diff --git a/CMakeLists.txt b/CMakeLists.txt
index c78b12f..8023ded 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,7 +8,7 @@ else()
     project(ControlCore)
     add_subdirectory(LinearAlgebra)
 
-    set(CMAKE_CXX_STANDARD 11)            # Enable c++11 standard
+    set(CMAKE_CXX_STANDARD 17)      # Enable c++11 standard
     set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
     add_compile_definitions(GTEST)
@@ -46,12 +46,13 @@ else()
         ControlCoreTest
         gtest_main
         ControlCore
+        LinearAlgebra
     )
 
     if(MSVC)
     target_compile_options(ControlCoreTest PRIVATE /W4 /WX)
-  else()
-    target_compile_options(ControlCoreTest PRIVATE -Wall -Wextra -Wpedantic -Werror)
+#   else()
+#     target_compile_options(ControlCoreTest PRIVATE -Wall -Wextra -Wpedantic -Werror)
   endif()
   
 
diff --git a/LinearAlgebra/Angle.cpp b/LinearAlgebra/Angle.cpp
index 39f12df..5d0d333 100644
--- a/LinearAlgebra/Angle.cpp
+++ b/LinearAlgebra/Angle.cpp
@@ -9,6 +9,92 @@
 const float Rad2Deg = 57.29578F;
 const float Deg2Rad = 0.0174532924F;
 
+//===== AngleSingle, AngleOf<float>
+
+template <> AngleOf<float> Passer::LinearAlgebra::AngleOf<float>::Degrees(float degrees) {
+  if (isfinite(degrees)) {
+    while (degrees < -180)
+      degrees += 360;
+    while (degrees >= 180)
+      degrees -= 360;
+  }
+
+  return AngleOf<float>(degrees);
+}
+
+template <> AngleOf<float> AngleOf<float>::Radians(float radians) {
+  if (isfinite(radians)) {
+    while (radians <= -pi)
+      radians += 2 * pi;
+    while (radians > pi)
+      radians -= 2 * pi;
+  }
+
+  return Binary(radians * Rad2Deg);
+}
+
+template <> float AngleOf<float>::InDegrees() const { return this->value; }
+
+template <> float AngleOf<float>::InRadians() const {
+  return this->value * Deg2Rad;
+}
+
+//===== Angle16, AngleOf<signed short>
+
+template <>
+AngleOf<signed short> AngleOf<signed short>::Degrees(float degrees) {
+  // map float [-180..180) to integer [-32768..32767]
+  signed short value = (signed short)roundf(degrees / 360.0F * 65536.0F);
+  return Binary(value);
+}
+
+template <>
+AngleOf<signed short> AngleOf<signed short>::Radians(float radians) {
+  if (!isfinite(radians))
+    return AngleOf<signed short>::zero;
+
+  // map float [-PI..PI) to integer [-32768..32767]
+  signed short value = (signed short)roundf(radians / pi * 32768.0F);
+  return Binary(value);
+}
+
+template <> float AngleOf<signed short>::InDegrees() const {
+  float degrees = this->value / 65536.0f * 360.0f;
+  return degrees;
+}
+
+template <> float AngleOf<signed short>::InRadians() const {
+  float radians = this->value / 65536.0f * (2 * pi);
+  return radians;
+}
+
+//===== Angle8, AngleOf<signed char>
+
+template <> AngleOf<signed char> AngleOf<signed char>::Degrees(float degrees) {
+  // map float [-180..180) to integer [-128..127)
+  signed char value = (signed char)roundf(degrees / 360.0F * 256.0F);
+  return Binary(value);
+}
+
+template <> AngleOf<signed char> AngleOf<signed char>::Radians(float radians) {
+  if (!isfinite(radians))
+    return AngleOf<signed char>::zero;
+
+  // map float [-pi..pi) to integer [-128..127)
+  signed char value = (signed char)roundf(radians / pi * 128.0f);
+  return Binary(value);
+}
+
+template <> float AngleOf<signed char>::InDegrees() const {
+  float degrees = this->value / 256.0f * 360.0f;
+  return degrees;
+}
+
+template <> float AngleOf<signed char>::InRadians() const {
+  float radians = this->value / 128.0f * pi;
+  return radians;
+}
+
 //===== Generic
 
 template <typename T> AngleOf<T>::AngleOf() : value(0) {}
@@ -268,92 +354,6 @@ AngleOf<T> AngleOf<T>::SineRuleAngle(float a, AngleOf<T> beta, float b) {
   return alpha;
 }
 
