diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100755
index 0000000000000000000000000000000000000000..c4f58412fbacff2ba26f14571f8fe600bf5f9ec1
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,958 @@
+{
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+            "_MIOSIX",
+            "DEBUG",
+            "__cplusplus=201402L"
+        ],
+        "defaultIncludePaths": [
+            "${workspaceFolder}/on-device/libs/boardcore/libs/Catch2/include",
+            "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+            "${workspaceFolder}/on-device/libs/boardcore/libs/fmt/include",
+            "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+            "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix",
+            "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/common",
+            "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/common/CMSIS/Include",
+            "${workspaceFolder}/on-device/libs/boardcore/libs/mxgui",
+            "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+            "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+            "${workspaceFolder}/on-device/libs/boardcore/src/tests",
+            "${workspaceFolder}/on-device/src/shared",
+            "${workspaceFolder}/on-device/src"
+        ]
+    },
+    "configurations": [
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+            "cStandard": "c11",
+            "cppStandard": "c++14",
+            "compilerPath": "/usr/local/bin/arm-miosix-eabi-g++",
+            "defines": [
+                "DEBUG",
+                "_ARCH_CORTEXM4_STM32F4",
+                "_BOARD_STM32F4DISCOVERY",
+                "_MIOSIX_BOARDNAME=stm32f407vg_stm32f4discovery",
+                "HSE_VALUE=8000000",
+                "SYSCLK_FREQ_168MHz=168000000",
+                "_MIOSIX",
+                "__cplusplus=201103L"
+            ],
+            "includePath": [
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+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f407vg_stm32f4discovery",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/common",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/Catch2/single_include",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/fmt/include",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                "${workspaceFolder}/on-device/libs/boardcore/libs",
+                "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+                "${workspaceFolder}/on-device/libs/boardcore/src/tests",
+                "${workspaceFolder}/on-device/src"
+            ],
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+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/stdlib_integration",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/common",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/interfaces",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/filesystem",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/kernel",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/util",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/e20",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/*",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mxgui",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/fmt",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/tests"
+                ],
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+            }
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+            "cStandard": "c11",
+            "cppStandard": "c++14",
+            "compilerPath": "/usr/local/bin/arm-miosix-eabi-g++",
+            "defines": [
+                "DEBUG",
+                "_ARCH_CORTEXM4_STM32F4",
+                "_BOARD_STM32F429ZI_STM32F4DISCOVERY",
+                "_MIOSIX_BOARDNAME=stm32f429zi_stm32f4discovery",
+                "HSE_VALUE=8000000",
+                "SYSCLK_FREQ_168MHz=168000000",
+                "_MIOSIX",
+                "HILSimulation",
+                "__cplusplus=201103L"
+            ],
+            "includePath": [
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_stm32f4discovery",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_stm32f4discovery",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/common",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/Catch2/single_include",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/fmt/include",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                "${workspaceFolder}/on-device/libs/boardcore/libs",
+                "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+                "${workspaceFolder}/on-device/libs/boardcore/src/tests"
+            ],
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+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/stdlib_integration",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/common",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/interfaces",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/filesystem",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/kernel",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/util",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/e20",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/*",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mxgui",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/fmt",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/tests"
+                ],
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+            }
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+            "cStandard": "c11",
+            "cppStandard": "c++14",
+            "compilerPath": "/usr/local/bin/arm-miosix-eabi-g++",
+            "defines": [
+                "DEBUG",
+                "_ARCH_CORTEXM4_STM32F4",
+                "_BOARD_STM32F429ZI_SKYWARD_DEATHST_X",
+                "_MIOSIX_BOARDNAME=stm32f429zi_skyward_death_stack_x",
+                "HSE_VALUE=8000000",
+                "SYSCLK_FREQ_168MHz=168000000",
+                "_MIOSIX",
+                "__cplusplus=201103L"
+            ],
+            "includePath": [
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_x",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_x",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/common",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/Catch2/single_include",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/fmt/include",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                "${workspaceFolder}/on-device/libs/boardcore/libs",
+                "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+                "${workspaceFolder}/on-device/libs/boardcore/src/tests"
+            ],
