diff --git a/CMakeLists.txt b/CMakeLists.txt
index 20a5c67e..03d51ac2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -159,24 +159,42 @@ find_package(Catch2 3)
 
 #global compiler options need to be set before adding executables
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-	add_compile_options(
-		"-Wall"
-		"-Wextra"
-		"-Wimplicit-fallthrough=1"
-		"-Wno-unused-parameter"
-		"-Wno-psabi"
-	)
-	# Remove unused sections.
-	add_compile_options(
-		"-ffunction-sections"
-		"-fdata-sections"
-	)
+    add_compile_options(
+        "-Wall"
+        "-Wextra"
+        "-Wimplicit-fallthrough=1"
+        "-Wno-unused-parameter"
+        "-Wno-psabi"
+        "-Wduplicated-cond" # check for duplicate conditions
+        "-Wduplicated-branches" # check for duplicate branches
+        "-Wlogical-op" # Search for bitwise operations instead of logical
+        "-Wnull-dereference" # Search for NULL dereference
+        "-Wundef" # Warn if undefind marcos are used
+        "-Wformat=2" # Format string problem detection
+        "-Wformat-overflow=2" # Formatting issues in printf
+        "-Wformat-truncation=2" # Formatting issues in printf
+        "-Wformat-security" # Search for dangerous printf operations
+        "-Wstrict-overflow=3" # Warn if integer overflows might happen
+        "-Warray-bounds=2" # Some array bounds violations will be found
+        "-Wshift-overflow=2" # Search for bit left shift overflows (<c++14)
+        "-Wcast-qual" # Warn if the constness is cast away
+        "-Wstringop-overflow=4"
+        # -Wstack-protector # Emits a few false positives for low level access
+        # -Wconversion # Creates many false positives
+        # -Warith-conversion # Use with Wconversion to find more implicit conversions
+        # -fanalyzer # Should be used to look through problems
+    )
+    # Remove unused sections.
+    add_compile_options(
+        "-ffunction-sections"
+        "-fdata-sections"
+    )
+
+    # Removed unused sections.
+    add_link_options(
+        "-Wl,--gc-sections"
+    )
 
-	# Removed unused sections.
-	add_link_options(
-		"-Wl,--gc-sections"
-	)
-	
 elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
 	set(COMPILER_FLAGS "/permissive-")
 endif()
diff --git a/bsp_q7s/boardconfig/q7sConfig.h.in b/bsp_q7s/boardconfig/q7sConfig.h.in
index 33649000..1dd1d85a 100644
--- a/bsp_q7s/boardconfig/q7sConfig.h.in
+++ b/bsp_q7s/boardconfig/q7sConfig.h.in
@@ -29,6 +29,10 @@
 
 #define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST             0
 
+#ifndef Q7S_SIMPLE_MODE
+#define Q7S_SIMPLE_MODE 0
+#endif
+
 namespace config {
 
 static const uint32_t SD_CARD_ACCESS_MUTEX_TIMEOUT = 50;
diff --git a/bsp_q7s/devices/PlocSupervisorHandler.h b/bsp_q7s/devices/PlocSupervisorHandler.h
index 986e5bbb..1a77af6a 100644
--- a/bsp_q7s/devices/PlocSupervisorHandler.h
+++ b/bsp_q7s/devices/PlocSupervisorHandler.h
@@ -1,6 +1,7 @@
 #ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
 #define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
 
+#include "OBSWConfig.h"
 #include <bsp_q7s/memory/SdCardManager.h>
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw_hal/linux/uart/UartComIF.h>
diff --git a/bsp_q7s/memory/SdCardManager.cpp b/bsp_q7s/memory/SdCardManager.cpp
index 769a7dd7..b76cee12 100644
--- a/bsp_q7s/memory/SdCardManager.cpp
+++ b/bsp_q7s/memory/SdCardManager.cpp
@@ -1,6 +1,8 @@
 #include "SdCardManager.h"
 
+#include "OBSWConfig.h"
 #include <fsfw/ipc/MutexGuard.h>
+#include <fsfw/timemanager/Countdown.h>
 #include <unistd.h>
 
 #include <cstring>
@@ -404,16 +406,13 @@ SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
   bool bytesRead = false;
 
 #if OBSW_ENABLE_TIMERS == 1
-  Timer timer;
-  timer.setTimer(100);
-  uint32_t remainingTimeMs = 0;
+  Countdown timer(100);
 #endif
   while (true) {
     ReturnValue_t result = cmdExecutor.check(bytesRead);
     // This timer can prevent deadlocks due to missconfigurations
 #if OBSW_ENABLE_TIMERS == 1
-    timer.getTimer(&remainingTimeMs);
-    if (remainingTimeMs == 0) {
+    if (timer.hasTimedOut()) {
       sif::error << "SdCardManager::checkCurrentOp: Timeout!" << std::endl;
       return OpStatus::FAIL;
     }
diff --git a/common/config/commonConfig.h.in b/common/config/commonConfig.h.in
index c18d4bff..6d74884f 100644
--- a/common/config/commonConfig.h.in
+++ b/common/config/commonConfig.h.in
@@ -12,7 +12,7 @@
 // because UDP packets are not allowed in the VPN
 // This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
 // CCSDS IP Cores. 
-#define OBSW_USE_TCP_BRIDGE             1
+#define OBSW_USE_TMTC_TCP_BRIDGE        1
 
 namespace common {
 extern const uint16_t PUS_PACKET_ID;
diff --git a/common/config/lwgps_opts.h b/common/config/lwgps_opts.h
index 20632d6f..2be39f1d 100644
--- a/common/config/lwgps_opts.h
+++ b/common/config/lwgps_opts.h
@@ -41,4 +41,8 @@
  * copy & replace here settings you want to change values
  */
 
