diff --git a/CMakeLists.txt b/CMakeLists.txt
index e3a526f5..b7865300 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,6 +10,7 @@ endif()
 option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
 # Options to exclude parts of the FSFW from compilation.
 option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
+option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
 
 # Optional sources
 option(FSFW_ADD_PUS "Compile with PUS sources" ON)
@@ -94,7 +95,9 @@ message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system.")
 
 add_subdirectory(src)
 add_subdirectory(tests)
-add_subdirectory(hal)
+if(FSFW_ADD_HAL)
+    add_subdirectory(hal)
+endif()
 add_subdirectory(contrib)
 
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
diff --git a/hal/src/fsfw-hal/devicehandlers/GyroL3GD20Handler.h b/hal/src/fsfw-hal/devicehandlers/GyroL3GD20Handler.h
index f82ba935..020c5a32 100644
--- a/hal/src/fsfw-hal/devicehandlers/GyroL3GD20Handler.h
+++ b/hal/src/fsfw-hal/devicehandlers/GyroL3GD20Handler.h
@@ -1,14 +1,14 @@
 #ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
 #define MISSION_DEVICES_GYROL3GD20HANDLER_H_
 
-#include "OBSWConfig.h"
+#include "fsfw/FSFW.h"
 #include "devicedefinitions/GyroL3GD20Definitions.h"
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 
 #ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
-#define FSFW_HAL_L3GD20_GYRO_DEBUG   1
+#define FSFW_HAL_L3GD20_GYRO_DEBUG   0
 #endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
 
 /**
diff --git a/src/fsfw/FSFW.h.in b/src/fsfw/FSFW.h.in
index 01379c5f..4d4b8aee 100644
--- a/src/fsfw/FSFW.h.in
+++ b/src/fsfw/FSFW.h.in
@@ -11,4 +11,8 @@
 #cmakedefine FSFW_ADD_MONITORING
 #cmakedefine FSFW_ADD_SGP4_PROPAGATOR
 
+#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
+#define FSFW_HAL_L3GD20_GYRO_DEBUG   0
+#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
+
 #endif /* FSFW_FSFW_H_ */
diff --git a/src/fsfw/serviceinterface/ServiceInterface.h b/src/fsfw/serviceinterface/ServiceInterface.h
index e95dd9a4..9f05b96c 100644
--- a/src/fsfw/serviceinterface/ServiceInterface.h
+++ b/src/fsfw/serviceinterface/ServiceInterface.h
@@ -1,7 +1,7 @@
 #ifndef FSFW_SERVICEINTERFACE_SERVICEINTERFACE_H_
 #define FSFW_SERVICEINTERFACE_SERVICEINTERFACE_H_
 
-#include <FSFWConfig.h>
+#include "fsfw/FSFW.h"
 #include "serviceInterfaceDefintions.h"
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
diff --git a/tests/src/fsfw-tests/unit/action/TestActionHelper.cpp b/tests/src/fsfw-tests/unit/action/TestActionHelper.cpp
index d8bd58c9..126979f6 100644
--- a/tests/src/fsfw-tests/unit/action/TestActionHelper.cpp
+++ b/tests/src/fsfw-tests/unit/action/TestActionHelper.cpp
@@ -4,7 +4,7 @@
 
 #include <fsfw/action/ActionHelper.h>
 #include <fsfw/ipc/CommandMessage.h>
-#include <fsfw/unittest/tests/mocks/MessageQueueMockBase.h>
+#include <fsfw/tests/unit/mocks/MessageQueueMockBase.h>
 
 #include <catch2/catch_test_macros.hpp>
 
diff --git a/tests/src/fsfw-tests/unit/datapoollocal/LocalPoolOwnerBase.h b/tests/src/fsfw-tests/unit/datapoollocal/LocalPoolOwnerBase.h
index 4c244b16..c0e41ddf 100644
--- a/tests/src/fsfw-tests/unit/datapoollocal/LocalPoolOwnerBase.h
+++ b/tests/src/fsfw-tests/unit/datapoollocal/LocalPoolOwnerBase.h
@@ -10,7 +10,7 @@
 #include <fsfw/datapoollocal/LocalPoolVector.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
-#include <fsfw/unittest/tests/mocks/MessageQueueMockBase.h>
+#include <fsfw/tests/unit/mocks/MessageQueueMockBase.h>
 #include <fsfw/datapool/PoolReadGuard.h>
 
 namespace lpool {
diff --git a/tests/src/fsfw-tests/unit/globalfunctions/CMakeLists.txt b/tests/src/fsfw-tests/unit/globalfunctions/CMakeLists.txt
index 4ea49bf7..8e57e01b 100644
--- a/tests/src/fsfw-tests/unit/globalfunctions/CMakeLists.txt
+++ b/tests/src/fsfw-tests/unit/globalfunctions/CMakeLists.txt
@@ -1,3 +1,2 @@
 target_sources(${TARGET_NAME} PRIVATE
-	TestArrayPrinter.cpp
 )
diff --git a/tests/user/CMakeLists.txt b/tests/user/CMakeLists.txt
index 722cc424..df16c756 100644
--- a/tests/user/CMakeLists.txt
+++ b/tests/user/CMakeLists.txt
@@ -1,8 +1,5 @@
 ################################################################################
 # CMake support for the Flight Software Framework Tests
-# 
-# Developed in an effort to replace Make with a modern build system.
-# 
 # Author: R. Mueller
 ################################################################################
 
