diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6e6be184ab..ee42c30777 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -415,6 +415,9 @@ endif()
 
 # optionally enable cmake testing (supported only on posix)
 option(CMAKE_TESTING "Configure test targets" OFF)
+if (${PX4_CONFIG} STREQUAL "px4_sitl_test")
+	set(CMAKE_TESTING ON)
+endif()
 if(CMAKE_TESTING)
 	include(CTest) # sets BUILD_TESTING variable
 endif()
diff --git a/Makefile b/Makefile
index 0c378cffe0..d88572e7af 100644
--- a/Makefile
+++ b/Makefile
@@ -344,7 +344,6 @@ format:
 .PHONY: rostest python_coverage
 
 tests:
-	$(eval CMAKE_ARGS += -DCMAKE_TESTING=ON)
 	$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
 	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)