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+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/stdlib_integration",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/common",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/interfaces",
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+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/util",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/e20",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/*",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mxgui",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/fmt",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/shared",
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+            "cppStandard": "c++14",
+            "compilerPath": "/usr/local/bin/arm-miosix-eabi-g++",
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+                "_MIOSIX_BOARDNAME=stm32f429zi_skyward_death_stack_x_maker_faire",
+                "HSE_VALUE=8000000",
+                "SYSCLK_FREQ_168MHz=168000000",
+                "_MIOSIX",
+                "__cplusplus=201103L"
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+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_x_maker_faire",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
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+                "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/fmt/include",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                "${workspaceFolder}/on-device/libs/boardcore/libs",
+                "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+                "${workspaceFolder}/on-device/libs/boardcore/src/tests"
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+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_x_maker_faire",
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+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/kernel",
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+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/*",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix",
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+                    "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mxgui",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/fmt",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/shared",
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+                "_MIOSIX",
+                "__cplusplus=201103L"
+            ],
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+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
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+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/Catch2/single_include",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/fmt/include",
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+                "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                "${workspaceFolder}/on-device/libs/boardcore/libs",
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+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/e20",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/*",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mxgui",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/fmt",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/tests"
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+            "compilerPath": "/usr/local/bin/arm-miosix-eabi-g++",
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+                "_ARCH_CORTEXM4_STM32F4",
+                "_BOARD_STM32F429ZI_SKYWARD_DEATHST_V3",
+                "_MIOSIX_BOARDNAME=stm32f429zi_skyward_death_stack_v3",
+                "HSE_VALUE=8000000",
+                "SYSCLK_FREQ_168MHz=168000000",
+                "_MIOSIX",
+                "__cplusplus=201103L",
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+                "EUROC"
+            ],
+            "includePath": [
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+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/Catch2/single_include",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
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+                "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                "${workspaceFolder}/on-device/libs/boardcore/libs",
+                "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+                "${workspaceFolder}/on-device/libs/boardcore/src/tests"
+            ],
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+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_pyxis_auxiliary",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_pyxis_auxiliary",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/stdlib_integration",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/common",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/interfaces",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/filesystem",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/kernel",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/util",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/e20",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/*",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mxgui",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/fmt",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/tests"
+                ],
+                "limitSymbolsToIncludedHeaders": true
+            }
+        },
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+            "name": "stm32f205rc_skyward_ciuti",
+            "cStandard": "c11",
+            "cppStandard": "c++14",
+            "compilerPath": "/usr/local/bin/arm-miosix-eabi-g++",
+            "defines": [
+                "DEBUG",
+                "_ARCH_CORTEXM3_STM32F2",
+                "_BOARD_STM32F205RC_SKYWARD_CIUTI",
+                "_MIOSIX_BOARDNAME=stm32f205RC_skyward_ciuti",
+                "HSE_VALUE=25000000",
+                "SYSCLK_FREQ_120MHz=120000000",
+                "_MIOSIX",
+                "__cplusplus=201103L"
+            ],
+            "includePath": [
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/config/arch/cortexM3_stm32f2/stm32f205rc_skyward_ciuti",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM3_stm32f2/stm32f205rc_skyward_ciuti",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM3_stm32f2/common",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/common",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/Catch2/single_include",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/fmt/include",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                "${workspaceFolder}/on-device/libs/boardcore/libs",
+                "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+                "${workspaceFolder}/on-device/libs/boardcore/src/tests"
