diff --git a/.gitmodules b/.gitmodules
index 1f3dc6ec..d309e0f5 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,3 @@
-[submodule "etl"]
-	path = thirdparty/etl
-	url = https://github.com/ETLCPP/etl.git
 [submodule "arduino"]
 	path = arduino
 	url = https://egit.irs.uni-stuttgart.de/eive/eive_arduino_interface.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 79017dda..ff73e3f9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,27 +9,19 @@
 ################################################################################
 cmake_minimum_required(VERSION 3.13)
 
-# set(CMAKE_VERBOSE TRUE)
 set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 0)
 set(OBSW_VERSION_MINOR_IF_GIT_FAILS 0)
 set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
 
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+# set(CMAKE_VERBOSE TRUE)
 
-option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
-option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
 option(EIVE_HARDCODED_TOOLCHAIN_FILE "\
 For Linux Board Target BSPs, a default toolchain file will be set. Should be set to OFF \
 if a different toolchain file is set externally" ON
 )
-option(EIVE_SYSROOT_MAGIC "Perform sysroot magic which might not be necessary" OFF)
-option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)
-
-set(OBSW_ADD_STAR_TRACKER 0)
-set(OBSW_DEBUG_STARTRACKER 0)
 
 if(NOT FSFW_OSAL)
-	set(FSFW_OSAL linux CACHE STRING "OS for the FSFW.")
+    set(FSFW_OSAL linux CACHE STRING "OS for the FSFW.")
 endif()
 
 if(TGT_BSP)
@@ -39,13 +31,35 @@ if(TGT_BSP)
     elseif(TGT_BSP MATCHES "arm/q7s")
         option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
     endif()
+    option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)
+else()
+    option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" OFF)
 endif()
 
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 # Perform steps like loading toolchain files where applicable.
 include(PreProjectConfig)
-include(EiveHelpers)
 pre_project_config()
 
+# Project Name
+project(eive-obsw)
+
+# Specify the C++ standard
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED True)
+
+include(EiveHelpers)
+
+option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
+option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
+
+set(OBSW_ADD_STAR_TRACKER 0)
+set(OBSW_DEBUG_STARTRACKER 0)
+
+################################################################################
+# Pre-Sources preparation
+################################################################################
+
 # Version handling
 set(GIT_VER_HANDLING_OK FALSE)
 if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
@@ -77,21 +91,6 @@ if(NOT GIT_VER_HANDLING_OK)
     set(OBSW_VERSION_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
 endif()
 
-# Check whether the user has already installed Catch2 first. This has to come before
-# the project call. We could also exclude doing this when the Q7S primary OBSW is built..
-find_package(Catch2 3 CONFIG QUIET)
-
-# Project Name
-project(eive-obsw)
-
-################################################################################
-# Pre-Sources preparation
-################################################################################
-
-# Specify the C++ standard
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED True)
-
 # Set names and variables
 set(OBSW_NAME ${CMAKE_PROJECT_NAME})
 set(WATCHDOG_NAME eive-watchdog)
@@ -250,30 +249,8 @@ elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
 	set(COMPILER_FLAGS "/permissive-")
 endif()
 
-if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s"))
-# Not installed, so use FetchContent to download and provide Catch2
-if(NOT Catch2_FOUND)
-    message(STATUS "Did not find a valid Catch2 installation. Using FetchContent to install it")
-    include(FetchContent)
-
-    FetchContent_Declare(
-        Catch2
-        GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-        GIT_TAG        v3.0.0-preview4
-    )
-
-    FetchContent_MakeAvailable(Catch2)
-    #fixes regression -preview4, to be confirmed in later releases
-    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
-    set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
-    set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
-endif()
-endif()
-
-
 add_library(${LIB_EIVE_MISSION})
 
-
 # Add main executable
 add_executable(${OBSW_NAME})
 if(EIVE_CREATE_UNIQUE_OBSW_BIN)
@@ -298,14 +275,15 @@ target_include_directories(${WATCHDOG_NAME} PUBLIC
     ${CMAKE_BINARY_DIR}
 )
 
-#unittests
+# unittests
 add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
 
+if(EIVE_ADD_ETL_LIB)
+endif()
+
 if(EIVE_ADD_JSON_LIB)
     add_subdirectory(${LIB_JSON_PATH})
 endif()
-
-
  
 if(EIVE_ADD_LINUX_FILES)
     add_subdirectory(${LIB_ARCSEC_PATH})
@@ -316,26 +294,52 @@ if(ADD_CSP_LIB)
     add_subdirectory(${LIB_CSP_PATH})
 endif()
 
-
 add_subdirectory(${COMMON_PATH})
 
-
-
 add_subdirectory(${LIB_LWGPS_PATH})
 add_subdirectory(${FSFW_PATH})
 add_subdirectory(${LIB_EIVE_MISSION_PATH})
 add_subdirectory(${TEST_PATH})
 
-
 add_subdirectory(${UNITTEST_PATH})
 
+# This should have already been downloaded by the FSFW
+# Still include it to be safe
+include(FetchContent)
+FetchContent_Declare(
+    etl
+    GIT_REPOSITORY https://github.com/ETLCPP/etl
+    GIT_TAG        ${FSFW_ETL_LIB_VERSION}
+)
+FetchContent_MakeAvailable(etl)
+
+# Use same Catch2 version as framework
+if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s"))
+    # Check whether the user has already installed Catch2 first
+    find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
+    # Not installed, so use FetchContent to download and provide Catch2
+    if(NOT Catch2_FOUND)
+        message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
+        include(FetchContent)
+
+        FetchContent_Declare(
+            Catch2
+            GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+            GIT_TAG        ${FSFW_CATCH2_LIB_VERSION}
+        )
+
+        FetchContent_MakeAvailable(Catch2)
+        #fixes regression -preview4, to be confirmed in later releases
+        set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
+        set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
+        set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
+    endif()
+endif()
 
 ################################################################################
 # Post-Sources preparation
 ################################################################################
 
-
-
 # Add libraries
 target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
     ${LIB_FSFW_NAME}
@@ -374,7 +378,7 @@ endif()
 
 if(EIVE_ADD_ETL_LIB)
     target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_ETL_NAME}
+        etl
     )
 endif()
 
diff --git a/bsp_hosted/fsfwconfig/OBSWConfig.h.in b/bsp_hosted/fsfwconfig/OBSWConfig.h.in
index a2353947..69029c23 100644
--- a/bsp_hosted/fsfwconfig/OBSWConfig.h.in
+++ b/bsp_hosted/fsfwconfig/OBSWConfig.h.in
@@ -8,11 +8,13 @@
 
 #include "commonConfig.h"
 
-#define OBSW_ADD_TEST_CODE      1
+#define OBSW_PRINT_MISSED_DEADLINES                 1
+
+#define OBSW_ADD_TEST_CODE                          1
 
 /* These defines should be disabled for mission code but are useful for
 debugging. */
-#define OBSW_VEBOSE_LEVEL       1
+#define OBSW_VEBOSE_LEVEL                           1
 
 #define OBSW_USE_CCSDS_IP_CORE                      0
 // Set to 1 if all telemetry should be sent to the PTME IP Core
@@ -20,6 +22,12 @@ debugging. */
 // Set to 1 if telecommands are received via the PDEC IP Core
 #define OBSW_TC_FROM_PDEC                           0
 
+#define OBSW_SYRLINKS_SIMULATED                     0
+
+#define OBSW_INITIALIZE_SWITCHES                    0
+
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
+
 #ifdef __cplusplus
 
 #include "objects/systemObjectList.h"
diff --git a/bsp_hosted/main.cpp b/bsp_hosted/main.cpp
index b7ebc422..938adb76 100644
--- a/bsp_hosted/main.cpp
+++ b/bsp_hosted/main.cpp
@@ -1,7 +1,7 @@
 #include <iostream>
 
 #include "InitMission.h"
-#include "OBSWVersion.h"
+#include "commonConfig.h"
 #include "fsfw/FSFWVersion.h"
 #include "fsfw/tasks/TaskFactory.h"
 #ifdef WIN32
@@ -19,9 +19,9 @@ static const char* COMPILE_PRINTOUT = "unknown OS";
 int main(void) {
   std::cout << "-- EIVE OBSW --" << std::endl;
   std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl;
-  std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
-            << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "."
-            << FSFW_REVISION << "--" << std::endl;
+  std::cout << "-- OBSW "
+            << " v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
+            << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
   initmission::initMission();
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index d830fa77..6c7d31a1 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -168,6 +168,9 @@ void ObjectFactory::produce(void* args) {
   imtqHandler->setStartUpImmediately();
   imtqHandler->setToGoToNormal(true);
 #endif
+#if OBSW_DEBUG_IMTQ == 1
+  imtqHandler->setDebugMode(true);
+#endif
 #endif
   createReactionWheelComponents(gpioComIF);
 
@@ -177,6 +180,9 @@ void ObjectFactory::produce(void* args) {
       new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
   bpxHandler->setStartUpImmediately();
   bpxHandler->setToGoToNormalMode(true);
+#if OBSW_DEBUG_BPX_BATT == 1
+  bpxHandler->setDebugMode(true);
+#endif
 #endif
 
   new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
@@ -266,6 +272,12 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
   if (pwrSwitcher != nullptr) {
     *pwrSwitcher = pcduHandler;
   }
+#if OBSW_DEBUG_P60DOCK == 1
+  p60dockhandler->setDebugMode(true);
+#endif
+#if OBSW_DEBUG_ACU == 1
+  acuhandler->setDebugMode(true);
+#endif
 }
 
 void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
@@ -632,6 +644,9 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
   auto syrlinksHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF,
                                                syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
+#if OBSW_DEBUG_SYRLINKS == 1
+  syrlinksHandler->setDebugMode(true);
+#endif
 }
 
 void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
@@ -732,32 +747,35 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
 
   auto rwHandler1 =
       new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF, gpioIds::EN_RW1);
+  rw1SpiCookie->setCallbackArgs(rwHandler1);
 #if OBSW_DEBUG_RW == 1
   rwHandler1->setStartUpImmediately();
+  rwHandler1->setDebugMode(true);
 #endif
-  rw1SpiCookie->setCallbackArgs(rwHandler1);
-  rwHandler1->setStartUpImmediately();
 
   auto rwHandler2 =
       new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
+  rw2SpiCookie->setCallbackArgs(rwHandler2);
 #if OBSW_DEBUG_RW == 1
   rwHandler2->setStartUpImmediately();
+  rwHandler2->setDebugMode(true);
 #endif
-  rw2SpiCookie->setCallbackArgs(rwHandler2);
 
   auto rwHandler3 =
       new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
+  rw3SpiCookie->setCallbackArgs(rwHandler3);
 #if OBSW_DEBUG_RW == 1
   rwHandler3->setStartUpImmediately();
+  rwHandler3->setDebugMode(true);
 #endif
-  rw3SpiCookie->setCallbackArgs(rwHandler3);
 
   auto rwHandler4 =
       new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
+  rw4SpiCookie->setCallbackArgs(rwHandler4);
 #if OBSW_DEBUG_RW == 1
   rwHandler4->setStartUpImmediately();
+  rwHandler4->setDebugMode(true);
 #endif
-  rw4SpiCookie->setCallbackArgs(rwHandler4);
 