+#ifndef __DOXYGEN__
+#define __DOXYGEN__ 0
+#endif
+
 #endif /* LWGPS_HDR_OPTS_H */
diff --git a/fsfw b/fsfw
index d6c10411..84f95e8d 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit d6c1041133822903c123e4efd890b1320e1157c9
+Subproject commit 84f95e8d7641be7a83faf1cbee718c6cc5de152d
diff --git a/generators/fsfwgen b/generators/fsfwgen
index 52f29169..c5ef1783 160000
--- a/generators/fsfwgen
+++ b/generators/fsfwgen
@@ -1 +1 @@
-Subproject commit 52f291692c4074a23743c799148b0432a4e405fa
+Subproject commit c5ef1783a3b082c0e88561bd91bc3ee0f459fafc
diff --git a/linux/boardtest/UartTestClass.cpp b/linux/boardtest/UartTestClass.cpp
index 1f8c2563..9c51ed8a 100644
--- a/linux/boardtest/UartTestClass.cpp
+++ b/linux/boardtest/UartTestClass.cpp
@@ -14,6 +14,10 @@
 
 #define GPS_REPLY_WIRETAPPING 0
 
+#ifndef RPI_TEST_GPS_HANDLER
+#define RPI_TEST_GPS_HANDLER 0
+#endif
+
 UartTestClass::UartTestClass(object_id_t objectId) : TestTask(objectId) { mode = TestModes::SCEX; }
 
 ReturnValue_t UartTestClass::initialize() {
diff --git a/linux/devices/GPSHyperionLinuxController.cpp b/linux/devices/GPSHyperionLinuxController.cpp
index fa1f8f02..722eb8e0 100644
--- a/linux/devices/GPSHyperionLinuxController.cpp
+++ b/linux/devices/GPSHyperionLinuxController.cpp
@@ -1,5 +1,6 @@
 #include "GPSHyperionLinuxController.h"
 
+#include "OBSWConfig.h"
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/timemanager/Clock.h"
 
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index 81d47a4b..7bf5a607 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -5,6 +5,14 @@
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 
+#ifndef RPI_TEST_ADIS16507
+#define RPI_TEST_ADIS16507 0
+#endif
+
+#ifndef RPI_TEST_GPS_HANDLER
+#define RPI_TEST_GPS_HANDLER 0
+#endif
+
 ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) {
   // Length of a communication cycle
   uint32_t length = thisSequence->getPeriodMs();
diff --git a/mission/controller/ThermalController.cpp b/mission/controller/ThermalController.cpp
index 2b6f704f..d79bb26a 100644
--- a/mission/controller/ThermalController.cpp
+++ b/mission/controller/ThermalController.cpp
@@ -45,4 +45,4 @@ ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode
     return INVALID_MODE;
   }
   return RETURN_OK;
-}
\ No newline at end of file
+}
diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp
index 651ba993..9eb27f22 100644
--- a/mission/core/GenericFactory.cpp
+++ b/mission/core/GenericFactory.cpp
@@ -24,7 +24,7 @@
 #include "objects/systemObjectList.h"
 
 #if OBSW_ADD_TCPIP_BRIDGE == 1
-#if OBSW_USE_TCP_BRIDGE == 0
+#if OBSW_USE_TMTC_TCP_BRIDGE == 0
 // UDP server includes
 #include "fsfw/osal/common/UdpTcPollingTask.h"
 #include "fsfw/osal/common/UdpTmTcBridge.h"
@@ -90,7 +90,7 @@ void ObjectFactory::produceGenericObjects() {
                                 pus::PUS_SERVICE_200);
 
 #if OBSW_ADD_TCPIP_BRIDGE == 1
-#if OBSW_USE_TCP_BRIDGE == 0
+#if OBSW_USE_TMTC_TCP_BRIDGE == 0
   auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
   new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
   sif::info << "Created UDP server for TMTC commanding with listener port "
diff --git a/mission/devices/ACUHandler.cpp b/mission/devices/ACUHandler.cpp
index 60e26302..b7a54088 100644
--- a/mission/devices/ACUHandler.cpp
+++ b/mission/devices/ACUHandler.cpp
@@ -23,7 +23,7 @@ void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pack
   parseHkTableReply(packet);
   handleDeviceTM(&acuHkTableDataset, id, true);
 
-#if OBSW_ENHANCED_PRINTOUT == 1 && OBSW_DEBUG_ACU == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_ACU == 1
   acuHkTableDataset.read();
   float temperatureC_1 = acuHkTableDataset.temperature1.value * 0.1;
   float temperatureC_2 = acuHkTableDataset.temperature2.value * 0.1;
diff --git a/thirdparty/arcsec_star_tracker b/thirdparty/arcsec_star_tracker
index b1594df9..93e93965 160000
--- a/thirdparty/arcsec_star_tracker
+++ b/thirdparty/arcsec_star_tracker
@@ -1 +1 @@
-Subproject commit b1594df9303056456604726592635d8a1c987e75
+Subproject commit 93e93965e2c6405170b62c523dea1990db02d2ad
diff --git a/tmtc b/tmtc
index 37c1a68d..abe9c8bc 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 37c1a68da1b465514e84403b06ce40d035e4ad88
+Subproject commit abe9c8bc000e834b99a2c367ed10f927eeb666b0