@@ -12,6 +9,7 @@
 cmake_minimum_required(VERSION 3.13)
 
 # set(CMAKE_VERBOSE TRUE)
+# set(CODE_COVERAGE_VERBOSE TRUE)
 
 set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
@@ -21,6 +19,8 @@ option(GENERATE_COVERAGE
 	TRUE
 )
 
+set(FSFW_ADD_UNITTESTS ON)
+
 if(TMTC_TEST)
 	set(LINK_CATCH2 FALSE)
 else()
@@ -28,20 +28,16 @@ else()
 endif()
 
 # Tests can be built with the Host OSAL or with the Linux OSAL.
-if(NOT OS_FSFW)
-	set(OS_FSFW host CACHE STRING "OS for the FSFW.")
+if(NOT FSFW_OSAL)
+	set(FSFW_OSAL host CACHE STRING "OS for the FSFW.")
 endif()
 
 option(CUSTOM_UNITTEST_RUNNER 
 	"Specify whether custom main or Catch2 main is used" TRUE
 )
 
-# Perform steps like loading toolchain files where applicable.
-#include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
-#pre_project_config()
-
 # Project Name
-project(fsfw_tests C CXX)
+project(fsfw-tests C CXX)
 
 ################################################################################
 # Pre-Sources preparation
@@ -71,7 +67,7 @@ set(TMTC_TEST_PATH tests)
 # determine BSP_PATH
 
 # FreeRTOS
-if(${OS_FSFW} STREQUAL linux)
+if(FSFW_OSAL STREQUAL linux)
 	add_definitions(-DUNIX -DLINUX)	
 	find_package(Threads REQUIRED)
 # Hosted
@@ -94,6 +90,11 @@ if(GENERATE_COVERAGE)
 endif()
 
 set(FSFW_CONFIG_PATH testcfg)
+set(FSFW_ADDITIONAL_INC_PATHS ${CMAKE_CURRENT_BINARY_DIR})
+
+configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
+configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
+configure_file(${FSFW_CONFIG_PATH}/TestsConfig.h.in TestsConfig.h)
 
 ################################################################################
 # Executable and Sources
@@ -108,10 +109,16 @@ add_subdirectory(${FSFW_CONFIG_PATH})
 
 if(LINK_CATCH2)
 	add_subdirectory(${CATCH2_PATH})
-	add_subdirectory(${FSFW_TESTS_PATH})
 	add_subdirectory(${TEST_SETUP_PATH})
 else()
+	target_compile_definitions(${TARGET_NAME} PRIVATE
+		FSFW_DISABLE_PRINTOUT=0
+	)
+	target_compile_definitions(${LIB_FSFW_NAME} PRIVATE	
+		FSFW_DISABLE_PRINTOUT=0
+	)
 	add_subdirectory(${TMTC_TEST_PATH})
+	add_subdirectory(${FSFW_TESTS_PATH})
 endif()
 
 
@@ -132,7 +139,7 @@ endif()
 
 if(GENERATE_COVERAGE)
 	if(CMAKE_COMPILER_IS_GNUCXX)
-		set(CODE_COVERAGE_VERBOSE TRUE)
+		# set(CODE_COVERAGE_VERBOSE TRUE)
     	include(CodeCoverage)
     	
     	# Remove quotes.
@@ -194,6 +201,7 @@ endif()
 target_include_directories(${TARGET_NAME} PRIVATE
 	${CMAKE_CURRENT_SOURCE_DIR}
 	${FSFW_CONFIG_PATH}
+	${CMAKE_CURRENT_BINARY_DIR}
 )	
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
@@ -225,12 +233,9 @@ if(CMAKE_VERBOSE)
 	message(STATUS "Warning flags: ${WARNING_FLAGS}")
 endif()
 		 
-
 # Compile options for all sources.
 target_compile_options(${TARGET_NAME} PRIVATE
-	$<$<COMPILE_LANGUAGE:C>:${WARNING_FLAGS} ${COMPILER_FLAGS}>
-	$<$<COMPILE_LANGUAGE:CXX>:${WARNING_FLAGS} ${COMPILER_FLAGS}>
-	${ABI_FLAGS}
+	${WARNING_FLAGS}
 )
 
 if(NOT CMAKE_SIZE)
@@ -240,18 +245,17 @@ if(NOT CMAKE_SIZE)
 	endif()
 endif()
 
