diff --git a/Makefile b/Makefile
index f1a3598b5f..bfa2063099 100644
--- a/Makefile
+++ b/Makefile
@@ -37,10 +37,6 @@ SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
 FLASH_SIZE ?=
 
-## V                 : Set verbosity level based on the V= parameter
-##                     V=0 Low
-##                     V=1 High
-include build_verbosity.mk
 
 ###############################################################################
 # Things that need to be maintained as the source changes
@@ -58,6 +54,11 @@ INCLUDE_DIRS    = $(SRC_DIR) \
                   $(ROOT)/src/main/target
 LINKER_DIR      = $(ROOT)/src/main/target/link
 
+## V                 : Set verbosity level based on the V= parameter
+##                     V=0 Low
+##                     V=1 High
+include $(ROOT)/make/build_verbosity.mk
+
 # Build tools, so we all share the same versions
 # import macros common to all supported build systems
 include $(ROOT)/make/system-id.mk
diff --git a/build_verbosity.mk b/make/build_verbosity.mk
similarity index 100%
rename from build_verbosity.mk
rename to make/build_verbosity.mk
diff --git a/src/test/Makefile b/src/test/Makefile
index f33bc3e12d..c31d875f38 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -8,6 +8,163 @@
 #   make TARGET - makes the given target.
 #   make clean  - removes all files generated by make.
 
+
+# Where to find user code.
+USER_DIR = ../main
+
+
+# specify which files that are included in the test in addition to the unittest file.
+# variables available:
+#   <test_name>_SRC 
+#   <test_name>_DEFINES 
+
+
+alignsensor_unittest_SRC := \
+		$(USER_DIR)/sensors/boardalignment.c \
+		$(USER_DIR)/common/maths.c
+
+
+altitude_hold_unittest_SRC :=  \
+		$(USER_DIR)/flight/altitudehold.c
+
+
+baro_bmp085_unittest_SRC := \
+		$(USER_DIR)/drivers/barometer_bmp085.c \
+		$(USER_DIR)/drivers/io.c
+
+
+baro_bmp280_unittest_SRC := \
+		$(USER_DIR)/drivers/barometer_bmp280.c
+
+
+baro_ms5611_unittest_SRC := \
+		$(USER_DIR)/drivers/barometer_ms5611.c
+
+
+battery_unittest_SRC := \
+		$(USER_DIR)/sensors/battery.c \
+		$(USER_DIR)/common/maths.c
+
+
+cms_unittest_SRC := \
+		$(USER_DIR)/cms/cms.c \
+		$(USER_DIR)/common/typeconversion.c \
+		$(USER_DIR)/drivers/display.c
+
+
+common_filter_unittest_SRC := \
+		$(USER_DIR)/common/filter.c
+
+
+encoding_unittest_SRC := \
+		$(USER_DIR)/common/encoding.c
+
+
+flight_failsafe_unittest_SRC := \
+		$(USER_DIR)/flight/failsafe.c
+
+
+flight_imu_unittest_SRC := \
+		$(USER_DIR)/flight/imu.c \
+		$(USER_DIR)/flight/altitudehold.c \
+		$(USER_DIR)/common/maths.c
+
+
+flight_mixer_unittest :=  \
+		$(USER_DIR)/flight/mixer.c \
+		$(USER_DIR)/flight/servos.c \
+		$(USER_DIR)/common/maths.c
+
+
+gps_conversion_unittest_SRC := \
+		$(USER_DIR)/common/gps_conversion.c
+
+
+io_serial_unittest_SRC := \
+		$(USER_DIR)/io/serial.c
+
+
+ledstrip_unittest_SRC := \
+		$(USER_DIR)/io/ledstrip.c
+
+
+maths_unittest_SRC := \
+		$(USER_DIR)/common/maths.c
+
+
+parameter_groups_unittest_SRC := \
+		$(USER_DIR)/config/parameter_group.c
+
+
+rc_controls_unittest_SRC := \
+		$(USER_DIR)/fc/rc_controls.c \
+		$(USER_DIR)/common/maths.c
+
+
+rx_crsf_unittest_SRC := \
+		$(USER_DIR)/rx/crsf.c \
+		$(USER_DIR)/common/maths.c
+
+
+rx_ibus_unittest_SRC := \
+		$(USER_DIR)/rx/ibus.c
+
+
+rx_ranges_unittest_SRC := \
+		$(USER_DIR)/rx/rx.c \
+		$(USER_DIR)/common/maths.c
+
+
+rx_rx_unittest_SRC := \
+		$(USER_DIR)/rx/rx.c \
+		$(USER_DIR)/common/maths.c
+
+
+sensor_gyro_unittest_SRC := \
+		$(USER_DIR)/sensors/gyro.c \
+		$(USER_DIR)/sensors/boardalignment.c \
+		$(USER_DIR)/build/debug.c \
+		$(USER_DIR)/common/filter.c \
+		$(USER_DIR)/common/maths.c \
+		$(USER_DIR)/drivers/accgyro_fake.c \
+		$(USER_DIR)/drivers/gyro_sync.c
+
+
+telemetry_crsf_unittest_SRC := \
+		$(USER_DIR)/rx/crsf.c \
+		$(USER_DIR)/telemetry/crsf.c \
+		$(USER_DIR)/common/maths.c \
+		$(USER_DIR)/common/streambuf.c \
+		$(USER_DIR)/common/gps_conversion.c \
+		$(USER_DIR)/fc/runtime_config.c
+
+telemetry_crsf_unittest_DEFINES := \
+		FLASH_SIZE=128 \
+		STM32F10X_MD \
+		__TARGET__="TEST" \
+		__REVISION__="revision"
+
+
+telemetry_hott_unittest_SRC := \
+		$(USER_DIR)/telemetry/hott.c \
+		$(USER_DIR)/common/gps_conversion.c
+
+
+telemetry_ibus_unittest_SRC := \
+		$(USER_DIR)/telemetry/ibus_shared.c \
+		$(USER_DIR)/telemetry/ibus.c
+
+
+type_conversion_unittest_SRC := \
+		$(USER_DIR)/common/typeconversion.c
+
+
+ws2811_unittest_SRC := \
+		$(USER_DIR)/drivers/light_ws2811strip.c
+
+
+
+
 # Please tweak the following variable definitions as needed by your
 # project, except GTEST_HEADERS, which you can use in your own targets
 # but shouldn't modify.
@@ -16,8 +173,7 @@
 # Remember to tweak this if you move this file.
 GTEST_DIR = ../../lib/test/gtest
 
