diff --git a/inc/fsfw/osal/freertos/BinSemaphUsingTask.h b/inc/fsfw/osal/freertos/BinSemaphUsingTask.h
index 895ccefb..0645b1fa 100644
--- a/inc/fsfw/osal/freertos/BinSemaphUsingTask.h
+++ b/inc/fsfw/osal/freertos/BinSemaphUsingTask.h
@@ -1,8 +1,8 @@
 #ifndef FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
 #define FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
 
-#include "../../returnvalues/HasReturnvaluesIF.h"
-#include "../../tasks/SemaphoreIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/tasks/SemaphoreIF.h"
 
 #include "FreeRTOS.h"
 #include "task.h"
diff --git a/inc/fsfw/osal/freertos/BinarySemaphore.h b/inc/fsfw/osal/freertos/BinarySemaphore.h
index 2335292b..1ae56ff6 100644
--- a/inc/fsfw/osal/freertos/BinarySemaphore.h
+++ b/inc/fsfw/osal/freertos/BinarySemaphore.h
@@ -1,8 +1,8 @@
 #ifndef FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_
 #define FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_
 
-#include "../../returnvalues/HasReturnvaluesIF.h"
-#include "../../tasks/SemaphoreIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/tasks/SemaphoreIF.h"
 
 #include "FreeRTOS.h"
 #include "semphr.h"
diff --git a/inc/fsfw/osal/freertos/CountingSemaphUsingTask.h b/inc/fsfw/osal/freertos/CountingSemaphUsingTask.h
index 9ac99c31..eb2fc67b 100644
--- a/inc/fsfw/osal/freertos/CountingSemaphUsingTask.h
+++ b/inc/fsfw/osal/freertos/CountingSemaphUsingTask.h
@@ -2,7 +2,7 @@
 #define FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
 
 #include "CountingSemaphUsingTask.h"
-#include "../../tasks/SemaphoreIF.h"
+#include "fsfw/tasks/SemaphoreIF.h"
 
 #include "FreeRTOS.h"
 #include "task.h"
diff --git a/inc/fsfw/osal/freertos/FixedTimeslotTask.h b/inc/fsfw/osal/freertos/FixedTimeslotTask.h
index 7494581c..ebd902cc 100644
--- a/inc/fsfw/osal/freertos/FixedTimeslotTask.h
+++ b/inc/fsfw/osal/freertos/FixedTimeslotTask.h
@@ -2,9 +2,9 @@
 #define FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
 #include "FreeRTOSTaskIF.h"
-#include "../../tasks/FixedSlotSequence.h"
-#include "../../tasks/FixedTimeslotTaskIF.h"
-#include "../../tasks/Typedef.h"
+#include "fsfw/tasks/FixedSlotSequence.h"
+#include "fsfw/tasks/FixedTimeslotTaskIF.h"
+#include "fsfw/tasks/Typedef.h"
 
 #include "FreeRTOS.h"
 #include "task.h"
diff --git a/inc/fsfw/osal/freertos/MessageQueue.h b/inc/fsfw/osal/freertos/MessageQueue.h
index 58324cc6..ba835211 100644
--- a/inc/fsfw/osal/freertos/MessageQueue.h
+++ b/inc/fsfw/osal/freertos/MessageQueue.h
@@ -3,10 +3,10 @@
 
 #include "TaskManagement.h"
 
-#include "../../internalError/InternalErrorReporterIF.h"
-#include "../../ipc/MessageQueueIF.h"
-#include "../../ipc/MessageQueueMessageIF.h"
-#include "../../ipc/MessageQueueMessage.h"
+#include "fsfw/internalerror/InternalErrorReporterIF.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/ipc/MessageQueueMessageIF.h"
+#include "fsfw/ipc/MessageQueueMessage.h"
 
 #include "FreeRTOS.h"
 #include "queue.h"
diff --git a/inc/fsfw/osal/freertos/Mutex.h b/inc/fsfw/osal/freertos/Mutex.h
index 877359d8..082679c7 100644
--- a/inc/fsfw/osal/freertos/Mutex.h
+++ b/inc/fsfw/osal/freertos/Mutex.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_FREERTOS_MUTEX_H_
 #define FRAMEWORK_FREERTOS_MUTEX_H_
 
-#include "../../ipc/MutexIF.h"
+#include "fsfw/ipc/MutexIF.h"
 