 #endif /* OBSW_ADD_RW == 1 */
 }
diff --git a/common/config/commonConfig.h.in b/common/config/commonConfig.h.in
index 737b0d0e..528342b1 100644
--- a/common/config/commonConfig.h.in
+++ b/common/config/commonConfig.h.in
@@ -4,16 +4,20 @@
 #include <cstdint>
 #include "fsfw/version.h"
 
-#define OBSW_ADD_LWGPS_TEST             0
+/* These defines should be disabled for mission code but are useful for
+debugging. */
+#define OBSW_VERBOSE_LEVEL                  1
+
+#define OBSW_ADD_LWGPS_TEST                 0   
 
 // Disable this for mission code. It allows exchanging TMTC packets via the Ethernet port
-#define OBSW_ADD_TCPIP_BRIDGE           1
+#define OBSW_ADD_TCPIP_BRIDGE               1
 
 // Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
 // 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_TMTC_TCP_BRIDGE        1
+#define OBSW_USE_TMTC_TCP_BRIDGE            1
 
 namespace common {
 
diff --git a/linux/ObjectFactory.cpp b/linux/ObjectFactory.cpp
index 7811fdbe..d6e53005 100644
--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@@ -267,6 +267,9 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
     rtdFdir = new RtdFdir(rtdIds[idx]);
     rtds[idx]->setCustomFdir(rtdFdir);
     rtds[idx]->setDeviceIdx(idx + 3);
+#if OBSW_DEBUG_RTD == 1
+    rtds[idx]->setDebugMode(true);
+#endif
   }
 
 #if OBSW_TEST_RTD == 1
diff --git a/linux/fsfwconfig/OBSWConfig.h.in b/linux/fsfwconfig/OBSWConfig.h.in
index 4d26f463..356570e5 100644
--- a/linux/fsfwconfig/OBSWConfig.h.in
+++ b/linux/fsfwconfig/OBSWConfig.h.in
@@ -14,10 +14,6 @@
 
 #include "commonConfig.h"
 #include "OBSWVersion.h"
-
-/* These defines should be disabled for mission code but are useful for
-debugging. */
-#define OBSW_VERBOSE_LEVEL                          1
                              
 #define Q7S_EM                                      0
 
@@ -187,7 +183,7 @@ debugging. */
 
 #endif // RASPBERRY_PI
 
-#define TCP_SERVER_WIRETAPPING                      0
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
 
 /*******************************************************************/
 /** CMake Defines                                                  */
diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp
index 4b17865d..d2db67fd 100644
--- a/mission/core/GenericFactory.cpp
+++ b/mission/core/GenericFactory.cpp
@@ -111,9 +111,9 @@ void ObjectFactory::produceGenericObjects() {
   tcpServer->setSpacePacketParsingOptions({common::PUS_PACKET_ID});
   sif::info << "Created TCP server for TMTC commanding with listener port "
             << tcpServer->getTcpPort() << std::endl;
-#if TCP_SERVER_WIRETAPPING == 1
+#if OBSW_TCP_SERVER_WIRETAPPING == 1
   tcpServer->enableWiretapping(true);
-#endif /* TCP_SERVER_WIRETAPPING == 1 */
+#endif /* OBSW_TCP_SERVER_WIRETAPPING == 1 */
 #endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
   tmtcBridge->setMaxNumberOfPacketsStored(70);
 #endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */
diff --git a/mission/devices/ACUHandler.cpp b/mission/devices/ACUHandler.cpp
index afdbec35..0fdad639 100644
--- a/mission/devices/ACUHandler.cpp
+++ b/mission/devices/ACUHandler.cpp
@@ -23,20 +23,22 @@ void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pack
   parseHkTableReply(packet);
   handleDeviceTM(&acuHkTableDataset, id, true);
 
-#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;
-  float temperatureC_3 = acuHkTableDataset.temperature3.value * 0.1;
-  sif::info << "ACU: Temperature 1: " << temperatureC_1 << " °C" << std::endl;
-  sif::info << "ACU: Temperature 2: " << temperatureC_2 << " °C" << std::endl;
-  sif::info << "ACU: Temperature 3: " << temperatureC_3 << " °C" << std::endl;
-  sif::info << "ACU: Ground Watchdog Timer Count: " << acuHkTableDataset.wdtCntGnd.value
-            << std::endl;
-  sif::info << "ACU: Ground watchdog timer, seconds left before reboot: "
-            << acuHkTableDataset.wdtGndLeft.value << std::endl;
-  acuHkTableDataset.commit();
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    acuHkTableDataset.read();
+    float temperatureC_1 = acuHkTableDataset.temperature1.value * 0.1;
+    float temperatureC_2 = acuHkTableDataset.temperature2.value * 0.1;
+    float temperatureC_3 = acuHkTableDataset.temperature3.value * 0.1;
+    sif::info << "ACU: Temperature 1: " << temperatureC_1 << " °C" << std::endl;
+    sif::info << "ACU: Temperature 2: " << temperatureC_2 << " °C" << std::endl;
+    sif::info << "ACU: Temperature 3: " << temperatureC_3 << " °C" << std::endl;
+    sif::info << "ACU: Ground Watchdog Timer Count: " << acuHkTableDataset.wdtCntGnd.value
+              << std::endl;
+    sif::info << "ACU: Ground watchdog timer, seconds left before reboot: "
+              << acuHkTableDataset.wdtGndLeft.value << std::endl;
+    acuHkTableDataset.commit();
 #endif
+  }
 }
 
 LocalPoolDataSetBase *ACUHandler::getDataSetHandle(sid_t sid) {
@@ -317,3 +319,5 @@ void ACUHandler::printChannelStats() {
             << static_cast<unsigned int>(acuHkTableDataset.currentInChannel5.value) << std::setw(15)
             << std::right << acuHkTableDataset.voltageInChannel5.value << std::endl;
 }
+
+void ACUHandler::setDebugMode(bool enable) { this->debugMode = enable; }
diff --git a/mission/devices/ACUHandler.h b/mission/devices/ACUHandler.h
index 3b1feaf3..fdaf184a 100644
--- a/mission/devices/ACUHandler.h
+++ b/mission/devices/ACUHandler.h
@@ -15,6 +15,8 @@ class ACUHandler : public GomspaceDeviceHandler {
   ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
   virtual ~ACUHandler();
 
+  void setDebugMode(bool enable);
+
   virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                 LocalDataPoolManager& poolManager) override;
 
@@ -37,6 +39,7 @@ class ACUHandler : public GomspaceDeviceHandler {
   static const DeviceCommandId_t PRINT_CHANNEL_STATS = 51;
 
   ACU::HkTableDataset acuHkTableDataset;
+  bool debugMode = false;
 
   /**
    * @brief   Function extracts the hk table information from the received csp packet and stores
diff --git a/mission/devices/BpxBatteryHandler.cpp b/mission/devices/BpxBatteryHandler.cpp
index 9da04207..4ae7b962 100644
--- a/mission/devices/BpxBatteryHandler.cpp
+++ b/mission/devices/BpxBatteryHandler.cpp
@@ -197,19 +197,19 @@ ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       if (result != HasReturnvaluesIF::RETURN_OK) {
         return result;
       }
-#if OBSW_DEBUG_BPX_BATT == 1
-      sif::info << "BPX Battery HK output:" << std::endl;
-      sif::info << "Charge current [mA]: " << hkSet.chargeCurrent << std::endl;
-      sif::info << "Discharge current [mA]: " << hkSet.dischargeCurrent << std::endl;
-      sif::info << "Heater current [mA]: " << hkSet.heaterCurrent << std::endl;
-      sif::info << "Battery voltage [mV]: " << hkSet.battVoltage << std::endl;
-      sif::info << "Battery Temperature 1 [C]: " << hkSet.battTemp1 << std::endl;
-      sif::info << "Battery Temperature 2 [C]: " << hkSet.battTemp2 << std::endl;
-      sif::info << "Battery Temperature 3 [C]: " << hkSet.battTemp3 << std::endl;
-      sif::info << "Battery Temperature 4 [C]: " << hkSet.battTemp4 << std::endl;
-      sif::info << "Battery Reboot Counter: " << hkSet.rebootCounter << std::endl;
-      sif::info << "Battery Boot Cause: " << static_cast<int>(hkSet.bootcause.value) << std::endl;
-#endif
+      if (debugMode) {
+        sif::info << "BPX Battery HK output:" << std::endl;
+        sif::info << "Charge current [mA]: " << hkSet.chargeCurrent << std::endl;
+        sif::info << "Discharge current [mA]: " << hkSet.dischargeCurrent << std::endl;
+        sif::info << "Heater current [mA]: " << hkSet.heaterCurrent << std::endl;
+        sif::info << "Battery voltage [mV]: " << hkSet.battVoltage << std::endl;
+        sif::info << "Battery Temperature 1 [C]: " << hkSet.battTemp1 << std::endl;
+        sif::info << "Battery Temperature 2 [C]: " << hkSet.battTemp2 << std::endl;
+        sif::info << "Battery Temperature 3 [C]: " << hkSet.battTemp3 << std::endl;
+        sif::info << "Battery Temperature 4 [C]: " << hkSet.battTemp4 << std::endl;
+        sif::info << "Battery Reboot Counter: " << hkSet.rebootCounter << std::endl;
+        sif::info << "Battery Boot Cause: " << static_cast<int>(hkSet.bootcause.value) << std::endl;
+      }
       break;
     }
     case (BpxBattery::PING): {
@@ -277,3 +277,5 @@ ReturnValue_t BpxBatteryHandler::initializeLocalDataPool(localpool::DataPool& lo
 void BpxBatteryHandler::setToGoToNormalMode(bool enable) {
   this->goToNormalModeImmediately = enable;
 }
+
+void BpxBatteryHandler::setDebugMode(bool enable) { this->debugMode = enable; }
diff --git a/mission/devices/BpxBatteryHandler.h b/mission/devices/BpxBatteryHandler.h
index eb75fe2c..ceb0ff8d 100644
--- a/mission/devices/BpxBatteryHandler.h
+++ b/mission/devices/BpxBatteryHandler.h
@@ -11,6 +11,7 @@ class BpxBatteryHandler : public DeviceHandlerBase {
   virtual ~BpxBatteryHandler();
 
   void setToGoToNormalMode(bool enable);
+  void setDebugMode(bool enable);
 
  protected:
   enum class States {
@@ -20,6 +21,7 @@ class BpxBatteryHandler : public DeviceHandlerBase {
 