-# Where to find user code.
-USER_DIR = ../main
+
 TEST_DIR = unit
 USER_INCLUDE_DIR = $(USER_DIR)
 
@@ -30,9 +186,9 @@ CXX := clang++
 COMMON_FLAGS = \
 	-g \
 	-Wall \
-	-pthread \
 	-Wextra \
 	-ggdb3 \
+	-pthread \
 	-O0 \
 	-DUNIT_TEST \
 	-isystem $(GTEST_DIR)/inc \
@@ -63,7 +219,6 @@ endif
 # Gather up all of the tests.
 TEST_SRC = $(sort $(wildcard $(TEST_DIR)/*.cc))
 TESTS = $(TEST_SRC:$(TEST_DIR)/%.cc=%)
-TEST_BINARIES = $(TESTS:%=$(OBJECT_DIR)/%)
 
 # All Google Test headers.  Usually you shouldn't change this
 # definition.
@@ -72,12 +227,38 @@ GTEST_HEADERS = $(GTEST_DIR)/inc/gtest/*.h
 ## V                 : Set verbosity level based on the V= parameter
 ##                     V=0 Low
 ##                     V=1 High
-include ../../build_verbosity.mk
+include ../../make/build_verbosity.mk
 
 # House-keeping build targets.
 
-## all         : Build all Unit Tests (Default goal)
-all : $(TEST_BINARIES)
+## test        : Build and run the Unit Tests (default goal)
+test: $(TESTS:%=test-%)
+
+## junittest   : Build and run the Unit Tests, producing Junit XML result files."
+junittest: EXEC_OPTS = "--gtest_output=xml:$<_results.xml" 
+junittest: $(TESTS:%=test-%)
+
+
+
+## help        : print this help message and exit
+## what        : print this help message and exit
+## usage       : print this help message and exit
+help what usage: Makefile
+	@echo ""
+	@echo "Makefile for Unit Tests"
+	@echo ""
+	@echo "Usage:"
+	@echo "        make [goal] "
+	@echo ""
+	@echo "Valid goals are:"
+	@echo ""
+	@sed -n 's/^## //p' $<
+	@echo ""
+	@echo "Any of the Unit Test programs can be used as goals to build:"
+	@$(foreach test, $(TESTS), echo "    $(OBJECT_DIR)/$(test)/$(test)";)
+	@echo ""
+	@echo "Any of the Unit Test programs can be used as goals to build and run:"
+	@$(foreach test, $(TESTS), echo "    test-$(test)";)
 