+string(CONCAT POST_BUILD_COMMENT
+    "Build directory: ${CMAKE_BINARY_DIR}\n"
+    "Target OSAL: ${FSFW_OSAL}\n"
+    "Target Build Type: ${CMAKE_BUILD_TYPE}"
+)
+
 add_custom_command(TARGET ${TARGET_NAME}
-   POST_BUILD
-   COMMAND echo "Build directory: ${CMAKE_BINARY_DIR}"
-   COMMAND echo "Target OSAL: ${OS_FSFW}"
-   COMMAND echo "Target Build Type: ${CMAKE_BUILD_TYPE}"
-   COMMAND ${CMAKE_SIZE} ${TARGET_NAME}${FILE_SUFFIX}
+    POST_BUILD
+    COMMAND ${CMAKE_SIZE} ${TARGET_NAME}${FILE_SUFFIX}
+    COMMENT ${POST_BUILD_COMMENT}
 )
 
 include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
 set_build_type()
-
-
-
-
-
diff --git a/tests/user/testcfg/FSFWConfig.h b/tests/user/testcfg/FSFWConfig.h.in
similarity index 68%
rename from tests/user/testcfg/FSFWConfig.h
rename to tests/user/testcfg/FSFWConfig.h.in
index ed86e6e1..d38f0648 100644
--- a/tests/user/testcfg/FSFWConfig.h
+++ b/tests/user/testcfg/FSFWConfig.h.in
@@ -7,18 +7,24 @@
 //! Used to determine whether C++ ostreams are used which can increase
 //! the binary size significantly. If this is disabled,
 //! the C stdio functions can be used alternatively
-#define FSFW_CPP_OSTREAM_ENABLED 	1
+#define FSFW_CPP_OSTREAM_ENABLED 	0
 
-//! More FSFW related printouts depending on level. Useful for development.
-#define FSFW_VERBOSE_LEVEL			1
+//! More FSFW related printouts. Useful for development.
+#define FSFW_ENHANCED_PRINTOUT		0
 
 //! Can be used to completely disable printouts, even the C stdio ones.
-#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_VERBOSE_LEVEL == 0
-	#define FSFW_DISABLE_PRINTOUT 	0
+//! By default, printouts will be disabled for the unit tests.
+#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_ENHANCED_PRINTOUT == 0
+	#ifndef FSFW_DISABLE_PRINTOUT
+	#define FSFW_DISABLE_PRINTOUT 	1
+	#endif
 #endif
 
+//! Can be used to enable additional debugging printouts for developing the FSFW
+#define FSFW_PRINT_VERBOSITY_LEVEL   0
+
 //! Can be used to disable the ANSI color sequences for C stdio.
-#define FSFW_COLORED_OUTPUT 		1
+#define FSFW_COLORED_OUTPUT 		0
 
 //! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
 //! additional output which requires the translation files translateObjects
@@ -40,6 +46,13 @@
 //! Specify whether a special mode store is used for Subsystem components.
 #define FSFW_USE_MODESTORE          0
 
+//! Defines if the real time scheduler for linux should be used.
+//! If set to 0, this will also disable priority settings for linux
+//! as most systems will not allow to set nice values without privileges
+//! For embedded linux system set this to 1.
+//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
+#define FSFW_USE_REALTIME_FOR_LINUX 1
+
 namespace fsfwconfig {
 //! Default timestamp size. The default timestamp will be an eight byte CDC
 //! short timestamp.
@@ -57,6 +70,9 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
 static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
 
 static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
+
+static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 1500;
+
 }
 