   States state = States::CHECK_COM;
   bool commandExecuted = false;
+  bool debugMode = false;
   bool goToNormalModeImmediately = false;
   uint8_t sentPingByte = BpxBattery::DEFAULT_PING_SENT_BYTE;
   BpxBatteryHk hkSet;
diff --git a/mission/devices/IMTQHandler.cpp b/mission/devices/IMTQHandler.cpp
index ad6beb0a..403adece 100644
--- a/mission/devices/IMTQHandler.cpp
+++ b/mission/devices/IMTQHandler.cpp
@@ -687,19 +687,21 @@ void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
   offset += 2;
   engHkDataset.mcuTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
-  sif::info << "IMTQ digital voltage: " << engHkDataset.digitalVoltageMv << " mV" << std::endl;
-  sif::info << "IMTQ analog voltage: " << engHkDataset.analogVoltageMv << " mV" << std::endl;
-  sif::info << "IMTQ digital current: " << engHkDataset.digitalCurrentmA << " mA" << std::endl;
-  sif::info << "IMTQ analog current: " << engHkDataset.analogCurrentmA << " mA" << std::endl;
-  sif::info << "IMTQ coil X current: " << engHkDataset.coilXCurrentmA << " mA" << std::endl;
-  sif::info << "IMTQ coil Y current: " << engHkDataset.coilYCurrentmA << " mA" << std::endl;
-  sif::info << "IMTQ coil Z current: " << engHkDataset.coilZCurrentmA << " mA" << std::endl;
-  sif::info << "IMTQ coil X temperature: " << engHkDataset.coilXTemperature << " °C" << std::endl;
-  sif::info << "IMTQ coil Y temperature: " << engHkDataset.coilYTemperature << " °C" << std::endl;
-  sif::info << "IMTQ coil Z temperature: " << engHkDataset.coilZTemperature << " °C" << std::endl;
-  sif::info << "IMTQ coil MCU temperature: " << engHkDataset.mcuTemperature << " °C" << std::endl;
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "IMTQ digital voltage: " << engHkDataset.digitalVoltageMv << " mV" << std::endl;
+    sif::info << "IMTQ analog voltage: " << engHkDataset.analogVoltageMv << " mV" << std::endl;
+    sif::info << "IMTQ digital current: " << engHkDataset.digitalCurrentmA << " mA" << std::endl;
+    sif::info << "IMTQ analog current: " << engHkDataset.analogCurrentmA << " mA" << std::endl;
+    sif::info << "IMTQ coil X current: " << engHkDataset.coilXCurrentmA << " mA" << std::endl;
+    sif::info << "IMTQ coil Y current: " << engHkDataset.coilYCurrentmA << " mA" << std::endl;
+    sif::info << "IMTQ coil Z current: " << engHkDataset.coilZCurrentmA << " mA" << std::endl;
+    sif::info << "IMTQ coil X temperature: " << engHkDataset.coilXTemperature << " °C" << std::endl;
+    sif::info << "IMTQ coil Y temperature: " << engHkDataset.coilYTemperature << " °C" << std::endl;
+    sif::info << "IMTQ coil Z temperature: " << engHkDataset.coilZTemperature << " °C" << std::endl;
+    sif::info << "IMTQ coil MCU temperature: " << engHkDataset.mcuTemperature << " °C" << std::endl;
 #endif
+  }
 }
 
 void IMTQHandler::setToGoToNormal(bool enable) { this->goToNormalMode = enable; }
@@ -755,16 +757,18 @@ void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
   calMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24) |
                                              (*(packet + offset + 2) << 16) |
                                              (*(packet + offset + 1) << 8) | (*(packet + offset));
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
-  sif::info << "IMTQ calibrated MTM measurement X: " << calMtmMeasurementSet.mtmXnT << " nT"
-            << std::endl;
-  sif::info << "IMTQ calibrated MTM measurement Y: " << calMtmMeasurementSet.mtmYnT << " nT"
-            << std::endl;
-  sif::info << "IMTQ calibrated MTM measurement Z: " << calMtmMeasurementSet.mtmZnT << " nT"
-            << std::endl;
-  sif::info << "IMTQ coil actuation status during MTM measurement: "
-            << (unsigned int)calMtmMeasurementSet.coilActuationStatus.value << std::endl;
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "IMTQ calibrated MTM measurement X: " << calMtmMeasurementSet.mtmXnT << " nT"
+              << std::endl;
+    sif::info << "IMTQ calibrated MTM measurement Y: " << calMtmMeasurementSet.mtmYnT << " nT"
+              << std::endl;
+    sif::info << "IMTQ calibrated MTM measurement Z: " << calMtmMeasurementSet.mtmZnT << " nT"
+              << std::endl;
+    sif::info << "IMTQ coil actuation status during MTM measurement: "
+              << (unsigned int)calMtmMeasurementSet.coilActuationStatus.value << std::endl;
 #endif
+  }
 }
 
 void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
@@ -785,13 +789,18 @@ void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
   rawMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24) |
                                              (*(packet + offset + 2) << 16) |
                                              (*(packet + offset + 1) << 8) | (*(packet + offset));
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
-  sif::info << "IMTQ raw MTM measurement X: " << rawMtmMeasurementSet.mtmXnT << " nT" << std::endl;
-  sif::info << "IMTQ raw MTM measurement Y: " << rawMtmMeasurementSet.mtmYnT << " nT" << std::endl;
-  sif::info << "IMTQ raw MTM measurement Z: " << rawMtmMeasurementSet.mtmZnT << " nT" << std::endl;
-  sif::info << "IMTQ coil actuation status during MTM measurement: "
-            << (unsigned int)rawMtmMeasurementSet.coilActuationStatus.value << std::endl;
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "IMTQ raw MTM measurement X: " << rawMtmMeasurementSet.mtmXnT << " nT"
+              << std::endl;
+    sif::info << "IMTQ raw MTM measurement Y: " << rawMtmMeasurementSet.mtmYnT << " nT"
+              << std::endl;
+    sif::info << "IMTQ raw MTM measurement Z: " << rawMtmMeasurementSet.mtmZnT << " nT"
+              << std::endl;
+    sif::info << "IMTQ coil actuation status during MTM measurement: "
+              << (unsigned int)rawMtmMeasurementSet.coilActuationStatus.value << std::endl;
 #endif
+  }
 }
 
 void IMTQHandler::handleSelfTestReply(const uint8_t* packet) {
@@ -954,88 +963,90 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) {
   posXselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
-  sif::info << "IMTQ self test (INIT) err: "
-            << static_cast<unsigned int>(posXselfTestDataset.initErr.value) << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posXselfTestDataset.initRawMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << posXselfTestDataset.initRawMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << posXselfTestDataset.initRawMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
-            << posXselfTestDataset.initCalMagX << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
-            << posXselfTestDataset.initCalMagY << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
-            << posXselfTestDataset.initCalMagZ << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil X current: " << posXselfTestDataset.initCoilXCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Y current: " << posXselfTestDataset.initCoilYCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Z current: " << posXselfTestDataset.initCoilZCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil X temperature: "
-            << posXselfTestDataset.initCoilXTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Y temperature: "
-            << posXselfTestDataset.initCoilYTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Z temperature: "
-            << posXselfTestDataset.initCoilZTemperature << " °C" << std::endl;
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "IMTQ self test (INIT) err: "
+              << static_cast<unsigned int>(posXselfTestDataset.initErr.value) << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posXselfTestDataset.initRawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << posXselfTestDataset.initRawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << posXselfTestDataset.initRawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
+              << posXselfTestDataset.initCalMagX << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
+              << posXselfTestDataset.initCalMagY << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
+              << posXselfTestDataset.initCalMagZ << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil X current: " << posXselfTestDataset.initCoilXCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Y current: " << posXselfTestDataset.initCoilYCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Z current: " << posXselfTestDataset.initCoilZCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil X temperature: "
+              << posXselfTestDataset.initCoilXTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Y temperature: "
+              << posXselfTestDataset.initCoilYTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Z temperature: "
+              << posXselfTestDataset.initCoilZTemperature << " °C" << std::endl;
 
-  sif::info << "IMTQ self test (+X) err: "
-            << static_cast<unsigned int>(posXselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (+X) raw magnetic field X: " << posXselfTestDataset.rawMagX << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (+X) raw magnetic field Y: " << posXselfTestDataset.rawMagY << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (+X) raw magnetic field Z: " << posXselfTestDataset.rawMagZ << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (+X) calibrated magnetic field X: " << posXselfTestDataset.calMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (+X) calibrated magnetic field Y: " << posXselfTestDataset.calMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (+X) calibrated magnetic field Z: " << posXselfTestDataset.calMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (+X) coil X current: " << posXselfTestDataset.coilXCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (+X) coil Y current: " << posXselfTestDataset.coilYCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (+X) coil Z current: " << posXselfTestDataset.coilZCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (+X) coil X temperature: " << posXselfTestDataset.coilXTemperature
-            << " °C" << std::endl;
-  sif::info << "IMTQ self test (+X) coil Y temperature: " << posXselfTestDataset.coilYTemperature
-            << " °C" << std::endl;
-  sif::info << "IMTQ self test (+X) coil Z temperature: " << posXselfTestDataset.coilZTemperature
-            << " °C" << std::endl;
+    sif::info << "IMTQ self test (+X) err: "
+              << static_cast<unsigned int>(posXselfTestDataset.err.value) << std::endl;
+    sif::info << "IMTQ self test (+X) raw magnetic field X: " << posXselfTestDataset.rawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+X) raw magnetic field Y: " << posXselfTestDataset.rawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+X) raw magnetic field Z: " << posXselfTestDataset.rawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+X) calibrated magnetic field X: " << posXselfTestDataset.calMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+X) calibrated magnetic field Y: " << posXselfTestDataset.calMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+X) calibrated magnetic field Z: " << posXselfTestDataset.calMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+X) coil X current: " << posXselfTestDataset.coilXCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (+X) coil Y current: " << posXselfTestDataset.coilYCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (+X) coil Z current: " << posXselfTestDataset.coilZCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (+X) coil X temperature: " << posXselfTestDataset.coilXTemperature
+              << " °C" << std::endl;
+    sif::info << "IMTQ self test (+X) coil Y temperature: " << posXselfTestDataset.coilYTemperature
+              << " °C" << std::endl;
+    sif::info << "IMTQ self test (+X) coil Z temperature: " << posXselfTestDataset.coilZTemperature
+              << " °C" << std::endl;
 
