diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h
index 334f352a..032f98de 100644
--- a/defaultcfg/fsfwconfig/FSFWConfig.h
+++ b/defaultcfg/fsfwconfig/FSFWConfig.h
@@ -21,13 +21,11 @@
 #define FSFW_OBJ_EVENT_TRANSLATION	0
 
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
-#define FSFW_DEBUG_OUTPUT 			1
 //! Specify whether info events are printed too.
 #define FSFW_DEBUG_INFO				1
 #include <translateObjects.h>
 #include <translateEvents.h>
 #else
-#define FSFW_DEBUG_OUTPUT			0
 #endif
 
 //! When using the newlib nano library, C99 support for stdio facilities
diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index 3fbe3ee8..6cc97eb6 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -1,7 +1,7 @@
 #include "EventManager.h"
 #include "EventMessage.h"
-#include <FSFWConfig.h>
 
+#include <FSFWConfig.h>
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../ipc/QueueFactory.h"
 #include "../ipc/MutexFactory.h"
@@ -43,7 +43,7 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
 		EventMessage message;
 		result = eventReportQueue->receiveMessage(&message);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
-#ifdef DEBUG
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
 			printEvent(&message);
 #endif
 			notifyListeners(&message);
@@ -114,13 +114,13 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener,
 	return result;
 }
 
-#if FSFW_DEBUG_OUTPUT == 1
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
 
 void EventManager::printEvent(EventMessage* message) {
 	const char *string = 0;
 	switch (message->getSeverity()) {
 	case severity::INFO:
-#ifdef DEBUG_INFO_EVENT
+#if DEBUG_INFO_EVENT == 1
 		string = translateObject(message->getReporter());
 		sif::info << "EVENT: ";
 		if (string != 0) {
diff --git a/events/EventManager.h b/events/EventManager.h
index fe35d9d3..c6bd07be 100644
--- a/events/EventManager.h
+++ b/events/EventManager.h
@@ -1,18 +1,20 @@
-#ifndef EVENTMANAGER_H_
-#define EVENTMANAGER_H_
+#ifndef FSFW_EVENT_EVENTMANAGER_H_
+#define FSFW_EVENT_EVENTMANAGER_H_
 
-#include "eventmatching/EventMatchTree.h"
 #include "EventManagerIF.h"
+#include "eventmatching/EventMatchTree.h"
+
+#include <FSFWConfig.h>
+
 #include "../objectmanager/SystemObject.h"
 #include "../storagemanager/LocalPool.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../ipc/MessageQueueIF.h"
 #include "../ipc/MutexIF.h"
-#include <FSFWConfig.h>
 
 #include <map>
 
-#if FSFW_DEBUG_OUTPUT == 1
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
 // forward declaration, should be implemented by mission
 extern const char* translateObject(object_id_t object);
 extern const char* translateEvents(Event event);
@@ -59,7 +61,7 @@ protected:
 
 	void notifyListeners(EventMessage *message);
 
-#if FSFW_DEBUG_OUTPUT == 1
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
 	void printEvent(EventMessage *message);
 #endif
 
@@ -68,4 +70,4 @@ protected:
 	void unlockMutex();
 };
 
-#endif /* EVENTMANAGER_H_ */
+#endif /* FSFW_EVENT_EVENTMANAGER_H_ */
diff --git a/events/EventManagerIF.h b/events/EventManagerIF.h
index f9ac420b..253e6910 100644
--- a/events/EventManagerIF.h
+++ b/events/EventManagerIF.h
@@ -1,10 +1,11 @@
 #ifndef EVENTMANAGERIF_H_
 #define EVENTMANAGERIF_H_
 
-#include "eventmatching/eventmatching.h"
 #include "EventMessage.h"
+#include "eventmatching/eventmatching.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../ipc/MessageQueueSenderIF.h"
+#include "../ipc/MessageQueueIF.h"
 
 class EventManagerIF {
 public:
@@ -16,7 +17,8 @@ public:
 
 	virtual MessageQueueId_t getEventReportQueue() = 0;
 