 #endif /* CONFIG_FSFWCONFIG_H_ */
diff --git a/tests/user/testcfg/Makefile-FSFW-Tests b/tests/user/testcfg/Makefile-FSFW-Tests
deleted file mode 100644
index 550fd1de..00000000
--- a/tests/user/testcfg/Makefile-FSFW-Tests
+++ /dev/null
@@ -1,416 +0,0 @@
-#-------------------------------------------------------------------------------
-# Makefile for FSFW Test
-#-------------------------------------------------------------------------------
-#		User-modifiable options
-#-------------------------------------------------------------------------------
-# Fundamentals on the build process of C/C++ Software:
-# https://www3.ntu.edu.sg/home/ehchua/programming/cpp/gcc_make.html
-
-# Make documentation: https://www.gnu.org/software/make/manual/make.pdf
-# Online: https://www.gnu.org/software/make/manual/make.html
-# General rules: http://make.mad-scientist.net/papers/rules-of-makefiles/#rule3
-SHELL = /bin/sh
-
-# Chip & board used for compilation
-# (can be overriden by adding CHIP=chip and BOARD=board to the command-line)
-# Unit Test can only be run on host machine for now (Linux)
-FRAMEWORK_PATH = fsfw
-TEST_FILE_ROOT = $(FRAMEWORK_PATH)/unittest
-BOARD = unittest
-LINUX = 1
-OS_FSFW = linux
-CUSTOM_DEFINES += -D$(OS_FSFW)
-
-# Copied from stackoverflow, can be used to differentiate between Windows
-# and Linux
-ifeq ($(OS),Windows_NT)
-    CUSTOM_DEFINES += -DWIN32
-    ifeq ($(PROCESSOR_ARCHITEW6432),AMD64)
-        CUSTOM_DEFINES += -DAMD64
-    else
-        ifeq ($(PROCESSOR_ARCHITECTURE),AMD64)
-            CUSTOM_DEFINES += -DAMD64
-        endif
-        ifeq ($(PROCESSOR_ARCHITECTURE),x86)
-            CUSTOM_DEFINES += -DIA32
-        endif
-    endif
-else
-    UNAME_S := $(shell uname -s)
-    ifeq ($(UNAME_S),Linux)
-    	DETECTED_OS = LINUX
-        CUSTOM_DEFINES += -DLINUX
-    endif
-    ifeq ($(UNAME_S),Darwin)
-        CUSTOM_DEFINES += -DOSX
-    endif
-    UNAME_P := $(shell uname -p)
-    ifeq ($(UNAME_P),x86_64)
-        CUSTOM_DEFINES += -DAMD64
-    endif
-    ifneq ($(filter %86,$(UNAME_P)),)
-        CUSTOM_DEFINES += -DIA32
-    endif
-    ifneq ($(filter arm%,$(UNAME_P)),)
-        CUSTOM_DEFINES += -DARM
-    endif
-endif
-
-UNIT_TEST = 1
-# General folder paths
-CONFIG_PATH = testcfg
-# Core copy has to be copied as well.
-CORE_PATH = core
-UNIT_TEST_PATH = $(TEST_FILE_ROOT)/tests
-
-# Output file basename
-BASENAME = fsfw
-BINARY_NAME := $(BASENAME)-$(BOARD)
-# Output files will be put in this directory inside
-OUTPUT_FOLDER = $(OS)
-
-# Optimization level. Optimized for debugging.
-OPTIMIZATION = -O0
-
-# Default debug output. Optimized for debugging.
-DEBUG_LEVEL = -g3
-
-ifdef GCOV
-CUSTOM_DEFINES += -DGCOV
-endif
-
-
-# Output directories
-BUILDPATH = _bin
-DEPENDPATH = _dep
-OBJECTPATH = _obj
-
-ifeq ($(MAKECMDGOALS),mission)
-BUILD_FOLDER = mission
-else 
-BUILD_FOLDER = devel
-endif
-
-DEPENDDIR = $(DEPENDPATH)/$(OUTPUT_FOLDER)/$(BUILD_FOLDER)
-OBJDIR = $(OBJECTPATH)/$(OUTPUT_FOLDER)/$(BUILD_FOLDER)
-BINDIR = $(BUILDPATH)
-
-CLEANDEP = $(DEPENDPATH)/$(OUTPUT_FOLDER)
-CLEANOBJ = $(OBJECTPATH)/$(OUTPUT_FOLDER)
-CLEANBIN = $(BUILDPATH)
-#-------------------------------------------------------------------------------
-#		Tools and Includes
-#-------------------------------------------------------------------------------
-
-# Tool suffix when cross-compiling
-CROSS_COMPILE =
-
-# C Compiler
-CC = $(CROSS_COMPILE)gcc
-
-# C++ compiler
-CXX = $(CROSS_COMPILE)g++
-
-# Additional Tools
-SIZE = $(CROSS_COMPILE)size
-STRIP = $(CROSS_COMPILE)strip
-CP = $(CROSS_COMPILE)objcopy
-
-HEXCOPY = $(CP) -O ihex
-BINCOPY = $(CP) -O binary
-# files to be compiled, will be filled in by include makefiles
-# := assignment is neccessary so we get all paths right
-# https://www.gnu.org/software/make/manual/html_node/Flavors.html
-CSRC := 
-CXXSRC := 
-ASRC := 
-INCLUDES := 
-
-# Directories where $(directoryname).mk files should be included from
-SUBDIRS :=  $(FRAMEWORK_PATH) $(TEST_PATH) $(UNIT_TEST_PATH) $(CONFIG_PATH) \
-		$(CORE_PATH)
-
-
-I_INCLUDES += $(addprefix -I, $(INCLUDES))
-
-# This is a hack from http://make.mad-scientist.net/the-eval-function/
-#
