diff --git a/doc/Doxyfile b/doc/Doxyfile
index 22fa2cf1651e5958dd0cc1bea9af113e7bfaf484..607537c5692282602a46f660851838436d564a88 100644
--- a/doc/Doxyfile
+++ b/doc/Doxyfile
@@ -873,7 +873,7 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                = ./src/shared/utils/testutils
+EXCLUDE                = ./src/shared/utils/TestUtils
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded
diff --git a/old_examples/tests/catch/example-test-fsm.cpp b/old_examples/tests/catch/example-test-fsm.cpp
index 5c79a22446c0506fea3c8c91c6de62132d612a25..e557f212ecd513b791d9528a0edcbeab8d5f878d 100644
--- a/old_examples/tests/catch/example-test-fsm.cpp
+++ b/old_examples/tests/catch/example-test-fsm.cpp
@@ -34,7 +34,7 @@
 #define protected public
 
 #include <miosix.h>
-#include <utils/testutils/TestHelper.h>
+#include <utils/TestUtils/TestHelper.h>
 
 #include <catch2/catch.hpp>
 
diff --git a/old_examples/tests/catch/test-xbee.cpp b/old_examples/tests/catch/test-xbee.cpp
index 9973a4db02411e48f2acc8bc9f962d1c22493544..3ec81dfba6464ce558d983edec75abb2cbde0d2c 100644
--- a/old_examples/tests/catch/test-xbee.cpp
+++ b/old_examples/tests/catch/test-xbee.cpp
@@ -30,7 +30,7 @@
 #define private public
 
 #include <radio/Xbee/Xbee.h>
-#include <utils/testutils/BusTemplateMock.h>
+#include <utils/TestUtils/BusTemplateMock.h>
 
 using std::vector;
 
diff --git a/scripts/generators/templates/test.cpp.template b/scripts/generators/templates/test.cpp.template
index 73a93088404afceda5b285fa48429ce3e88172d0..2523e38663d42d3ff5d01d7cae93e1dc68fa73e5 100644
--- a/scripts/generators/templates/test.cpp.template
+++ b/scripts/generators/templates/test.cpp.template
@@ -30,11 +30,11 @@
 
 #include <miosix.h>
 
-#include <utils/testutils/catch.hpp>
+#include <utils/TestUtils/catch.hpp>
 
 #include "{state_machine_name}Controller/{state_machine_name}Controller.h"
 #include <events/Events.h>
-#include <utils/testutils/TestHelper.h>
+#include <utils/TestUtils/TestHelper.h>
 
 using miosix::Thread;
 using namespace DeathStackBoard;
diff --git a/src/shared/drivers/spi/SPI.h b/src/shared/drivers/spi/SPI.h
index 06cbfb7a14ccdef07fcc1a191fdc528e2a824cd3..8d2077fca048d27085f7f3f64447ac7ca5222663 100644
--- a/src/shared/drivers/spi/SPI.h
+++ b/src/shared/drivers/spi/SPI.h
@@ -29,7 +29,7 @@
 #ifndef USE_MOCK_PERIPHERALS
 using SPIType = SPI_TypeDef;
 #else
-#include <utils/testutils/FakeSpiTypedef.h>
+#include <utils/TestUtils/FakeSpiTypedef.h>
 using SPIType = FakeSpiTypedef;
 #endif
 
diff --git a/src/shared/drivers/spi/SPIBusInterface.h b/src/shared/drivers/spi/SPIBusInterface.h
index e0eb8bd38f5366451aff51f82aec89102fbb328e..0c9ff5328e56f189b1775a62ad7de7ff3810d9aa 100644
--- a/src/shared/drivers/spi/SPIBusInterface.h
+++ b/src/shared/drivers/spi/SPIBusInterface.h
@@ -29,7 +29,7 @@
 #ifndef USE_MOCK_PERIPHERALS
 using GpioType = miosix::GpioPin;
 #else
-#include <utils/testutils/MockGpioPin.h>
+#include <utils/TestUtils/MockGpioPin.h>
 using GpioType = MockGpioPin;
 #endif
 
diff --git a/src/shared/drivers/stepper/Stepper.h b/src/shared/drivers/stepper/Stepper.h
index 57942567c189acce7c4824fa6cbbf059055f18ca..b08639af1075f1d3534df3fd5543f3fe0e5e6b25 100644
--- a/src/shared/drivers/stepper/Stepper.h
+++ b/src/shared/drivers/stepper/Stepper.h
@@ -24,7 +24,7 @@
 
 #include <interfaces-impl/gpio_impl.h>
 #include <interfaces/delays.h>
-#include <utils/testutils/MockGpioPin.h>
+#include <utils/TestUtils/MockGpioPin.h>
 
 namespace Boardcore
 {
@@ -261,4 +261,4 @@ inline int Stepper::getMicrosteppingValue()
     return 1;
 }
 
