diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml
index 7dfd5936e5..7e7151b6b5 100644
--- a/conf/airframes/fraser_lisa_m_rotorcraft.xml
+++ b/conf/airframes/fraser_lisa_m_rotorcraft.xml
@@ -27,6 +27,9 @@
       <define name="AHRS_GRAVITY_UPDATE_NORM_HEURISTIC" value="TRUE"/>
     </subsystem>
     <subsystem name="ins"/>
+
+    <!-- print the configuration during compiling -->
+    <define name="PRINT_CONFIG"/>
   </firmware>
 
   <firmware name="setup">
diff --git a/sw/airborne/arch/stm32/mcu_arch.c b/sw/airborne/arch/stm32/mcu_arch.c
index d00f586598..73cd4d1aab 100644
--- a/sw/airborne/arch/stm32/mcu_arch.c
+++ b/sw/airborne/arch/stm32/mcu_arch.c
@@ -36,16 +36,18 @@
 #include <libopencm3/stm32/f1/flash.h>
 #include <libopencm3/cm3/scb.h>
 
+#include "std.h"
+
 void mcu_arch_init(void) {
 #if LUFTBOOT
-#pragma message "We are running luftboot, the interrupt vector is being relocated."
+PRINT_CONFIG_MSG("We are running luftboot, the interrupt vector is being relocated.")
   SCB_VTOR = 0x00002000;
 #endif
 #if EXT_CLK == 8000000
-#pragma message "Using 8MHz external clock to PLL it to 72MHz."
+PRINT_CONFIG_MSG("Using 8MHz external clock to PLL it to 72MHz.")
   rcc_clock_setup_in_hse_8mhz_out_72mhz();
 #elif EXT_CLK == 12000000
-#pragma message "Using 12MHz external clock to PLL it to 72MHz."
+PRINT_CONFIG_MSG("Using 12MHz external clock to PLL it to 72MHz.")
   rcc_clock_setup_in_hse_12mhz_out_72mhz();
 #else
 #error EXT_CLK is either set to an unsupported frequency or not defined at all. Please check!
diff --git a/sw/airborne/arch/stm32/mcu_periph/adc_arch.c b/sw/airborne/arch/stm32/mcu_periph/adc_arch.c
index 3b84602616..117207edb9 100644
--- a/sw/airborne/arch/stm32/mcu_periph/adc_arch.c
+++ b/sw/airborne/arch/stm32/mcu_periph/adc_arch.c
@@ -374,13 +374,13 @@ static inline void adc_init_single(uint32_t adc,
   adc_set_injected_sequence(adc, num_channels, channels);
 
 #if USE_AD_TIM4
-#pragma message "Info: Using TIM4 for ADC"
+PRINT_CONFIG_MSG("Info: Using TIM4 for ADC")
   adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM4_TRGO);
 #elif USE_AD_TIM1
-#pragma message "Info: Using TIM1 for ADC"
+PRINT_CONFIG_MSG("Info: Using TIM1 for ADC")
   adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM1_TRGO);
 #else
-#pragma message "Info: Using default TIM2 for ADC"
+PRINT_CONFIG_MSG("Info: Using default TIM2 for ADC")
   adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM2_TRGO);
 #endif
 
diff --git a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c b/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c
index 3ac5635dc1..3a9dff8fd3 100644
--- a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c
+++ b/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c
@@ -176,10 +176,10 @@ void actuators_pwm_arch_init(void) {
 
 #if (!REMAP_SERVOS_5AND6 || USE_SERVOS_7AND8)
 #if !REMAP_SERVOS_5AND6
-#pragma message "Not remapping servos 5 and 6 using PB8 and PB9 -> TIM4"
+PRINT_CONFIG_MSG("Not remapping servos 5 and 6 using PB8 and PB9 -> TIM4")
 #endif
 #if USE_SERVOS_7AND8
-#pragma message "Enabeling sevros 7 and 8 on PB6, PB7 -> TIM4"
+PRINT_CONFIG_MSG("Enabling sevros 7 and 8 on PB6, PB7 -> TIM4")
 #endif
   /*---------------
    * Timer 4 setup
@@ -255,7 +255,7 @@ void actuators_pwm_arch_init(void) {
 #endif
 