-	virtual ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false) = 0;
+	virtual ReturnValue_t registerListener(MessageQueueId_t listener,
+	        bool forwardAllButSelected = false) = 0;
 	virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener,
 			EventId_t event) = 0;
 	virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener,
@@ -31,18 +33,22 @@ public:
 			bool reporterInverted = false) = 0;
 
 	static void triggerEvent(object_id_t reportingObject, Event event,
-			uint32_t parameter1 = 0, uint32_t parameter2 = 0, MessageQueueId_t sentFrom = 0) {
+			uint32_t parameter1 = 0, uint32_t parameter2 = 0,
+			MessageQueueId_t sentFrom = 0) {
 		EventMessage message(event, reportingObject, parameter1, parameter2);
 		triggerEvent(&message, sentFrom);
 	}
-	static void triggerEvent(EventMessage* message, MessageQueueId_t sentFrom = 0) {
-		static MessageQueueId_t eventmanagerQueue = 0;
-		if (eventmanagerQueue == 0) {
+
+	static void triggerEvent(EventMessage* message,
+	        MessageQueueId_t sentFrom = 0) {
+		static MessageQueueId_t eventmanagerQueue = MessageQueueIF::NO_QUEUE;
+		if (eventmanagerQueue == MessageQueueIF::NO_QUEUE) {
 			EventManagerIF *eventmanager = objectManager->get<EventManagerIF>(
 					objects::EVENT_MANAGER);
-			if (eventmanager != NULL) {
-				eventmanagerQueue = eventmanager->getEventReportQueue();
+			if (eventmanager == nullptr) {
+			    return;
 			}
+			eventmanagerQueue = eventmanager->getEventReportQueue();
 		}
 		MessageQueueSenderIF::sendMessage(eventmanagerQueue, message, sentFrom);
 	}
diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index 56d47da2..4de6906c 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -1,29 +1,21 @@
+#include "Subsystem.h"
 #include "../health/HealthMessage.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../serialize/SerialArrayListAdapter.h"
 #include "../serialize/SerialFixedArrayListAdapter.h"
 #include "../serialize/SerializeElement.h"
 #include "../serialize/SerialLinkedListAdapter.h"
-#include "Subsystem.h"
+
 #include <string>
 
 Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent,
 		uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables) :
-		SubsystemBase(setObjectId, parent, 0), isInTransition(false), childrenChangedHealth(
-				false), uptimeStartTable(0), currentTargetTable(), targetMode(
-				0), targetSubmode(SUBMODE_NONE), initialMode(0), currentSequenceIterator(), modeTables(
-				maxNumberOfTables), modeSequences(maxNumberOfSequences), IPCStore(
-		NULL)
-#ifdef USE_MODESTORE
-,modeStore(NULL)
-#endif
-{
+		SubsystemBase(setObjectId, parent, 0), isInTransition(false),
+		childrenChangedHealth(false), currentTargetTable(),
+		targetSubmode(SUBMODE_NONE), currentSequenceIterator(),
+		modeTables(maxNumberOfTables), modeSequences(maxNumberOfSequences) {}
 
-}
-
-Subsystem::~Subsystem() {
-	//Auto-generated destructor stub
-}
+Subsystem::~Subsystem() {}
 
 ReturnValue_t Subsystem::checkSequence(HybridIterator<ModeListEntry> iter,
 		Mode_t fallbackSequence) {
@@ -349,7 +341,8 @@ ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence,
 
 	ReturnValue_t result;
 
-	//Before initialize() is called, tables must not be checked as the children are not added yet.
+	//Before initialize() is called, tables must not be checked as the
+	//children are not added yet.
 	//Sequences added before are checked by initialize()
 	if (!preInit) {
 		result = checkSequence(
@@ -374,7 +367,7 @@ ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence,
 	}
 
 	if (inStore) {
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 		result = modeStore->storeArray(sequence,
 				&(modeSequences.find(id)->entries.firstLinkedElement));
 		if (result != RETURN_OK) {
@@ -395,8 +388,8 @@ ReturnValue_t Subsystem::addTable(ArrayList<ModeListEntry> *table, Mode_t id,
 
 	ReturnValue_t result;
 
-	//Before initialize() is called, tables must not be checked as the children are not added yet.
-	//Tables added before are checked by initialize()
+	//Before initialize() is called, tables must not be checked as the children
+	//are not added yet. Tables added before are checked by initialize()
 	if (!preInit) {
 		result = checkTable(
 				HybridIterator<ModeListEntry>(table->front(), table->back()));
@@ -417,7 +410,7 @@ ReturnValue_t Subsystem::addTable(ArrayList<ModeListEntry> *table, Mode_t id,
 	}
 
 	if (inStore) {
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 		result = modeStore->storeArray(table,
 				&(modeTables.find(id)->firstLinkedElement));
 		if (result != RETURN_OK) {
@@ -447,7 +440,7 @@ ReturnValue_t Subsystem::deleteSequence(Mode_t id) {
 		return ACCESS_DENIED;
 	}
 