 #include "FreeRTOS.h"
 #include "semphr.h"
diff --git a/inc/fsfw/osal/freertos/PeriodicTask.h b/inc/fsfw/osal/freertos/PeriodicTask.h
index 04d40fcf..e910a0c6 100644
--- a/inc/fsfw/osal/freertos/PeriodicTask.h
+++ b/inc/fsfw/osal/freertos/PeriodicTask.h
@@ -2,9 +2,9 @@
 #define FSFW_OSAL_FREERTOS_PERIODICTASK_H_
 
 #include "FreeRTOSTaskIF.h"
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../tasks/PeriodicTaskIF.h"
-#include "../../tasks/Typedef.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/tasks/PeriodicTaskIF.h"
+#include "fsfw/tasks/Typedef.h"
 
 #include "FreeRTOS.h"
 #include "task.h"
diff --git a/inc/fsfw/osal/freertos/QueueMapManager.h b/inc/fsfw/osal/freertos/QueueMapManager.h
index 07ca8b9e..3aa82594 100644
--- a/inc/fsfw/osal/freertos/QueueMapManager.h
+++ b/inc/fsfw/osal/freertos/QueueMapManager.h
@@ -1,9 +1,9 @@
 #ifndef FSFW_OSAL_FREERTOS_QUEUEMAPMANAGER_H_
 #define FSFW_OSAL_FREERTOS_QUEUEMAPMANAGER_H_
 
-#include "../../ipc/MutexIF.h"
-#include "../../ipc/messageQueueDefinitions.h"
-#include "../../ipc/MessageQueueIF.h"
+#include "fsfw/ipc/MutexIF.h"
+#include "fsfw/ipc/messageQueueDefinitions.h"
+#include "fsfw/ipc/MessageQueueIF.h"
 
 #include "FreeRTOS.h"
 #include "queue.h"
diff --git a/inc/fsfw/tasks/SemaphoreFactory.h b/inc/fsfw/tasks/SemaphoreFactory.h
index 01c09d1b..2df7d53f 100644
--- a/inc/fsfw/tasks/SemaphoreFactory.h
+++ b/inc/fsfw/tasks/SemaphoreFactory.h
@@ -1,7 +1,7 @@
 #ifndef FSFW_TASKS_SEMAPHOREFACTORY_H_
 #define FSFW_TASKS_SEMAPHOREFACTORY_H_
 
-#include "../tasks/SemaphoreIF.h"
+#include "fsfw/tasks/SemaphoreIF.h"
 
 /**
  * Creates Semaphore.
diff --git a/src/osal/CMakeLists.txt b/src/osal/CMakeLists.txt
index 0e28bd3c..f3c5cfad 100644
--- a/src/osal/CMakeLists.txt
+++ b/src/osal/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Check the OS_FSFW variable
 if(FSFW_OSAL MATCHES "freertos")
-    add_subdirectory(FreeRTOS)
+    add_subdirectory(freertos)
 elseif(FSFW_OSAL MATCHES "rtems")
     add_subdirectory(rtems)
 elseif(FSFW_OSAL MATCHES "linux")
diff --git a/src/osal/freertos/BinSemaphUsingTask.cpp b/src/osal/freertos/BinSemaphUsingTask.cpp
index 7d609aee..637c1925 100644
--- a/src/osal/freertos/BinSemaphUsingTask.cpp
+++ b/src/osal/freertos/BinSemaphUsingTask.cpp
@@ -1,6 +1,6 @@
-#include "BinSemaphUsingTask.h"
-#include "TaskManagement.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/osal/freertos/BinSemaphUsingTask.h"
+#include "fsfw/osal/freertos/TaskManagement.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
 #if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
     tskKERNEL_VERSION_MAJOR > 8
diff --git a/src/osal/freertos/BinarySemaphore.cpp b/src/osal/freertos/BinarySemaphore.cpp
index c0349b7c..4ec5d30f 100644
--- a/src/osal/freertos/BinarySemaphore.cpp
+++ b/src/osal/freertos/BinarySemaphore.cpp
@@ -1,6 +1,6 @@
-#include "BinarySemaphore.h"
-#include "TaskManagement.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/osal/freertos/BinarySemaphore.h"
+#include "fsfw/osal/freertos/TaskManagement.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
 BinarySemaphore::BinarySemaphore() {
 	handle = xSemaphoreCreateBinary();
diff --git a/src/osal/freertos/Clock.cpp b/src/osal/freertos/Clock.cpp
index a81f6985..eddf2fec 100644
--- a/src/osal/freertos/Clock.cpp
+++ b/src/osal/freertos/Clock.cpp
@@ -1,13 +1,13 @@
-#include "Timekeeper.h"
+#include "fsfw/osal/freertos/Timekeeper.h"
 
