diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6517c942c6472ff77153509bf899220f93a69d4b..9bdd6b332c118c0304a1354d0f8378c3c8632265 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -52,12 +52,12 @@ sbs_target(main-entry-euroc stm32f767zi_lyra_biscotto)
 add_executable(payload-entry-roccaraso src/entrypoints/Payload/payload-entry.cpp ${PAYLOAD_COMPUTER})
 target_include_directories(payload-entry-roccaraso PRIVATE ${OBSW_INCLUDE_DIRS})
 target_compile_definitions(payload-entry-roccaraso PRIVATE ROCCARASO)
-sbs_target(payload-entry-roccaraso stm32f767zi_death_stack_v4)
+sbs_target(payload-entry-roccaraso stm32f767zi_lyra_biscotto)
 
 add_executable(payload-entry-euroc src/entrypoints/Payload/payload-entry.cpp ${PAYLOAD_COMPUTER})
 target_include_directories(payload-entry-euroc PRIVATE ${OBSW_INCLUDE_DIRS})
 target_compile_definitions(payload-entry-euroc PRIVATE EUROC)
-sbs_target(payload-entry-euroc stm32f767zi_death_stack_v4)
+sbs_target(payload-entry-euroc stm32f767zi_lyra_biscotto)
 
 add_executable(motor-entry src/entrypoints/Motor/motor-entry.cpp ${MOTOR_SOURCES})
 target_include_directories(motor-entry PRIVATE ${OBSW_INCLUDE_DIRS})
diff --git a/src/boards/Payload/Actuators/Actuators.cpp b/src/boards/Payload/Actuators/Actuators.cpp
index ab96acfc4b046bef4874ddc553f23f63e5a796cc..3bc59c09a989c9c892d03e5e625bfcc3964da08e 100644
--- a/src/boards/Payload/Actuators/Actuators.cpp
+++ b/src/boards/Payload/Actuators/Actuators.cpp
@@ -214,13 +214,13 @@ float Actuators::getServoAngle(ServosList servoId)
     return 0;
 }
 
-void Actuators::cuttersOn() { gpios::cut_trigger::high(); }
+void Actuators::cuttersOn() { gpios::mainDeploy::high(); }
 
-void Actuators::cuttersOff() { gpios::cut_trigger::low(); }
+void Actuators::cuttersOff() { gpios::mainDeploy::low(); }
 
-void Actuators::camOn() { gpios::camera_enable::high(); }
+void Actuators::camOn() { gpios::camEnable::high(); }
 
-void Actuators::camOff() { gpios::camera_enable::low(); }
+void Actuators::camOff() { gpios::camEnable::low(); }
 
 void Actuators::buzzerArmed()
 {
diff --git a/src/boards/Payload/PinHandler/PinHandler.cpp b/src/boards/Payload/PinHandler/PinHandler.cpp
index 3d098a41c0db76ab0f839167216b418d7d8334b5..ea9d89c0845f1687c7ee02f507acd0772675adcc 100644
--- a/src/boards/Payload/PinHandler/PinHandler.cpp
+++ b/src/boards/Payload/PinHandler/PinHandler.cpp
@@ -30,14 +30,10 @@
 
 #include <functional>
 
-using namespace std::placeholders;
 using namespace miosix;
 using namespace Boardcore;
 using namespace Common;
 
-// TODO change hwmapping for Euroc this is need to have the right name
-using nosecone_detach = gpios::liftoff_detach;
-
 namespace Payload
 {
 