 #if REMAP_SERVOS_5AND6
-#pragma message "Remapping servo outputs 5 and 6 to PA0,PA1 -> TIM5"
+PRINT_CONFIG_MSG("Remapping servo outputs 5 and 6 to PA0,PA1 -> TIM5")
   /*---------------
    * Timer 5 setup
    *---------------*/
diff --git a/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c b/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
index ea4b904f6f..ec3a8f4c55 100644
--- a/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
+++ b/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
@@ -82,10 +82,10 @@ typedef struct SpektrumStateStruct SpektrumStateType;
 
 SpektrumStateType PrimarySpektrumState = {1,0,0,0,0,0,0,0,0};
 #ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
-#pragma message "Using secondary spektrum receiver."
+PRINT_CONFIG_MSG("Using secondary spektrum receiver.")
 SpektrumStateType SecondarySpektrumState = {1,0,0,0,0,0,0,0,0};
 #else
-#pragma message "NOT using secondary spektrum receiver."
+PRINT_CONFIG_MSG("NOT using secondary spektrum receiver.")
 #endif
 
 int16_t SpektrumBuf[SPEKTRUM_CHANNELS_PER_FRAME*MAX_SPEKTRUM_FRAMES];
diff --git a/sw/airborne/boards/umarim/imu_umarim.c b/sw/airborne/boards/umarim/imu_umarim.c
index ac8172e6ad..248b178977 100644
--- a/sw/airborne/boards/umarim/imu_umarim.c
+++ b/sw/airborne/boards/umarim/imu_umarim.c
@@ -53,7 +53,7 @@ PRINT_CONFIG_VAR(UMARIM_ACCEL_RATE)
 #if !defined UMARIM_GYRO_LOWPASS && !defined  UMARIM_GYRO_SMPLRT_DIV
 #define UMARIM_GYRO_LOWPASS ITG3200_DLPF_20HZ
 #define UMARIM_GYRO_SMPLRT_DIV 19
-INFO("Gyro output rate is 50Hz")
+PRINT_CONFIG_MSG("Gyro output rate is 50Hz")
 #endif
 PRINT_CONFIG_VAR(UMARIM_GYRO_LOWPASS)
 PRINT_CONFIG_VAR(UMARIM_GYRO_SMPLRT_DIV)
diff --git a/sw/airborne/firmwares/fixedwing/autopilot.h b/sw/airborne/firmwares/fixedwing/autopilot.h
index 4305eb7f16..a7ae8e0d64 100644
--- a/sw/airborne/firmwares/fixedwing/autopilot.h
+++ b/sw/airborne/firmwares/fixedwing/autopilot.h
@@ -125,7 +125,7 @@ extern bool_t power_switch;
 #ifndef CONTROL_FREQUENCY
 #ifdef  CONTROL_RATE
 #define CONTROL_FREQUENCY CONTROL_RATE
-#pragma message "CONTROL_RATE is deprecated. Please use CONTROL_FREQUENCY instead. Defaults to 60Hz if not defined."
+#warning "CONTROL_RATE is deprecated. Please use CONTROL_FREQUENCY instead. Defaults to 60Hz if not defined."
 #else
 #define CONTROL_FREQUENCY 60
 #endif  // CONTROL_RATE
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index 9420588842..e4fb19b0cd 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -263,7 +263,7 @@ static inline uint8_t pprz_mode_update( void ) {
 #ifndef RADIO_AUTO_MODE
     return ModeUpdate(pprz_mode, PPRZ_MODE_OF_PULSE(fbw_state->channels[RADIO_MODE]));
 #else
-#pragma message "Using RADIO_AUTO_MODE to switch between AUTO1 and AUTO2."
+    INFO("Using RADIO_AUTO_MODE to switch between AUTO1 and AUTO2.")
     /* If RADIO_AUTO_MODE is enabled mode swithing will be seperated between two switches/channels
      * RADIO_MODE will switch between PPRZ_MODE_MANUAL and any PPRZ_MODE_AUTO mode selected by RADIO_AUTO_MODE.
      *
@@ -609,7 +609,7 @@ void event_task_ap( void ) {
 #endif
 
