_set(io_currentSensing_hasAccumulatorFault());
-    app_canAlerts_VC_Fault_BatteryFault_set(io_currentSensing_hasBatteryFault());
+    app_canAlerts_VC_Warning_AccumulatorRailOvercurrentFault_set(io_currentSensing_hasAccumulatorFault());
+    app_canAlerts_VC_Warning_BatteryRailOvercurrentFault_set(io_currentSensing_hasBatteryFault());
     app_canTx_VC_AccCurrent_set(io_currentSensing_getAccumulatorCurrent());
     app_canTx_VC_BatCurrent_set(io_currentSensing_getBatteryCurrent());
 }
\ No newline at end of file
diff --git a/firmware/quadruna/VC/src/app/app_lowVoltageBattery.c b/firmware/quadruna/VC/src/app/app_lowVoltageBattery.c
index d5c19614d9..9828649290 100644
--- a/firmware/quadruna/VC/src/app/app_lowVoltageBattery.c
+++ b/firmware/quadruna/VC/src/app/app_lowVoltageBattery.c
@@ -10,6 +10,6 @@ void app_lowVoltageBattery_broadcast(void)
     app_canTx_VC_AccVoltage_set(io_lowVoltageBattery_getAccVoltage());
     app_canTx_VC_BoostVoltage_set(io_lowVoltageBattery_getBoostVoltage());
 
-    app_canAlerts_VC_Fault_LvChargeFault_set(io_lowVoltageBattery_hasChargeFault() && false); // TODO
-    app_canAlerts_VC_Fault_BoostControllerFault_set(io_lowVoltageBattery_hasBoostControllerFault() && false);
+    app_canAlerts_VC_Warning_LvChargeFault_set(io_lowVoltageBattery_hasChargeFault());
+    app_canAlerts_VC_Warning_BoostControllerFault_set(io_lowVoltageBattery_hasBoostControllerFault());
 }
diff --git a/firmware/quadruna/VC/src/tasks.c b/firmware/quadruna/VC/src/tasks.c
index 1ba1fd9c51..065e48c326 100644
--- a/firmware/quadruna/VC/src/tasks.c
+++ b/firmware/quadruna/VC/src/tasks.c
@@ -406,7 +406,7 @@ void tasks_init(void)
 
     if (!io_imu_init())
     {
-        app_canAlerts_VC_Warning_ImuIo_set(true);
+        app_canAlerts_VC_Warning_ImuInitFailed_set(true);
     }
 
     app_canTx_init();
diff --git a/firmware/quadruna/VC/test/test_vcBaseStateMachineTest.h b/firmware/quadruna/VC/test/test_vcBaseStateMachineTest.h
index f7e1390fc2..208c5f15b3 100644
--- a/firmware/quadruna/VC/test/test_vcBaseStateMachineTest.h
+++ b/firmware/quadruna/VC/test/test_vcBaseStateMachineTest.h
@@ -117,7 +117,7 @@ class VcBaseStateMachineTest : public BaseStateMachineTest
     // heartbeatGetters - get heartbeat signals from other boards
     bool (*heartbeatGetters[HEARTBEAT_BOARD_COUNT])() = { [BMS_HEARTBEAT_BOARD]  = app_canRx_BMS_Heartbeat_get,
                                                           [VC_HEARTBEAT_BOARD]   = NULL,
-                                                          [RSM_HEARTBEAT_BOARD]  = app_canRx_RSM_Heartbeat_get,
+                                                          [RSM_HEARTBEAT_BOARD]  = app_canRx_FSM_Heartbeat_get,
                                                           [FSM_HEARTBEAT_BOARD]  = app_canRx_FSM_Heartbeat_get,
                                                           [DIM_HEARTBEAT_BOARD]  = NULL,
                                                           [CRIT_HEARTBEAT_BOARD] = app_canRx_CRIT_Heartbeat_get };