diff --git a/src/TODO.txt b/src/TODO.txt
index a886950..bc09845 100644
--- a/src/TODO.txt
+++ b/src/TODO.txt
@@ -100,6 +100,7 @@
     ros2 run rosidl_adapter srv2idl.py *.srv
 * The publication_handle of the DDS Specification (e.g. the one returned in the Sample Info) is an implementation specific ID that can identify local and remote DDS Entities LOCALY.
 * Testbench did not catch Bug, where the Pub ACKNACK was sent to as Sub ACKNACK (ACKNACK Destinations were flipped). Extend testbench to catch this case.
+* Testbench did not catch rtps_writer not sending HEARTBEATS if PUSH_MODE=FALSE & DURABILITY=TRANSIENT_LOCAL
 
 * Fast-RTPS does not follow DDSI-RTPS Specification
     - Open Github Issue
diff --git a/src/rtps_writer.vhd b/src/rtps_writer.vhd
index cfe7711..3fd8f25 100644
--- a/src/rtps_writer.vhd
+++ b/src/rtps_writer.vhd
@@ -1767,6 +1767,8 @@ begin
                                 if (ack_hc = '1') then
                                     -- End of Historical Data
                                     if (next_seq_nr = last_seq_nr) then
+                                        -- Reset
+                                        historical_push_next    <= '0';
                                         -- DONE
                                         stage_next  <= IDLE;
                                     else
@@ -1777,7 +1779,8 @@ begin
                             when 4 => -- Use same "start" sub-state in both versions
                                 -- No Cache Changes Available
                                 if (min_sn = SEQUENCENUMBER_UNKNOWN) then
-                                    
+                                    -- Reset
+                                    historical_push_next    <= '0';
                                     -- DONE
                                     stage_next  <= IDLE;
                                 else
@@ -1786,6 +1789,8 @@ begin
                                     if (reader_flags(READER_IS_BEST_EFFORT_FLAG) = '0') then
                                         cnt_next    <= 0;
                                     else
+                                        -- Reset
+                                        historical_push_next    <= '0';
                                         -- DONE
                                         stage_next  <= IDLE;
                                     end if;