diff --git a/Makefile b/Makefile
index 3217920e7c..2af9b5dee8 100644
--- a/Makefile
+++ b/Makefile
@@ -338,12 +338,9 @@ format:
 # Testing
 # --------------------------------------------------------------------
 .PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
-.PHONY: rostest python_coverage test_mixer_multirotor
+.PHONY: rostest python_coverage
 
-test_mixer_multirotor:
-	@$(MAKE) -C "$(SRC_DIR)"/src/lib/mixer --no-print-directory tests
-
-tests: test_mixer_multirotor
+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"
diff --git a/platforms/posix/cmake/sitl_tests.cmake b/platforms/posix/cmake/sitl_tests.cmake
index fa537217bd..87aa14895c 100644
--- a/platforms/posix/cmake/sitl_tests.cmake
+++ b/platforms/posix/cmake/sitl_tests.cmake
@@ -150,6 +150,7 @@ add_custom_target(test_results
 		DEPENDS
 			px4
 			examples__dyn_hello
+			test_mixer_multirotor
 		USES_TERMINAL
 		COMMENT "Running tests in sitl"
 		WORKING_DIRECTORY ${PX4_BINARY_DIR})
diff --git a/src/lib/mixer/CMakeLists.txt b/src/lib/mixer/CMakeLists.txt
index 44b819c63e..7371ab3e14 100644
--- a/src/lib/mixer/CMakeLists.txt
+++ b/src/lib/mixer/CMakeLists.txt
@@ -94,3 +94,21 @@ add_library(mixer
 target_include_directories(mixer PRIVATE ${PX4_BINARY_DIR}/src/lib/mixer)
 
 add_dependencies(mixer mixer_gen mixer_gen_6dof prebuild_targets)
+
+
+if(BUILD_TESTING)
+
+	add_executable(test_mixer_multirotor
+		test_mixer_multirotor.cpp
+		mixer_multirotor.cpp
+		mixer.cpp
+	)
+	target_compile_definitions(test_mixer_multirotor PRIVATE MIXER_MULTIROTOR_USE_MOCK_GEOMETRY)
+	target_compile_options(test_mixer_multirotor PRIVATE -Wno-unused-result)
+
+	add_test(NAME mixer_multirotor
+		COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/mixer_multirotor.py --test --mixer-multirotor-binary $<TARGET_FILE:test_mixer_multirotor>
+		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+	)
+
+endif()
diff --git a/src/lib/mixer/Makefile b/src/lib/mixer/Makefile
deleted file mode 100644
index 94c91b2f54..0000000000
--- a/src/lib/mixer/Makefile
+++ /dev/null
@@ -1,13 +0,0 @@
-
-.PHONY: all tests clean
-all: test_mixer_multirotor
-
-test_mixer_multirotor: test_mixer_multirotor.cpp mixer_multirotor.cpp mixer.cpp
-	@g++ $^ -std=c++11 -I .. -DMIXER_MULTIROTOR_USE_MOCK_GEOMETRY -o $@
-
-tests: test_mixer_multirotor
-	@echo "Testing Mixer Multirotor"
-	@python mixer_multirotor.py --test --mixer-multirotor-binary ./$^
-
-clean:
-	@rm test_mixer_multirotor
diff --git a/src/lib/mixer/test_mixer_multirotor.cpp b/src/lib/mixer/test_mixer_multirotor.cpp
index 533a1e82d2..edba644f59 100644
--- a/src/lib/mixer/test_mixer_multirotor.cpp
+++ b/src/lib/mixer/test_mixer_multirotor.cpp
@@ -58,7 +58,6 @@ mixer_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, f
 int main(int argc, char *argv[])
 {
 	FILE *file_in = stdin;
-	FILE *file_out = stdout;
 
 	if (argc > 1) {
 		file_in = fopen(argv[1], "r");
@@ -79,7 +78,7 @@ int main(int argc, char *argv[])
 		return -1;
 	}
 
-	for (int i = 0; i < rotor_count; ++i) {
+	for (unsigned i = 0; i < rotor_count; ++i) {
 		fscanf(file_in, "%f %f %f %f", &rotors[i].roll_scale, &rotors[i].pitch_scale,
 		       &rotors[i].yaw_scale, &rotors[i].thrust_scale);
 	}
@@ -93,7 +92,7 @@ int main(int argc, char *argv[])
 	while (!feof(file_in)) {
 
 		// read actuator controls
-		int count = 0;
+		unsigned count = 0;
 
 		while (count < 4 && fscanf(file_in, "%f", &actuator_controls[count]) == 1) {
 			++count;
@@ -127,26 +126,26 @@ int main(int argc, char *argv[])
 
 		if (failed) {
 			printf("test %i failed:\n", test_counter + 1);
-			printf("control input  : %.3f %.3f %.3f %.3f\n", actuator_controls[0], actuator_controls[1],
-			       actuator_controls[2], actuator_controls[3]);
+			printf("control input  : %.3f %.3f %.3f %.3f\n", (double)actuator_controls[0], (double)actuator_controls[1],
+			       (double)actuator_controls[2], (double)actuator_controls[3]);
 			printf("mixer output   : ");
 
-			for (int i = 0; i < rotor_count; ++i) {
-				printf("%.3f ", actuator_outputs[i]);
+			for (unsigned i = 0; i < rotor_count; ++i) {
+				printf("%.3f ", (double)actuator_outputs[i]);
 			}
 
 			printf("\n");
 			printf("expected output: ");
 
-			for (int i = 0; i < rotor_count; ++i) {
-				printf("%.3f ", expected_output[i]);
+			for (unsigned i = 0; i < rotor_count; ++i) {
+				printf("%.3f ", (double)expected_output[i]);
 			}
 
 			printf("\n");
 			printf("diff           : ");
 
-			for (int i = 0; i < rotor_count; ++i) {
-				printf("%.3f ", expected_output[i] - actuator_outputs[i]);
+			for (unsigned i = 0; i < rotor_count; ++i) {
+				printf("%.3f ", (double)(expected_output[i] - actuator_outputs[i]));
 			}
 
 			printf("\n");