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 	modeStore->deleteList(sequenceInfo->entries.firstLinkedElement);
 #endif
 	modeSequences.erase(id);
@@ -470,7 +463,7 @@ ReturnValue_t Subsystem::deleteTable(Mode_t id) {
 		return ACCESS_DENIED;
 	}
 
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 	modeStore->deleteList(pointer->firstLinkedElement);
 #endif
 	modeSequences.erase(id);
@@ -489,10 +482,10 @@ ReturnValue_t Subsystem::initialize() {
 		return RETURN_FAILED;
 	}
 
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 	modeStore = objectManager->get<ModeStoreIF>(objects::MODE_STORE);
 
-	if (modeStore == NULL) {
+	if (modeStore == nullptr) {
 		return RETURN_FAILED;
 	}
 #endif
@@ -587,12 +580,14 @@ void Subsystem::transitionFailed(ReturnValue_t failureCode,
 	triggerEvent(MODE_TRANSITION_FAILED, failureCode, parameter);
 	if (mode == targetMode) {
 		//already tried going back to the current mode
-		//go into fallback mode, also set current mode to fallback mode, so we come here at the next fail
+		//go into fallback mode, also set current mode to fallback mode,
+	    //so we come here at the next fail
 		modeHelper.setForced(true);
 		ReturnValue_t result;
 		if ((result = checkSequence(getFallbackSequence(mode))) != RETURN_OK) {
 			triggerEvent(FALLBACK_FAILED, result, getFallbackSequence(mode));
-			isInTransition = false; //keep still and allow arbitrary mode commands to recover
+			//keep still and allow arbitrary mode commands to recover
+			isInTransition = false;
 			return;
 		}
 		mode = getFallbackSequence(mode);
@@ -656,8 +651,10 @@ void Subsystem::cantKeepMode() {
 
 	modeHelper.setForced(true);
 
-	//already set the mode, so that we do not try to go back in our old mode when the transition fails
+	//already set the mode, so that we do not try to go back in our old mode
+	//when the transition fails
 	mode = getFallbackSequence(mode);
-	//SHOULDDO: We should store submodes for fallback sequence as well, otherwise we should get rid of submodes completely.
+	//SHOULDDO: We should store submodes for fallback sequence as well,
+	//otherwise we should get rid of submodes completely.
 	startTransition(mode, SUBMODE_NONE);
 }
diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h
index a40b8028..69563643 100644
--- a/subsystem/Subsystem.h
+++ b/subsystem/Subsystem.h
@@ -1,14 +1,21 @@
-#ifndef SUBSYSTEM_H_
-#define SUBSYSTEM_H_
+#ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_
+#define FSFW_SUBSYSTEM_SUBSYSTEM_H_
+
+#include "SubsystemBase.h"
+#include "modes/ModeDefinitions.h"
 
 #include "../container/FixedArrayList.h"
 #include "../container/FixedMap.h"
 #include "../container/HybridIterator.h"
 #include "../container/SinglyLinkedList.h"
 #include "../serialize/SerialArrayListAdapter.h"
-#include "modes/ModeDefinitions.h"
-#include "SubsystemBase.h"
 
+#include <FSFWConfig.h>
+
+/**
+ * @brief   TODO: documentation missing
+ * @details
+ */
 class Subsystem: public SubsystemBase, public HasModeSequenceIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::SUBSYSTEM;
@@ -30,8 +37,13 @@ public:
 	static const ReturnValue_t TARGET_TABLE_NOT_REACHED = MAKE_RETURN_CODE(0xA1);
 	static const ReturnValue_t TABLE_CHECK_FAILED = MAKE_RETURN_CODE(0xA2);
 
-
-
+	/**
+	 * TODO: Doc for constructor
+	 * @param setObjectId
+	 * @param parent
+	 * @param maxNumberOfSequences
+	 * @param maxNumberOfTables
+	 */
 	Subsystem(object_id_t setObjectId, object_id_t parent,
 			uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
 	virtual ~Subsystem();
@@ -44,31 +56,12 @@ public:
 
 	void setInitialMode(Mode_t mode);
 
-	virtual ReturnValue_t initialize();
+	virtual ReturnValue_t initialize() override;
 
-	virtual ReturnValue_t checkObjectConnections();
+	virtual ReturnValue_t checkObjectConnections() override;
 