 ## clean       : Cleanup the UnitTest binaries.
 clean :
@@ -124,1010 +305,56 @@ TEST_INCLUDE_DIRS := $(TEST_DIR) \
 
 TEST_CFLAGS	 = $(addprefix -I,$(TEST_INCLUDE_DIRS))
 
-DEPS = $(TEST_BINARIES:%=%.d)
 
 
 
-$(OBJECT_DIR)/common/maths.o : \
-	$(USER_DIR)/common/maths.c \
-	$(USER_DIR)/common/maths.h \
-	$(GTEST_HEADERS)
+# canned recipe for all test builds
+# param $1 = testname
+define test-specific-stuff
 
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/maths.c -o $@
+$$1_OBJS = $$(patsubst $$(USER_DIR)%,$$(OBJECT_DIR)/$1%,$$($1_SRC:=.o)) 
 
-$(OBJECT_DIR)/maths_unittest.o : \
-	$(TEST_DIR)/maths_unittest.cc \
-	$(GTEST_HEADERS)
+# $$(info $1 -v-v-------)
+# $$(info $1_SRC:  $($1_SRC))
+# $$(info $1_OBJS: $$($$1_OBJS))
+# $$(info $1 -^-^-------)
 
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/maths_unittest.cc -o $@
 
-$(OBJECT_DIR)/maths_unittest : \
-	$(OBJECT_DIR)/maths_unittest.o \
-	$(OBJECT_DIR)/common/maths.o \
+#include generated dependencies
+-include $$($$1_OBJS:.o=.d)
+-include $(OBJECT_DIR)/$1/$1.d
+
+
+$(OBJECT_DIR)/$1/%.c.o: $(USER_DIR)/%.c
+	@echo "compiling $$<" "$(STDOUT)"
+	$(V1) mkdir -p $$(dir $$@)
+	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) \
+                $(foreach def,$1_DEFINES,-D $(def)) \
+                -c $$< -o $$@
+
+
+$(OBJECT_DIR)/$1/$1.o: $(TEST_DIR)/$1.cc
+	@echo "compiling $$<" "$(STDOUT)"
+	$(V1) mkdir -p $$(dir $$@)
+	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS)  \
+                 $(foreach def,$1_DEFINES,-D $(def)) \
+                 -c $$< -o $$@
+
+
+$(OBJECT_DIR)/$1/$1 : $$($$1_OBJS) \
+    $(OBJECT_DIR)/$1/$1.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+	@echo "linking $$@" "$(STDOUT)"
+	$(V1) mkdir -p $(dir $$@)
+	$(V1) $(CXX) $(CXX_FLAGS) $(PG_FLAGS) $$^ -o $$@
 
--include $(OBJECT_DIR)/maths_unittest.d \
-         $(OBJECT_DIR)/common/maths.d
 
+test-$1: $(OBJECT_DIR)/$1/$1
+	$(V1) $$< $(EXEC_OPTS) "$(STDOUT)" && echo "running $$@: PASS" 
 
-$(OBJECT_DIR)/common/filter.o : \
-	$(USER_DIR)/common/filter.c \
-	$(USER_DIR)/common/filter.h \
-	$(GTEST_HEADERS)
+endef
 
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/filter.c -o $@
+#apply the canned recipe above to all tests
+$(eval $(foreach test,$(TESTS),$(call test-specific-stuff,$(test))))
 
