diff --git a/CMakeLists.txt b/CMakeLists.txt
index f366b744..e9b1b68c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -86,7 +86,6 @@ include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
 pre_source_hw_os_config()
 
 if(TGT_BSP)
-    message(STATUS ${TGT_BSP})
     if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
         OR TGT_BSP MATCHES "arm/beagleboneblack"
     )
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 7b5247f8..49e036d6 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -457,7 +457,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
             objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
     mgmRm3100Handler->setStartUpImmediately();
-    //mgmRm3100Handler->setToGoToNormalMode(true);
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+    mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
 
     spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
@@ -470,7 +472,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
             objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
     mgmRm3100Handler->setStartUpImmediately();
-    //mgmRm3100Handler->setToGoToNormalMode(true);
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+    mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
 
     // Commented until ACS board V2 in in clean room again
     // Gyro 0 Side A
@@ -486,7 +490,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER,
             objects::SPI_COM_IF, spiCookie, 0);
     gyroL3gHandler->setStartUpImmediately();
-    //gyroL3gHandler->setGoNormalModeAtStartup();
+#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+    gyroL3gHandler->setGoNormalModeAtStartup();
+#endif
     // Gyro 2 Side B
     spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
             ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
@@ -500,7 +506,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER,
             objects::SPI_COM_IF, spiCookie, 0);
     gyroL3gHandler->setStartUpImmediately();
-    //gyroL3gHandler->setGoNormalModeAtStartup();
+#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+    gyroL3gHandler->setGoNormalModeAtStartup();
+#endif
 
     bool debugGps = false;
 #if OBSW_DEBUG_GPS == 1
diff --git a/fsfw b/fsfw
index 8f3edc90..6d0d04ac 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 8f3edc90ba844b9a4551bb77a71e6dcbdae6e9ee
+Subproject commit 6d0d04ac230962024580ef3769cc8ec063db4093
diff --git a/linux/fsfwconfig/FSFWConfig.h.in b/linux/fsfwconfig/FSFWConfig.h.in
index 32474f21..4f278cef 100644
--- a/linux/fsfwconfig/FSFWConfig.h.in
+++ b/linux/fsfwconfig/FSFWConfig.h.in
@@ -74,6 +74,7 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
 
 #define FSFW_HAL_LINUX_SPI_WIRETAPPING          0
 #define FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV   0
+
 #define FSFW_HAL_L3GD20_GYRO_DEBUG              0
 #define FSFW_HAL_RM3100_MGM_DEBUG               0
 
diff --git a/linux/fsfwconfig/OBSWConfig.h.in b/linux/fsfwconfig/OBSWConfig.h.in
index 32f29a09..58797c2d 100644
--- a/linux/fsfwconfig/OBSWConfig.h.in
+++ b/linux/fsfwconfig/OBSWConfig.h.in
@@ -68,7 +68,6 @@ debugging. */
 #define OBSW_DEBUG_SYRLINKS                         0
 #define OBSW_DEBUG_IMQT                             0
 #define OBSW_DEBUG_ADIS16507                        0
-#define OBSW_DEBUG_L3GD20_GYRO                      0
 #define OBSW_DEBUG_RAD_SENSOR                       0
 #define OBSW_DEBUG_SUS                              0
 #define OBSW_DEBUG_RTD                              0