-	virtual MessageQueueId_t getSequenceCommandQueue() const;
+	virtual MessageQueueId_t getSequenceCommandQueue() const override;
 
-	/**
-	 *
-	 *
-	 * IMPORTANT: Do not call on non existing sequence! Use existsSequence() first
-	 *
-	 * @param sequence
-	 * @return
-	 */
-	ReturnValue_t checkSequence(Mode_t sequence);
-
-	/**
-	 *
-	 *
-	 * IMPORTANT: Do not call on non existing sequence! Use existsSequence() first
-	 *
-	 * @param iter
-	 * @return
-	 */
-	ReturnValue_t checkSequence(HybridIterator<ModeListEntry> iter, Mode_t fallbackSequence);
 protected:
 
 	struct EntryPointer {
@@ -92,15 +85,15 @@ protected:
 
 	bool childrenChangedHealth;
 
-	uint32_t uptimeStartTable;
+	uint32_t uptimeStartTable = 0;
 
 	HybridIterator<ModeListEntry> currentTargetTable;
 
-	Mode_t targetMode;
+	Mode_t targetMode = 0;
 
 	Submode_t targetSubmode;
 
-	Mode_t initialMode;
+	Mode_t initialMode = 0;
 
 	HybridIterator<ModeListEntry> currentSequenceIterator;
 
@@ -108,10 +101,10 @@ protected:
 
 	FixedMap<Mode_t, SequenceInfo> modeSequences;
 
-	StorageManagerIF *IPCStore;
+	StorageManagerIF *IPCStore = nullptr;
 
-#ifdef USE_MODESTORE
-	ModeStoreIF *modeStore;
+#if FSFW_USE_MODESTORE == 1
+	ModeStoreIF *modeStore = nullptr;
 #endif
 
 	bool existsModeSequence(Mode_t id);
@@ -124,8 +117,6 @@ protected:
 
 	HybridIterator<ModeListEntry> getCurrentTable();
 
-//	void startSequence(Mode_t sequence);
-
 	/**
 	 * DO NOT USE ON NON EXISTING SEQUENCE
 	 *
@@ -153,12 +144,29 @@ protected:
 
 	virtual void startTransition(Mode_t mode, Submode_t submode);
 
-	void sendSerializablesAsCommandMessage(Command_t command, SerializeIF **elements, uint8_t count);
+	void sendSerializablesAsCommandMessage(Command_t command,
+	        SerializeIF **elements, uint8_t count);
 
 	void transitionFailed(ReturnValue_t failureCode, uint32_t parameter);
 
 	void cantKeepMode();
 
+	/**
+	 * @brief    Checks whether a sequence, identified by a mode.
+	 * @param sequence
+	 * @return
+	 */
+	ReturnValue_t checkSequence(Mode_t sequence);
+
+	/**
+	 * @brief   Checks whether a sequence, identified by a mode list iterator
+	 *          and a fallback sequence. Iterator needs to point to a valid
+	 *          sequence.
+	 * @param iter
+	 * @return
+	 */
+	ReturnValue_t checkSequence(HybridIterator<ModeListEntry> iter,
+	        Mode_t fallbackSequence);
 };
 
-#endif /* SUBSYSTEM_H_ */
+#endif /* FSFW_SUBSYSTEM_SUBSYSTEM_H_ */
diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp
index 56ae1062..f60c8847 100644
--- a/subsystem/SubsystemBase.cpp
+++ b/subsystem/SubsystemBase.cpp
@@ -1,15 +1,15 @@
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
-#include "SubsystemBase.h"
+#include "../subsystem/SubsystemBase.h"
 #include "../ipc/QueueFactory.h"
 
 SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent,
 		Mode_t initialMode, uint16_t commandQueueDepth) :
-		SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE), childrenChangedMode(
-		false), commandsOutstanding(0), commandQueue(NULL), healthHelper(this,
-				setObjectId), modeHelper(this), parentId(parent) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth,
-			CommandMessage::MAX_MESSAGE_SIZE);
+		SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE),
+		childrenChangedMode(false),
+		commandQueue(QueueFactory::instance()->createMessageQueue(
+		        commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE)),
+		healthHelper(this, setObjectId), modeHelper(this), parentId(parent) {
 }
 
 SubsystemBase::~SubsystemBase() {
@@ -21,10 +21,11 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
 	ChildInfo info;
 