-$(OBJECT_DIR)/common_filter_unittest.o : \
-	$(TEST_DIR)/common_filter_unittest.cc \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/common_filter_unittest.cc -o $@
-
-$(OBJECT_DIR)/common_filter_unittest : \
-	$(OBJECT_DIR)/common_filter_unittest.o \
-	$(OBJECT_DIR)/common/filter.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/common_filter_unittest.d \
-         $(OBJECT_DIR)/common/filter.d
-
-
-$(OBJECT_DIR)/common/encoding.o : $(USER_DIR)/common/encoding.c $(USER_DIR)/common/encoding.h $(GTEST_HEADERS)
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/encoding.c -o $@
-
-$(OBJECT_DIR)/encoding_unittest.o : \
-	$(TEST_DIR)/encoding_unittest.cc \
-	$(USER_DIR)/common/encoding.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/encoding_unittest.cc -o $@
-
-$(OBJECT_DIR)/encoding_unittest : \
-	$(OBJECT_DIR)/common/encoding.o \
-	$(OBJECT_DIR)/encoding_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/common/encoding.d \
-         $(OBJECT_DIR)/encoding_unittest.d
-
-
-$(OBJECT_DIR)/common/typeconversion.o : \
-	$(USER_DIR)/common/typeconversion.c \
-	$(USER_DIR)/common/typeconversion.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/typeconversion.c -o $@
-
-$(OBJECT_DIR)/type_conversion_unittest.o : \
-	$(TEST_DIR)/type_conversion_unittest.cc \
-	$(USER_DIR)/common/typeconversion.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/type_conversion_unittest.cc -o $@
-
-$(OBJECT_DIR)/type_conversion_unittest : \
-	$(OBJECT_DIR)/common/typeconversion.o \
-	$(OBJECT_DIR)/type_conversion_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/common/typeconversion.d \
-         $(OBJECT_DIR)/type_conversion_unittest.d
-
-
-$(OBJECT_DIR)/fc/runtime_config.o : \
-	$(USER_DIR)/fc/runtime_config.c \
-	$(USER_DIR)/fc/runtime_config.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -D'FLASH_SIZE = 128' -DSTM32F10X_MD -c $(USER_DIR)/fc/runtime_config.c -o $@
-
-$(OBJECT_DIR)/flight/imu.o : \
-	$(USER_DIR)/flight/imu.c \
-	$(USER_DIR)/flight/imu.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/imu.c -o $@
-
-$(OBJECT_DIR)/flight_imu_unittest.o : \
-	$(TEST_DIR)/flight_imu_unittest.cc \
-	$(USER_DIR)/flight/imu.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_imu_unittest.cc -o $@
-
-$(OBJECT_DIR)/flight_imu_unittest : \
-	$(OBJECT_DIR)/flight/imu.o \
-	$(OBJECT_DIR)/flight/altitudehold.o \
-	$(OBJECT_DIR)/flight_imu_unittest.o \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/flight/imu.d \
-         $(OBJECT_DIR)/flight/altitudehold.d \
-         $(OBJECT_DIR)/flight_imu_unittest.d \
-         $(OBJECT_DIR)/common/maths.d
-
-
-$(OBJECT_DIR)/flight/altitudehold.o : \
-	$(USER_DIR)/flight/altitudehold.c \
-	$(USER_DIR)/flight/altitudehold.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/altitudehold.c -o $@
-
-$(OBJECT_DIR)/altitude_hold_unittest.o : \
-	$(TEST_DIR)/altitude_hold_unittest.cc \
-	$(USER_DIR)/flight/altitudehold.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/altitude_hold_unittest.cc -o $@
-
-$(OBJECT_DIR)/altitude_hold_unittest : \
-	$(OBJECT_DIR)/flight/altitudehold.o \
-	$(OBJECT_DIR)/altitude_hold_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/flight/altitudehold.d \
-         $(OBJECT_DIR)/altitude_hold_unittest.d
-
-
-$(OBJECT_DIR)/common/gps_conversion.o : \
-	$(USER_DIR)/common/gps_conversion.c \
-	$(USER_DIR)/common/gps_conversion.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/gps_conversion.c -o $@
-