-  sif::info << "IMTQ self test (FINA) err: "
-            << static_cast<unsigned int>(posXselfTestDataset.finaErr.value) << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field X: " << posXselfTestDataset.finaRawMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << posXselfTestDataset.finaRawMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << posXselfTestDataset.finaRawMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
-            << posXselfTestDataset.finaCalMagX << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
-            << posXselfTestDataset.finaCalMagY << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
-            << posXselfTestDataset.finaCalMagZ << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil X current: " << posXselfTestDataset.finaCoilXCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Y current: " << posXselfTestDataset.finaCoilYCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Z current: " << posXselfTestDataset.finaCoilZCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil X temperature: "
-            << posXselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Y temperature: "
-            << posXselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Z temperature: "
-            << posXselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) err: "
+              << static_cast<unsigned int>(posXselfTestDataset.finaErr.value) << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field X: " << posXselfTestDataset.finaRawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << posXselfTestDataset.finaRawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << posXselfTestDataset.finaRawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
+              << posXselfTestDataset.finaCalMagX << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
+              << posXselfTestDataset.finaCalMagY << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
+              << posXselfTestDataset.finaCalMagZ << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil X current: " << posXselfTestDataset.finaCoilXCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Y current: " << posXselfTestDataset.finaCoilYCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Z current: " << posXselfTestDataset.finaCoilZCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil X temperature: "
+              << posXselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Y temperature: "
+              << posXselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Z temperature: "
+              << posXselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
+  }
 }
 
 void IMTQHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
@@ -1164,88 +1175,90 @@ void IMTQHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
   negXselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
-  sif::info << "IMTQ self test (INIT) err: "
-            << static_cast<unsigned int>(negXselfTestDataset.initErr.value) << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negXselfTestDataset.initRawMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << negXselfTestDataset.initRawMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << negXselfTestDataset.initRawMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
-            << negXselfTestDataset.initCalMagX << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
-            << negXselfTestDataset.initCalMagY << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
-            << negXselfTestDataset.initCalMagZ << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil X current: " << negXselfTestDataset.initCoilXCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Y current: " << negXselfTestDataset.initCoilYCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Z current: " << negXselfTestDataset.initCoilZCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil X temperature: "
-            << negXselfTestDataset.initCoilXTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Y temperature: "
-            << negXselfTestDataset.initCoilYTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Z temperature: "
-            << negXselfTestDataset.initCoilZTemperature << " °C" << std::endl;
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "IMTQ self test (INIT) err: "
+              << static_cast<unsigned int>(negXselfTestDataset.initErr.value) << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negXselfTestDataset.initRawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << negXselfTestDataset.initRawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << negXselfTestDataset.initRawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
+              << negXselfTestDataset.initCalMagX << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
+              << negXselfTestDataset.initCalMagY << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
+              << negXselfTestDataset.initCalMagZ << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil X current: " << negXselfTestDataset.initCoilXCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Y current: " << negXselfTestDataset.initCoilYCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Z current: " << negXselfTestDataset.initCoilZCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil X temperature: "
+              << negXselfTestDataset.initCoilXTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Y temperature: "
+              << negXselfTestDataset.initCoilYTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Z temperature: "
+              << negXselfTestDataset.initCoilZTemperature << " °C" << std::endl;
 
-  sif::info << "IMTQ self test (-X) err: "
-            << static_cast<unsigned int>(negXselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (-X) raw magnetic field X: " << negXselfTestDataset.rawMagX << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (-X) raw magnetic field Y: " << negXselfTestDataset.rawMagY << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (-X) raw magnetic field Z: " << negXselfTestDataset.rawMagZ << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (-X) calibrated magnetic field X: " << negXselfTestDataset.calMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (-X) calibrated magnetic field Y: " << negXselfTestDataset.calMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (-X) calibrated magnetic field Z: " << negXselfTestDataset.calMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (-X) coil X current: " << negXselfTestDataset.coilXCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (-X) coil Y current: " << negXselfTestDataset.coilYCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (-X) coil Z current: " << negXselfTestDataset.coilZCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (-X) coil X temperature: " << negXselfTestDataset.coilXTemperature
-            << " °C" << std::endl;
-  sif::info << "IMTQ self test (-X) coil Y temperature: " << negXselfTestDataset.coilYTemperature
-            << " °C" << std::endl;
-  sif::info << "IMTQ self test (-X) coil Z temperature: " << negXselfTestDataset.coilZTemperature
-            << " °C" << std::endl;
+    sif::info << "IMTQ self test (-X) err: "
+              << static_cast<unsigned int>(negXselfTestDataset.err.value) << std::endl;
+    sif::info << "IMTQ self test (-X) raw magnetic field X: " << negXselfTestDataset.rawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-X) raw magnetic field Y: " << negXselfTestDataset.rawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-X) raw magnetic field Z: " << negXselfTestDataset.rawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-X) calibrated magnetic field X: " << negXselfTestDataset.calMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-X) calibrated magnetic field Y: " << negXselfTestDataset.calMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-X) calibrated magnetic field Z: " << negXselfTestDataset.calMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-X) coil X current: " << negXselfTestDataset.coilXCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (-X) coil Y current: " << negXselfTestDataset.coilYCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (-X) coil Z current: " << negXselfTestDataset.coilZCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (-X) coil X temperature: " << negXselfTestDataset.coilXTemperature
+              << " °C" << std::endl;
+    sif::info << "IMTQ self test (-X) coil Y temperature: " << negXselfTestDataset.coilYTemperature
+              << " °C" << std::endl;
+    sif::info << "IMTQ self test (-X) coil Z temperature: " << negXselfTestDataset.coilZTemperature
+              << " °C" << std::endl;
 
-  sif::info << "IMTQ self test (FINA) err: "
-            << static_cast<unsigned int>(negXselfTestDataset.finaErr.value) << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field X: " << negXselfTestDataset.finaRawMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << negXselfTestDataset.finaRawMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << negXselfTestDataset.finaRawMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
-            << negXselfTestDataset.finaCalMagX << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
-            << negXselfTestDataset.finaCalMagY << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
-            << negXselfTestDataset.finaCalMagZ << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil X current: " << negXselfTestDataset.finaCoilXCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Y current: " << negXselfTestDataset.finaCoilYCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Z current: " << negXselfTestDataset.finaCoilZCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil X temperature: "
-            << negXselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Y temperature: "
-            << negXselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Z temperature: "
-            << negXselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) err: "
+              << static_cast<unsigned int>(negXselfTestDataset.finaErr.value) << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field X: " << negXselfTestDataset.finaRawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << negXselfTestDataset.finaRawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << negXselfTestDataset.finaRawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
+              << negXselfTestDataset.finaCalMagX << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
+              << negXselfTestDataset.finaCalMagY << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
+              << negXselfTestDataset.finaCalMagZ << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil X current: " << negXselfTestDataset.finaCoilXCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Y current: " << negXselfTestDataset.finaCoilYCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Z current: " << negXselfTestDataset.finaCoilZCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil X temperature: "
+              << negXselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Y temperature: "
+              << negXselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Z temperature: "
+              << negXselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
+  }
 }
 
 void IMTQHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
@@ -1374,88 +1387,90 @@ void IMTQHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
   posYselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
-  sif::info << "IMTQ self test (INIT) err: "
-            << static_cast<unsigned int>(posYselfTestDataset.initErr.value) << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posYselfTestDataset.initRawMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << posYselfTestDataset.initRawMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << posYselfTestDataset.initRawMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
-            << posYselfTestDataset.initCalMagX << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
-            << posYselfTestDataset.initCalMagY << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
-            << posYselfTestDataset.initCalMagZ << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil X current: " << posYselfTestDataset.initCoilXCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Y current: " << posYselfTestDataset.initCoilYCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Z current: " << posYselfTestDataset.initCoilZCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil X temperature: "
-            << posYselfTestDataset.initCoilXTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Y temperature: "
-            << posYselfTestDataset.initCoilYTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Z temperature: "
-            << posYselfTestDataset.initCoilZTemperature << " °C" << std::endl;
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "IMTQ self test (INIT) err: "
+              << static_cast<unsigned int>(posYselfTestDataset.initErr.value) << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posYselfTestDataset.initRawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << posYselfTestDataset.initRawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << posYselfTestDataset.initRawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
+              << posYselfTestDataset.initCalMagX << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
+              << posYselfTestDataset.initCalMagY << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
+              << posYselfTestDataset.initCalMagZ << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil X current: " << posYselfTestDataset.initCoilXCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Y current: " << posYselfTestDataset.initCoilYCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Z current: " << posYselfTestDataset.initCoilZCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil X temperature: "
+              << posYselfTestDataset.initCoilXTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Y temperature: "
+              << posYselfTestDataset.initCoilYTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Z temperature: "
+              << posYselfTestDataset.initCoilZTemperature << " °C" << std::endl;
 
-  sif::info << "IMTQ self test (+Y) err: "
-            << static_cast<unsigned int>(posYselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (+Y) raw magnetic field X: " << posYselfTestDataset.rawMagX << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (+Y) raw magnetic field Y: " << posYselfTestDataset.rawMagY << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (+Y) raw magnetic field Z: " << posYselfTestDataset.rawMagZ << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (+Y) calibrated magnetic field X: " << posYselfTestDataset.calMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (+Y) calibrated magnetic field Y: " << posYselfTestDataset.calMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (+Y) calibrated magnetic field Z: " << posYselfTestDataset.calMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (+Y) coil X current: " << posYselfTestDataset.coilXCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (+Y) coil Y current: " << posYselfTestDataset.coilYCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (+Y) coil Z current: " << posYselfTestDataset.coilZCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (+Y) coil X temperature: " << posYselfTestDataset.coilXTemperature
-            << " °C" << std::endl;
-  sif::info << "IMTQ self test (+Y) coil Y temperature: " << posYselfTestDataset.coilYTemperature
-            << " °C" << std::endl;
-  sif::info << "IMTQ self test (+Y) coil Z temperature: " << posYselfTestDataset.coilZTemperature
-            << " °C" << std::endl;
+    sif::info << "IMTQ self test (+Y) err: "
+              << static_cast<unsigned int>(posYselfTestDataset.err.value) << std::endl;
+    sif::info << "IMTQ self test (+Y) raw magnetic field X: " << posYselfTestDataset.rawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+Y) raw magnetic field Y: " << posYselfTestDataset.rawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+Y) raw magnetic field Z: " << posYselfTestDataset.rawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+Y) calibrated magnetic field X: " << posYselfTestDataset.calMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+Y) calibrated magnetic field Y: " << posYselfTestDataset.calMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+Y) calibrated magnetic field Z: " << posYselfTestDataset.calMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+Y) coil X current: " << posYselfTestDataset.coilXCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (+Y) coil Y current: " << posYselfTestDataset.coilYCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (+Y) coil Z current: " << posYselfTestDataset.coilZCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (+Y) coil X temperature: " << posYselfTestDataset.coilXTemperature
+              << " °C" << std::endl;
+    sif::info << "IMTQ self test (+Y) coil Y temperature: " << posYselfTestDataset.coilYTemperature
+              << " °C" << std::endl;
+    sif::info << "IMTQ self test (+Y) coil Z temperature: " << posYselfTestDataset.coilZTemperature
+              << " °C" << std::endl;
 