 	HasModesIF *child = objectManager->get<HasModesIF>(objectId);
-	//This is a rather ugly hack to have the changedHealth info for all children available. (needed for FOGs).
+	// This is a rather ugly hack to have the changedHealth info for all
+	// children available.
 	HasHealthIF* healthChild = objectManager->get<HasHealthIF>(objectId);
-	if (child == NULL) {
-		if (healthChild == NULL) {
+	if (child == nullptr) {
+		if (healthChild == nullptr) {
 			return CHILD_DOESNT_HAVE_MODES;
 		} else {
 			info.commandQueue = healthChild->getCommandQueue();
@@ -38,14 +39,11 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
 	info.submode = SUBMODE_NONE;
 	info.healthChanged = false;
 
-	std::pair<std::map<object_id_t, ChildInfo>::iterator, bool> returnValue =
-			childrenMap.insert(
-					std::pair<object_id_t, ChildInfo>(objectId, info));
-	if (!(returnValue.second)) {
+	auto resultPair = childrenMap.emplace(objectId, info);
+	if (not resultPair.second) {
 		return COULD_NOT_INSERT_CHILD;
-	} else {
-		return RETURN_OK;
 	}
+	return RETURN_OK;
 }
 
 ReturnValue_t SubsystemBase::checkStateAgainstTable(
@@ -76,15 +74,15 @@ ReturnValue_t SubsystemBase::checkStateAgainstTable(
 	return RETURN_OK;
 }
 
-void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submode_t targetSubmode) {
-
-	CommandMessage message;
+void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter,
+        Submode_t targetSubmode) {
+	CommandMessage command;
 
 	std::map<object_id_t, ChildInfo>::iterator iter;
 
 	commandsOutstanding = 0;
 
-	for (; tableIter.value != NULL; ++tableIter) {
+	for (; tableIter.value != nullptr; ++tableIter) {
 		object_id_t object = tableIter.value->getObject();
 		if ((iter = childrenMap.find(object)) == childrenMap.end()) {
 			//illegal table entry, should only happen due to misconfigured mode table
@@ -100,17 +98,17 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
 
 		if (healthHelper.healthTable->hasHealth(object)) {
 			if (healthHelper.healthTable->isFaulty(object)) {
-				ModeMessage::setModeMessage(&message,
+				ModeMessage::setModeMessage(&command,
 						ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
 						SUBMODE_NONE);
 			} else {
 				if (modeHelper.isForced()) {
-					ModeMessage::setModeMessage(&message,
+					ModeMessage::setModeMessage(&command,
 							ModeMessage::CMD_MODE_COMMAND_FORCED,
 							tableIter.value->getMode(), submodeToCommand);
 				} else {
 					if (healthHelper.healthTable->isCommandable(object)) {
-						ModeMessage::setModeMessage(&message,
+						ModeMessage::setModeMessage(&command,
 								ModeMessage::CMD_MODE_COMMAND,
 								tableIter.value->getMode(), submodeToCommand);
 					} else {
@@ -119,17 +117,17 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
 				}
 			}
 		} else {
-			ModeMessage::setModeMessage(&message, ModeMessage::CMD_MODE_COMMAND,
+			ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
 					tableIter.value->getMode(), submodeToCommand);
 		}
 
-		if ((iter->second.mode == ModeMessage::getMode(&message))
-				&& (iter->second.submode == ModeMessage::getSubmode(&message))
+		if ((iter->second.mode == ModeMessage::getMode(&command))
+				&& (iter->second.submode == ModeMessage::getSubmode(&command))
 				&& !modeHelper.isForced()) {
 			continue; //don't send redundant mode commands (produces event spam), but still command if mode is forced to reach lower levels
 		}
 		ReturnValue_t result = commandQueue->sendMessage(
-				iter->second.commandQueue, &message);
+				iter->second.commandQueue, &command);
 		if (result == RETURN_OK) {
 			++commandsOutstanding;
 		}
@@ -306,31 +304,31 @@ void SubsystemBase::announceMode(bool recursive) {
 
 void SubsystemBase::checkCommandQueue() {
 	ReturnValue_t result;
-	CommandMessage message;
+	CommandMessage command;
 
-	for (result = commandQueue->receiveMessage(&message); result == RETURN_OK;
-			result = commandQueue->receiveMessage(&message)) {
+	for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
+			result = commandQueue->receiveMessage(&command)) {
 
-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
 
-		result = modeHelper.handleModeCommand(&message);
+		result = modeHelper.handleModeCommand(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
 
-		result = handleModeReply(&message);
+		result = handleModeReply(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
 
