diff --git a/Inc/ST-LIB_LOW/StateMachine/StateMachine.hpp b/Inc/ST-LIB_LOW/StateMachine/StateMachine.hpp
index 519c4578c..7ae89590b 100644
--- a/Inc/ST-LIB_LOW/StateMachine/StateMachine.hpp
+++ b/Inc/ST-LIB_LOW/StateMachine/StateMachine.hpp
@@ -259,6 +259,12 @@ class IStateMachine {
     virtual void force_change_state(size_t state) = 0;
     virtual size_t get_current_state_id() const = 0;
     constexpr bool operator==(const IStateMachine&) const = default;
+    protected:
+    virtual void enter() = 0;
+    virtual void exit() = 0;
+    virtual void start() = 0;
+    template <class E, size_t N, size_t T>
+    friend class StateMachine;
 };
 
 template <class StateEnum, size_t NStates, size_t NTransitions>
@@ -327,14 +333,14 @@ class StateMachine : public IStateMachine {
             state.get_transitions().size()};
   }
 
-  inline void enter() 
+  inline void enter() override 
   { 
       auto& state = states[static_cast<size_t>(current_state)];
       state.enter();
       
   }
 
-  inline void exit() 
+  inline void exit() override
   {
       auto& state = states[static_cast<size_t>(current_state)];
       state.exit();
@@ -391,11 +397,25 @@ class StateMachine : public IStateMachine {
             if (t.predicate()) 
             {
                 exit();
+                for(auto& nested : nested_state_machine)
+                {
+                  if(nested.state == current_state){
+                    nested.machine->exit();
+                    break;
+                  }
+                }
                 #ifdef STLIB_ETH
                 remove_state_orders();
                 #endif
                 current_state = t.target;
                 enter();
+                for(auto& nested : nested_state_machine)
+                {
+                  if(nested.state == current_state){
+                    nested.machine->enter();
+                    break;
+                  }
+                }
                 #ifdef STLIB_ETH
                 refresh_state_orders();
                 #endif
@@ -412,9 +432,16 @@ class StateMachine : public IStateMachine {
         }
     }
 
-    void start()
+    void start() override
     {
       enter();
+      for(auto& nested : nested_state_machine)
+        {
+          if(nested.state == current_state){
+            nested.machine->start();
+            break;
+          }
+        }
     }
 
 
@@ -428,11 +455,25 @@ class StateMachine : public IStateMachine {
       }
         
         exit();
+          for(auto& nested : nested_state_machine)
+          {
+            if(nested.state == current_state){
+              nested.machine->exit();
+              break;
+            }
+          }
         #ifdef STLIB_ETH
         remove_state_orders();
         #endif
         current_state = new_state;
         enter();
+          for(auto& nested : nested_state_machine)
+          {
+            if(nested.state == current_state){
+              nested.machine->enter();
+              break;
+            }
+          }
         #ifdef STLIB_ETH
         refresh_state_orders();
         #endif