-  sif::info << "IMTQ self test (FINA) err: "
-            << static_cast<unsigned int>(posYselfTestDataset.finaErr.value) << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field X: " << posYselfTestDataset.finaRawMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << posYselfTestDataset.finaRawMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << posYselfTestDataset.finaRawMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
-            << posYselfTestDataset.finaCalMagX << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
-            << posYselfTestDataset.finaCalMagY << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
-            << posYselfTestDataset.finaCalMagZ << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil X current: " << posYselfTestDataset.finaCoilXCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Y current: " << posYselfTestDataset.finaCoilYCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Z current: " << posYselfTestDataset.finaCoilZCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil X temperature: "
-            << posYselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Y temperature: "
-            << posYselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Z temperature: "
-            << posYselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) err: "
+              << static_cast<unsigned int>(posYselfTestDataset.finaErr.value) << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field X: " << posYselfTestDataset.finaRawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << posYselfTestDataset.finaRawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << posYselfTestDataset.finaRawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
+              << posYselfTestDataset.finaCalMagX << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
+              << posYselfTestDataset.finaCalMagY << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
+              << posYselfTestDataset.finaCalMagZ << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil X current: " << posYselfTestDataset.finaCoilXCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Y current: " << posYselfTestDataset.finaCoilYCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Z current: " << posYselfTestDataset.finaCoilZCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil X temperature: "
+              << posYselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Y temperature: "
+              << posYselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Z temperature: "
+              << posYselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
+  }
 }
 
 void IMTQHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
@@ -1584,88 +1599,90 @@ void IMTQHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
   negYselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
-  sif::info << "IMTQ self test (INIT) err: "
-            << static_cast<unsigned int>(negYselfTestDataset.initErr.value) << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negYselfTestDataset.initRawMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << negYselfTestDataset.initRawMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << negYselfTestDataset.initRawMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
-            << negYselfTestDataset.initCalMagX << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
-            << negYselfTestDataset.initCalMagY << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
-            << negYselfTestDataset.initCalMagZ << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil X current: " << negYselfTestDataset.initCoilXCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Y current: " << negYselfTestDataset.initCoilYCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Z current: " << negYselfTestDataset.initCoilZCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil X temperature: "
-            << negYselfTestDataset.initCoilXTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Y temperature: "
-            << negYselfTestDataset.initCoilYTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Z temperature: "
-            << negYselfTestDataset.initCoilZTemperature << " °C" << std::endl;
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "IMTQ self test (INIT) err: "
+              << static_cast<unsigned int>(negYselfTestDataset.initErr.value) << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negYselfTestDataset.initRawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << negYselfTestDataset.initRawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << negYselfTestDataset.initRawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
+              << negYselfTestDataset.initCalMagX << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
+              << negYselfTestDataset.initCalMagY << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
+              << negYselfTestDataset.initCalMagZ << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil X current: " << negYselfTestDataset.initCoilXCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Y current: " << negYselfTestDataset.initCoilYCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Z current: " << negYselfTestDataset.initCoilZCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil X temperature: "
+              << negYselfTestDataset.initCoilXTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Y temperature: "
+              << negYselfTestDataset.initCoilYTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Z temperature: "
+              << negYselfTestDataset.initCoilZTemperature << " °C" << std::endl;
 
-  sif::info << "IMTQ self test (-Y) err: "
-            << static_cast<unsigned int>(negYselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (-Y) raw magnetic field X: " << negYselfTestDataset.rawMagX << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (-Y) raw magnetic field Y: " << negYselfTestDataset.rawMagY << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (-Y) raw magnetic field Z: " << negYselfTestDataset.rawMagZ << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (-Y) calibrated magnetic field X: " << negYselfTestDataset.calMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (-Y) calibrated magnetic field Y: " << negYselfTestDataset.calMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (-Y) calibrated magnetic field Z: " << negYselfTestDataset.calMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (-Y) coil X current: " << negYselfTestDataset.coilXCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (-Y) coil Y current: " << negYselfTestDataset.coilYCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (-Y) coil Z current: " << negYselfTestDataset.coilZCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (-Y) coil X temperature: " << negYselfTestDataset.coilXTemperature
-            << " °C" << std::endl;
-  sif::info << "IMTQ self test (-Y) coil Y temperature: " << negYselfTestDataset.coilYTemperature
-            << " °C" << std::endl;
-  sif::info << "IMTQ self test (-Y) coil Z temperature: " << negYselfTestDataset.coilZTemperature
-            << " °C" << std::endl;
+    sif::info << "IMTQ self test (-Y) err: "
+              << static_cast<unsigned int>(negYselfTestDataset.err.value) << std::endl;
+    sif::info << "IMTQ self test (-Y) raw magnetic field X: " << negYselfTestDataset.rawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-Y) raw magnetic field Y: " << negYselfTestDataset.rawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-Y) raw magnetic field Z: " << negYselfTestDataset.rawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-Y) calibrated magnetic field X: " << negYselfTestDataset.calMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-Y) calibrated magnetic field Y: " << negYselfTestDataset.calMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-Y) calibrated magnetic field Z: " << negYselfTestDataset.calMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-Y) coil X current: " << negYselfTestDataset.coilXCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (-Y) coil Y current: " << negYselfTestDataset.coilYCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (-Y) coil Z current: " << negYselfTestDataset.coilZCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (-Y) coil X temperature: " << negYselfTestDataset.coilXTemperature
+              << " °C" << std::endl;
+    sif::info << "IMTQ self test (-Y) coil Y temperature: " << negYselfTestDataset.coilYTemperature
+              << " °C" << std::endl;
+    sif::info << "IMTQ self test (-Y) coil Z temperature: " << negYselfTestDataset.coilZTemperature
+              << " °C" << std::endl;
 
-  sif::info << "IMTQ self test (FINA) err: "
-            << static_cast<unsigned int>(negYselfTestDataset.finaErr.value) << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field X: " << negYselfTestDataset.finaRawMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << negYselfTestDataset.finaRawMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << negYselfTestDataset.finaRawMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
-            << negYselfTestDataset.finaCalMagX << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
-            << negYselfTestDataset.finaCalMagY << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
-            << negYselfTestDataset.finaCalMagZ << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil X current: " << negYselfTestDataset.finaCoilXCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Y current: " << negYselfTestDataset.finaCoilYCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Z current: " << negYselfTestDataset.finaCoilZCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil X temperature: "
-            << negYselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Y temperature: "
-            << negYselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Z temperature: "
-            << negYselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) err: "
+              << static_cast<unsigned int>(negYselfTestDataset.finaErr.value) << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field X: " << negYselfTestDataset.finaRawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << negYselfTestDataset.finaRawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << negYselfTestDataset.finaRawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
+              << negYselfTestDataset.finaCalMagX << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
+              << negYselfTestDataset.finaCalMagY << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
+              << negYselfTestDataset.finaCalMagZ << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil X current: " << negYselfTestDataset.finaCoilXCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Y current: " << negYselfTestDataset.finaCoilYCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Z current: " << negYselfTestDataset.finaCoilZCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil X temperature: "
+              << negYselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Y temperature: "
+              << negYselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Z temperature: "
+              << negYselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
+  }
 }
 
 void IMTQHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
@@ -1794,88 +1811,90 @@ void IMTQHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
   posZselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
-  sif::info << "IMTQ self test (INIT) err: "
-            << static_cast<unsigned int>(posZselfTestDataset.initErr.value) << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posZselfTestDataset.initRawMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << posZselfTestDataset.initRawMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << posZselfTestDataset.initRawMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
-            << posZselfTestDataset.initCalMagX << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
-            << posZselfTestDataset.initCalMagY << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
-            << posZselfTestDataset.initCalMagZ << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil X current: " << posZselfTestDataset.initCoilXCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Y current: " << posZselfTestDataset.initCoilYCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Z current: " << posZselfTestDataset.initCoilZCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil X temperature: "
-            << posZselfTestDataset.initCoilXTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Y temperature: "
-            << posZselfTestDataset.initCoilYTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Z temperature: "
-            << posZselfTestDataset.initCoilZTemperature << " °C" << std::endl;
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "IMTQ self test (INIT) err: "
+              << static_cast<unsigned int>(posZselfTestDataset.initErr.value) << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posZselfTestDataset.initRawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << posZselfTestDataset.initRawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << posZselfTestDataset.initRawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
+              << posZselfTestDataset.initCalMagX << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
+              << posZselfTestDataset.initCalMagY << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
+              << posZselfTestDataset.initCalMagZ << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil X current: " << posZselfTestDataset.initCoilXCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Y current: " << posZselfTestDataset.initCoilYCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Z current: " << posZselfTestDataset.initCoilZCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil X temperature: "
+              << posZselfTestDataset.initCoilXTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Y temperature: "
+              << posZselfTestDataset.initCoilYTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Z temperature: "
+              << posZselfTestDataset.initCoilZTemperature << " °C" << std::endl;
 
