diff --git a/src/main/io/serial.c b/src/main/io/serial.c
index 44cc7035a4..ba9db389f9 100644
--- a/src/main/io/serial.c
+++ b/src/main/io/serial.c
@@ -254,6 +254,13 @@ serialPort_t *openSerialPort(
     portMode_t mode,
     portOptions_t options)
 {
+#if (!defined(USE_VCP) && !defined(USE_USART1) && !defined(USE_USART2) && !defined(USE_USART3) && !defined(USE_SOFTSERIAL1) && !defined(USE_SOFTSERIAL1))
+    UNUSED(callback);
+    UNUSED(baudRate);
+    UNUSED(mode);
+    UNUSED(options);
+#endif
+
     serialPortUsage_t *serialPortUsage = findSerialPortUsageByIdentifier(identifier);
     if (!serialPortUsage || serialPortUsage->function != FUNCTION_NONE) {
         // not available / already in use
diff --git a/src/test/Makefile b/src/test/Makefile
index 5e099151ea..0696ff2992 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -27,7 +27,6 @@ COMMON_FLAGS = \
 	-g \
 	-Wall \
 	-Wextra \
-	-pthread \
 	-ggdb3 \
 	-O0 \
 	-DUNIT_TEST \
@@ -39,7 +38,7 @@ C_FLAGS = $(COMMON_FLAGS) \
 
 # Flags passed to the C++ compiler.
 CXX_FLAGS = $(COMMON_FLAGS) \
-	-std=gnu++98
+	-std=c++11
 
 # All tests produced by this Makefile.  Remember to add new tests you
 # created to the list.
@@ -83,7 +82,7 @@ GTEST_SRCS_ = $(GTEST_DIR)/src/*.cc $(GTEST_DIR)/inc/gtest/*.h $(GTEST_HEADERS)
 # compiles fast and for ordinary users its source rarely changes.
 $(OBJECT_DIR)/gtest-all.o : $(GTEST_SRCS_)
 	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) -I$(GTEST_DIR) -c \
+	$(CXX) $(CXX_FLAGS) -I$(GTEST_DIR) -Wno-missing-field-initializers -Wno-unused-const-variable -c \
             $(GTEST_DIR)/src/gtest-all.cc -o $@
 
 $(OBJECT_DIR)/gtest_main.o : $(GTEST_SRCS_)
@@ -134,7 +133,7 @@ battery_unittest : \
 	$(OBJECT_DIR)/battery_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 	
 $(OBJECT_DIR)/common/encoding.o : $(USER_DIR)/common/encoding.c $(USER_DIR)/common/encoding.h $(GTEST_HEADERS)
 	@mkdir -p $(dir $@)
@@ -153,7 +152,7 @@ encoding_unittest : \
 	$(OBJECT_DIR)/encoding_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 $(OBJECT_DIR)/flight/imu.o : \
 	$(USER_DIR)/flight/imu.c \
@@ -178,7 +177,7 @@ flight_imu_unittest : \
 	$(OBJECT_DIR)/common/maths.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 $(OBJECT_DIR)/maths_unittest.o : \
 	$(TEST_DIR)/maths_unittest.cc \
@@ -192,7 +191,7 @@ maths_unittest : \
 	$(OBJECT_DIR)/common/maths.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 
 
@@ -217,7 +216,7 @@ altitude_hold_unittest : \
 	$(OBJECT_DIR)/altitude_hold_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 
 $(OBJECT_DIR)/flight/gps_conversion.o : \
@@ -241,7 +240,7 @@ gps_conversion_unittest : \
 	$(OBJECT_DIR)/gps_conversion_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 
 
@@ -267,7 +266,7 @@ telemetry_hott_unittest : \
 	$(OBJECT_DIR)/flight/gps_conversion.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 
 
@@ -293,7 +292,7 @@ rc_controls_unittest : \
 	$(OBJECT_DIR)/rc_controls_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 
 $(OBJECT_DIR)/io/ledstrip.o : \
@@ -317,7 +316,7 @@ ledstrip_unittest : \
 	$(OBJECT_DIR)/ledstrip_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 
 