-}  // namespace Boardcore
\ No newline at end of file
+}  // namespace Boardcore
diff --git a/src/shared/radio/Xbee/Xbee.h b/src/shared/radio/Xbee/Xbee.h
index ea748a68ff96aee0b6a58a78a4c9b447a3a3c41d..abb1be5015ba548258ab5207dd6abccff0bbd00a 100644
--- a/src/shared/radio/Xbee/Xbee.h
+++ b/src/shared/radio/Xbee/Xbee.h
@@ -38,7 +38,7 @@ using miosix::FastMutex;
 #ifndef USE_MOCK_PERIPHERALS
 using GpioType = miosix::GpioPin;
 #else
-#include <utils/testutils/MockGpioPin.h>
+#include <utils/TestUtils/MockGpioPin.h>
 using GpioType = MockGpioPin;
 #endif
 
diff --git a/src/shared/utils/TestUtilsTmp/FakeSpiTypedef.h b/src/shared/utils/TestUtils/FakeSpiTypedef.h
similarity index 98%
rename from src/shared/utils/TestUtilsTmp/FakeSpiTypedef.h
rename to src/shared/utils/TestUtils/FakeSpiTypedef.h
index 46b770c44e3b82eb406d54e5718aac248b2b9b61..dae48554ab5c4ac85e0d6e642f7e723a77b48be0 100644
--- a/src/shared/utils/TestUtilsTmp/FakeSpiTypedef.h
+++ b/src/shared/utils/TestUtils/FakeSpiTypedef.h
@@ -22,7 +22,7 @@
 
 #pragma once
 #include <miosix.h>
-#include <utils/testutils/MockGpioPin.h>
+#include <utils/TestUtils/MockGpioPin.h>
 
 #include <cstdint>
 #include <vector>
diff --git a/src/shared/utils/TestUtilsTmp/MockGpioPin.h b/src/shared/utils/TestUtils/MockGpioPin.h
similarity index 100%
rename from src/shared/utils/TestUtilsTmp/MockGpioPin.h
rename to src/shared/utils/TestUtils/MockGpioPin.h
diff --git a/src/shared/utils/TestUtilsTmp/MockSPIBus.h b/src/shared/utils/TestUtils/MockSPIBus.h
similarity index 99%
rename from src/shared/utils/TestUtilsTmp/MockSPIBus.h
rename to src/shared/utils/TestUtils/MockSPIBus.h
index 9bdc6129e9e2c13f547fe2bada8c1259738d8b71..93398ef8e4a3f892085dc70273228a7dbf410a2f 100644
--- a/src/shared/utils/TestUtilsTmp/MockSPIBus.h
+++ b/src/shared/utils/TestUtils/MockSPIBus.h
@@ -57,7 +57,7 @@ namespace Boardcore
     "SpiBusInterface must be built using MockGpioPin (-DUSE_MOCK_PERIPHERALS)"
 #endif
 
-#include <utils/testutils/MockGpioPin.h>
+#include <utils/TestUtils/MockGpioPin.h>
 
 using miosix::FastMutex;
 using miosix::Lock;
diff --git a/src/shared/utils/TestUtilsTmp/TestHelper.cpp b/src/shared/utils/TestUtils/TestHelper.cpp
similarity index 100%
rename from src/shared/utils/TestUtilsTmp/TestHelper.cpp
rename to src/shared/utils/TestUtils/TestHelper.cpp
diff --git a/src/shared/utils/TestUtilsTmp/TestHelper.h b/src/shared/utils/TestUtils/TestHelper.h
similarity index 100%
rename from src/shared/utils/TestUtilsTmp/TestHelper.h
rename to src/shared/utils/TestUtils/TestHelper.h
diff --git a/src/shared/utils/TestUtilsTmp/TestSensor.h b/src/shared/utils/TestUtils/TestSensor.h
similarity index 100%
rename from src/shared/utils/TestUtilsTmp/TestSensor.h
rename to src/shared/utils/TestUtils/TestSensor.h
diff --git a/src/shared/utils/TestUtilsTmp/ThroughputCalculator.h b/src/shared/utils/TestUtils/ThroughputCalculator.h
similarity index 100%
rename from src/shared/utils/TestUtilsTmp/ThroughputCalculator.h
rename to src/shared/utils/TestUtils/ThroughputCalculator.h
diff --git a/src/tests/algorithms/kalman/test-extended-kalman-eigen.cpp b/src/tests/algorithms/kalman/test-extended-kalman-eigen.cpp
index 4caf55b06bdf1bd8f2227e0d27f096137a9edaf9..a814b7a519327ec5ec194551bf2387401a09c7ba 100644
--- a/src/tests/algorithms/kalman/test-extended-kalman-eigen.cpp
+++ b/src/tests/algorithms/kalman/test-extended-kalman-eigen.cpp
@@ -176,9 +176,9 @@ void bmxCallback()
     magneticField.normalize();
     kalman->correctMEKF(magneticField);
 
-    auto kalmanState    = kalman->getState();
-    auto kalmanRotation = SkyQuaternion::quat2eul(Vector4f(
-        kalmanState(6), kalmanState(7), kalmanState(8), kalmanState(9)));
+    auto kalmanState = kalman->getState();
+    // auto kalmanRotation = SkyQuaternion::quat2eul(Vector4f(
+    //     kalmanState(6), kalmanState(7), kalmanState(8), kalmanState(9)));
 