-$(OBJECT_DIR)/gps_conversion_unittest.o : \
-	$(TEST_DIR)/gps_conversion_unittest.cc \
-	$(USER_DIR)/common/gps_conversion.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/gps_conversion_unittest.cc -o $@
-
-$(OBJECT_DIR)/gps_conversion_unittest : \
-	$(OBJECT_DIR)/common/gps_conversion.o \
-	$(OBJECT_DIR)/gps_conversion_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/common/gps_conversion.d \
-         $(OBJECT_DIR)/gps_conversion_unittest.d
-
-
-$(OBJECT_DIR)/flight/mixer.o : \
-	$(USER_DIR)/flight/mixer.c \
-	$(USER_DIR)/flight/mixer.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/mixer.c -o $@
-
-$(OBJECT_DIR)/flight/servos.o : \
-	$(USER_DIR)/flight/servos.c \
-	$(USER_DIR)/flight/servos.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/servos.c -o $@
-
-$(OBJECT_DIR)/flight_mixer_unittest.o : \
-	$(TEST_DIR)/flight_mixer_unittest.cc \
-	$(USER_DIR)/flight/mixer.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_mixer_unittest.cc -o $@
-
-$(OBJECT_DIR)/flight_mixer_unittest : \
-	$(OBJECT_DIR)/flight/mixer.o \
-	$(OBJECT_DIR)/flight/servos.o \
-	$(OBJECT_DIR)/flight_mixer_unittest.o \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/flight/mixer.d \
-         $(OBJECT_DIR)/flight/servos.d \
-         $(OBJECT_DIR)/flight_mixer_unittest.d \
-         $(OBJECT_DIR)/common/maths.d
-
-
-$(OBJECT_DIR)/flight/failsafe.o : \
-	$(USER_DIR)/flight/failsafe.c \
-	$(USER_DIR)/flight/failsafe.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/failsafe.c -o $@
-
-$(OBJECT_DIR)/flight_failsafe_unittest.o : \
-	$(TEST_DIR)/flight_failsafe_unittest.cc \
-	$(USER_DIR)/flight/failsafe.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_failsafe_unittest.cc -o $@
-
-$(OBJECT_DIR)/flight_failsafe_unittest : \
-	$(OBJECT_DIR)/flight/failsafe.o \
-	$(OBJECT_DIR)/flight_failsafe_unittest.o \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/flight/failsafe.d \
-         $(OBJECT_DIR)/flight_failsafe_unittest.d \
-         $(OBJECT_DIR)/common/maths.d
-
-
-$(OBJECT_DIR)/telemetry/hott.o : \
-	$(USER_DIR)/telemetry/hott.c \
-	$(USER_DIR)/telemetry/hott.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/telemetry/hott.c -o $@
-
-$(OBJECT_DIR)/telemetry_hott_unittest.o : \
-	$(TEST_DIR)/telemetry_hott_unittest.cc \
-	$(USER_DIR)/telemetry/hott.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_hott_unittest.cc -o $@
-
-$(OBJECT_DIR)/telemetry_hott_unittest : \
-	$(OBJECT_DIR)/telemetry/hott.o \
-	$(OBJECT_DIR)/telemetry_hott_unittest.o \
-	$(OBJECT_DIR)/common/gps_conversion.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/telemetry/hott.d \
-         $(OBJECT_DIR)/telemetry_hott_unittest.d \
-         $(OBJECT_DIR)/common/gps_conversion.d
-
-
-$(OBJECT_DIR)/fc/rc_controls.o : \
-	$(USER_DIR)/fc/rc_controls.c \
-	$(USER_DIR)/fc/rc_controls.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/fc/rc_controls.c -o $@
-
-$(OBJECT_DIR)/rc_controls_unittest.o : \
-	$(TEST_DIR)/rc_controls_unittest.cc \
-	$(USER_DIR)/fc/rc_controls.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rc_controls_unittest.cc -o $@
-
-$(OBJECT_DIR)/rc_controls_unittest : \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/fc/rc_controls.o \
-	$(OBJECT_DIR)/rc_controls_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/common/maths.d \
-         $(OBJECT_DIR)/fc/rc_controls.d \
-         $(OBJECT_DIR)/rc_controls_unittest.d
-
-
-$(OBJECT_DIR)/io/ledstrip.o : \
-	$(USER_DIR)/io/ledstrip.c \