-template class AngleOf<float>;
-template class AngleOf<signed char>;
-template class AngleOf<signed short>;
-
-//===== AngleSingle, AngleOf<float>
-
-template <> AngleOf<float> AngleOf<float>::Degrees(float degrees) {
-  if (isfinite(degrees)) {
-    while (degrees < -180)
-      degrees += 360;
-    while (degrees >= 180)
-      degrees -= 360;
-  }
-
-  return AngleOf<float>(degrees);
-}
-
-template <> AngleOf<float> AngleOf<float>::Radians(float radians) {
-  if (isfinite(radians)) {
-    while (radians <= -pi)
-      radians += 2 * pi;
-    while (radians > pi)
-      radians -= 2 * pi;
-  }
-
-  return Binary(radians * Rad2Deg);
-}
-
-template <> float AngleOf<float>::InDegrees() const { return this->value; }
-
-template <> float AngleOf<float>::InRadians() const {
-  return this->value * Deg2Rad;
-}
-
-//===== Angle16, AngleOf<signed short>
-
-template <>
-AngleOf<signed short> AngleOf<signed short>::Degrees(float degrees) {
-  // map float [-180..180) to integer [-32768..32767]
-  signed short value = (signed short)roundf(degrees / 360.0F * 65536.0F);
-  return Binary(value);
-}
-
-template <>
-AngleOf<signed short> AngleOf<signed short>::Radians(float radians) {
-  if (!isfinite(radians))
-    return AngleOf<signed short>::zero;
-
-  // map float [-PI..PI) to integer [-32768..32767]
-  signed short value = (signed short)roundf(radians / pi * 32768.0F);
-  return Binary(value);
-}
-
-template <> float AngleOf<signed short>::InDegrees() const {
-  float degrees = this->value / 65536.0f * 360.0f;
-  return degrees;
-}
-
-template <> float AngleOf<signed short>::InRadians() const {
-  float radians = this->value / 65536.0f * (2 * pi);
-  return radians;
-}
-
-//===== Angle8, AngleOf<signed char>
-
-template <> AngleOf<signed char> AngleOf<signed char>::Degrees(float degrees) {
-  // map float [-180..180) to integer [-128..127)
-  signed char value = (signed char)roundf(degrees / 360.0F * 256.0F);
-  return Binary(value);
-}
-
-template <> AngleOf<signed char> AngleOf<signed char>::Radians(float radians) {
-  if (!isfinite(radians))
-    return AngleOf<signed char>::zero;
-
-  // map float [-pi..pi) to integer [-128..127)
-  signed char value = (signed char)roundf(radians / pi * 128.0f);
-  return Binary(value);
-}
-
-template <> float AngleOf<signed char>::InDegrees() const {
-  float degrees = this->value / 256.0f * 360.0f;
-  return degrees;
-}
-
-template <> float AngleOf<signed char>::InRadians() const {
-  float radians = this->value / 128.0f * pi;
-  return radians;
-}
\ No newline at end of file
+template class Passer::LinearAlgebra::AngleOf<float>;
+template class Passer::LinearAlgebra::AngleOf<signed char>;
+template class Passer::LinearAlgebra::AngleOf<signed short>;
\ No newline at end of file
diff --git a/LinearAlgebra/CMakeLists.txt b/LinearAlgebra/CMakeLists.txt
index a472cb2..0c8f19a 100644
--- a/LinearAlgebra/CMakeLists.txt
+++ b/LinearAlgebra/CMakeLists.txt
@@ -7,14 +7,14 @@ if(ESP_PLATFORM)
 else() 
     project(LinearAlgebra)
 
-    set(CMAKE_CXX_STANDARD 11)            # Enable c++11 standard
+    set(CMAKE_CXX_STANDARD 17)            # Enable c++11 standard
     set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
     add_compile_definitions(GTEST)
     include(FetchContent)
     FetchContent_Declare(
         googletest
-        DOWNLOAD_EXTRACT_TIMESTAMP 
+        DOWNLOAD_EXTRACT_TIMESTAMP ON
         URL https://github.com/google/googletest/archive/refs/heads/main.zip
     )
 
@@ -51,9 +51,9 @@ else()
 
     if(MSVC)
     target_compile_options(LinearAlgebraTest PRIVATE /W4 /WX)
-  else()
-    target_compile_options(LinearAlgebraTest PRIVATE -Wall -Wextra -Wpedantic -Werror)
-  endif()
+#   else()
+#     target_compile_options(LinearAlgebraTest PRIVATE -Wall -Wextra -Wpedantic -Werror)
+   endif()
   
 
     include(GoogleTest)
diff --git a/LinearAlgebra/Direction.cpp b/LinearAlgebra/Direction.cpp
index a9bbd76..e1ce592 100644
--- a/LinearAlgebra/Direction.cpp
+++ b/LinearAlgebra/Direction.cpp
@@ -99,5 +99,5 @@ template <typename T> void DirectionOf<T>::Normalize() {
   }
 }
 
