diff --git a/CMakeLists.txt b/CMakeLists.txt
index c75d711f..3823bedf 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 9b74d04c..a23ef43f 100644
--- a/src/fsfw/FSFW.h.in
+++ b/src/fsfw/FSFW.h.in
@@ -10,4 +10,8 @@
 #cmakedefine FSFW_ADD_PUS
 #cmakedefine FSFW_ADD_MONITORING
 
+#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/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
 )