-	$(USER_DIR)/io/ledstrip.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/ledstrip.c -o $@
-
-$(OBJECT_DIR)/ledstrip_unittest.o : \
-	$(TEST_DIR)/ledstrip_unittest.cc \
-	$(USER_DIR)/io/ledstrip.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ledstrip_unittest.cc -o $@
-
-$(OBJECT_DIR)/ledstrip_unittest : \
-	$(OBJECT_DIR)/io/ledstrip.o \
-	$(OBJECT_DIR)/ledstrip_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/io/ledstrip.d \
-         $(OBJECT_DIR)/ledstrip_unittest.d
-
-
-$(OBJECT_DIR)/drivers/light_ws2811strip.o : \
-	$(USER_DIR)/drivers/light_ws2811strip.c \
-	$(USER_DIR)/drivers/light_ws2811strip.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/light_ws2811strip.c -o $@
-
-$(OBJECT_DIR)/ws2811_unittest.o : \
-	$(TEST_DIR)/ws2811_unittest.cc \
-	$(USER_DIR)/drivers/light_ws2811strip.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ws2811_unittest.cc -o $@
-
-$(OBJECT_DIR)/ws2811_unittest : \
-	$(OBJECT_DIR)/drivers/light_ws2811strip.o \
-	$(OBJECT_DIR)/ws2811_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/drivers/light_ws2811strip.d \
-         $(OBJECT_DIR)/ws2811_unittest.d
-
-
-$(OBJECT_DIR)/io/serial.o : \
-	$(USER_DIR)/io/serial.c \
-	$(USER_DIR)/io/serial.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/serial.c -o $@
-
-$(OBJECT_DIR)/io_serial_unittest.o : \
-	$(TEST_DIR)/io_serial_unittest.cc \
-	$(USER_DIR)/io/serial.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/io_serial_unittest.cc -o $@
-
-$(OBJECT_DIR)/io_serial_unittest : \
-	$(OBJECT_DIR)/io/serial.o \
-	$(OBJECT_DIR)/io_serial_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/io/serial.d \
-         $(OBJECT_DIR)/io_serial_unittest.d
-
-
-$(OBJECT_DIR)/rx/rx.o : \
-	$(USER_DIR)/rx/rx.c \
-	$(USER_DIR)/rx/rx.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/rx/rx.c -o $@
-
-$(OBJECT_DIR)/rx_rx_unittest.o : \
-	$(TEST_DIR)/rx_rx_unittest.cc \
-	$(USER_DIR)/rx/rx.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rx_rx_unittest.cc -o $@
-
-$(OBJECT_DIR)/rx_rx_unittest : \
-	$(OBJECT_DIR)/rx/rx.o \
-	$(OBJECT_DIR)/rx_rx_unittest.o \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/rx/rx.d \
-         $(OBJECT_DIR)/rx_rx_unittest.d \
-         $(OBJECT_DIR)/common/maths.d
-
-
-$(OBJECT_DIR)/rx/crsf.o : \
-	$(USER_DIR)/rx/crsf.c \
-	$(USER_DIR)/rx/crsf.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/rx/crsf.c -o $@
-
-$(OBJECT_DIR)/rx_crsf_unittest.o : \
-	$(TEST_DIR)/rx_crsf_unittest.cc \
-	$(USER_DIR)/rx/crsf.h \
-	$(USER_DIR)/rx/crsf.c \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rx_crsf_unittest.cc -o $@
-
-$(OBJECT_DIR)/rx_crsf_unittest : \
-	$(OBJECT_DIR)/rx/crsf.o \
-	$(OBJECT_DIR)/rx_crsf_unittest.o \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/rx/crsf.d \
-         $(OBJECT_DIR)/rx_crsf_unittest.d \
-         $(OBJECT_DIR)/common/maths.d
-
-
-$(OBJECT_DIR)/telemetry/crsf.o : \
-	$(USER_DIR)/telemetry/crsf.c \
-	$(USER_DIR)/telemetry/crsf.h \
-	$(USER_DIR)/rx/crsf.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/telemetry/crsf.c -o $@
-
-$(OBJECT_DIR)/telemetry_crsf_unittest.o : \
-	$(TEST_DIR)/telemetry_crsf_unittest.cc \
-	$(USER_DIR)/telemetry/crsf.h \
-	$(USER_DIR)/telemetry/crsf.c \
-	$(USER_DIR)/rx/crsf.c \
-	$(USER_DIR)/rx/crsf.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_crsf_unittest.cc -o $@
-
-$(OBJECT_DIR)/telemetry_crsf_unittest : \
-	$(OBJECT_DIR)/rx/crsf.o \
-	$(OBJECT_DIR)/telemetry/crsf.o \
