diff --git a/Makefile b/Makefile
index 1ae9ec2ce4..3ba6dbe24e 100644
--- a/Makefile
+++ b/Makefile
@@ -287,6 +287,12 @@ tests:
 	UBSAN_OPTIONS="color=always"
 
 tests_coverage:
+	@$(MAKE) clean
+	@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
 	@echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"
 
@@ -294,14 +300,12 @@ rostest: posix_sitl_default
 	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo
 
 tests_mission: rostest
-	@test/rostest_px4_run.sh mavros_posix_tests_missions.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
 
 tests_offboard: rostest
 	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
 	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 
-
-
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
 .PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack