diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5ddc25ed08f..d1c65c2c09d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -424,7 +424,7 @@ include(px4_add_gtest)
 
 if(unit_testing)
    include(gtest)
-   add_custom_target(unit_test COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} -V -R Test USES_TERMINAL)
+   add_custom_target(unit_test COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} -V -R UnitTest- USES_TERMINAL)
 endif()
 
 #=============================================================================
diff --git a/cmake/gtest/px4_add_gtest.cmake b/cmake/gtest/px4_add_gtest.cmake
index 42124acac32..2d50f089772 100644
--- a/cmake/gtest/px4_add_gtest.cmake
+++ b/cmake/gtest/px4_add_gtest.cmake
@@ -50,8 +50,10 @@ function(px4_add_gtest)
 			REQUIRED SRC
 			ARGN ${ARGN})
 
-		# infer test name from source filname without extension
+		# infer test name from source filname
 		get_filename_component(TESTNAME ${SRC} NAME_WE)
+		string(REPLACE Test "" TESTNAME ${TESTNAME})
+		set(TESTNAME UnitTest-${TESTNAME})
 
 		# build a binary for the unit test
 		add_executable(${TESTNAME} EXCLUDE_FROM_ALL ${SRC})