-		result = handleCommandMessage(&message);
+		result = handleCommandMessage(&command);
 		if (result != RETURN_OK) {
 			CommandMessage reply;
 			reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND,
-					message.getCommand());
+					command.getCommand());
 			replyToCommand(&reply);
 		}
 	}
diff --git a/subsystem/SubsystemBase.h b/subsystem/SubsystemBase.h
index 61a7eaef..b8e4f902 100644
--- a/subsystem/SubsystemBase.h
+++ b/subsystem/SubsystemBase.h
@@ -1,5 +1,7 @@
-#ifndef SUBSYSTEMBASE_H_
-#define SUBSYSTEMBASE_H_
+#ifndef FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_
+#define FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_
+
+#include "modes/HasModeSequenceIF.h"
 
 #include "../container/HybridIterator.h"
 #include "../health/HasHealthIF.h"
@@ -7,11 +9,14 @@
 #include "../modes/HasModesIF.h"
 #include "../objectmanager/SystemObject.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include "modes/HasModeSequenceIF.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../ipc/MessageQueueIF.h"
 #include <map>
 
+/**
+ * @defgroup subsystems Subsystem Objects
+ * Contains all Subsystem and Assemblies
+ */
 class SubsystemBase: public SystemObject,
 		public HasModesIF,
 		public HasHealthIF,
@@ -30,17 +35,17 @@ public:
 			Mode_t initialMode = 0, uint16_t commandQueueDepth = 8);
 	virtual ~SubsystemBase();
 
-	virtual MessageQueueId_t getCommandQueue() const;
+	virtual MessageQueueId_t getCommandQueue() const override;
 
 	ReturnValue_t registerChild(object_id_t objectId);
 
-	virtual ReturnValue_t initialize();
+	virtual ReturnValue_t initialize() override;
 
-	virtual ReturnValue_t performOperation(uint8_t opCode);
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
 
-	virtual ReturnValue_t setHealth(HealthState health);
+	virtual ReturnValue_t setHealth(HealthState health) override;
 
-	virtual HasHealthIF::HealthState getHealth();
+	virtual HasHealthIF::HealthState getHealth() override;
 
 protected:
 	struct ChildInfo {
@@ -58,9 +63,9 @@ protected:
 	/**
 	 * Always check this against <=0, so you are robust against too many replies
 	 */
-	int32_t commandsOutstanding;
+	int32_t commandsOutstanding = 0;
 
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 
 	HealthHelper healthHelper;
 
@@ -122,4 +127,4 @@ protected:
 	virtual void modeChanged();
 };
 
-#endif /* SUBSYSTEMBASE_H_ */
+#endif /* FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ */
diff --git a/subsystem/modes/ModeDefinitions.h b/subsystem/modes/ModeDefinitions.h
index a865ab0c..13a780ee 100644
--- a/subsystem/modes/ModeDefinitions.h
+++ b/subsystem/modes/ModeDefinitions.h
@@ -1,22 +1,19 @@
-#ifndef MODEDEFINITIONS_H_
-#define MODEDEFINITIONS_H_
+#ifndef FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_
+#define FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_
 
 #include "../../modes/HasModesIF.h"
 #include "../../objectmanager/SystemObjectIF.h"
 #include "../../serialize/SerializeIF.h"
 #include "../../serialize/SerialLinkedListAdapter.h"
+
 class ModeListEntry: public SerializeIF, public LinkedElement<ModeListEntry> {
 public:
-	ModeListEntry() :
-			LinkedElement<ModeListEntry>(this), value1(0), value2(0), value3(0), value4(
-					0) {
+	ModeListEntry(): LinkedElement<ModeListEntry>(this) {}
 
-	}
-
-	uint32_t value1;
-	uint32_t value2;
-	uint8_t value3;
-	uint8_t value4;
+	uint32_t value1 = 0;
+	uint32_t value2 = 0;
+	uint8_t value3 = 0;
+	uint8_t value4 = 0;
 
 	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
 			size_t maxSize, Endianness streamEndianness) const {
@@ -149,4 +146,4 @@ public:
 	}
 };
 