-#include "../../timemanager/Clock.h"
-#include "../../globalfunctions/timevalOperations.h"
+#include "fsfw/timemanager/Clock.h"
+#include "fsfw/globalfunctions/timevalOperations.h"
 
 #include "FreeRTOS.h"
 #include "task.h"
 
-#include <stdlib.h>
-#include <time.h>
+#include <cstdlib>
+#include <ctime>
 
 //TODO sanitize input?
 //TODO much of this code can be reused for tick-only systems
diff --git a/src/osal/freertos/CountingSemaphUsingTask.cpp b/src/osal/freertos/CountingSemaphUsingTask.cpp
index 750ea9d6..a34a6508 100644
--- a/src/osal/freertos/CountingSemaphUsingTask.cpp
+++ b/src/osal/freertos/CountingSemaphUsingTask.cpp
@@ -1,7 +1,7 @@
-#include "CountingSemaphUsingTask.h"
-#include "TaskManagement.h"
+#include "fsfw/osal/freertos/CountingSemaphUsingTask.h"
+#include "fsfw/osal/freertos/TaskManagement.h"
 
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
 #if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
     tskKERNEL_VERSION_MAJOR > 8
diff --git a/src/osal/freertos/CountingSemaphore.cpp b/src/osal/freertos/CountingSemaphore.cpp
index 148803a6..90dc771f 100644
--- a/src/osal/freertos/CountingSemaphore.cpp
+++ b/src/osal/freertos/CountingSemaphore.cpp
@@ -1,7 +1,7 @@
-#include "CountingSemaphore.h"
-#include "TaskManagement.h"
+#include "fsfw/osal/freertos/CountingSemaphore.h"
+#include "fsfw/osal/freertos/TaskManagement.h"
 
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
 #include "FreeRTOS.h"
 #include "semphr.h"
diff --git a/src/osal/freertos/FixedTimeslotTask.cpp b/src/osal/freertos/FixedTimeslotTask.cpp
index a722c958..9690991d 100644
--- a/src/osal/freertos/FixedTimeslotTask.cpp
+++ b/src/osal/freertos/FixedTimeslotTask.cpp
@@ -1,7 +1,7 @@
-#include "FixedTimeslotTask.h"
+#include "fsfw/osal/freertos/FixedTimeslotTask.h"
 
-#include "../../objectmanager/ObjectManager.h"
-#include "../../serviceinterface/ServiceInterface.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
diff --git a/src/osal/freertos/MessageQueue.cpp b/src/osal/freertos/MessageQueue.cpp
index 017bac39..487fa864 100644
--- a/src/osal/freertos/MessageQueue.cpp
+++ b/src/osal/freertos/MessageQueue.cpp
@@ -1,5 +1,6 @@
-#include "MessageQueue.h"
-#include "QueueMapManager.h"
+#include "fsfw/osal/freertos/MessageQueue.h"
+#include "fsfw/osal/freertos/QueueMapManager.h"
+
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
diff --git a/src/osal/freertos/Mutex.cpp b/src/osal/freertos/Mutex.cpp
index 0b85ca13..8d1313e6 100644
--- a/src/osal/freertos/Mutex.cpp
+++ b/src/osal/freertos/Mutex.cpp
@@ -1,6 +1,6 @@
-#include "Mutex.h"
+#include "fsfw/osal/freertos/Mutex.h"
 
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
 Mutex::Mutex() {
 	handle = xSemaphoreCreateMutex();
diff --git a/src/osal/freertos/MutexFactory.cpp b/src/osal/freertos/MutexFactory.cpp
index d9569e35..f8b48c7d 100644
--- a/src/osal/freertos/MutexFactory.cpp
+++ b/src/osal/freertos/MutexFactory.cpp
@@ -1,6 +1,6 @@
-#include "Mutex.h"
+#include "fsfw/osal/freertos/Mutex.h"
 
-#include "../../ipc/MutexFactory.h"
+#include "fsfw/ipc/MutexFactory.h"
 
 
 //TODO: Different variant than the lazy loading in QueueFactory.
diff --git a/src/osal/freertos/PeriodicTask.cpp b/src/osal/freertos/PeriodicTask.cpp
index 42d6681d..7ef1c837 100644
--- a/src/osal/freertos/PeriodicTask.cpp
+++ b/src/osal/freertos/PeriodicTask.cpp
@@ -1,8 +1,8 @@
-#include "PeriodicTask.h"
+#include "fsfw/osal/freertos/PeriodicTask.h"
 