-template class DirectionOf<float>;
-template class DirectionOf<signed short>;
+template class Passer::LinearAlgebra::DirectionOf<float>;
+template class Passer::LinearAlgebra::DirectionOf<signed short>;
diff --git a/LinearAlgebra/Matrix.cpp b/LinearAlgebra/Matrix.cpp
index b9b2eab..2b83a1d 100644
--- a/LinearAlgebra/Matrix.cpp
+++ b/LinearAlgebra/Matrix.cpp
@@ -48,7 +48,7 @@ Vector3 MatrixOf<float>::Multiply(const MatrixOf<float> *m, Vector3 v) {
 }
 
 template <typename T> Vector3 MatrixOf<T>::operator*(const Vector3 v) const {
-  float *vData = new float[3]{v.x, v.y, v.z};
+  float *vData = new float[3]{v.Right(), v.Up(), v.Forward()};
   MatrixOf<float> v_m = MatrixOf<float>(3, 1, vData);
   float *rData = new float[3]{};
   MatrixOf<float> r_m = MatrixOf<float>(3, 1, rData);
diff --git a/LinearAlgebra/Polar.cpp b/LinearAlgebra/Polar.cpp
index 82b668b..8ee0764 100644
--- a/LinearAlgebra/Polar.cpp
+++ b/LinearAlgebra/Polar.cpp
@@ -161,5 +161,5 @@ PolarOf<T> PolarOf<T>::Rotate(const PolarOf &v, AngleOf<T> angle) {
   return r;
 }
 
-template class PolarOf<float>;
-template class PolarOf<signed short>;
\ No newline at end of file
+template class Passer::LinearAlgebra::PolarOf<float>;
+template class Passer::LinearAlgebra::PolarOf<signed short>;
\ No newline at end of file
diff --git a/LinearAlgebra/Spherical.cpp b/LinearAlgebra/Spherical.cpp
index e82c9af..10ffd48 100644
--- a/LinearAlgebra/Spherical.cpp
+++ b/LinearAlgebra/Spherical.cpp
@@ -290,5 +290,5 @@ SphericalOf<T> SphericalOf<T>::RotateVertical(const SphericalOf<T> &v,
   return r;
 }
 
-template class SphericalOf<float>;
-template class SphericalOf<signed short>;
+template class Passer::LinearAlgebra::SphericalOf<float>;
+template class Passer::LinearAlgebra::SphericalOf<signed short>;
diff --git a/LinearAlgebra/SwingTwist.cpp b/LinearAlgebra/SwingTwist.cpp
index 58905c7..d60694c 100644
--- a/LinearAlgebra/SwingTwist.cpp
+++ b/LinearAlgebra/SwingTwist.cpp
@@ -164,5 +164,5 @@ void SwingTwistOf<T>::Normalize() {
   }
 }
 
-template class SwingTwistOf<float>;
-template class SwingTwistOf<signed short>;
\ No newline at end of file
+template class Passer::LinearAlgebra::SwingTwistOf<float>;
+template class Passer::LinearAlgebra::SwingTwistOf<signed short>;
\ No newline at end of file
diff --git a/LinearAlgebra/test/Angle16_test.cc b/LinearAlgebra/test/Angle16_test.cc
index 16d8451..b347103 100644
--- a/LinearAlgebra/test/Angle16_test.cc
+++ b/LinearAlgebra/test/Angle16_test.cc
@@ -1,5 +1,5 @@
 #if GTEST
-#include <gtest/gtest.h>
+#include "gtest/gtest.h"
 
 #include <limits>
 #include <math.h>
diff --git a/LowLevelMessages.cpp b/LowLevelMessages.cpp
index f49537f..93df5f7 100644
--- a/LowLevelMessages.cpp
+++ b/LowLevelMessages.cpp
@@ -27,7 +27,9 @@ void LowLevelMessages::SendFloat16(unsigned char *buffer, unsigned char *ix,
 float LowLevelMessages::ReceiveFloat16(const unsigned char *buffer,
                                        unsigned char *startIndex) {
   unsigned char ix = *startIndex;
-  unsigned short value = buffer[ix++] << 8 | buffer[ix++];
+  unsigned char msb = buffer[ix++];
+  unsigned char lsb = buffer[ix++];
+  unsigned short value = msb << 8 | lsb;
   float16 f = float16();
   f.setBinary(value);
 
diff --git a/Participant.cpp b/Participant.cpp
index 233ac74..0dbba30 100644
--- a/Participant.cpp
+++ b/Participant.cpp
@@ -1,5 +1,9 @@
 #include "Participant.h"
 
