diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5cb4b28e..a3ca3e0d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -95,8 +95,26 @@ if(NOT FSFW_CONFIG_PATH)
 	add_subdirectory(defaultcfg/fsfwconfig)
 endif()
 
+# FSFW might be part of a possibly complicated folder structure, so we 
+# extract the absolute path of the fsfwconfig folder.
+if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
+	set(${FSFW_CONFIG_PATH_ABSOLUTE} ${FSFW_CONFIG_PATH})
+else()
+	get_filename_component(${FSFW_CONFIG_PATH_ABSOLUTE} 
+		${FSFW_CONFIG_PATH} ABSOLUTE
+	)
+endif()
+
 # Required include paths to compile the FSFW
-target_include_directories(${LIB_FSFW_NAME} 
-	INTERFACE 
-		${FSFW_CONFIG_PATH}
+target_include_directories(${LIB_FSFW_NAME} INTERFACE 
+	${CMAKE_SOURCE_DIR}
+	${FSFW_CONFIG_PATH_ABSOLUTE}
+)
+
+# Includes path required to compile FSFW itself as well
+# We assume that the fsfwconfig folder uses include relative to the project
+# root here!
+target_include_directories(${LIB_FSFW_NAME} PRIVATE 
+	${CMAKE_SOURCE_DIR}
+	${FSFW_CONFIG_PATH_ABSOLUTE}
 )
diff --git a/osal/FreeRTOS/CMakeLists.txt b/osal/FreeRTOS/CMakeLists.txt
index a7b1338f..c310c5cf 100644
--- a/osal/FreeRTOS/CMakeLists.txt
+++ b/osal/FreeRTOS/CMakeLists.txt
@@ -11,8 +11,19 @@ target_sources(${LIB_FSFW_NAME}
 		MutexFactory.cpp
 		PeriodicTask.cpp
 		QueueFactory.cpp
-		QueueMapManager.cpp
 		SemaphoreFactory.cpp
 		TaskFactory.cpp
 		Timekeeper.cpp
-)
\ No newline at end of file
+)
+
+# FreeRTOS is required to link the FSFW now. It is recommended to compile 
+# FreeRTOS as a static library and set LIB_OS_NAME to the target name of the 
+# library.
+if(NOT LIB_OS_NAME)
+	message(FATAL_ERROR 
+		"FreeRTOS needs to be linked as a target and "
+		"LIB_OS_NAME needs to be set to the target"
+	)
+endif()
+
+target_link_libraries(${LIB_FSWFW_NAME} ${LIB_OS_NAME})
\ No newline at end of file