 #ifdef InsEvent
-#pragma message "calling InsEvent, remove me.."
+  TODO("calling InsEvent, remove me..")
   InsEvent(NULL);
 #endif
 
diff --git a/sw/airborne/modules/bat_checker/bat_checker.c b/sw/airborne/modules/bat_checker/bat_checker.c
index fc58a622af..7949d8bd9b 100644
--- a/sw/airborne/modules/bat_checker/bat_checker.c
+++ b/sw/airborne/modules/bat_checker/bat_checker.c
@@ -38,9 +38,9 @@
 #endif
 
 #ifndef BAT_CHECKER_DELAY
-#pragma message "BAT_CHECKER_DELAY is undefined. Falling back to 5 seconds."
 #define BAT_CHECKER_DELAY 5
 #endif
+PRINT_CONFIG_VAR(BAT_CHECKER_DELAY)
 
 // at this level, the buzzer will be activated periodically
 #define WARN_BAT_LEVEL1 (LOW_BAT_LEVEL*10)
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
index 63f60f9052..b53f0bdea0 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
@@ -261,7 +261,7 @@ void ahrs_update_accel(void)
   ahrs_impl.gps_age ++;
   if (ahrs_impl.gps_age < 50) {    //Remove centrifugal acceleration and longitudinal acceleration
 #if USE_AHRS_GPS_ACCELERATIONS
-#pragma message "AHRS_FLOAT_DCM uses GPS acceleration."
+PRINT_CONFIG_MSG("AHRS_FLOAT_DCM uses GPS acceleration.")
     accel_float.x += ahrs_impl.gps_acceleration;      // Longitudinal acceleration
 #endif
     accel_float.y += ahrs_impl.gps_speed * Omega[2];  // Centrifugal force on Acc_y = GPS_speed*GyroZ
@@ -505,7 +505,7 @@ void Drift_correction(void)
     Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I
   }
 #if USE_MAGNETOMETER_ONGROUND == 1
-#pragma message AHRS_FLOAT_DCM uses magnetometer prior to takeoff and GPS during flight
+PRINT_CONFIG_MSG("AHRS_FLOAT_DCM uses magnetometer prior to takeoff and GPS during flight")
   else if (launch == FALSE)
   {
     float COGX = imu.mag.x; // Non-Tilt-Compensated (for filter stability reasons)
diff --git a/sw/airborne/subsystems/imu.c b/sw/airborne/subsystems/imu.c
index 36666c8bbe..f3533687a0 100644
--- a/sw/airborne/subsystems/imu.c
+++ b/sw/airborne/subsystems/imu.c
@@ -39,7 +39,7 @@ void imu_init(void) {
   VECT3_ASSIGN(imu.mag_neutral,   IMU_MAG_X_NEUTRAL,   IMU_MAG_Y_NEUTRAL,   IMU_MAG_Z_NEUTRAL);
 #else
 #if USE_MAGNETOMETER
-#pragma message "Info: Magnetomter neutrals are set to zero!"
+INFO("Magnetomter neutrals are set to zero!")
 #endif
   INT_VECT3_ZERO(imu.mag_neutral);
 #endif
diff --git a/sw/airborne/subsystems/imu/imu_aspirin.c b/sw/airborne/subsystems/imu/imu_aspirin.c
index 39517dfba8..1bbc692a7f 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin.c
+++ b/sw/airborne/subsystems/imu/imu_aspirin.c
@@ -94,7 +94,7 @@ void imu_impl_init(void)
 #endif
 