-  sif::info << "IMTQ self test (+Z) err: "
-            << static_cast<unsigned int>(posZselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (+Z) raw magnetic field X: " << posZselfTestDataset.rawMagX << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (+Z) raw magnetic field Y: " << posZselfTestDataset.rawMagY << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (+Z) raw magnetic field Z: " << posZselfTestDataset.rawMagZ << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (+Z) calibrated magnetic field X: " << posZselfTestDataset.calMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (+Z) calibrated magnetic field Y: " << posZselfTestDataset.calMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (+Z) calibrated magnetic field Z: " << posZselfTestDataset.calMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (+Z) coil X current: " << posZselfTestDataset.coilXCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (+Z) coil Y current: " << posZselfTestDataset.coilYCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (+Z) coil Z current: " << posZselfTestDataset.coilZCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (+Z) coil X temperature: " << posZselfTestDataset.coilXTemperature
-            << " °C" << std::endl;
-  sif::info << "IMTQ self test (+Z) coil Y temperature: " << posZselfTestDataset.coilYTemperature
-            << " °C" << std::endl;
-  sif::info << "IMTQ self test (+Z) coil Z temperature: " << negYselfTestDataset.coilZTemperature
-            << " °C" << std::endl;
+    sif::info << "IMTQ self test (+Z) err: "
+              << static_cast<unsigned int>(posZselfTestDataset.err.value) << std::endl;
+    sif::info << "IMTQ self test (+Z) raw magnetic field X: " << posZselfTestDataset.rawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+Z) raw magnetic field Y: " << posZselfTestDataset.rawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+Z) raw magnetic field Z: " << posZselfTestDataset.rawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+Z) calibrated magnetic field X: " << posZselfTestDataset.calMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+Z) calibrated magnetic field Y: " << posZselfTestDataset.calMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+Z) calibrated magnetic field Z: " << posZselfTestDataset.calMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (+Z) coil X current: " << posZselfTestDataset.coilXCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (+Z) coil Y current: " << posZselfTestDataset.coilYCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (+Z) coil Z current: " << posZselfTestDataset.coilZCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (+Z) coil X temperature: " << posZselfTestDataset.coilXTemperature
+              << " °C" << std::endl;
+    sif::info << "IMTQ self test (+Z) coil Y temperature: " << posZselfTestDataset.coilYTemperature
+              << " °C" << std::endl;
+    sif::info << "IMTQ self test (+Z) coil Z temperature: " << negYselfTestDataset.coilZTemperature
+              << " °C" << std::endl;
 
-  sif::info << "IMTQ self test (FINA) err: "
-            << static_cast<unsigned int>(posZselfTestDataset.finaErr.value) << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field X: " << posZselfTestDataset.finaRawMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << posZselfTestDataset.finaRawMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << posZselfTestDataset.finaRawMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
-            << posZselfTestDataset.finaCalMagX << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
-            << posZselfTestDataset.finaCalMagY << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
-            << posZselfTestDataset.finaCalMagZ << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil X current: " << posZselfTestDataset.finaCoilXCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Y current: " << posZselfTestDataset.finaCoilYCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Z current: " << posZselfTestDataset.finaCoilZCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil X temperature: "
-            << posZselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Y temperature: "
-            << posZselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Z temperature: "
-            << posZselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) err: "
+              << static_cast<unsigned int>(posZselfTestDataset.finaErr.value) << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field X: " << posZselfTestDataset.finaRawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << posZselfTestDataset.finaRawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << posZselfTestDataset.finaRawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
+              << posZselfTestDataset.finaCalMagX << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
+              << posZselfTestDataset.finaCalMagY << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
+              << posZselfTestDataset.finaCalMagZ << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil X current: " << posZselfTestDataset.finaCoilXCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Y current: " << posZselfTestDataset.finaCoilYCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Z current: " << posZselfTestDataset.finaCoilZCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil X temperature: "
+              << posZselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Y temperature: "
+              << posZselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Z temperature: "
+              << posZselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
+  }
 }
 
 void IMTQHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
@@ -2004,90 +2023,94 @@ void IMTQHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
   negZselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
-  sif::info << "IMTQ self test (INIT) err: "
-            << static_cast<unsigned int>(negZselfTestDataset.initErr.value) << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negZselfTestDataset.initRawMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << negZselfTestDataset.initRawMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << negZselfTestDataset.initRawMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
-            << negZselfTestDataset.initCalMagX << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
-            << negZselfTestDataset.initCalMagY << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
-            << negZselfTestDataset.initCalMagZ << " nT" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil X current: " << negZselfTestDataset.initCoilXCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Y current: " << negZselfTestDataset.initCoilYCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Z current: " << negZselfTestDataset.initCoilZCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil X temperature: "
-            << negZselfTestDataset.initCoilXTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Y temperature: "
-            << negZselfTestDataset.initCoilYTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (INIT) coil Z temperature: "
-            << negZselfTestDataset.initCoilZTemperature << " °C" << std::endl;
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "IMTQ self test (INIT) err: "
+              << static_cast<unsigned int>(negZselfTestDataset.initErr.value) << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negZselfTestDataset.initRawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << negZselfTestDataset.initRawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << negZselfTestDataset.initRawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
+              << negZselfTestDataset.initCalMagX << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
+              << negZselfTestDataset.initCalMagY << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
+              << negZselfTestDataset.initCalMagZ << " nT" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil X current: " << negZselfTestDataset.initCoilXCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Y current: " << negZselfTestDataset.initCoilYCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Z current: " << negZselfTestDataset.initCoilZCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil X temperature: "
+              << negZselfTestDataset.initCoilXTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Y temperature: "
+              << negZselfTestDataset.initCoilYTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (INIT) coil Z temperature: "
+              << negZselfTestDataset.initCoilZTemperature << " °C" << std::endl;
 
-  sif::info << "IMTQ self test (-Z) err: "
-            << static_cast<unsigned int>(negZselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (-Z) raw magnetic field X: " << negZselfTestDataset.rawMagX << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (-Z) raw magnetic field Y: " << negZselfTestDataset.rawMagY << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (-Z) raw magnetic field Z: " << negZselfTestDataset.rawMagZ << " nT"
-            << std::endl;
-  sif::info << "IMTQ self test (-Z) calibrated magnetic field X: " << negZselfTestDataset.calMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (-Z) calibrated magnetic field Y: " << negZselfTestDataset.calMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (-Z) calibrated magnetic field Z: " << negZselfTestDataset.calMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (-Z) coil X current: " << negZselfTestDataset.coilXCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (-Z) coil Y current: " << negZselfTestDataset.coilYCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (-Z) coil Z current: " << negZselfTestDataset.coilZCurrent << " mA"
-            << std::endl;
-  sif::info << "IMTQ self test (-Z) coil X temperature: " << negZselfTestDataset.coilXTemperature
-            << " °C" << std::endl;
-  sif::info << "IMTQ self test (-Z) coil Y temperature: " << negZselfTestDataset.coilYTemperature
-            << " °C" << std::endl;
-  sif::info << "IMTQ self test (-Z) coil Z temperature: " << negYselfTestDataset.coilZTemperature
-            << " °C" << std::endl;
+    sif::info << "IMTQ self test (-Z) err: "
+              << static_cast<unsigned int>(negZselfTestDataset.err.value) << std::endl;
+    sif::info << "IMTQ self test (-Z) raw magnetic field X: " << negZselfTestDataset.rawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-Z) raw magnetic field Y: " << negZselfTestDataset.rawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-Z) raw magnetic field Z: " << negZselfTestDataset.rawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-Z) calibrated magnetic field X: " << negZselfTestDataset.calMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-Z) calibrated magnetic field Y: " << negZselfTestDataset.calMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-Z) calibrated magnetic field Z: " << negZselfTestDataset.calMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (-Z) coil X current: " << negZselfTestDataset.coilXCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (-Z) coil Y current: " << negZselfTestDataset.coilYCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (-Z) coil Z current: " << negZselfTestDataset.coilZCurrent << " mA"
+              << std::endl;
+    sif::info << "IMTQ self test (-Z) coil X temperature: " << negZselfTestDataset.coilXTemperature
+              << " °C" << std::endl;
+    sif::info << "IMTQ self test (-Z) coil Y temperature: " << negZselfTestDataset.coilYTemperature
+              << " °C" << std::endl;
+    sif::info << "IMTQ self test (-Z) coil Z temperature: " << negYselfTestDataset.coilZTemperature
+              << " °C" << std::endl;
 
-  sif::info << "IMTQ self test (FINA) err: "
-            << static_cast<unsigned int>(negZselfTestDataset.finaErr.value) << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field X: " << negZselfTestDataset.finaRawMagX
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << negZselfTestDataset.finaRawMagY
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << negZselfTestDataset.finaRawMagZ
-            << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
-            << negZselfTestDataset.finaCalMagX << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
-            << negZselfTestDataset.finaCalMagY << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
-            << negZselfTestDataset.finaCalMagZ << " nT" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil X current: " << negZselfTestDataset.finaCoilXCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Y current: " << negZselfTestDataset.finaCoilYCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Z current: " << negZselfTestDataset.finaCoilZCurrent
-            << " mA" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil X temperature: "
-            << negZselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Y temperature: "
-            << negZselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
-  sif::info << "IMTQ self test (FINA) coil Z temperature: "
-            << negZselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) err: "
+              << static_cast<unsigned int>(negZselfTestDataset.finaErr.value) << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field X: " << negZselfTestDataset.finaRawMagX
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << negZselfTestDataset.finaRawMagY
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << negZselfTestDataset.finaRawMagZ
+              << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
+              << negZselfTestDataset.finaCalMagX << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
+              << negZselfTestDataset.finaCalMagY << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
+              << negZselfTestDataset.finaCalMagZ << " nT" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil X current: " << negZselfTestDataset.finaCoilXCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Y current: " << negZselfTestDataset.finaCoilYCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Z current: " << negZselfTestDataset.finaCoilZCurrent
+              << " mA" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil X temperature: "
+              << negZselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Y temperature: "
+              << negZselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
+    sif::info << "IMTQ self test (FINA) coil Z temperature: "
+              << negZselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
+  }
 }
 
+void IMTQHandler::setDebugMode(bool enable) { this->debugMode = enable; }
+
 void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) {
   std::string stepString("");
   if (step < 8) {
diff --git a/mission/devices/IMTQHandler.h b/mission/devices/IMTQHandler.h
index 8a5695cd..03c044cb 100644
--- a/mission/devices/IMTQHandler.h
+++ b/mission/devices/IMTQHandler.h
@@ -21,6 +21,8 @@ class IMTQHandler : public DeviceHandlerBase {
    */
   void setToGoToNormal(bool enable);
 
+  void setDebugMode(bool enable);
+
  protected:
   void doStartUp() override;
   void doShutDown() override;
@@ -99,6 +101,7 @@ class IMTQHandler : public DeviceHandlerBase {
 
   uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE];
   bool goToNormalMode = false;
+  bool debugMode = false;
 
   enum class CommunicationStep {
     GET_ENG_HK_DATA,
diff --git a/mission/devices/Max31865PT1000Handler.cpp b/mission/devices/Max31865PT1000Handler.cpp
index 3bb3e911..580c8637 100644
--- a/mission/devices/Max31865PT1000Handler.cpp
+++ b/mission/devices/Max31865PT1000Handler.cpp
@@ -399,20 +399,21 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
       // calculate approximation
       float approxTemp = adcCode / 32.0 - 256.0;
 
