diff --git a/bsp_linux_board/ObjectFactory.cpp b/bsp_linux_board/ObjectFactory.cpp
index 1d3e0b31..5cd52c91 100644
--- a/bsp_linux_board/ObjectFactory.cpp
+++ b/bsp_linux_board/ObjectFactory.cpp
@@ -144,7 +144,7 @@ void ObjectFactory::produce(void* args){
 #endif
 
     spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
-            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
     auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
             spiCookie);
     adisHandler->setStartUpImmediately();
@@ -158,7 +158,7 @@ void ObjectFactory::produce(void* args){
 #endif
 
     spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
-            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
     adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
             spiCookie);
     adisHandler->setStartUpImmediately();
diff --git a/fsfw b/fsfw
index d3b83f3c..c51d2df4 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit d3b83f3cf9d702f76ddc5a00ac715dc3a9ef5343
+Subproject commit c51d2df43dca317175a9448e662f7f469e5f8725
diff --git a/linux/fsfwconfig/FSFWConfig.h.in b/linux/fsfwconfig/FSFWConfig.h.in
index 7314b275..1b8251da 100644
--- a/linux/fsfwconfig/FSFWConfig.h.in
+++ b/linux/fsfwconfig/FSFWConfig.h.in
@@ -78,5 +78,6 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
 #define FSFW_HAL_L3GD20_GYRO_DEBUG              0
 #define FSFW_HAL_RM3100_MGM_DEBUG               0
 #define FSFW_HAL_LIS3MDL_MGM_DEBUG              0
+#define FSFW_HAL_ADIS16507_GYRO_DEBUG           0
 
 #endif /* CONFIG_FSFWCONFIG_H_ */
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index 611928f3..646b8633 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -454,28 +454,28 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
 //        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85,
 //                DeviceHandlerIF::GET_READ);
 
-        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
-                DeviceHandlerIF::PERFORM_OPERATION);
-        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25,
-                DeviceHandlerIF::SEND_WRITE);
-        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
-                DeviceHandlerIF::GET_WRITE);
-        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.75,
-                DeviceHandlerIF::SEND_READ);
-        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85,
-                DeviceHandlerIF::GET_READ);
-
-//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
+//        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
 //                DeviceHandlerIF::PERFORM_OPERATION);
-//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.3,
+//        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25,
 //                DeviceHandlerIF::SEND_WRITE);
-//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
+//        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
 //                DeviceHandlerIF::GET_WRITE);
-//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.75,
+//        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.75,
 //                DeviceHandlerIF::SEND_READ);
-//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85,
+//        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85,
 //                DeviceHandlerIF::GET_READ);
 
+        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
+                DeviceHandlerIF::PERFORM_OPERATION);
+        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.3,
+                DeviceHandlerIF::SEND_WRITE);
+        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
+                DeviceHandlerIF::GET_WRITE);
+        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.75,
+                DeviceHandlerIF::SEND_READ);
+        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85,
+                DeviceHandlerIF::GET_READ);
+
 //        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
 //                DeviceHandlerIF::PERFORM_OPERATION);
 //        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.35,
diff --git a/mission/devices/GyroADIS16507Handler.cpp b/mission/devices/GyroADIS16507Handler.cpp
index 793aad66..02e69eaf 100644
--- a/mission/devices/GyroADIS16507Handler.cpp
+++ b/mission/devices/GyroADIS16507Handler.cpp
@@ -1,8 +1,7 @@
+#include "GyroADIS16507Handler.h"
 #include <fsfw/action/HasActionsIF.h>
 #include <fsfw/datapool/PoolReadGuard.h>
 
-#include "GyroADIS16507Handler.h"
-
 #if OBSW_ADIS16507_LINUX_COM_IF == 1
 #include "fsfw_hal/linux/utility.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
@@ -16,7 +15,7 @@ GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
         object_id_t deviceCommunication, CookieIF * comCookie):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this),
         configDataset(this), breakCountdown() {
-#if OBSW_DEBUG_ADIS16507 == 1
+#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
     debugDivider = new PeriodicOperationDivider(5);
 #endif
 
@@ -285,7 +284,7 @@ ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
             primaryDataset.setValidity(true, true);
         }
 
-#if OBSW_DEBUG_ADIS16507 == 1
+#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
         if(debugDivider->checkAndIncrement()) {
             sif::info << "GyroADIS16507Handler: Angular velocities in deg / s" << std::endl;
             sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;
diff --git a/mission/devices/GyroADIS16507Handler.h b/mission/devices/GyroADIS16507Handler.h
index 41be5734..467e0906 100644
--- a/mission/devices/GyroADIS16507Handler.h
+++ b/mission/devices/GyroADIS16507Handler.h
@@ -1,11 +1,13 @@
 #ifndef MISSION_DEVICES_GYROADIS16507HANDLER_H_
 #define MISSION_DEVICES_GYROADIS16507HANDLER_H_
 
-#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include "OBSWConfig.h"
-#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "FSFWConfig.h"
 #include "devicedefinitions/GyroADIS16507Definitions.h"
 
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+
 #if OBSW_ADIS16507_LINUX_COM_IF == 1
 class SpiComIF;
 class SpiCookie;
@@ -69,7 +71,7 @@ private:
             const uint8_t *sendData, size_t sendLen, void* args);
 #endif
 
-#if OBSW_DEBUG_ADIS16507 == 1
+#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
     PeriodicOperationDivider* debugDivider;
 #endif
     Countdown breakCountdown;
diff --git a/mission/devices/devicedefinitions/GyroADIS16507Definitions.h b/mission/devices/devicedefinitions/GyroADIS16507Definitions.h
index a7970b81..b83c984d 100644
--- a/mission/devices/devicedefinitions/GyroADIS16507Definitions.h
+++ b/mission/devices/devicedefinitions/GyroADIS16507Definitions.h
@@ -1,6 +1,7 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
 
+#include "fsfw/devicehandlers/DeviceHandlerIF.h"
 #include "fsfw/datapoollocal/StaticLocalDataSet.h"
 
 #include <cstddef>