diff --git a/automation/Dockerfile-q7s b/automation/Dockerfile
similarity index 75%
rename from automation/Dockerfile-q7s
rename to automation/Dockerfile
index 207afa04..0c99750c 100644
--- a/automation/Dockerfile-q7s
+++ b/automation/Dockerfile
@@ -2,7 +2,9 @@ FROM ubuntu:focal
 
 RUN apt-get update
 RUN apt-get --yes upgrade
-RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl
+#tzdata is a dependency, won't install otherwise
+ARG DEBIAN_FRONTEND=noninteractive
+RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl git gcc g++ lcov valgrind
 
 # Q7S root filesystem, required for cross-compilation.
 RUN mkdir -p /usr/rootfs; \
@@ -15,4 +17,4 @@ curl https://buggy.irs.uni-stuttgart.de/eive/tools/gcc-arm-8.3-2019.03-x86_64-ar
     | tar -xz -C /usr/tools
 
 ENV Q7S_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
-ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
+ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
\ No newline at end of file
diff --git a/automation/Jenkinsfile b/automation/Jenkinsfile
index 8d45b2d7..5e8be0c7 100644
--- a/automation/Jenkinsfile
+++ b/automation/Jenkinsfile
@@ -1,51 +1,34 @@
 pipeline {
-    agent any
+    environment {
+        BUILDDIR_Q7 = 'build_q7',
+        BUILDDIR_LINUX = 'build_linux'
+    }
+    agent {
+        docker { image 'eive-obsw:d2'}
+    }
     stages {
-        stage('Build Container') {
-            when {
-                anyOf {
-                    changeset "automation/Dockerfile-q7s"
-                    branch 'develop';
-                    changelog 'cleanDocker'
-                }
-            }
-            steps {
-                sh 'docker build -t eive-fsw-build-q7s:gcc8 - < automation/Dockerfile-q7s'
-
-            }
-        }
         stage('Clean') {
-            when {
-                anyOf {
-                    changelog 'cleanCI'
-                    changeset '*.cmake'
-                    changeset 'CMakeLists.txt'
-                }
-            }
             steps {
-                sh 'rm -rf build-q7s-debug'
+                sh 'rm -rf $BUILDDIR_Q7'
+                sh 'rm -rf $BUILDDIR_LINUX'
             }
         }
         stage('Build Q7S') {
-            agent {
-                docker {
-                    image 'eive-fsw-build-q7s:gcc8'
-                    reuseNode true
-                }
-            }
             steps {
-                dir('build-q7s-debug') {
-                    sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug -DFSFW_OSAL=linux ..'
+                dir(BUILDDIR_Q7) {
+                    sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..'
                     sh 'cmake --build . -j'
                 }
             }
         }
-        stage('Deploy') {
-            when {
-                tag 'v*.*.*'
-            }
+        stage('Unittests') {
             steps {
-                sh 'echo Deploying'
+                dir(BUILDDIR_LINUX) {
+                    sh 'cmake ..'
+                    //to be used when unittests are merged...
+                    //sh 'cmake --build -t eive-unittests . -j'
+                    //sh './eive-unittests'
+                }
             }
         }
     }
diff --git a/mission/devices/GPSHyperionLinuxController.cpp b/mission/devices/GPSHyperionLinuxController.cpp
index 0955e1c7..c47414a8 100644
--- a/mission/devices/GPSHyperionLinuxController.cpp
+++ b/mission/devices/GPSHyperionLinuxController.cpp
@@ -67,7 +67,9 @@ ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
   localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
   localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
   localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
+#if OBSW_ENABLE_PERIODIC_HK == 1
   poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), true, 2.0, false);
+#endif
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -160,7 +162,6 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
   gpsSet.hours = timeOfDay.hour;
   gpsSet.minutes = timeOfDay.minute;
   gpsSet.seconds = timeOfDay.second;
-  debugHyperionGps = true;
   if (debugHyperionGps) {
     sif::info << "-- Hyperion GPS Data --" << std::endl;
     time_t timeRaw = gps->fix.time.tv_sec;