-#if OBSW_DEBUG_RTD == 1
+      if (debugMode) {
 #if OBSW_VERBOSE_LEVEL >= 1
-      if (debugDivider->checkAndIncrement()) {
+        if (debugDivider->checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "Max31865: ObjID " << std::hex << this->getObjectId() << " | RTD " << std::dec
-                  << static_cast<int>(deviceIdx) << ": R[Ohm] " << rtdValue
-                  << " Ohms | Approx T[C]: " << approxTemp << std::endl;
+          sif::info << "Max31865: ObjID " << std::hex << this->getObjectId() << " | RTD "
+                    << std::dec << static_cast<int>(deviceIdx) << ": R[Ohm] " << rtdValue
+                    << " Ohms | Approx T[C]: " << approxTemp << std::endl;
 #else
-        sif::printInfo("Max31685: Measured resistance is %f Ohms\n", rtdValue);
-        sif::printInfo("Approximated temperature is %f C\n", approxTemp);
+          sif::printInfo("Max31685: Measured resistance is %f Ohms\n", rtdValue);
+          sif::printInfo("Approximated temperature is %f C\n", approxTemp);
+#endif
+        }
 #endif
       }
-#endif
-#endif
+
       PoolReadGuard pg(&sensorDataset);
       if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
         // Configuration error
@@ -530,3 +531,5 @@ void Max31865PT1000Handler::modeChanged() {
 }
 
 void Max31865PT1000Handler::setDeviceIdx(uint8_t idx) { deviceIdx = idx; }
+
+void Max31865PT1000Handler::setDebugMode(bool enable) { this->debugMode = enable; }
diff --git a/mission/devices/Max31865PT1000Handler.h b/mission/devices/Max31865PT1000Handler.h
index 17657bcf..4f617b9d 100644
--- a/mission/devices/Max31865PT1000Handler.h
+++ b/mission/devices/Max31865PT1000Handler.h
@@ -33,6 +33,8 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
   Max31865PT1000Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie);
   virtual ~Max31865PT1000Handler();
 
+  void setDebugMode(bool enable);
+
   // Configuration in 8 digit code:
   // 1. 1 for V_BIAS enabled, 0 for disabled
   // 2. 1 for Auto-conversion, 0 for off
@@ -85,6 +87,7 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
  private:
   uint8_t switchId = 0;
   bool instantNormal = false;
+  bool debugMode = false;
   bool warningSwitch = true;
 
   enum class InternalState {
diff --git a/mission/devices/P60DockHandler.cpp b/mission/devices/P60DockHandler.cpp
index 83275e37..8436044e 100644
--- a/mission/devices/P60DockHandler.cpp
+++ b/mission/devices/P60DockHandler.cpp
@@ -24,50 +24,6 @@ void P60DockHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *
    * P60DockHandler itself.
    */
   handleDeviceTM(&coreHk, id, true);
-
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_P60DOCK == 1
-  p60dockHkTableDataset.read();
-  sif::info << "P60 Dock: ACU VCC switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVcc.value)
-            << std::endl;
-  sif::info << "P60 Dock: PDU1 VCC switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vcc.value)
-            << std::endl;
-  sif::info << "P60 Dock: PDU2 VCC switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vcc.value)
-            << std::endl;
-  sif::info << "P60 Dock: ACU VBAT switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVbat.value)
-            << std::endl;
-  sif::info << "P60 Dock: PDU1 VBAT switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vbat.value)
-            << std::endl;
-  sif::info << "P60 Dock: PDU2 VBAT switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vbat.value)
-            << std::endl;
-  sif::info << "P60 Dock: Stack VBAT switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStackVbat.value)
-            << std::endl;
-  sif::info << "P60 Dock: Stack 3V3 switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack3V3.value)
-            << std::endl;
-  sif::info << "P60 Dock: Stack 5V switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack5V.value)
-            << std::endl;
-
-  float temperatureC = p60dockHkTableDataset.temperature1.value * 0.1;
-  sif::info << "P60 Dock: Temperature 1: " << temperatureC << " °C" << std::endl;
-  temperatureC = p60dockHkTableDataset.temperature2.value * 0.1;
-  sif::info << "P60 Dock: Temperature 2: " << temperatureC << " °C" << std::endl;
-  sif::info << "P60 Dock: Watchdog Timer seconds left before reboot: "
-            << p60dockHkTableDataset.wdtGndLeft << " seconds" << std::endl;
-  sif::info << "P60 Dock: CSP 1, pings left before reboot: "
-            << (int)p60dockHkTableDataset.wdtCspLeft1.value << std::endl;
-  sif::info << "P60 Dock: CSP 2, pings left before reboot: "
-            << (int)p60dockHkTableDataset.wdtCspLeft1.value << std::endl;
-
-  p60dockHkTableDataset.commit();
-#endif
 }
 
 void P60DockHandler::parseHkTableReply(const uint8_t *packet) {
@@ -362,3 +318,5 @@ void P60DockHandler::printHkTableLatchups() {
   genericPrintoutHandler("X3 VBAT", hk::X3_IDLE_VBAT);
   genericPrintoutHandler("X3 VCC", hk::X3_IDLE_VCC);
 }
+
+void P60DockHandler::setDebugMode(bool enable) { this->debugMode = enable; }
diff --git a/mission/devices/P60DockHandler.h b/mission/devices/P60DockHandler.h
index d08a46e0..3834bb6b 100644
--- a/mission/devices/P60DockHandler.h
+++ b/mission/devices/P60DockHandler.h
@@ -24,6 +24,8 @@ class P60DockHandler : public GomspaceDeviceHandler {
   P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
   virtual ~P60DockHandler();
 
+  void setDebugMode(bool enable);
+
   virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                 LocalDataPoolManager& poolManager) override;
 
@@ -50,6 +52,7 @@ class P60DockHandler : public GomspaceDeviceHandler {
   P60Dock::CoreHkSet coreHk;
   P60Dock::HkTableDataset auxHk;
   bool firstHk = true;
+  bool debugMode = false;
   static constexpr uint8_t MAX_CHANNEL_STR_WIDTH = 16;
 
   PoolEntry<int16_t> hkCurrents = PoolEntry<int16_t>(P60Dock::hk::CHNLS_LEN);
diff --git a/mission/devices/PayloadPcduHandler.cpp b/mission/devices/PayloadPcduHandler.cpp
index a13b7ba6..28ce0772 100644
--- a/mission/devices/PayloadPcduHandler.cpp
+++ b/mission/devices/PayloadPcduHandler.cpp
@@ -2,7 +2,9 @@
 
 #include <fsfw/src/fsfw/datapool/PoolReadGuard.h>
 
-#ifdef FSFW_OSAL_LINUX
+#include "OBSWConfig.h"
+
+#ifdef XIPHOS_Q7S
 #include <fsfw_hal/linux/UnixFileGuard.h>
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
@@ -663,7 +665,7 @@ ReturnValue_t PayloadPcduHandler::handleDoubleParamUpdate(std::string key,
   return params.writeJsonFile();
 }
 
-#ifdef FSFW_OSAL_LINUX
+#ifdef XIPHOS_Q7S
 ReturnValue_t PayloadPcduHandler::extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
                                                        const uint8_t* sendData, size_t sendLen,
                                                        void* args) {
diff --git a/mission/devices/PayloadPcduHandler.h b/mission/devices/PayloadPcduHandler.h
index dba5b4ef..6a9334ca 100644
--- a/mission/devices/PayloadPcduHandler.h
+++ b/mission/devices/PayloadPcduHandler.h
@@ -68,10 +68,9 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   void setToGoToNormalModeImmediately(bool enable);
   void enablePeriodicPrintout(bool enable, uint8_t divider);
 
+#ifdef XIPHOS_Q7S
   static ReturnValue_t extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
                                             const uint8_t* sendData, size_t sendLen, void* args);
-
-#ifdef FSFW_OSAL_LINUX
   static ReturnValue_t transferAsTwo(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                                      size_t sendLen, bool tempOnly);
 #endif
diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp
index 99cd341c..9ceeab79 100644
--- a/mission/devices/RwHandler.cpp
+++ b/mission/devices/RwHandler.cpp
@@ -341,12 +341,15 @@ void RwHandler::handleResetStatusReply(const uint8_t* packet) {
     lastResetStatusSet.lastResetStatus = resetStatus;
   }
   lastResetStatusSet.currentResetStatus = resetStatus;
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
-  sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
-            << static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
-  sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
-            << static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value) << std::endl;
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
+              << static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
+    sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
+              << static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value)
+              << std::endl;
 #endif
+  }
 }
 
 void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
@@ -371,16 +374,18 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
     sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" << std::endl;
   }
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
-  sif::info << "RwHandler::handleGetRwStatusReply: Current speed is: " << statusSet.currSpeed
-            << " * 0.1 RPM" << std::endl;
-  sif::info << "RwHandler::handleGetRwStatusReply: Reference speed is: " << statusSet.referenceSpeed
-            << " * 0.1 RPM" << std::endl;
-  sif::info << "RwHandler::handleGetRwStatusReply: State is: "
-            << (unsigned int)statusSet.state.value << std::endl;
-  sif::info << "RwHandler::handleGetRwStatusReply: clc mode is: "
-            << (unsigned int)statusSet.clcMode.value << std::endl;
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "RwHandler::handleGetRwStatusReply: Current speed is: " << statusSet.currSpeed
+              << " * 0.1 RPM" << std::endl;
+    sif::info << "RwHandler::handleGetRwStatusReply: Reference speed is: "
+              << statusSet.referenceSpeed << " * 0.1 RPM" << std::endl;
+    sif::info << "RwHandler::handleGetRwStatusReply: State is: "
+              << (unsigned int)statusSet.state.value << std::endl;
+    sif::info << "RwHandler::handleGetRwStatusReply: clc mode is: "
+              << (unsigned int)statusSet.clcMode.value << std::endl;
 #endif
+  }
 }
 
 void RwHandler::handleTemperatureReply(const uint8_t* packet) {
@@ -388,10 +393,12 @@ void RwHandler::handleTemperatureReply(const uint8_t* packet) {
   uint8_t offset = 2;
   temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                       *(packet + offset + 1) << 8 | *(packet + offset);
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
-  sif::info << "RwHandler::handleTemperatureReply: Temperature: "
-            << temperatureSet.temperatureCelcius << " °C" << std::endl;
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "RwHandler::handleTemperatureReply: Temperature: "
+              << temperatureSet.temperatureCelcius << " °C" << std::endl;
 #endif
+  }
 }
 