-# The problem is, that included makefiles should be aware of their relative path
-# but not need to guess or hardcode it. So we set $(CURRENTPATH) for them. If
-# we do this globally and the included makefiles want to include other makefiles as
-# well, they would overwrite $(CURRENTPATH), screwing the include after them.
-#
-# By using a for-loop with an eval'd macro, we can generate the code to include all
-# sub-makefiles (with the correct $(CURRENTPATH) set) before actually evaluating
-# (and by this possibly changing $(CURRENTPATH)) them.
-#
-# This works recursively, if an included makefile wants to include, it can safely set 
-# $(SUBDIRS) (which has already been evaluated here) and do
-# "$(foreach S,$(SUBDIRS),$(eval $(INCLUDE_FILE)))"
-# $(SUBDIRS) must be relative to the project root, so to include subdir foo, set
-# $(SUBDIRS) = $(CURRENTPATH)/foo.
-define INCLUDE_FILE
-CURRENTPATH := $S
-include $(S)/$(notdir $S).mk
-endef
-$(foreach S,$(SUBDIRS),$(eval $(INCLUDE_FILE)))
-
-INCLUDES += $(TEST_FILE_ROOT)
-INCLUDES += $(TEST_FILE_ROOT)/catch2/
-
-#-------------------------------------------------------------------------------
-#		Source Files
-#-------------------------------------------------------------------------------
-
-# All source files which are not includes by the .mk files are added here
-# Please ensure that no files are included by both .mk file and here !
-
-# if a target is not listed in the current directory, 
-# make searches in the directories specified with VPATH
-
-# All C Sources included by .mk files are assigned here
-# Add the objects to sources so dependency handling works
-C_OBJECTS += $(CSRC:.c=.o)
-
-# Objects built from Assembly source files
-ASM_OBJECTS = $(ASRC:.S=.o)
-
-# Objects built from C++ source files
-CXX_OBJECTS +=  $(CXXSRC:.cpp=.o)
-
-#-------------------------------------------------------------------------------
-#		Build Configuration + Output
-#-------------------------------------------------------------------------------
-
-TARGET = Debug build.
-DEBUG_MESSAGE = Off
-OPTIMIZATION_MESSAGE = Off
-
-# Define Messages
-MSG_INFO = Software: Hosted unittest \(Catch2\) for the FSFW.
-MSG_OPTIMIZATION = Optimization: $(OPTIMIZATION), $(OPTIMIZATION_MESSAGE)
-MSG_TARGET = Target Build: $(TARGET)
-MSG_DEBUG = Debug level: $(DEBUG_LEVEL), FSFW Debugging: $(DEBUG_MESSAGE)
-
-MSG_LINKING = Linking:
-MSG_COMPILING = Compiling:
-MSG_ASSEMBLING = Assembling:
-MSG_DEPENDENCY = Collecting dependencies for:
-MSG_BINARY = Generate binary: 
-
-# See https://stackoverflow.com/questions/6687630/how-to-remove-unused-c-c-symbols-with-gcc-and-ld
-# Used to throw away unused code. Reduces code size significantly !
-# -Wl,--gc-sections: needs to be passed to the linker to throw aways unused code
-ifdef KEEP_UNUSED_CODE
-PROTOTYPE_OPTIMIZATION = 
-UNUSED_CODE_REMOVAL = 
-else
-PROTOTYPE_OPTIMIZATION = -ffunction-sections -fdata-sections
-UNUSED_CODE_REMOVAL = -Wl,--gc-sections
-# Link time optimization
-# See https://gcc.gnu.org/onlinedocs/gcc/Optimize-Options.html for reference
-# Link time is larger and size of object files can not be retrieved
-# but resulting binary is smaller. Could be used in mission/deployment build
-# Requires -ffunction-section in linker call
-LINK_TIME_OPTIMIZATION = -flto
-OPTIMIZATION += $(PROTOTYPE_OPTIMIZATION) 
-endif 
-
-# Dependency Flags
-# These flags tell the compiler to build dependencies
-# See: https://www.gnu.org/software/make/manual/html_node/Automatic-Prerequisites.html
-# Using following guide: http://make.mad-scientist.net/papers/advanced-auto-dependency-generation/#combine
-DEPFLAGS = -MT $@ -MMD -MP -MF $(DEPENDDIR)/$*.d
-
-# Flags for the compiler call
-# - std: Which C++ version to use. Common versions: c++11, c++14 and c++17
-# - Wall: enable all warnings
-# - Wextra: enable extra warnings
-# - g: defines debug level
-# - fmessage-length: to control the formatting algorithm for diagnostic messages;
-#    =0 means  no line-wrapping is done; each error message appears on a single line
-# - fno-exceptions: stops generating extra code needed to propagate exceptions, 
-#    which can produce significant data size overhead
