diff --git a/CMakeLists.txt b/CMakeLists.txt
index cb40e26499de..b25659fd09e9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -299,10 +299,6 @@ if (${PX4_PLATFORM} STREQUAL "posix")
 	if (NOT CMAKE_INSTALL_PREFIX)
 		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
 	endif()
-
-	# cmake testing only on posix
-	enable_testing()
-	include(CTest)
 endif()
 
 #=============================================================================
@@ -417,14 +413,18 @@ endif()
 # Testing - Automatic unit and integration testing with CTest
 #
 
-option(unit_testing "Configure unit test targets" OFF)
+# optionally enable cmake testing (supported only on posix)
+option(testing "Configure unit test targets" OFF)
+if(testing)
+	include(CTest)
+endif()
 
 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
 include(px4_add_gtest)
 
-if(unit_testing)
-   include(gtest)
-   add_custom_target(unit_test COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} -V -R UnitTest- USES_TERMINAL)
+if(BUILD_TESTING)
+	include(gtest)
+	add_custom_target(unit_test COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} -V -R UnitTest- USES_TERMINAL)
 endif()
 
 #=============================================================================
diff --git a/Makefile b/Makefile
index 6f60f7ea029e..25d074549833 100644
--- a/Makefile
+++ b/Makefile
@@ -337,18 +337,18 @@ format:
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance unit_test
+.PHONY: test tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance unit_test
 .PHONY: rostest python_coverage
 
-unit_test:
-	$(eval CMAKE_ARGS += -Dunit_testing=ON)
+test:
+	$(eval CMAKE_ARGS += -Dtesting=ON)
 	$(eval ARGS += unit_test)
 	$(call cmake-build,px4_sitl_default)
 
 tests:
-	@$(MAKE) --no-print-directory px4_sitl_test test_results \
-	ASAN_OPTIONS="color=always:check_initialization_order=1:detect_stack_use_after_return=1" \
-	UBSAN_OPTIONS="color=always"
+	$(eval CMAKE_ARGS += -Dtesting=ON)
+	$(eval ARGS += test_results)
+	$(call cmake-build,px4_sitl_default)
 
 tests_coverage:
 	@$(MAKE) clean
diff --git a/cmake/gtest/px4_add_gtest.cmake b/cmake/gtest/px4_add_gtest.cmake
index 2d50f089772e..5125104e7c4f 100644
--- a/cmake/gtest/px4_add_gtest.cmake
+++ b/cmake/gtest/px4_add_gtest.cmake
@@ -41,7 +41,7 @@ include(px4_base)
 #
 function(px4_add_gtest)
 	# skip if unit testing is not configured
-	if(unit_testing)
+	if(BUILD_TESTING)
 		# parse source file and library dependencies from arguments
 		px4_parse_function_args(
 			NAME px4_add_gtest