diff --git a/src/debug.h b/src/debug.h
index 79cc6ec5..7b6897cc 100644
--- a/src/debug.h
+++ b/src/debug.h
@@ -23,25 +23,62 @@
 #ifndef SLIMEVR_DEBUG_H_
 #define SLIMEVR_DEBUG_H_
 #include "consts.h"
+#include "defines.h"
+#include "defines_bmi160.h"
+#include "defines_sensitivity.h"
 #include "logging/Level.h"
 
-#define IMU_MPU6050_RUNTIME_CALIBRATION  // Comment to revert to
-										 // startup/traditional-calibration
-#define BNO_USE_ARVR_STABILIZATION \
-	true  // Set to false to disable stabilization for BNO085+ IMUs
-#define USE_6_AXIS \
-	true  // uses 9 DoF (with mag) if false (only for ICM-20948 and BNO0xx currently)
-#define LOAD_BIAS true  // Loads the bias values from NVS on start
-#define SAVE_BIAS true  // Periodically saves bias calibration data to NVS
-#define BIAS_DEBUG false  // Printing BIAS Variables to serial (ICM20948 only)
-#define ENABLE_TAP \
-	false  // monitor accel for (triple) tap events and send them. Uses more cpu,
-		   // disable if problems. Server does nothing with value so disabled atm
-#define SEND_ACCELERATION true  // send linear acceleration to the server
+#ifndef IMU_MPU6050_RUNTIME_CALIBRATION
+// Set to false to revert to startup/traditional-calibration
+#define IMU_MPU6050_RUNTIME_CALIBRATION true
+#endif
+
+#ifndef BNO_USE_ARVR_STABILIZATION
+// Set to false to disable stabilization for BNO085+ IMUs
+#define BNO_USE_ARVR_STABILIZATION true
+#endif
+
+#ifndef BNO_USE_MAGNETOMETER_CORRECTION
+// Set to true to enable magnetometer correction for BNO08x IMUs.
+// Only works with USE_6_AXIS set to true.
+#define BNO_USE_MAGNETOMETER_CORRECTION false
+#endif
+
+#ifndef USE_6_AXIS
+// uses 9 DoF (with mag) if false (only for ICM-20948 and BNO0xx currently)
+#define USE_6_AXIS true
+#endif
+
+#ifndef LOAD_BIAS
+// Loads the bias values from NVS on start
+#define LOAD_BIAS true
+#endif
+
+#ifndef SAVE_BIAS
+// Periodically saves bias calibration data to NVS
+#define SAVE_BIAS true
+#endif
 
+#ifndef BIAS_DEBUG
+// Printing BIAS Variables to serial (ICM20948 only)
+#define BIAS_DEBUG false
+#endif
+
+#ifndef ENABLE_TAP
+// monitor accel for (triple) tap events and send them. Uses more cpu,
+// disable if problems. Server does nothing with value so disabled atm
+#define ENABLE_TAP false
+#endif
+
+#ifndef SEND_ACCELERATION
+// send linear acceleration to the server
+#define SEND_ACCELERATION true
+#endif
 // Debug information
 
+#ifndef LOG_LEVEL
 #define LOG_LEVEL LOG_LEVEL_DEBUG
+#endif
 
 #if LOG_LEVEL == LOG_LEVEL_TRACE
 #define DEBUG_SENSOR
@@ -49,50 +86,94 @@
 #define DEBUG_CONFIGURATION
 #endif
 
-#define serialDebug false  // Set to true to get Serial output for debugging
+// Set to true to get Serial output for debugging
+#ifndef serialDebug
+#define serialDebug false
+#endif
+
+#ifndef serialBaudRate
 #define serialBaudRate 115200
+#endif
+
+#ifndef LED_INTERVAL_STANDBY
 #define LED_INTERVAL_STANDBY 10000
+#endif
+
+#ifndef PRINT_STATE_EVERY_MS
 #define PRINT_STATE_EVERY_MS 60000
+#endif
 
 // Determines how often we sample and send data
+#ifndef samplingRateInMillis
 #define samplingRateInMillis 10
+#endif
 
 // Sleeping options
+#ifndef POWERSAVING_MODE
 #define POWERSAVING_MODE POWER_SAVING_LEGACY  // Minimum causes sporadic data pauses
+#endif
 #if POWERSAVING_MODE >= POWER_SAVING_MINIMUM
 #define TARGET_LOOPTIME_MICROS (samplingRateInMillis * 1000)
 #endif
 