-CUSTOM_DEFINES += -DUNIT_TEST
-WARNING_FLAGS = -Wall -Wshadow=local -Wextra -Wimplicit-fallthrough=1 \
-		-Wno-unused-parameter 
-		
-CXXDEFINES := $(CUSTOM_DEFINES)
-CFLAGS += 
-CXXFLAGS += -I. $(DEBUG_LEVEL) $(WARNING_FLAGS) $(DEPFLAGS) -fmessage-length=0 $(OPTIMIZATION)\
-		 $(I_INCLUDES) $(CXXDEFINES)
-CPPFLAGS += -std=c++11  
-
-# Flags for the linker call
-# LINK_INCLUDES specify the path to used libraries and the linker script
-# LINK_LIBRARIES: Link real time support
-LDFLAGS := $(DEBUG_LEVEL) $(UNUSED_CODE_REMOVAL) $(OPTIMIZATION) -pthread 
-LINK_INCLUDES := 
-LINK_LIBRARIES :=
-
-ifdef LINUX
-LINK_LIBRARIES += -lrt
-endif
-
-ifeq ($(OS),Windows_NT)
-LINK_LIBRARIES += -lwsock32 -lws2_32
-LDFLASGS += -fuse-ld=lld
-endif
-
-# Gnu Coverage Tools Flags
-ifdef GCOV
-GCOV_CXXFLAGS = -fprofile-arcs -ftest-coverage --coverage -fno-inline \
-		-fno-inline-small-functions -fno-default-inline
-CXXFLAGS += $(GCOV_CXXFLAGS)
-GCOV_LINKER_LIBS = -lgcov -fprofile-arcs -ftest-coverage
-LINK_LIBRARIES += $(GCOV_LINKER_LIBS)
-endif
-
-# $(info $${CXXFLAGS} is [${CXXFLAGS}])
-
-#-------------------------------------------------------------------------------
-#		Rules
-#-------------------------------------------------------------------------------
-# the call function assigns parameters to temporary variables
-# https://www.gnu.org/software/make/manual/make.html#Call-Function
-# $(1) = Memory names
-# Rules are called for each memory type
-# Two Expansion Symbols $$ are to escape the dollar sign for eval.
-# See: http://make.mad-scientist.net/the-eval-function/
-
-default: all
-
-# Cleans all files 
-hardclean: 
-	-rm -rf $(BUILDPATH)
-	-rm -rf $(OBJECTPATH)
-	-rm -rf $(DEPENDPATH)
-
-# Only clean files for current build
-clean:
-	-rm -rf $(CLEANOBJ)
-	-rm -rf $(CLEANBIN)
-	-rm -rf $(CLEANDEP)
-
-# Only clean binaries. Useful for changing the binary type when object files 
-# are already compiled so complete rebuild is not necessary
-cleanbin:
-	-rm -rf $(CLEANBIN)
-
-# In this section, the binaries are built for all selected memories
-# notestfw: all
-all: executable 
-
-# Build target configuration
-release: OPTIMIZATION = -Os $(PROTOTYPE_OPTIMIZATION) $(LINK_TIME_OPTIMIZATION)
-release: LINK_TIME_OPTIMIZATION = -flto
-release: TARGET = Mission build.
-release: OPTIMIZATION_MESSAGE = On with Link Time Optimization
-
-debug: CXXDEFINES += -DDEBUG
-debug: TARGET = Debug
-debug: DEBUG_MESSAGE = On
-
-ifndef KEEP_UNUSED_CODE
-debug release: OPTIMIZATION_MESSAGE += , no unused code removal
-endif
-
-debug release notestfw: executable
-	
-executable: $(BINDIR)/$(BINARY_NAME).elf	
-	@echo
-	@echo $(MSG_INFO)
-	@echo $(MSG_TARGET)
-	@echo $(MSG_OPTIMIZATION)
-	@echo $(MSG_DEBUG)
-
-C_OBJECTS_PREFIXED = $(addprefix $(OBJDIR)/, $(C_OBJECTS))
-CXX_OBJECTS_PREFIXED = $(addprefix $(OBJDIR)/, $(CXX_OBJECTS))
-ASM_OBJECTS_PREFIXED = $(addprefix $(OBJDIR)/, $(ASM_OBJECTS))
-ALL_OBJECTS = $(ASM_OBJECTS_PREFIXED) $(C_OBJECTS_PREFIXED) \
-		$(CXX_OBJECTS_PREFIXED) 
-
-# Useful for debugging the Makefile
-# Also see: https://www.oreilly.com/openbook/make3/book/ch12.pdf
-# $(info $${ALL_OBJECTS} is [${ALL_OBJECTS}])
-# $(info $${CXXSRC} is [${CXXSRC}])
-
-# Automatic variables are used here extensively. Some of them
-# are escaped($$) to suppress immediate evaluation. The most important ones are:
-# $@: Name of Target (left side of rule)
-# $<: Name of the first prerequisite (right side of rule)
-# @^: List of all prerequisite, omitting duplicates
-# @D: Directory and file-within-directory part of $@
-
-# Generates binary and displays all build properties
-# -p with mkdir ignores error and creates directory when needed.
-
-# SHOW_DETAILS = 1
-
-
-# Link with required libraries: HAL (Hardware Abstraction Layer) and 
-# HCC (File System Library)
-$(BINDIR)/$(BINARY_NAME).elf: $(ALL_OBJECTS)
-	@echo
-	@echo $(MSG_LINKING) Target $@
-	@mkdir -p $(@D)
-ifdef SHOW_DETAILS
-	$(CXX) $(LDFLAGS) $(LINK_INCLUDES) -o $@ $^ $(LINK_LIBRARIES)
-else
-	@$(CXX) $(LDFLAGS) $(LINK_INCLUDES) -o $@ $^ $(LINK_LIBRARIES)
-endif	
-ifeq ($(BUILD_FOLDER), mission)
-# With Link Time Optimization, section size is not available
-	$(SIZE) $@
-else