+            ],
+            "browse": {
+                "path": [
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/config/arch/cortexM3_stm32f2/stm32f205rc_skyward_ciuti",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM3_stm32f2/stm32f205rc_skyward_ciuti",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM3_stm32f2/common",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/stdlib_integration",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/common",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/interfaces",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/filesystem",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/kernel",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/util",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/e20",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/*",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mxgui",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/fmt",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/tests"
+                ],
+                "limitSymbolsToIncludedHeaders": true
+            }
+        },
+        {
+            "name": "stm32f429zi_skyward_parafoil",
+            "cStandard": "c11",
+            "cppStandard": "c++14",
+            "compilerPath": "/usr/local/bin/arm-miosix-eabi-g++",
+            "defines": [
+                "DEBUG",
+                "_ARCH_CORTEXM4_STM32F4",
+                "_BOARD_STM32F429ZI_SKYWARD_PARAFOIL",
+                "_MIOSIX_BOARDNAME=stm32f429zi_skyward_parafoil",
+                "HSE_VALUE=8000000",
+                "SYSCLK_FREQ_168MHz=168000000",
+                "_MIOSIX",
+                "__cplusplus=201103L"
+            ],
+            "includePath": [
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_parafoil",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_parafoil",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/common",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/Catch2/single_include",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/fmt/include",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                "${workspaceFolder}/on-device/libs/boardcore/libs",
+                "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+                "${workspaceFolder}/on-device/libs/boardcore/src/tests"
+            ],
+            "browse": {
+                "path": [
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_parafoil",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_parafoil",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/stdlib_integration",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/common",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/interfaces",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/filesystem",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/kernel",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/util",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/e20",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/*",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mxgui",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/fmt",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/tests"
+                ],
+                "limitSymbolsToIncludedHeaders": true
+            },
+            "configurationProvider": "ms-vscode.cmake-tools"
+        },
+        {
+            "name": "stm32f429zi_skyward_groundstation",
+            "cStandard": "c11",
+            "cppStandard": "c++14",
+            "compilerPath": "/usr/local/bin/arm-miosix-eabi-g++",
+            "defines": [
+                "DEBUG",
+                "_ARCH_CORTEXM4_STM32F4",
+                "_BOARD_STM32F429ZI_SKYWARD_GS",
+                "_MIOSIX_BOARDNAME=stm32f429zi_skyward_groundstation",
+                "HSE_VALUE=8000000",
+                "SYSCLK_FREQ_168MHz=168000000",
+                "_MIOSIX",
+                "__cplusplus=201103L"
+            ],
+            "includePath": [
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/common",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/Catch2/single_include",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/fmt/include",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                "${workspaceFolder}/on-device/libs/boardcore/libs",
+                "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+                "${workspaceFolder}/on-device/libs/boardcore/src/tests"
+            ],
+            "browse": {
+                "path": [
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/stdlib_integration",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/common",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/interfaces",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/filesystem",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/kernel",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/util",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/e20",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/*",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mxgui",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/fmt",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/tests"
+                ],
+                "limitSymbolsToIncludedHeaders": true
+            }
+        },
+        {
+            "name": "stm32f429zi_skyward_groundstation_parafoil",
+            "cStandard": "c11",
+            "cppStandard": "c++14",
+            "compilerPath": "/usr/local/bin/arm-miosix-eabi-g++",
+            "defines": [
+                "DEBUG",
+                "_ARCH_CORTEXM4_STM32F4",
+                "_BOARD_STM32F429ZI_SKYWARD_GS_PARAFOIL",
+                "_MIOSIX_BOARDNAME=stm32f429zi_skyward_groundstation_parafoil",
+                "HSE_VALUE=8000000",
+                "SYSCLK_FREQ_168MHz=168000000",
+                "_MIOSIX",
+                "__cplusplus=201103L"
+            ],
+            "includePath": [
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation_parafoil",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation_parafoil",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/common",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/Catch2/single_include",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/fmt/include",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                "${workspaceFolder}/on-device/libs/boardcore/libs",
+                "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+                "${workspaceFolder}/on-device/libs/boardcore/src/tests"
+            ],
+            "browse": {
+                "path": [
