diff --git a/ogma-cli/CHANGELOG.md b/ogma-cli/CHANGELOG.md
index 64604a2..aa30029 100644
--- a/ogma-cli/CHANGELOG.md
+++ b/ogma-cli/CHANGELOG.md
@@ -1,6 +1,6 @@
 # Revision history for ogma-cli
 
-## [1.X.Y] - 2025-02-03
+## [1.X.Y] - 2025-02-04
 
 * Add all auxiliary test files to distributable Cabal package (#216).
 * Remove extraneous EOL character (#224).
@@ -8,6 +8,7 @@
 * Update README with new cFS template variables (#229).
 * Expose handlers-file argument to cFS backend (#234).
 * Expose template-vars argument to cFS backend (#106).
+* Document new template variables in README (#237).
 
 ## [1.6.0] - 2025-01-21
 
diff --git a/ogma-cli/README.md b/ogma-cli/README.md
index a1e30c3..3b469d0 100644
--- a/ogma-cli/README.md
+++ b/ogma-cli/README.md
@@ -246,6 +246,19 @@ contains an object key `"APP_NAME"` with the value `"Monitor"`, a file or
 directory in the template named `My_{{APP_NAME}}` will be expanded in the
 destination directory as `My_Monitor`.
 
+Using this flag, you can expand two more variables in the default template:
+
+- `{{impl_extra_header}}`: contains a list of lines to add at the top of the
+  CFS application implementation, after the default includes. The value
+assigned to this JSON key must be an array or list (each element will be
+expanded in a separate line).
+
+- `{{included_libraries}}`: contains a list of additional libraries that must
+  be included as dependencies in the `CMakeLists.txt` file for the moniroting
+application in order to be able to compile it. The value assigned this JSON key
+must be an array or list of dependencies, relative to the directory of the
+monitoring app).
+
 We understand that this level of customization may be insufficient for your
 application. If that is the case, feel free to reach out to our team to discuss
 how we could make the template expansion system more versatile.
diff --git a/ogma-core/CHANGELOG.md b/ogma-core/CHANGELOG.md
index 69246e4..c54f385 100644
--- a/ogma-core/CHANGELOG.md
+++ b/ogma-core/CHANGELOG.md
@@ -1,6 +1,6 @@
 # Revision history for ogma-core
 
-## [1.X.Y] - 2025-02-03
+## [1.X.Y] - 2025-02-04
 
 * Import liftIO from Control.Monad.IO.Class (#215).
 * Remove references to old design of Ogma from hlint files (#220).
@@ -11,6 +11,7 @@
 * Simplify Copilot struct definitions by using generics (#199).
 * Update cFS backend to process a handlers file (#234).
 * Update cFS backend to process a template variables file (#106).
+* Remove dependency on ICAROUS from generated cFS applications (#237).
 
 ## [1.6.0] - 2025-01-21
 
diff --git a/ogma-core/src/Command/CFSApp.hs b/ogma-core/src/Command/CFSApp.hs
index 75574af..5d24df6 100644
--- a/ogma-core/src/Command/CFSApp.hs
+++ b/ogma-core/src/Command/CFSApp.hs
@@ -93,7 +93,7 @@ cFSApp targetDir mTemplateDir varNameFile varDBFile handlersFile
   -- format).
   varDBE <- E.try $
                 case varDBFile of
-                  Nothing -> return knownVars
+                  Nothing -> return []
                   Just fn -> fmap read <$> lines <$> readFile fn
 
   handlersE <- parseOptionalRequirementsListFile handlersFile
@@ -144,11 +144,6 @@ cFSApp targetDir mTemplateDir varNameFile varDBFile handlersFile
 
             return Success
 
--- | Predefined list of Icarous variables that are known to Ogma
-knownVars :: [(String, String, String, String)]
-knownVars =
-  [ ("position", "position_t", "ICAROUS_POSITION_MID", "IcarousPosition") ]
-
 -- | Return the variable information needed to generate declarations
 -- and subscriptions for a given variable name and variable database.
 variableMap :: [(String, String, String, String)]
diff --git a/ogma-core/templates/copilot-cfs/CMakeLists.txt b/ogma-core/templates/copilot-cfs/CMakeLists.txt
index abc798d..21f6b48 100644
--- a/ogma-core/templates/copilot-cfs/CMakeLists.txt
+++ b/ogma-core/templates/copilot-cfs/CMakeLists.txt
@@ -2,7 +2,9 @@ cmake_minimum_required(VERSION 2.6.4)
 project(CFE_COPILOT_APP C)
 
 include_directories(../../Modules/Core/Interfaces)
-include_directories(../Icarouslib/fsw/platform_inc)
+{{#included_libraries}}
+include_directories({{{.}}})
+{{/included_libraries}}
 include_directories(../inc)
 include_directories(fsw/mission_inc)
 include_directories(fsw/platform_inc)
diff --git a/ogma-core/templates/copilot-cfs/fsw/src/copilot_cfs.c b/ogma-core/templates/copilot-cfs/fsw/src/copilot_cfs.c
index d4e9d7b..1825464 100644
--- a/ogma-core/templates/copilot-cfs/fsw/src/copilot_cfs.c
+++ b/ogma-core/templates/copilot-cfs/fsw/src/copilot_cfs.c
@@ -16,8 +16,9 @@
 #include "copilot_cfs_msg.h"
 #include "copilot_cfs_events.h"
 #include "copilot_cfs_version.h"
-#include "Icarous_msgids.h"
-#include "Icarous_msg.h"
+{{#impl_extra_header}}
+{{{.}}}
+{{/impl_extra_header}}
 
 {{#variables}}
 {{varDeclType}} {{varDeclName}};
@@ -151,7 +152,7 @@ void COPILOT_ProcessCommandPacket(void)
 
 {{#msgHandlers}}
 /**
-* Make ICAROUS data available to Copilot and run monitors.
+* Make received data available to Copilot and run monitors.
 */
 void COPILOT_Process{{msgDataDesc}}(void)
 {
diff --git a/ogma-core/templates/copilot-cfs/fsw/src/copilot_cfs.h b/ogma-core/templates/copilot-cfs/fsw/src/copilot_cfs.h
index a873220..f397187 100644
--- a/ogma-core/templates/copilot-cfs/fsw/src/copilot_cfs.h
+++ b/ogma-core/templates/copilot-cfs/fsw/src/copilot_cfs.h
@@ -41,7 +41,9 @@
 void COPILOT_AppMain(void);
 void COPILOT_AppInit(void);
 void COPILOT_ProcessCommandPacket(void);
-void COPILOT_ProcessIcarousPosition(void);
+{{#msgCases}}
+void COPILOT_Process{{msgInfoDesc}}(void);
+{{/msgCases}}
 void COPILOT_ResetCounters(void);
 
 boolean COPILOT_VerifyCmdLength(CFE_SB_MsgPtr_t msg, uint16 ExpectedLength);