 // Packet bundling/aggregation
+#ifndef PACKET_BUNDLING
 #define PACKET_BUNDLING PACKET_BUNDLING_BUFFERED
+#endif
+
 // Extra tunable for PACKET_BUNDLING_BUFFERED (10000us = 10ms timeout, 100hz target)
+#ifndef PACKET_BUNDLING_BUFFER_SIZE_MICROS
 #define PACKET_BUNDLING_BUFFER_SIZE_MICROS 10000
+#endif
 
 // Setup for the Magnetometer
+#ifndef useFullCalibrationMatrix
 #define useFullCalibrationMatrix true
+#endif
 
 // Battery configuration
+#ifndef batterySampleRate
 #define batterySampleRate 10000
+#endif
+#ifndef BATTERY_LOW_VOLTAGE_DEEP_SLEEP
 #define BATTERY_LOW_VOLTAGE_DEEP_SLEEP false
+#endif
+#ifndef BATTERY_LOW_POWER_VOLTAGE
 #define BATTERY_LOW_POWER_VOLTAGE 3.3f  // Voltage to raise error
+#endif
 
 // Send updates over network only when changes are substantial
 // If "false" updates are sent at the sensor update rate (usually 100 TPS)
 // If "true" updates will be less frequent in the time of little motion
 // Experimental
+#ifndef OPTIMIZE_UPDATES
 #define OPTIMIZE_UPDATES true
+#endif
 
+#ifndef I2C_SPEED
 #define I2C_SPEED 400000
+#endif
 
+#ifndef COMPLIANCE_MODE
 #define COMPLIANCE_MODE true
+#endif
+
 #define USE_ATTENUATION COMPLIANCE_MODE&& ESP8266
+#ifndef ATTENUATION_N
 #define ATTENUATION_N 10.0 / 4.0
+#endif
+#ifndef ATTENUATION_G
 #define ATTENUATION_G 14.0 / 4.0
+#endif
+#ifndef ATTENUATION_B
 #define ATTENUATION_B 40.0 / 4.0
+#endif
 
 // Send inspection packets over the network to a profiler
 // Not recommended for production
+#ifndef ENABLE_INSPECTION
 #define ENABLE_INSPECTION false
+#endif
 
 #define PROTOCOL_VERSION 18
 
diff --git a/src/defines_bmi160.h b/src/defines_bmi160.h
index 747656c8..10e45369 100644
--- a/src/defines_bmi160.h
+++ b/src/defines_bmi160.h
@@ -26,24 +26,34 @@
 // BMI160 magnetometer type, applies to both main and aux trackers, mixed types are not
 // supported currently. If only 1 out of 2 trackers has a mag, tracker without a mag
 // should still function normally. NOT USED if USE_6_AXIS == true Pick one:
+#ifndef BMI160_MAG_TYPE
 #define BMI160_MAG_TYPE BMI160_MAG_TYPE_HMC
+#endif
 // #define BMI160_MAG_TYPE BMI160_MAG_TYPE_QMC
 
 // Use VQF instead of mahony sensor fusion.
 // Features: rest bias estimation, magnetic distortion rejection.
+#ifndef BMI160_USE_VQF
 #define BMI160_USE_VQF true
+#endif
 
 // Use BasicVQF instead of VQF (if BMI160_USE_VQF == true).
 // Disables the features above.
+#ifndef BMI160_USE_BASIC_VQF
 #define BMI160_USE_BASIC_VQF false
+#endif
 
 // Use temperature calibration.
+#ifndef BMI160_USE_TEMPCAL
 #define BMI160_USE_TEMPCAL true
+#endif
 
 // How long to run gyro calibration for.
 // Disables this calibration step if value is 0.
 // Default: 5
+#ifndef BMI160_CALIBRATION_GYRO_SECONDS
 #define BMI160_CALIBRATION_GYRO_SECONDS 5
+#endif
 
 // Calibration method options:
 // - Skip: disable this calibration step;
@@ -52,22 +62,32 @@
 // Default: ACCEL_CALIBRATION_METHOD_6POINT
 // #define BMI160_ACCEL_CALIBRATION_METHOD ACCEL_CALIBRATION_METHOD_SKIP
 // #define BMI160_ACCEL_CALIBRATION_METHOD ACCEL_CALIBRATION_METHOD_ROTATION
+#ifndef BMI160_ACCEL_CALIBRATION_METHOD
 #define BMI160_ACCEL_CALIBRATION_METHOD ACCEL_CALIBRATION_METHOD_6POINT
+#endif
 