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation_parafoil",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation_parafoil",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/stdlib_integration",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/common",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/interfaces",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/filesystem",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/kernel",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/util",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/e20",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/*",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mavlink-skyward-lib",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/eigen",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/tscpp",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/mxgui",
+                    "${workspaceFolder}/on-device/libs/boardcore/libs/fmt",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/shared",
+                    "${workspaceFolder}/on-device/libs/boardcore/src/tests"
+                ],
+                "limitSymbolsToIncludedHeaders": true
+            }
+        },
+        {
+            "name": "stm32f767zi_gemini_gs",
+            "cStandard": "c11",
+            "cppStandard": "c++14",
+            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "defines": [
+                "{defaultDefines}",
+                "_MIOSIX_BOARDNAME=stm32f767zi_gemini_gs",
+                "_BOARD_STM32F767ZI_GEMINI_GS",
+                "_ARCH_CORTEXM7_STM32F7",
+                "STM32F769xx",
+                "HSE_VALUE=25000000",
+                "SYSCLK_FREQ_216MHz=216000000",
+                "__ENABLE_XRAM",
+                "V_DDA_VOLTAGE=3.3f"
+            ],
+            "includePath": [
+                "${defaultIncludePaths}",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/stm32f767zi_gemini_gs",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/config/arch/cortexM7_stm32f7/stm32f767zi_gemini_gs"
+            ]
+        },
+        {
+            "name": "stm32f429zi_skyward_groundstation_v2",
+            "cStandard": "c11",
+            "cppStandard": "c++14",
+            "defines": [
+                "{defaultDefines}",
+                "_MIOSIX_BOARDNAME=stm32f429zi_skyward_groundstation_v2",
+                "_BOARD_STM32F429ZI_SKYWARD_GS_V2",
+                "_ARCH_CORTEXM4_STM32F4",
+                "STM32F429xx",
+                "HSE_VALUE=8000000",
+                "SYSCLK_FREQ_168MHz=168000000",
+                "__ENABLE_XRAM",
+                "V_DDA_VOLTAGE=3.0f"
+            ],
+            "includePath": [
+                "${defaultIncludePaths}",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation_v2",
+                "${workspaceFolder}/on-device/libs/boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_groundstation_v2"
+            ]
+        }
+    ],
+    "version": 4
+}
diff --git a/.vscode/cmake-kits.json b/.vscode/cmake-kits.json
new file mode 100644
index 0000000000000000000000000000000000000000..842fe7c030790904763c3d438e96555f9fb50d44
--- /dev/null
+++ b/.vscode/cmake-kits.json
@@ -0,0 +1,6 @@
+[
+    {
+        "name": "Miosix",
+        "toolchainFile": "libs/boardcore/libs/miosix-kernel/miosix/_tools/toolchain.cmake"
+    }
+]
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000000000000000000000000000000000000..19382b7079138a2bc0305ea5af3041f5e7e01954
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,182 @@
+{
+    "cmake.parallelJobs": 1,
+    "files.associations": {
+        "**/miosix-kernel/**": "c",
+        "sstream": "cpp",
+        "format": "cpp",
+        "any": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "cctype": "cpp",
+        "chrono": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "codecvt": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "regex": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "shared_mutex": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "variant": "cpp",
+        "dense": "cpp",
+        "unordered_set": "cpp",
+        "hash_map": "cpp",
+        "valarray": "cpp",
+        "core": "cpp",
+        "superlusupport": "cpp",
+        "*.evaluator": "cpp",
+        "*.traits": "cpp",
+        "adolcforward": "cpp",
+        "alignedvector3": "cpp",
+        "autodiff": "cpp",
+        "bvh": "cpp",
+        "eulerangles": "cpp",
+        "fft": "cpp",
+        "kroneckerproduct": "cpp",
+        "mprealsupport": "cpp",
+        "numericaldiff": "cpp",
+        "openglsupport": "cpp",
+        "specialfunctions": "cpp",
+        "splines": "cpp",
+        "matrixfunctions": "cpp",
+        "tensorsymmetry": "cpp",
+        "ios": "cpp",
+        "charconv": "cpp",
+        "compare": "cpp",
+        "concepts": "cpp",
+        "forward_list": "cpp",
+        "locale": "cpp",
+        "queue": "cpp",
+        "stop_token": "cpp",
+        "xfacet": "cpp",
+        "xhash": "cpp",
+        "xiosbase": "cpp",
+        "xlocale": "cpp",
+        "xlocbuf": "cpp",
+        "xlocinfo": "cpp",
+        "xlocmes": "cpp",
+        "xlocmon": "cpp",
+        "xlocnum": "cpp",
+        "xloctime": "cpp",
+        "xmemory": "cpp",
+        "xstddef": "cpp",
+        "xstring": "cpp",
+        "xtr1common": "cpp",
+        "xtree": "cpp",
+        "xutility": "cpp",
+        "BiasCorrector.C": "cpp",
+        "numbers": "cpp",
+        "semaphore": "cpp"
+    },
+    "cSpell.words": [
+        "Aeroutils",
+        "AIRBRAKES",
+        "Arpist",
+        "Baro",
+        "Boardcore",
+        "CALIB",
+        "Canbus",
+        "canhandler",
+        "Carlucci",
+        "Ciuti",
+        "coeffs",
+        "compid",
+        "Conterio",
+        "CONTIN",
+        "CPHA",
+        "cppcheck",
+        "cwise",
+        "datasheet",
+        "Davide",
+        "DELS",
+        "DGNSS",
+        "digi",
+        "DOUT",
+        "Downsampling",
+        "Duca",
+        "Eigen",
+        "EXTI",
+        "Gpio",
+        "GPIOA",
+        "GPIOF",
+        "KALM",
+        "kalman",
+        "Lolli",
+        "magcal",
+        "mavlink",
+        "miosix",
+        "MPXH",
+        "Nidasio",
+        "pitot",
+        "RSSI",
+        "SATS",
+        "setb",
+        "Setpoint",
+        "stateinitializer",
+        "telecommands",
+        "TMTC",
+        "tparam",
+        "Ublox",
+        "UBXGPS",
+        "usart",
+        "VREF",
+        "Xbee"
+    ],
+    "C_Cpp.errorSquiggles": "Enabled",
+    "cmake.configureSettings": {
+        "CMAKE_C_COMPILER_LAUNCHER": "ccache",
+        "CMAKE_CXX_COMPILER_LAUNCHER": "ccache"
+    },
+    "cmake.sourceDirectory": "/Users/fede/Documents/Skyward/arp/arpist/on-device/libs/boardcore",
+    "C_Cpp.default.compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++"
+}