 #if ASPIRIN_ARCH_INDEP
-#warning "Arch dependent functions (accel and gyro eoc interrupt) not used for aspirin!"
+TODO("Arch dependent functions (accel and gyro eoc interrupt) not used for aspirin!")
 #else
   imu_aspirin_arch_init();
 #endif
diff --git a/sw/airborne/subsystems/imu/imu_aspirin2.c b/sw/airborne/subsystems/imu/imu_aspirin2.c
index 3057b87be3..cd2f412923 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin2.c
+++ b/sw/airborne/subsystems/imu/imu_aspirin2.c
@@ -299,7 +299,7 @@ static void mpu_configure(void)
 
 #if !IMU_ASPIRIN_DISABLE_BARO
 #ifdef IMU_ASPIRIN_VERSION_2_1
-#pragma message "Reading the MS5611"
+PRINT_CONFIG_MSG("Reading the MS5611")
 /*
 
 
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_i2c.c b/sw/airborne/subsystems/imu/imu_aspirin_i2c.c
index ad2b404de0..b9c381714f 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin_i2c.c
+++ b/sw/airborne/subsystems/imu/imu_aspirin_i2c.c
@@ -68,10 +68,10 @@ PRINT_CONFIG_VAR(ASPIRIN_GYRO_LOWPASS)
 #ifndef ASPIRIN_GYRO_SMPLRT_DIV
 #  if PERIODIC_FREQUENCY <= 60
 #    define ASPIRIN_GYRO_SMPLRT_DIV 19
-     INFO("Gyro output rate is 50Hz")
+     PRINT_CONFIG_MSG("Gyro output rate is 50Hz")
 #  else
 #    define ASPIRIN_GYRO_SMPLRT_DIV 9
-     INFO("Gyro output rate is 100Hz")
+     PRINT_CONFIG_MSG("Gyro output rate is 100Hz")
 #  endif
 #endif
 PRINT_CONFIG_VAR(ASPIRIN_GYRO_SMPLRT_DIV)
diff --git a/sw/airborne/subsystems/imu/imu_ppzuav.c b/sw/airborne/subsystems/imu/imu_ppzuav.c
index bfce8c13a7..8d79810446 100644
--- a/sw/airborne/subsystems/imu/imu_ppzuav.c
+++ b/sw/airborne/subsystems/imu/imu_ppzuav.c
@@ -66,10 +66,10 @@ PRINT_CONFIG_VAR(IMU_PPZUAV_GYRO_LOWPASS)
 #ifndef IMU_PPZUAV_GYRO_SMPLRT_DIV
 #  if PERIODIC_FREQUENCY <= 60
 #    define IMU_PPZUAV_GYRO_SMPLRT_DIV 19
-     INFO("Gyro output rate is 50Hz")
+     PRINT_CONFIG_MSG("Gyro output rate is 50Hz")
 #  else
 #    define IMU_PPZUAV_GYRO_SMPLRT_DIV 9
-     INFO("Gyro output rate is 100Hz")
+     PRINT_CONFIG_MSG("Gyro output rate is 100Hz")
 #  endif
 #endif
      PRINT_CONFIG_VAR(IMU_PPZUAV_GYRO_SMPLRT_DIV)
diff --git a/sw/include/std.h b/sw/include/std.h
index e7e718956a..a4fad5f58b 100644
--- a/sw/include/std.h
+++ b/sw/include/std.h
@@ -40,7 +40,17 @@
 #define TODO(x) DO_PRAGMA(message ("TODO - " x))
 #define INFO(x) DO_PRAGMA(message ("Info: " x))
 #define INFO_VALUE(x,v) DO_PRAGMA(message ("Info: " x VALUE(v)))
+
+/* only if PRINT_CONFIG is true */
+#if PRINT_CONFIG
+#define PRINT_CONFIG_MSG(x) DO_PRAGMA(message ("Config: " x))
+#define PRINT_CONFIG_MSG_VALUE(x,v) DO_PRAGMA(message ("Config: " x VALUE(v))
 #define PRINT_CONFIG_VAR(var) DO_PRAGMA(message ("Config: " #var " = " VALUE(var)))
+#else
+#define PRINT_CONFIG_MSG(x)
+#define PRINT_CONFIG_MSG_VALUE(x,v)
+#define PRINT_CONFIG_VAR(var)
+#endif
 
 
 #ifndef FALSE