-#endif //MODEDEFINITIONS_H_
+#endif /* FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_ */
diff --git a/subsystem/modes/ModeSequenceMessage.cpp b/subsystem/modes/ModeSequenceMessage.cpp
index 33019f58..7733098e 100644
--- a/subsystem/modes/ModeSequenceMessage.cpp
+++ b/subsystem/modes/ModeSequenceMessage.cpp
@@ -1,8 +1,7 @@
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../objectmanager/ObjectManagerIF.h"
+#include "ModeSequenceMessage.h"
+
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../storagemanager/StorageManagerIF.h"
-#include "ModeSequenceMessage.h"
 
 void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
 		Command_t command, Mode_t sequence, store_address_t storeAddress) {
@@ -11,25 +10,12 @@ void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
 	message->setParameter2(sequence);
 }
 
-//void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
-//		Command_t command, ModeTableId_t table, store_address_t storeAddress) {
-//	message->setCommand(command);
-//	message->setParameter(storeAddress.raw);
-//	message->setParameter2(table);
-//}
-
 void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
 		Command_t command, Mode_t sequence) {
 	message->setCommand(command);
 	message->setParameter2(sequence);
 }
 
-//void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
-//		Command_t command, ModeTableId_t table) {
-//	message->setCommand(command);
-//	message->setParameter2(table);
-//}
-
 void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
 		Command_t command, store_address_t storeAddress) {
 	message->setCommand(command);
@@ -63,9 +49,10 @@ void ModeSequenceMessage::clear(CommandMessage *message) {
 	case SEQUENCE_LIST:
 	case TABLE_LIST:
 	case TABLE:
-	case SEQUENCE:{
-		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-		if (ipcStore != NULL){
+	case SEQUENCE: {
+		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
+		        objects::IPC_STORE);
+		if (ipcStore != nullptr){
 			ipcStore->deleteData(ModeSequenceMessage::getStoreAddress(message));
 		}
 	}
diff --git a/subsystem/modes/ModeSequenceMessage.h b/subsystem/modes/ModeSequenceMessage.h
index bbf747f1..7852c984 100644
--- a/subsystem/modes/ModeSequenceMessage.h
+++ b/subsystem/modes/ModeSequenceMessage.h
@@ -1,9 +1,11 @@
-#ifndef MODESEQUENCEMESSAGE_H_
-#define MODESEQUENCEMESSAGE_H_
+#ifndef FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_
+#define FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_
+
+#include "ModeDefinitions.h"
 
 #include "../../ipc/CommandMessage.h"
 #include "../../storagemanager/StorageManagerIF.h"
-#include "ModeDefinitions.h"
+
 
 class ModeSequenceMessage {
 public:
@@ -45,4 +47,4 @@ private:
 	ModeSequenceMessage();
 };
 
-#endif /* MODESEQUENCEMESSAGE_H_ */
+#endif /* FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_ */
diff --git a/subsystem/modes/ModeStore.cpp b/subsystem/modes/ModeStore.cpp
index 217e177c..e216a167 100644
--- a/subsystem/modes/ModeStore.cpp
+++ b/subsystem/modes/ModeStore.cpp
@@ -1,6 +1,8 @@
 #include "ModeStore.h"
 
-#ifdef USE_MODESTORE
+// todo: I think some parts are deprecated. If this is used,  the define
+// USE_MODESTORE could be part of the new FSFWConfig.h file.
+#if FSFW_USE_MODESTORE == 1
 
 ModeStore::ModeStore(object_id_t objectId, uint32_t slots) :
 		SystemObject(objectId), store(slots), emptySlot(store.front()) {
diff --git a/subsystem/modes/ModeStore.h b/subsystem/modes/ModeStore.h
index 0bf856a3..a5cb4059 100644
--- a/subsystem/modes/ModeStore.h
+++ b/subsystem/modes/ModeStore.h
@@ -1,12 +1,15 @@
-#ifndef MODESTORE_H_
-#define MODESTORE_H_
+#ifndef FSFW_SUBSYSTEM_MODES_MODESTORE_H_
+#define FSFW_SUBSYSTEM_MODES_MODESTORE_H_
 
-#ifdef USE_MODESTORE
+#include <FSFWConfig.h>
+
+#if FSFW_USE_MODESTORE == 1
+
+#include "ModeStoreIF.h"
 
 #include "../../container/ArrayList.h"
 #include "../../container/SinglyLinkedList.h"
 #include "../../objectmanager/SystemObject.h"
-#include "ModeStoreIF.h"
 
 class ModeStore: public ModeStoreIF, public SystemObject {
 public:
@@ -41,5 +44,5 @@ private:
 