-	$(SIZE) $^ $@
-endif
-
-$(BINDIR)/$(BINARY_NAME).hex: $(BINDIR)/$(BINARY_NAME).elf
-	@echo
-	@echo $(MSG_BINARY)
-	@mkdir -p $(@D)
-	$(HEXCOPY) $< $@
-	
-# Build new objects for changed dependencies. 
-$(OBJDIR)/%.o: %.cpp
-$(OBJDIR)/%.o: %.cpp $(DEPENDDIR)/%.d | $(DEPENDDIR)
-	@echo 
-	@echo $(MSG_COMPILING) $<
-	@mkdir -p $(@D)
-ifdef SHOW_DETAILS
-	$(CXX) $(CXXFLAGS) $(CPPFLAGS) -c -o $@ $<
-else
-	@$(CXX) $(CXXFLAGS) $(CPPFLAGS) -c -o $@ $<
-endif
-
-$(OBJDIR)/%.o: %.c 
-$(OBJDIR)/%.o: %.c $(DEPENDDIR)/%.d | $(DEPENDDIR) 
-	@echo 
-	@echo $(MSG_COMPILING) $<
-	@mkdir -p $(@D)
-ifdef SHOW_DETAILS
-	$(CC)  $(CXXFLAGS) $(CFLAGS) -c -o $@ $<
-else
-	@$(CC)  $(CXXFLAGS) $(CFLAGS) -c -o $@ $<
-endif
-
-#-------------------------------------------------------------------------------
-#		Dependency Handling
-#-------------------------------------------------------------------------------
-
-# Dependency Handling according to following guide:
-# http://make.mad-scientist.net/papers/advanced-auto-dependency-generation/
-$(DEPENDDIR):
-	@mkdir -p $(@D)
-DEPENDENCY_RELATIVE = $(CSRC:.c=.d) $(CXXSRC:.cpp=.d)
-# This is the list of all dependencies
-DEPFILES = $(addprefix $(DEPENDDIR)/, $(DEPENDENCY_RELATIVE))
-# Create subdirectories for dependencies
-$(DEPFILES):
-	@mkdir -p $(@D)
-# Include all dependencies
-include $(wildcard $(DEPFILES))
-	
-# .PHONY tells make that these targets aren't files
-.PHONY: clean release debug all hardclean cleanbin
diff --git a/tests/user/testcfg/OBSWConfig.h.in b/tests/user/testcfg/OBSWConfig.h.in
new file mode 100644
index 00000000..34eda31f
--- /dev/null
+++ b/tests/user/testcfg/OBSWConfig.h.in
@@ -0,0 +1,8 @@
+#ifndef TESTCFG_OBSWCONFIG_H_
+#define TESTCFG_OBSWCONFIG_H_
+
+
+
+
+
+#endif /* TESTCFG_OBSWCONFIG_H_ */
diff --git a/tests/user/testcfg/TestsConfig.h b/tests/user/testcfg/TestsConfig.h
deleted file mode 100644
index cd967fa7..00000000
--- a/tests/user/testcfg/TestsConfig.h
+++ /dev/null
@@ -1,8 +0,0 @@
-#ifndef FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
-#define FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
-
-
-#define CUSTOM_UNITTEST_RUNNER 0
-
-
-#endif /* FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_ */
diff --git a/tests/user/testcfg/TestsConfig.h.in b/tests/user/testcfg/TestsConfig.h.in
new file mode 100644
index 00000000..0341583d
--- /dev/null
+++ b/tests/user/testcfg/TestsConfig.h.in
@@ -0,0 +1,19 @@
+#ifndef FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
+#define FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
+
+#ifdef __cplusplus
+
+#include "objects/systemObjectList.h"
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
+namespace config {
+#endif
+
+/* Add mission configuration flags here */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_ */
diff --git a/tests/user/testcfg/cdatapool/dataPoolInit.cpp b/tests/user/testcfg/cdatapool/dataPoolInit.cpp
deleted file mode 100644
index ad2dc4ef..00000000
--- a/tests/user/testcfg/cdatapool/dataPoolInit.cpp
+++ /dev/null
@@ -1,5 +0,0 @@
-#include "dataPoolInit.h"
-
-void datapool::dataPoolInit(std::map<uint32_t, PoolEntryIF*> * poolMap) {
-
-}
diff --git a/tests/user/testcfg/cdatapool/dataPoolInit.h b/tests/user/testcfg/cdatapool/dataPoolInit.h
deleted file mode 100644
index 9425d767..00000000
--- a/tests/user/testcfg/cdatapool/dataPoolInit.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#ifndef HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
-#define HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
-
-#include <fsfw/datapool/DataPool.h>
-#include <fsfw/datapool/PoolEntryIF.h>
-#include <map>
-#include <cstdint>
-
-
-namespace datapool {
-	void dataPoolInit(std::map<uint32_t, PoolEntryIF*> * poolMap);
-
-	enum datapoolvariables {
-		NO_PARAMETER = 0,
-	};
-}
-#endif /* CONFIG_CDATAPOOL_DATAPOOLINIT_H_ */
diff --git a/tests/user/testcfg/objects/systemObjectList.h b/tests/user/testcfg/objects/systemObjectList.h
index 76f1ff90..efd21e0d 100644
--- a/tests/user/testcfg/objects/systemObjectList.h
+++ b/tests/user/testcfg/objects/systemObjectList.h
@@ -15,14 +15,17 @@ namespace objects {
 		PUS_DISTRIBUTOR = 11,
 		TM_FUNNEL = 12,
 