@@ -342,7 +341,7 @@ ws2811_unittest : \
 	$(OBJECT_DIR)/ws2811_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 
 $(OBJECT_DIR)/flight/lowpass.o : \
@@ -366,7 +365,7 @@ lowpass_unittest : \
 	$(OBJECT_DIR)/lowpass_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 $(OBJECT_DIR)/flight/mixer.o : \
 	$(USER_DIR)/flight/mixer.c \
@@ -390,7 +389,7 @@ flight_mixer_unittest : \
 	$(OBJECT_DIR)/common/maths.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 $(OBJECT_DIR)/flight/failsafe.o : \
 	$(USER_DIR)/flight/failsafe.c \
@@ -414,7 +413,7 @@ flight_failsafe_unittest : \
 	$(OBJECT_DIR)/common/maths.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 $(OBJECT_DIR)/io/serial.o : \
 	$(USER_DIR)/io/serial.c \
@@ -437,7 +436,7 @@ io_serial_unittest : \
 	$(OBJECT_DIR)/io_serial_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 $(OBJECT_DIR)/rx/rx.o : \
 	$(USER_DIR)/rx/rx.c \
@@ -461,7 +460,7 @@ rx_rx_unittest : \
 	$(OBJECT_DIR)/common/maths.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 test: $(TESTS)
 	set -e && for test in $(TESTS) ; do \
diff --git a/src/test/unit/rc_controls_unittest.cc b/src/test/unit/rc_controls_unittest.cc
index 1953e3bc85..d23e517630 100644
--- a/src/test/unit/rc_controls_unittest.cc
+++ b/src/test/unit/rc_controls_unittest.cc
@@ -236,6 +236,17 @@ static const adjustmentConfig_t rateAdjustmentConfig = {
 
 class RcControlsAdjustmentsTest : public ::testing::Test {
 protected:
+    controlRateConfig_t controlRateConfig = {
+            .rcRate8 = 90,
+            .rcExpo8 = 0,
+            .thrMid8 = 0,
+            .thrExpo8 = 0,
+            .rcYawExpo8 = 0,
+            .rates = {0,0,0},
+            .dynThrPID = 0,
+            .tpa_breakpoint = 0
+    };
+
     virtual void SetUp() {
         adjustmentStateMask = 0;
         memset(&adjustmentStates, 0, sizeof(adjustmentStates));
@@ -250,17 +261,6 @@ protected:
 TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsSticksInMiddle)
 {
     // given
-    controlRateConfig_t controlRateConfig = {
-            .rcRate8 = 90,
-            .rcExpo8 = 0,
-            .thrMid8 = 0,
-            .thrExpo8 = 0,
-            .rates = {0,0,0},
-            .dynThrPID = 0,
-            .tpa_breakpoint = 0
-    };
-
-    // and
     configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig);
 
     // and
@@ -286,17 +286,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsSticksInMiddle)
 TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp)
 {
     // given
-    controlRateConfig_t controlRateConfig = {
-            .rcRate8 = 90,
-            .rcExpo8 = 0,
-            .thrMid8 = 0,
-            .thrExpo8 = 0,
-            .rates = {0,0,0},
-            .dynThrPID = 0,
-            .tpa_breakpoint = 0
-    };
-
-    // and
     configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig);
 
     // and
@@ -444,16 +433,6 @@ static const adjustmentConfig_t rateProfileAdjustmentConfig = {
 TEST_F(RcControlsAdjustmentsTest, processRcRateProfileAdjustments)
 {
     // given
-    controlRateConfig_t controlRateConfig = {
-            .rcRate8 = 90,
-            .rcExpo8 = 0,
-            .thrMid8 = 0,
-            .thrExpo8 = 0,
-            .rates = {0,0,0},
-            .dynThrPID = 0,
-            .tpa_breakpoint = 0
-    };
-
     int adjustmentIndex = 3;
     configureAdjustment(adjustmentIndex, AUX4 - NON_AUX_CHANNEL_COUNT, &rateProfileAdjustmentConfig);