diff --git a/Makefile b/Makefile
index 135ad6f2b..212e0edd4 100644
--- a/Makefile
+++ b/Makefile
@@ -68,7 +68,7 @@ upload: cargo-ver
 	cargo +esp espflash flash --package micro-rdk-server --monitor --partition-table micro-rdk-server/esp32/partitions.csv --baud 460800 -f 80mhz --bin micro-rdk-server-esp32 --target=xtensa-esp32-espidf -Zbuild-std=std,panic_abort
 
 test:
-	cargo test -p micro-rdk --lib --features native,ota
+	cargo test --workspace --tests --no-fail-fast --features native,ota
 
 clippy-native:
 	cargo clippy -p micro-rdk --no-deps --features native,ota  -- -Dwarnings
diff --git a/micro-rdk-nmea/src/lib.rs b/micro-rdk-nmea/src/lib.rs
index c5ebadc1c..02e8cdaf4 100644
--- a/micro-rdk-nmea/src/lib.rs
+++ b/micro-rdk-nmea/src/lib.rs
@@ -9,8 +9,8 @@ mod tests {
         messages::{
             message::Message,
             pgns::{
-                GnssPositionData, GnssSatsInView, TemperatureExtendedRange, WaterDepth,
-                MESSAGE_DATA_OFFSET,
+                GnssPositionData, NmeaMessage, NmeaMessageBody, TemperatureExtendedRange,
+                WaterDepth, MESSAGE_DATA_OFFSET,
             },
         },
         parse_helpers::{
@@ -157,10 +157,17 @@ mod tests {
         let res = general_purpose::STANDARD.decode_vec(msg_str, &mut data);
         assert!(res.is_ok());
 
-        let cursor = DataCursor::new(data[MESSAGE_DATA_OFFSET..].to_vec());
-        let message = GnssSatsInView::from_cursor(cursor);
-        assert!(message.is_ok());
+        let nmea_message = NmeaMessage::try_from(data);
+        assert!(nmea_message.is_ok());
+
+        let nmea_message = nmea_message.unwrap();
+        let message = match nmea_message.data {
+            NmeaMessageBody::GnssSatsInView(val) => Some(val),
+            _ => None,
+        };
+        assert!(message.is_some());
         let message = message.unwrap();
+
         println!("message: {:?}", message);
 
         let source_id = message.source_id();
diff --git a/micro-rdk-nmea/src/messages/pgns.rs b/micro-rdk-nmea/src/messages/pgns.rs
index 34b06d9ae..8bf219d9f 100644
--- a/micro-rdk-nmea/src/messages/pgns.rs
+++ b/micro-rdk-nmea/src/messages/pgns.rs
@@ -126,7 +126,7 @@ pub struct GnssSatsInView {
 }
 
 macro_rules! define_pgns {
-    ( $(($pgndef:ident, $pgn:expr)),* ) => {
+    ( $($pgndef:ident),* ) => {
         #[derive(Clone, Debug)]
         pub enum NmeaMessageBody {
             $($pgndef($pgndef)),*,
@@ -143,7 +143,7 @@ macro_rules! define_pgns {
 
             pub fn from_bytes(pgn: u32, bytes: Vec<u8>) -> Result<Self, crate::parse_helpers::errors::NmeaParseError> {
                 Ok(match pgn {
-                    $($pgn => {
+                    $($pgndef::PGN => {
                         let cursor = DataCursor::new(bytes);
                         Self::$pgndef($pgndef::from_cursor(cursor)?)
                     }),*,
@@ -163,15 +163,11 @@ macro_rules! define_pgns {
 
 pub const MESSAGE_DATA_OFFSET: usize = 32;
 
-define_pgns!(
-    (WaterDepth, 128267),
-    (TemperatureExtendedRange, 130316),
-    (GnssSatsInView, 129540)
-);
+define_pgns!(WaterDepth, TemperatureExtendedRange, GnssSatsInView);
 
 pub struct NmeaMessage {
-    metadata: NmeaMessageMetadata,
-    data: NmeaMessageBody,
+    pub metadata: NmeaMessageMetadata,
+    pub data: NmeaMessageBody,
 }
 
 impl TryFrom<Vec<u8>> for NmeaMessage {
diff --git a/micro-rdk/src/common/conn/server.rs b/micro-rdk/src/common/conn/server.rs
index e37f762aa..ddb37ff44 100755
--- a/micro-rdk/src/common/conn/server.rs
+++ b/micro-rdk/src/common/conn/server.rs
@@ -117,6 +117,7 @@ impl IncomingConnectionManager {
         Self { connections }
     }
 
+    #[allow(dead_code)]
     pub(crate) fn max_connections(&self) -> usize {
         self.connections.len()
     }
diff --git a/micro-rdk/src/common/robot.rs b/micro-rdk/src/common/robot.rs
index 3f73d3a4f..00cf06620 100755
--- a/micro-rdk/src/common/robot.rs
+++ b/micro-rdk/src/common/robot.rs
@@ -504,6 +504,7 @@ impl LocalRobot {
     }
 
     pub fn get_periodic_app_client_tasks(&mut self) -> Vec<Box<dyn PeriodicAppClientTask>> {
+        #[allow(unused_mut)]
         let mut tasks = Vec::<Box<dyn PeriodicAppClientTask>>::new();
 
         #[cfg(feature = "data")]
diff --git a/micro-rdk/src/common/sensor.rs b/micro-rdk/src/common/sensor.rs
index a0e18f41e..45615dfab 100755
--- a/micro-rdk/src/common/sensor.rs
+++ b/micro-rdk/src/common/sensor.rs
@@ -61,8 +61,7 @@ pub(crate) fn register_models(registry: &mut ComponentRegistry) {
     }
 }
 
-pub type GenericReadingsResult =
-    ::std::collections::HashMap<::prost::alloc::string::String, google::protobuf::Value>;
+pub type GenericReadingsResult = HashMap<::prost::alloc::string::String, google::protobuf::Value>;
 
 #[cfg(feature = "data")]
 impl From<GenericReadingsResult> for Data {