-		TCPIP_BRIDGE = 15,
-		TCPIP_HELPER = 16,
+		UDP_BRIDGE = 15,
+		UDP_POLLING_TASK = 16,
 
 		TEST_ECHO_COM_IF = 20,
 		TEST_DEVICE = 21,
 
 		HK_RECEIVER_MOCK = 22,
-		TEST_LOCAL_POOL_OWNER_BASE = 25
+		TEST_LOCAL_POOL_OWNER_BASE = 25,
+
+		SHARED_SET_ID = 26
+
 	};
 }
 
diff --git a/tests/user/testcfg/pollingsequence/PollingSequenceFactory.cpp b/tests/user/testcfg/pollingsequence/PollingSequenceFactory.cpp
index b7f1fb3e..e3ee874a 100644
--- a/tests/user/testcfg/pollingsequence/PollingSequenceFactory.cpp
+++ b/tests/user/testcfg/pollingsequence/PollingSequenceFactory.cpp
@@ -1,6 +1,8 @@
 #include "PollingSequenceFactory.h"
 
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <TestsConfig.h>
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 
@@ -10,14 +12,26 @@ ReturnValue_t pst::pollingSequenceInitDefault(
 	uint32_t length = thisSequence->getPeriodMs();
 
 	/* Add polling sequence table here */
+	thisSequence->addSlot(objects::TEST_DEVICE, 0,
+			DeviceHandlerIF::PERFORM_OPERATION);
+	thisSequence->addSlot(objects::TEST_DEVICE, 0.3,
+			DeviceHandlerIF::SEND_WRITE);
+	thisSequence->addSlot(objects::TEST_DEVICE, 0.45 * length,
+			DeviceHandlerIF::GET_WRITE);
+	thisSequence->addSlot(objects::TEST_DEVICE, 0.6 * length,
+			DeviceHandlerIF::SEND_READ);
+	thisSequence->addSlot(objects::TEST_DEVICE, 0.8 * length,
+			DeviceHandlerIF::GET_READ);
 
 	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 	else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+#if FSFW_CPP_OSTREAM_ENABLED
 		sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!"
 		        << std::endl;
+#else
+		sif::printError("pst::pollingSequenceInitDefault: Sequence invalid!");
 #endif
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
diff --git a/tests/user/testcfg/testcfg.mk b/tests/user/testcfg/testcfg.mk
deleted file mode 100644
index fca2f732..00000000
--- a/tests/user/testcfg/testcfg.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-CXXSRC += $(wildcard $(CURRENTPATH)/cdatapool/*.cpp)
-CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
-CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
-CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
-CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
-CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
-
-INCLUDES += $(CURRENTPATH)