 void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
@@ -468,53 +475,57 @@ void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
   offset += 4;
   tmDataset.spiTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                   *(packet + offset + 1) << 8 | *(packet + offset);
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
-  sif::info << "RwHandler::handleGetTelemetryReply: Last reset status: "
-            << static_cast<unsigned int>(tmDataset.lastResetStatus.value) << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: MCU temperature: " << tmDataset.mcuTemperature
-            << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: Pressure sensor temperature: "
-            << tmDataset.pressureSensorTemperature << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: Pressure " << tmDataset.pressure << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: State: "
-            << static_cast<unsigned int>(tmDataset.rwState.value) << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: CLC mode: "
-            << static_cast<unsigned int>(tmDataset.rwClcMode.value) << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: Current speed: " << tmDataset.rwCurrSpeed
-            << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: Reference speed: " << tmDataset.rwRefSpeed
-            << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid CRC packets: "
-            << tmDataset.numOfInvalidCrcPackets << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid length packets: "
-            << tmDataset.numOfInvalidLenPackets << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid command packets: "
-            << tmDataset.numOfInvalidCmdPackets << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: Number of command executed replies: "
-            << tmDataset.numOfCmdExecutedReplies << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: Number of command replies: "
-            << tmDataset.numOfCmdReplies << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: UART number of bytes written: "
-            << tmDataset.uartNumOfBytesWritten << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: UART number of bytes read: "
-            << tmDataset.uartNumOfBytesRead << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: UART number of parity errors: "
-            << tmDataset.uartNumOfParityErrors << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: UART number of noise errors: "
-            << tmDataset.uartNumOfNoiseErrors << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: UART number of frame errors: "
-            << tmDataset.uartNumOfFrameErrors << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: UART number of register overrun errors: "
-            << tmDataset.uartNumOfRegisterOverrunErrors << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: UART number of total errors: "
-            << tmDataset.uartTotalNumOfErrors << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: SPI number of bytes written: "
-            << tmDataset.spiNumOfBytesWritten << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: SPI number of bytes read: "
-            << tmDataset.spiNumOfBytesRead << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: SPI number of register overrun errors: "
-            << tmDataset.spiNumOfRegisterOverrunErrors << std::endl;
-  sif::info << "RwHandler::handleGetTelemetryReply: SPI number of register total errors: "
-            << tmDataset.spiTotalNumOfErrors << std::endl;
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "RwHandler::handleGetTelemetryReply: Last reset status: "
+              << static_cast<unsigned int>(tmDataset.lastResetStatus.value) << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: MCU temperature: " << tmDataset.mcuTemperature
+              << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: Pressure sensor temperature: "
+              << tmDataset.pressureSensorTemperature << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: Pressure " << tmDataset.pressure << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: State: "
+              << static_cast<unsigned int>(tmDataset.rwState.value) << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: CLC mode: "
+              << static_cast<unsigned int>(tmDataset.rwClcMode.value) << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: Current speed: " << tmDataset.rwCurrSpeed
+              << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: Reference speed: " << tmDataset.rwRefSpeed
+              << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid CRC packets: "
+              << tmDataset.numOfInvalidCrcPackets << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid length packets: "
+              << tmDataset.numOfInvalidLenPackets << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid command packets: "
+              << tmDataset.numOfInvalidCmdPackets << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: Number of command executed replies: "
+              << tmDataset.numOfCmdExecutedReplies << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: Number of command replies: "
+              << tmDataset.numOfCmdReplies << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: UART number of bytes written: "
+              << tmDataset.uartNumOfBytesWritten << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: UART number of bytes read: "
+              << tmDataset.uartNumOfBytesRead << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: UART number of parity errors: "
+              << tmDataset.uartNumOfParityErrors << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: UART number of noise errors: "
+              << tmDataset.uartNumOfNoiseErrors << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: UART number of frame errors: "
+              << tmDataset.uartNumOfFrameErrors << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: UART number of register overrun errors: "
+              << tmDataset.uartNumOfRegisterOverrunErrors << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: UART number of total errors: "
+              << tmDataset.uartTotalNumOfErrors << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: SPI number of bytes written: "
+              << tmDataset.spiNumOfBytesWritten << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: SPI number of bytes read: "
+              << tmDataset.spiNumOfBytesRead << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: SPI number of register overrun errors: "
+              << tmDataset.spiNumOfRegisterOverrunErrors << std::endl;
+    sif::info << "RwHandler::handleGetTelemetryReply: SPI number of register total errors: "
+              << tmDataset.spiTotalNumOfErrors << std::endl;
 #endif
+  }
 }
+
+void RwHandler::setDebugMode(bool enable) { this->debugMode = enable; }
diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h
index 31b88e01..425753db 100644
--- a/mission/devices/RwHandler.h
+++ b/mission/devices/RwHandler.h
@@ -30,6 +30,9 @@ class RwHandler : public DeviceHandlerBase {
    */
   RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, LinuxLibgpioIF* gpioComIF,
             gpioId_t enableGpio);
+
+  void setDebugMode(bool enable);
+
   virtual ~RwHandler();
 
   static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
@@ -86,6 +89,7 @@ class RwHandler : public DeviceHandlerBase {
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   gpioId_t enableGpio = gpio::NO_GPIO;
+  bool debugMode = false;
 
   RwDefinitions::TemperatureSet temperatureSet;
   RwDefinitions::StatusSet statusSet;
diff --git a/mission/devices/SyrlinksHkHandler.cpp b/mission/devices/SyrlinksHkHandler.cpp
index 43888724..2cc506dc 100644
--- a/mission/devices/SyrlinksHkHandler.cpp
+++ b/mission/devices/SyrlinksHkHandler.cpp
@@ -166,12 +166,12 @@ ReturnValue_t SyrlinksHkHandler::buildCommandFromCommand(DeviceCommandId_t devic
       return RETURN_OK;
     }
     case (syrlinks::ENABLE_DEBUG): {
-      debug = true;
+      debugMode = true;
       rawPacketLen = 0;
       return RETURN_OK;
     }
     case (syrlinks::DISABLE_DEBUG): {
-      debug = false;
+      debugMode = false;
       rawPacketLen = 0;
       return RETURN_OK;
     }
@@ -363,7 +363,7 @@ ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       tempBasebandBoard = calcTempVal(rawTempBasebandBoard);
       temperatureSet.temperatureBasebandBoard = tempBasebandBoard;
       PoolReadGuard rg(&temperatureSet);
-      if (debug) {
+      if (debugMode) {
         sif::info << "Syrlinks temperature baseband board: " << tempBasebandBoard << "  °C"
                   << std::endl;
       }
@@ -394,7 +394,7 @@ ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       tempPowerAmplifier = calcTempVal(rawTempPowerAmplifier);
       PoolReadGuard rg(&temperatureSet);
       temperatureSet.temperaturePowerAmplifier = tempPowerAmplifier;
-      if (debug) {
+      if (debugMode) {
         sif::info << "Syrlinks temperature power amplifier board: " << tempPowerAmplifier << "  °C"
                   << std::endl;
       }
@@ -540,8 +540,8 @@ void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
   offset += 6;
   rxDataset.rxDataRate = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SYRLINKS == 1
-  if (debug) {
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "Syrlinks RX Status: 0x" << std::hex << (unsigned int)rxDataset.rxStatus.value
               << std::endl;
     sif::info << "Syrlinks RX Sensitivity: " << std::dec << rxDataset.rxSensitivity << std::endl;
@@ -551,14 +551,14 @@ void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
     sif::info << "Syrlinks RX Demod Eb: " << rxDataset.rxDemodEb << std::endl;
     sif::info << "Syrlinks RX Demod N0: " << rxDataset.rxDemodN0 << std::endl;
     sif::info << "Syrlinks RX Datarate: " << (unsigned int)rxDataset.rxDataRate.value << std::endl;
-  }
 #endif
+  }
 }
 
 void SyrlinksHkHandler::parseLclConfigReply(const uint8_t* packet) {
   uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
   uint8_t lclConfig = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
-  if (debug) {
+  if (debugMode) {
     sif::info << "SyrlinksHkHandler::parseRxStatusRegistersReply: Lcl config: "
               << static_cast<unsigned int>(lclConfig) << std::endl;
   }
@@ -568,24 +568,20 @@ void SyrlinksHkHandler::parseTxStatusReply(const uint8_t* packet) {
   PoolReadGuard readHelper(&txDataset);
   uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
   txDataset.txStatus = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
-#if OBSW_DEBUG_SYRLINKS == 1
-  if (debug) {
+  if (debugMode) {
     sif::info << "Syrlinks TX Status: 0x" << std::hex << (unsigned int)txDataset.txStatus.value
               << std::endl;
   }
-#endif
 }
 
 void SyrlinksHkHandler::parseTxWaveformReply(const uint8_t* packet) {
   PoolReadGuard readHelper(&txDataset);
   uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
   txDataset.txWaveform = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
-#if OBSW_DEBUG_SYRLINKS == 1
-  if (debug) {
+  if (debugMode) {
     sif::info << "Syrlinks TX Waveform: 0x" << std::hex << (unsigned int)txDataset.txWaveform.value
               << std::endl;
   }
-#endif
 }
 
 void SyrlinksHkHandler::parseAgcLowByte(const uint8_t* packet) {
@@ -593,11 +589,9 @@ void SyrlinksHkHandler::parseAgcLowByte(const uint8_t* packet) {
   uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
   txDataset.txAgcValue = agcValueHighByte << 8 |
                          convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
-#if OBSW_DEBUG_SYRLINKS == 1
-  if (debug) {
+  if (debugMode) {
     sif::info << "Syrlinks TX AGC Value: " << txDataset.txAgcValue << std::endl;
   }
-#endif
 }
 
 void SyrlinksHkHandler::parseAgcHighByte(const uint8_t* packet) {
@@ -654,3 +648,5 @@ void SyrlinksHkHandler::prepareCommand(std::string command, DeviceCommandId_t co
   rememberCommandId = commandId;
   rawPacket = commandBuffer;
 }
+
+void SyrlinksHkHandler::setDebugMode(bool enable) { this->debugMode = enable; }
diff --git a/mission/devices/SyrlinksHkHandler.h b/mission/devices/SyrlinksHkHandler.h
index 78ae6d99..0237e8c3 100644
--- a/mission/devices/SyrlinksHkHandler.h
+++ b/mission/devices/SyrlinksHkHandler.h
@@ -28,6 +28,8 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
    */
   void setModeNormal();
 
+  void setDebugMode(bool enable);
+
  protected:
   void doStartUp() override;
   void doShutDown() override;
@@ -95,6 +97,7 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
 
   const power::Switch_t powerSwitch = power::NO_SWITCH;
 
+  bool debugMode = false;
   uint8_t agcValueHighByte = 0;
   uint16_t rawTempPowerAmplifier = 0;
   uint16_t rawTempBasebandBoard = 0;
@@ -107,8 +110,6 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
 
   StartupState startupState = StartupState::OFF;
 
-  bool debug = false;
-
   /**
    * This object is used to store the id of the next command to execute. This controls the
    * read out of multiple registers which can not be fetched with one single command.
diff --git a/thirdparty/etl b/thirdparty/etl
deleted file mode 160000
index c308dc42..00000000
--- a/thirdparty/etl
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit c308dc427b7a34e54f33860fb2e244564b2740b4