-#include "../../objectmanager/ObjectManager.h"
-#include "../../serviceinterface/ServiceInterface.h"
-#include "../../tasks/ExecutableObjectIF.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod setPeriod,
diff --git a/src/osal/freertos/QueueFactory.cpp b/src/osal/freertos/QueueFactory.cpp
index ed29e10c..536c16c0 100644
--- a/src/osal/freertos/QueueFactory.cpp
+++ b/src/osal/freertos/QueueFactory.cpp
@@ -1,7 +1,7 @@
-#include "MessageQueue.h"
+#include "fsfw/osal/freertos/MessageQueue.h"
 
-#include "../../ipc/MessageQueueSenderIF.h"
-#include "../../ipc/QueueFactory.h"
+#include "fsfw/ipc/MessageQueueSenderIF.h"
+#include "fsfw/ipc/QueueFactory.h"
 
 
 QueueFactory* QueueFactory::factoryInstance = nullptr;
diff --git a/src/osal/freertos/QueueMapManager.cpp b/src/osal/freertos/QueueMapManager.cpp
index 51cfe11d..d2783f01 100644
--- a/src/osal/freertos/QueueMapManager.cpp
+++ b/src/osal/freertos/QueueMapManager.cpp
@@ -1,6 +1,6 @@
-#include "QueueMapManager.h"
-#include "../../ipc/MutexFactory.h"
-#include "../../ipc/MutexGuard.h"
+#include "fsfw/osal/freertos/QueueMapManager.h"
+#include "fsfw/ipc/MutexFactory.h"
+#include "fsfw/ipc/MutexGuard.h"
 
 QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
 
diff --git a/src/osal/freertos/SemaphoreFactory.cpp b/src/osal/freertos/SemaphoreFactory.cpp
index 614af75d..b6e8f86e 100644
--- a/src/osal/freertos/SemaphoreFactory.cpp
+++ b/src/osal/freertos/SemaphoreFactory.cpp
@@ -1,10 +1,10 @@
-#include "BinarySemaphore.h"
-#include "BinSemaphUsingTask.h"
-#include "CountingSemaphore.h"
-#include "CountingSemaphUsingTask.h"
+#include "fsfw/osal/freertos/BinarySemaphore.h"
+#include "fsfw/osal/freertos/BinSemaphUsingTask.h"
+#include "fsfw/osal/freertos/CountingSemaphore.h"
+#include "fsfw/osal/freertos/CountingSemaphUsingTask.h"
 
-#include "../../tasks/SemaphoreFactory.h"
-#include "../../serviceinterface/ServiceInterface.h"
+#include "fsfw/tasks/SemaphoreFactory.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
 SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
 
diff --git a/src/osal/freertos/TaskFactory.cpp b/src/osal/freertos/TaskFactory.cpp
index 5b64811a..21ca80cb 100644
--- a/src/osal/freertos/TaskFactory.cpp
+++ b/src/osal/freertos/TaskFactory.cpp
@@ -1,9 +1,8 @@
-#include "../../tasks/TaskFactory.h"
-#include "../../returnvalues/HasReturnvaluesIF.h"
-
-#include "PeriodicTask.h"
-#include "FixedTimeslotTask.h"
+#include "fsfw/tasks/TaskFactory.h"
+#include "fsfw/osal/freertos/PeriodicTask.h"
+#include "fsfw/osal/freertos/FixedTimeslotTask.h"
 
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
 
diff --git a/src/osal/freertos/TaskManagement.cpp b/src/osal/freertos/TaskManagement.cpp
index c0d0067e..f19aa4fd 100644
--- a/src/osal/freertos/TaskManagement.cpp
+++ b/src/osal/freertos/TaskManagement.cpp
@@ -1,4 +1,4 @@
-#include "TaskManagement.h"
+#include "fsfw/osal/freertos/TaskManagement.h"
 
 void TaskManagement::vRequestContextSwitchFromTask() {
 	vTaskDelay(0);
diff --git a/src/osal/freertos/Timekeeper.cpp b/src/osal/freertos/Timekeeper.cpp
index 1031f0c4..1b7dc741 100644
--- a/src/osal/freertos/Timekeeper.cpp
+++ b/src/osal/freertos/Timekeeper.cpp
@@ -1,4 +1,4 @@
-#include "Timekeeper.h"
+#include "fsfw/osal/freertos/Timekeeper.h"
 
 #include "FreeRTOSConfig.h"