     // data.accelerationTimestamp =
     // TimestampTimer::getInstance().getTimestamp();
@@ -206,4 +206,4 @@ void lisCallback()
     // kalman->correctMEKF(magneticField);
 
     // std::cout << magneticField.transpose() << std::endl;
-}
\ No newline at end of file
+}
diff --git a/src/tests/catch/test-eventbroker.cpp b/src/tests/catch/test-eventbroker.cpp
index 3139a50ed78563fb01404f22ab88ae780139a2ad..04475591c3973eed8e1aa6a7d6d97674b4aa8e2b 100644
--- a/src/tests/catch/test-eventbroker.cpp
+++ b/src/tests/catch/test-eventbroker.cpp
@@ -29,7 +29,7 @@
 
 #include <events/EventBroker.h>
 #include <miosix.h>
-#include <utils/testutils/TestHelper.h>
+#include <utils/TestUtils/TestHelper.h>
 
 #include <catch2/catch.hpp>
 #include <cstdio>
diff --git a/src/tests/catch/test-sensormanager-catch.cpp b/src/tests/catch/test-sensormanager-catch.cpp
index 6aa7aef70230d320e4c70cea7cc60bca0161d225..1bead9c7c321e4110ac29a6a4c249340a98d9d8d 100644
--- a/src/tests/catch/test-sensormanager-catch.cpp
+++ b/src/tests/catch/test-sensormanager-catch.cpp
@@ -24,7 +24,7 @@
 #include "catch-tests-entry.cpp"
 #endif
 
-#include <utils/testutils/TestSensor.h>
+#include <utils/TestUtils/TestSensor.h>
 
 #include <catch2/catch.hpp>
 #include <iostream>
diff --git a/src/tests/catch/xbee/MockXbeeSPIBus.h b/src/tests/catch/xbee/MockXbeeSPIBus.h
index d54b3167cdecfa1faf8514a19c8a854f5c6aaf1d..44c48d14175a5b647a9a60ffe97241f496fdfb91 100644
--- a/src/tests/catch/xbee/MockXbeeSPIBus.h
+++ b/src/tests/catch/xbee/MockXbeeSPIBus.h
@@ -24,8 +24,8 @@
 
 #include <radio/Xbee/APIFrameParser.h>
 #include <radio/Xbee/APIFrames.h>
-#include <utils/testutils/MockGpioPin.h>
-#include <utils/testutils/MockSPIBus.h>
+#include <utils/TestUtils/MockGpioPin.h>
+#include <utils/TestUtils/MockSPIBus.h>
 
 #include <deque>
 #include <functional>
diff --git a/src/tests/drivers/xbee/XbeeTransceiver.h b/src/tests/drivers/xbee/XbeeTransceiver.h
index 049b9afe73c538d7db0245505ff6446ed2e30470..3e41850e557367880e47fde90bcd57fc11788527 100644
--- a/src/tests/drivers/xbee/XbeeTransceiver.h
+++ b/src/tests/drivers/xbee/XbeeTransceiver.h
@@ -28,7 +28,7 @@
 #include <radio/Xbee/APIFramesLog.h>
 #include <radio/Xbee/Xbee.h>
 #include <utils/Debug.h>
-#include <utils/testutils/ThroughputCalculator.h>
+#include <utils/TestUtils/ThroughputCalculator.h>
 
 #include <functional>
 
diff --git a/src/tests/drivers/xbee/gui/StatusScreen.h b/src/tests/drivers/xbee/gui/StatusScreen.h
index 19cc9e6e9b8e4224c177b60da5f6299762f82d2b..b397715e0d772a8261ddfbb42f127b320ac9b848 100644
--- a/src/tests/drivers/xbee/gui/StatusScreen.h
+++ b/src/tests/drivers/xbee/gui/StatusScreen.h
@@ -24,11 +24,11 @@
 
 #include <logger/Logger.h>
 #include <mxgui/display.h>
+#include <utils/TestUtils/ThroughputCalculator.h>
 #include <utils/gui/GridLayout.h>
 #include <utils/gui/OptionView.h>
 #include <utils/gui/TextView.h>
 #include <utils/gui/VerticalLayout.h>
-#include <utils/testutils/ThroughputCalculator.h>
 
 #include <cstdint>
 #include <cstring>
diff --git a/src/tests/test-sensormanager.cpp b/src/tests/test-sensormanager.cpp
index 72560d47c3398fcacb0a5a143809b5e747024464..1a8b06648b7c60c46f31c461c5485285622577d1 100644
--- a/src/tests/test-sensormanager.cpp
+++ b/src/tests/test-sensormanager.cpp
@@ -25,7 +25,7 @@
 #include <sensors/Sensor.h>
 #include <sensors/SensorManager.h>
 #include <utils/Debug.h>
-#include <utils/testutils/TestSensor.h>
+#include <utils/TestUtils/TestSensor.h>
 
 #include <functional>
 #include <iostream>