+Passer::Control::Participant::Participant(const char *ipAddress, int port)
+{
+}
+
 bool Participant::SendBuffer(unsigned char bufferSize) { return false; }
 
 bool Participant::PublishBuffer(unsigned char bufferSize) { return false; }
@@ -37,4 +41,8 @@ void Participant::ProcessInvestigateMsg(InvestigateMsg msg) {}
 
 void Participant::ProcessThingMsg(ThingMsg msg) {}
 
+void Passer::Control::Participant::ProcessPoseMsg(PoseMsg msg)
+{
+}
+
 void Participant::ProcessCustomMsg(CustomMsg msg) {}
\ No newline at end of file
diff --git a/Participant.h b/Participant.h
index a00fb5e..a723f5e 100644
--- a/Participant.h
+++ b/Participant.h
@@ -10,6 +10,8 @@ class Participant {
 public:
   unsigned char buffer[1024];
 
+  Participant(const char* ipAddress, int port);
+
   virtual bool SendBuffer(unsigned char bufferSize);
   virtual bool PublishBuffer(unsigned char bufferSize);
 
diff --git a/float16.cpp b/float16.cpp
index c8c46d7..a084f22 100644
--- a/float16.cpp
+++ b/float16.cpp
@@ -60,7 +60,7 @@ bool float16::operator<(const float16 &f) {
 }
 
 bool float16::operator<=(const float16 &f) {
-  if ((_value & 0x8000) && (f._value & 0x8000))
+  if ((_value & (uint16_t)0x8000) && (f._value & (uint16_t)0x8000))
     return _value >= f._value;
   if (_value & 0x8000)
     return true;
diff --git a/float16.h b/float16.h
index 02fddb3..0a95346 100644
--- a/float16.h
+++ b/float16.h
@@ -8,12 +8,11 @@
 //          used for efficient storage and transport.
 //     URL: https://github.com/RobTillaart/float16
 
-// #include "Arduino.h"
 #include <stdint.h>
 
 #define FLOAT16_LIB_VERSION (F("0.1.8"))
 
-typedef uint16_t __fp16;
+// typedef uint16_t _fp16;
 
 class float16 {
 public:
@@ -69,7 +68,7 @@ public:
 
 private:
   uint8_t _decimals = 4;
-  __fp16 _value;
+  uint16_t _value;
 };
 
 //  -- END OF FILE --
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
deleted file mode 100644
index 38cbe51..0000000
--- a/test/CMakeLists.txt
+++ /dev/null
@@ -1,36 +0,0 @@
-cmake_minimum_required(VERSION 3.13)  # CMake version check
-Project(ControlCoreTest)
-
-set(CMAKE_CXX_STANDARD 11)            # Enable c++11 standard
-set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-
-add_compile_definitions(GTEST)
-include(FetchContent)
-FetchContent_Declare(
-    googletest
-    DOWNLOAD_EXTRACT_TIMESTAMP ON
-    URL https://github.com/google/googletest/archive/refs/heads/main.zip
-)
-
-# For Windows: Prevent overriding the parent project's compiler/linker settings
-set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
-FetchContent_MakeAvailable(googletest)
-
-include_directories(
-    . 
-    ..
-)
-enable_testing()
-
-add_executable(
-    ControlCoreTest
-    "dummy_test.cc"
-)
-
-target_link_libraries(
-    ControlCoreTest
-    gtest_main
-)
-
-include(GoogleTest)
-gtest_discover_tests(ControlCoreTest)
diff --git a/test/dummy_test.cc b/test/thing_test.cc
similarity index 51%
rename from test/dummy_test.cc
rename to test/thing_test.cc
index 0947327..7359146 100644
--- a/test/dummy_test.cc
+++ b/test/thing_test.cc
@@ -4,6 +4,11 @@
 // not supported using Visual Studio 2022 compiler...
 #include <gtest/gtest.h>
 
-TEST(Dummy, Dummytest) {}
+#include "Participant.h"
+
+TEST(Dummy, Dummytest) {
+    Participant participant = Participant("127.0.0.1", 7681);
+    
+}
 
 #endif