 // How long to run magnetometer calibration for, if enabled and you have added a
 // magnetometer. Magnetometer not be used until you calibrate it. Disables this
 // calibration step if value is 0. NOT USED if USE_6_AXIS == true Default: 20
+#ifndef BMI160_CALIBRATION_MAG_SECONDS
 #define BMI160_CALIBRATION_MAG_SECONDS 20
+#endif
 
 // Send temperature to the server as AXXYY,
 // where XX is calibration progress from 0 to 60, and YY is temperature,
 // A is 1: not in calibration mode or 2: calibration in progress.
+#ifndef BMI160_TEMPCAL_DEBUG
 #define BMI160_TEMPCAL_DEBUG false
+#endif
 
 // Print debug info every second.
+#ifndef BMI160_DEBUG
 #define BMI160_DEBUG false
+#endif
 
 // Use sensitivity calibration.
+#ifndef BMI160_USE_SENSCAL
 #define BMI160_USE_SENSCAL true
+#endif
 
-#endif
\ No newline at end of file
+#endif
diff --git a/src/globals.h b/src/globals.h
index 67eaac12..bdcc9072 100644
--- a/src/globals.h
+++ b/src/globals.h
@@ -25,11 +25,7 @@
 
 #include <Arduino.h>
 
-#include "consts.h"
 #include "debug.h"
-#include "defines.h"
-#include "defines_bmi160.h"
-#include "defines_sensitivity.h"
 
 #ifndef SECOND_IMU
 #define SECOND_IMU IMU
diff --git a/src/motionprocessing/GyroTemperatureCalibrator.h b/src/motionprocessing/GyroTemperatureCalibrator.h
index 352bb0b9..0f2a78ea 100644
--- a/src/motionprocessing/GyroTemperatureCalibrator.h
+++ b/src/motionprocessing/GyroTemperatureCalibrator.h
@@ -34,24 +34,34 @@
 
 // Degrees C
 // default: 15.0f
+#ifndef TEMP_CALIBRATION_MIN
 #define TEMP_CALIBRATION_MIN 15.0f
+#endif
 
 // Degrees C
 // default: 45.0f
+#ifndef TEMP_CALIBRATION_MAX
 #define TEMP_CALIBRATION_MAX 45.0f
+#endif
 
 // Snap calibration to every 1/2 of degree: 20.00, 20.50, 21.00, etc
 // default: 0.5f
+#ifndef TEMP_CALIBRATION_STEP
 #define TEMP_CALIBRATION_STEP 0.5f
+#endif
 
 // Record debug samples if current temperature is off by no more than this value;
 // if snapping point is 20.00 - samples will be recorded in range of 19.80 - 20.20
 // default: 0.2f
+#ifndef TEMP_CALIBRATION_MAX_DEVIATION_FROM_STEP
 #define TEMP_CALIBRATION_MAX_DEVIATION_FROM_STEP 0.2f
+#endif
 
 // How long to average gyro samples for before saving a data point
 // default: 0.2f
+#ifndef TEMP_CALIBRATION_SECONDS_PER_STEP
 #define TEMP_CALIBRATION_SECONDS_PER_STEP 0.2f
+#endif
 
 #if IMU == IMU_ICM20948
 // 16 bit 333 lsb/K, ~0.00508 degrees per bit
@@ -91,7 +101,7 @@ struct GyroTemperatureCalibrationState {
 		, tSum(0.0f)
 		, xSum(0)
 		, ySum(0)
-		, zSum(0){};
+		, zSum(0) {}
 };
 
 struct GyroTemperatureOffsetSample {
diff --git a/src/motionprocessing/RestDetection.h b/src/motionprocessing/RestDetection.h
index 33b98260..af8b6a18 100644
--- a/src/motionprocessing/RestDetection.h
+++ b/src/motionprocessing/RestDetection.h
@@ -8,7 +8,9 @@
 #ifndef REST_DETECTION_H
 #define REST_DETECTION_H
 
-// #define REST_DETECTION_DISABLE_LPF
+#ifndef REST_DETECTION_DISABLE_LPF
+#define REST_DETECTION_DISABLE_LPF false
+#endif
 
 #include <Arduino.h>
 #include <basicvqf.h>
@@ -54,7 +56,7 @@ class RestDetection {
 		setup();
 	}
 