@@ -60,7 +56,7 @@ std::map<PinsList, PinData> PinHandler::getPinsData()
     std::map<PinsList, PinData> data;
 
     data[PinsList::NOSECONE_PIN] =
-        pin_observer.getPinData(nosecone_detach::getPin());
+        pin_observer.getPinData(sense::detachPayload::getPin());
 
     return data;
 }
@@ -68,8 +64,8 @@ std::map<PinsList, PinData> PinHandler::getPinsData()
 PinHandler::PinHandler() : running(false), scheduler(), pin_observer(scheduler)
 {
     pin_observer.registerPinCallback(
-        nosecone_detach::getPin(),
-        std::bind(&PinHandler::onExpulsionPinTransition, this, _1),
+        sense::detachPayload::getPin(),
+        [this](auto t) { onExpulsionPinTransition(t); },
         NC_DETACH_PIN_THRESHOLD);
 }
 }  // namespace Payload
diff --git a/src/boards/Payload/Radio/Radio.cpp b/src/boards/Payload/Radio/Radio.cpp
index 392f38deb26b378352e11b4e989bdb9b155677d3..11d4a966bdea30eb884262e9a3d04475b22663e5 100644
--- a/src/boards/Payload/Radio/Radio.cpp
+++ b/src/boards/Payload/Radio/Radio.cpp
@@ -119,7 +119,8 @@ bool Radio::start()
 
     // Config mavDriver
     mavDriver = new MavDriver(
-        transceiver, [=](MavDriver*, const mavlink_message_t& msg)
+        transceiver,
+        [=](MavDriver*, const mavlink_message_t& msg)
         { this->handleMavlinkMessage(msg); },
         RadioConfig::RADIO_SLEEP_AFTER_SEND,
         RadioConfig::RADIO_OUT_BUFFER_MAX_AGE);
diff --git a/src/boards/Payload/Sensors/Sensors.cpp b/src/boards/Payload/Sensors/Sensors.cpp
index ecc7fd213803bbc48ae768337e3a5f9905d65721..e99dbfb37f44d6bad3abdbad2d144dee21fafc81 100644
--- a/src/boards/Payload/Sensors/Sensors.cpp
+++ b/src/boards/Payload/Sensors/Sensors.cpp
@@ -30,6 +30,8 @@
 using namespace Boardcore;
 using namespace std;
 using namespace Payload::SensorsConfig;
+namespace sensors = miosix::sensors;
+
 namespace Payload
 {
 LPS22DFData Sensors::getLPS22DFLastSample()
@@ -412,7 +414,7 @@ void Sensors::ubxgpsInit()
 
     // Create sensor instance with configured parameters
     ubxgps = new UBXGPSSpi(modules.get<Buses>()->spi4,
-                           miosix::sensors::GPS::cs::getPin(), config, 5);
+                           miosix::sensors::UBXGps::cs::getPin(), config, 5);
 
     // Emplace the sensor inside the map
     SensorInfo info("UBXGPS", UBXGPS_PERIOD,
@@ -485,9 +487,9 @@ void Sensors::ads131m08Init()
     sensorConfig.globalChopModeEnabled = ADS131M08_GLOBAL_CHOP_MODE;
 
     // Create the sensor instance with configured parameters
-    ads131m08 = new ADS131M08(modules.get<Buses>()->spi4,
-                              miosix::sensors::ADS131::cs::getPin(), config,
-                              sensorConfig);
+    ads131m08 =
+        new ADS131M08(modules.get<Buses>()->spi4,
+                      sensors::ADS131M08::cs::getPin(), config, sensorConfig);
 
     // Emplace the sensor inside the map
     SensorInfo info("ADS131M08", ADS131M08_PERIOD,
diff --git a/src/boards/Payload/TMRepository/TMRepository.cpp b/src/boards/Payload/TMRepository/TMRepository.cpp
index 62eec8f4f034178cc1705e1d7e37989f05304eeb..c6d7f416fd5a8bc16cedcc89125d5ffa05514334 100644
--- a/src/boards/Payload/TMRepository/TMRepository.cpp
+++ b/src/boards/Payload/TMRepository/TMRepository.cpp
@@ -234,7 +234,7 @@ mavlink_message_t TMRepository::packSystemTm(SystemTMList tmId, uint8_t msgId,
                                   .lastState;
 
             tm.cutter_presence =
-                static_cast<uint8_t>(miosix::gpios::cut_sense::value());
+                static_cast<uint8_t>(adcs::cutterSense::value());
 
             tm.battery_voltage = modules.get<Sensors>()
                                      ->getBatteryVoltageLastSample()