 #endif
 
-#endif /* MODESTORE_H_ */
+#endif /* FSFW_SUBSYSTEM_MODES_MODESTORE_H_ */
 
diff --git a/subsystem/modes/ModeStoreIF.h b/subsystem/modes/ModeStoreIF.h
index e5cac3b2..9682501d 100644
--- a/subsystem/modes/ModeStoreIF.h
+++ b/subsystem/modes/ModeStoreIF.h
@@ -1,12 +1,15 @@
 #ifndef MODESTOREIF_H_
 #define MODESTOREIF_H_
 
-#ifdef USE_MODESTORE
+#include <FSFWConfig.h>
+
+#if FSFW_USE_MODESTORE == 1
+
+#include "ModeDefinitions.h"
 
 #include "../../container/ArrayList.h"
 #include "../../container/SinglyLinkedList.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
-#include "ModeDefinitions.h"
 
 class ModeStoreIF {
 public:
diff --git a/tasks/FixedTimeslotTaskIF.h b/tasks/FixedTimeslotTaskIF.h
index 421978f0..2fc7e092 100644
--- a/tasks/FixedTimeslotTaskIF.h
+++ b/tasks/FixedTimeslotTaskIF.h
@@ -1,16 +1,32 @@
 #ifndef FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 #define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 
-#include "../objectmanager/ObjectManagerIF.h"
 #include "PeriodicTaskIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 /**
- * Following the same principle as the base class IF. This is the interface for a Fixed timeslot task
+ * @brief Following the same principle as the base class IF.
+ * This is the interface for a Fixed timeslot task
  */
 class FixedTimeslotTaskIF : public PeriodicTaskIF {
 public:
 	virtual ~FixedTimeslotTaskIF() {}
-	virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep) = 0;
+
+	/**
+	 * Add an object with a slot time and the execution step to the task.
+	 * The execution step will be passed to the object (e.g. as an operation
+	 * code in #performOperation)
+	 * @param componentId
+	 * @param slotTimeMs
+	 * @param executionStep
+	 * @return
+	 */
+	virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
+	        int8_t executionStep) = 0;
+	/**
+	 * Check whether the sequence is valid and perform all other required
+	 * initialization steps which are needed after task creation
+	 */
 	virtual ReturnValue_t checkSequence() const = 0;
 };
 
diff --git a/tasks/TaskFactory.h b/tasks/TaskFactory.h
index cbf2272c..85cdda90 100644
--- a/tasks/TaskFactory.h
+++ b/tasks/TaskFactory.h
@@ -1,10 +1,11 @@
-#ifndef FRAMEWORK_TASKS_TASKFACTORY_H_
-#define FRAMEWORK_TASKS_TASKFACTORY_H_
+#ifndef FSFW_TASKS_TASKFACTORY_H_
+#define FSFW_TASKS_TASKFACTORY_H_
 
-#include <stdlib.h>
 #include "FixedTimeslotTaskIF.h"
 #include "Typedef.h"
 
+#include <cstdlib>
+
 /**
  * Singleton Class that produces Tasks.
  */
@@ -48,10 +49,11 @@ public:
 
 	/**
 	 * Function to be called to delete a task
-	 * @param task The pointer to the task that shall be deleted, NULL specifies current Task
+	 * @param task The pointer to the task that shall be deleted,
+	 * nullptr specifies current Task
 	 * @return Success of deletion
 	 */
-	static ReturnValue_t deleteTask(PeriodicTaskIF* task = NULL);
+	static ReturnValue_t deleteTask(PeriodicTaskIF* task = nullptr);
 
 	/**
 	 * Function to be called to delay current task
@@ -69,4 +71,4 @@ private:
 
 };
 
-#endif /* FRAMEWORK_TASKS_TASKFACTORY_H_ */
+#endif /* FSFW_TASKS_TASKFACTORY_H_ */
diff --git a/unittest/testcfg/FSFWConfig.h b/unittest/testcfg/FSFWConfig.h
index 4fb224c1..59934560 100644
--- a/unittest/testcfg/FSFWConfig.h
+++ b/unittest/testcfg/FSFWConfig.h
@@ -29,13 +29,11 @@
 //! additional output which requires the translation files translateObjects
 //! and translateEvents (and their compiles source files)
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
-#define FSFW_DEBUG_OUTPUT 			1
 //! Specify whether info events are printed too.
-#define FSFW_DEBUG_INFO				1
+#define FSFW_DEBUG_INFO             1
 #include <translateObjects.h>
 #include <translateEvents.h>
 #else
-#define FSFW_DEBUG_OUTPUT			0
 #endif
 
 //! When using the newlib nano library, C99 support for stdio facilities