diff --git a/bsp_linux_board/InitMission.cpp b/bsp_linux_board/InitMission.cpp
index febae2f3..48e91013 100644
--- a/bsp_linux_board/InitMission.cpp
+++ b/bsp_linux_board/InitMission.cpp
@@ -135,6 +135,7 @@ void initmission::initTasks() {
     }
 
     bool startTestPst = true;
+    static_cast<void>(startTestPst);
 #if OBSW_ADD_TEST_PST == 1
     FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
             PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
@@ -145,14 +146,14 @@ void initmission::initTasks() {
     }
 #endif /* RPI_TEST_ACS_BOARD == 1 */
 
+
+#if OBSW_ADD_TEST_CODE == 1
     PeriodicTaskIF* testTask = factory->createPeriodicTask(
             "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-#if OBSW_ADD_TEST_CODE == 1
     result = testTask->addComponent(objects::TEST_TASK);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
     }
-#endif /* OBSW_ADD_TEST_CODE == 1 */
 #if RPI_ADD_SPI_TEST == 1
     result = testTask->addComponent(objects::SPI_TEST);
     if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -171,6 +172,7 @@ void initmission::initTasks() {
         initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
     }
 #endif /* RPI_ADD_GPIO_TEST == 1 */
+#endif /* OBSW_ADD_TEST_CODE == 1 */
 
     sif::info << "Starting tasks.." << std::endl;
     tmTcDistributor->startTask();
diff --git a/bsp_linux_board/ObjectFactory.cpp b/bsp_linux_board/ObjectFactory.cpp
index 19b0d9e4..5597242c 100644
--- a/bsp_linux_board/ObjectFactory.cpp
+++ b/bsp_linux_board/ObjectFactory.cpp
@@ -132,20 +132,20 @@ void ObjectFactory::produce(void* args){
     spiDev = "/dev/spidev0.0";
     spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-    auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
-            objects::SPI_COM_IF, spiCookie);
+    auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER,
+            objects::SPI_COM_IF, spiCookie, 0);
     mgmLis3Handler->setStartUpImmediately();
 
     spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
             RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-    auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
-            objects::SPI_COM_IF, spiCookie);
+    auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
+            objects::SPI_COM_IF, spiCookie, 0);
     mgmRm3100Handler->setStartUpImmediately();
 
     spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
             L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
     auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
-            spiCookie);
+            spiCookie, 0);
     gyroL3gHandler->setStartUpImmediately();
 
 #endif /* RPI_TEST_ACS_BOARD == 1 */
diff --git a/linux/boardtest/SpiTestClass.h b/linux/boardtest/SpiTestClass.h
index 7ccc2eb7..45a7cdd8 100644
--- a/linux/boardtest/SpiTestClass.h
+++ b/linux/boardtest/SpiTestClass.h
@@ -45,14 +45,15 @@ private:
 
     /* ACS board specific variables */
 #ifdef RASPBERRY_PI
-    uint8_t mgm0Lis3mdlChipSelect = 2;
-    uint8_t mgm1Rm3100ChipSelect = 3;
-    uint8_t gyro0AdisChipSelect = 4;
-    uint8_t gyro1L3gd20ChipSelect = 5;
-    int8_t gyro2AdisChipSelect = 6;
-    uint8_t gyro3L3gd20ChipSelect = 16;
-    uint8_t mgm2Lis3mdlChipSelect = 17;
-    uint8_t mgm3Rm3100ChipSelect = 27;
+    uint8_t mgm0Lis3mdlChipSelect = gpio::MGM_0_BCM_PIN;
+    uint8_t mgm1Rm3100ChipSelect = gpio::MGM_1_BCM_PIN;
+    uint8_t mgm2Lis3mdlChipSelect = gpio::MGM_2_BCM_PIN;
+    uint8_t mgm3Rm3100ChipSelect = gpio::MGM_3_BCM_PIN;
+
+    uint8_t gyro0AdisChipSelect = gpio::GYRO_0_BCM_PIN;
+    uint8_t gyro1L3gd20ChipSelect = gpio::GYRO_1_BCM_PIN;
+    uint8_t gyro2AdisChipSelect = gpio::GYRO_2_BCM_PIN;
+    uint8_t gyro3L3gd20ChipSelect = gpio::GYRO_3_BCM_PIN;
 #elif defined(XIPHOS_Q7S)
     uint8_t mgm0Lis3mdlChipSelect = q7s::GPIO_MGM_0_LIS3_CS;
     uint8_t mgm1Rm3100ChipSelect = q7s::GPIO_MGM_1_RM3100_CS;