-#ifndef REST_DETECTION_DISABLE_LPF
+#if !REST_DETECTION_DISABLE_LPF
 	void filterInitialState(
 		sensor_real_t x0,
 		const double b[3],
@@ -118,7 +120,7 @@ class RestDetection {
 #endif
 
 	void updateGyr(const sensor_real_t gyr[3]) {
-#ifdef REST_DETECTION_DISABLE_LPF
+#if REST_DETECTION_DISABLE_LPF
 		gyrLastSquaredDeviation = square(gyr[0] - lastSample.gyr[0])
 								+ square(gyr[1] - lastSample.gyr[1])
 								+ square(gyr[2] - lastSample.gyr[2]);
@@ -168,7 +170,7 @@ class RestDetection {
 			return;
 		}
 
-#ifdef REST_DETECTION_DISABLE_LPF
+#if REST_DETECTION_DISABLE_LPF
 		accLastSquaredDeviation = square(acc[0] - lastSample.acc[0])
 								+ square(acc[1] - lastSample.acc[1])
 								+ square(acc[2] - lastSample.acc[2]);
@@ -216,7 +218,7 @@ class RestDetection {
 
 	bool getRestDetected() { return restDetected; }
 
-#ifndef REST_DETECTION_DISABLE_LPF
+#if !REST_DETECTION_DISABLE_LPF
 	void resetState() {
 		restDetected = false;
 
@@ -251,7 +253,7 @@ class RestDetection {
 #endif
 
 	void setup() {
-#ifndef REST_DETECTION_DISABLE_LPF
+#if !REST_DETECTION_DISABLE_LPF
 		assert(gyrTs > 0);
 		assert(accTs > 0);
 
@@ -271,7 +273,7 @@ class RestDetection {
 
 	sensor_real_t gyrTs;
 	sensor_real_t accTs;
-#ifndef REST_DETECTION_DISABLE_LPF
+#if !REST_DETECTION_DISABLE_LPF
 	sensor_real_t restLastGyrLp[3];
 	double restGyrLpState[3 * 2];
 	double restGyrLpB[3];
@@ -288,4 +290,4 @@ class RestDetection {
 #endif
 };
 
-#endif
\ No newline at end of file
+#endif
diff --git a/src/sensors/SensorFusion.h b/src/sensors/SensorFusion.h
index c60b02f2..dc0a4271 100644
--- a/src/sensors/SensorFusion.h
+++ b/src/sensors/SensorFusion.h
@@ -6,7 +6,9 @@
 
 #define SENSOR_DOUBLE_PRECISION 0
 
+#ifndef SENSOR_FUSION_TYPE
 #define SENSOR_FUSION_TYPE SENSOR_FUSION_VQF
+#endif
 
 #define SENSOR_FUSION_MAHONY 1
 #define SENSOR_FUSION_MADGWICK 2
diff --git a/src/sensors/mpu6050sensor.cpp b/src/sensors/mpu6050sensor.cpp
index 4480c78d..8eb6d637 100644
--- a/src/sensors/mpu6050sensor.cpp
+++ b/src/sensors/mpu6050sensor.cpp
@@ -23,7 +23,7 @@
 
 #include "globals.h"
 
-#ifdef IMU_MPU6050_RUNTIME_CALIBRATION
+#if IMU_MPU6050_RUNTIME_CALIBRATION
 #include "MPU6050_6Axis_MotionApps_V6_12.h"
 #else
 #include "MPU6050_6Axis_MotionApps20.h"
@@ -60,7 +60,7 @@ void MPU6050Sensor::motionSetup() {
 		addr
 	);
 
-#ifndef IMU_MPU6050_RUNTIME_CALIBRATION
+#if !IMU_MPU6050_RUNTIME_CALIBRATION
 	// Initialize the configuration
 	{
 		SlimeVR::Configuration::SensorConfig sensorCalibration
@@ -93,7 +93,7 @@ void MPU6050Sensor::motionSetup() {
 	devStatus = imu.dmpInitialize();
 
 	if (devStatus == 0) {
-#ifdef IMU_MPU6050_RUNTIME_CALIBRATION
+#if IMU_MPU6050_RUNTIME_CALIBRATION
 		// We don't have to manually calibrate if we are using the dmp's automatic
 		// calibration
 #else  // IMU_MPU6050_RUNTIME_CALIBRATION
@@ -191,7 +191,7 @@ void MPU6050Sensor::motionLoop() {
 void MPU6050Sensor::startCalibration(int calibrationType) {
 	ledManager.on();
 
-#ifdef IMU_MPU6050_RUNTIME_CALIBRATION
+#if IMU_MPU6050_RUNTIME_CALIBRATION
 	m_Logger.info(
 		"MPU is using automatic runtime calibration. Place down the device and it "
 		"should automatically calibrate after a few seconds"