-	$(OBJECT_DIR)/telemetry_crsf_unittest.o \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/common/streambuf.o \
-	$(OBJECT_DIR)/common/gps_conversion.o \
-	$(OBJECT_DIR)/fc/runtime_config.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/rx/crsf.d \
-         $(OBJECT_DIR)/telemetry/crsf.d \
-         $(OBJECT_DIR)/telemetry_crsf_unittest.d \
-         $(OBJECT_DIR)/common/maths.d \
-         $(OBJECT_DIR)/common/streambuf.d \
-         $(OBJECT_DIR)/common/gps_conversion.d \
-         $(OBJECT_DIR)/fc/runtime_config.d
-
-
-$(OBJECT_DIR)/rx_ranges_unittest.o : \
-	$(TEST_DIR)/rx_ranges_unittest.cc \
-	$(USER_DIR)/rx/rx.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rx_ranges_unittest.cc -o $@
-
-$(OBJECT_DIR)/rx_ranges_unittest : \
-	$(OBJECT_DIR)/rx/rx.o \
-	$(OBJECT_DIR)/rx_ranges_unittest.o \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/rx/rx.d \
-         $(OBJECT_DIR)/rx_ranges_unittest.d \
-         $(OBJECT_DIR)/common/maths.d
-
-
-$(OBJECT_DIR)/sensors/battery.o : $(USER_DIR)/sensors/battery.c $(USER_DIR)/sensors/battery.h $(GTEST_HEADERS)
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/battery.c -o $@
-
-$(OBJECT_DIR)/battery_unittest.o : \
-	$(TEST_DIR)/battery_unittest.cc \
-	$(USER_DIR)/sensors/battery.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $< -o $@
-
-$(OBJECT_DIR)/battery_unittest : \
-	$(OBJECT_DIR)/sensors/battery.o \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/battery_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	$(CXX) $(CXX_FLAGS) $^ -o $@
-
--include $(OBJECT_DIR)/sensors/battery.d \
-         $(OBJECT_DIR)/common/maths.d \
-         $(OBJECT_DIR)/battery_unittest.d
-
-
-$(OBJECT_DIR)/drivers/barometer_ms5611.o : \
-    $(USER_DIR)/drivers/barometer_ms5611.c \
-    $(USER_DIR)/drivers/barometer_ms5611.h \
-    $(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/barometer_ms5611.c -o $@
-
-$(OBJECT_DIR)/baro_ms5611_unittest.o : \
-	$(TEST_DIR)/baro_ms5611_unittest.cc \
-	$(USER_DIR)/drivers/barometer_ms5611.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/baro_ms5611_unittest.cc -o $@
-
-$(OBJECT_DIR)/baro_ms5611_unittest : \
-	$(OBJECT_DIR)/drivers/barometer_ms5611.o \
-	$(OBJECT_DIR)/baro_ms5611_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/drivers/barometer_ms5611.d \
-         $(OBJECT_DIR)/baro_ms5611_unittest.d
-
-
-$(OBJECT_DIR)/drivers/barometer_bmp085.o : \
-    $(USER_DIR)/drivers/barometer_bmp085.c \
-    $(USER_DIR)/drivers/barometer_bmp085.h \
-    $(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/barometer_bmp085.c -o $@
-
-$(OBJECT_DIR)/baro_bmp085_unittest.o : \
-	$(TEST_DIR)/baro_bmp085_unittest.cc \
-	$(USER_DIR)/drivers/barometer_bmp085.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/baro_bmp085_unittest.cc -o $@
-
-$(OBJECT_DIR)/baro_bmp085_unittest : \
-	$(OBJECT_DIR)/drivers/barometer_bmp085.o \
-	$(OBJECT_DIR)/drivers/io.o \
-	$(OBJECT_DIR)/baro_bmp085_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/drivers/barometer_bmp085.d \
-         $(OBJECT_DIR)/drivers/io.d \
-         $(OBJECT_DIR)/baro_bmp085_unittest.d
-
-
-$(OBJECT_DIR)/drivers/barometer_bmp280.o : \
-    $(USER_DIR)/drivers/barometer_bmp280.c \
-    $(USER_DIR)/drivers/barometer_bmp280.h \
-    $(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/barometer_bmp280.c -o $@
-
-$(OBJECT_DIR)/baro_bmp280_unittest.o : \
-	$(TEST_DIR)/baro_bmp280_unittest.cc \
-	$(USER_DIR)/drivers/barometer_bmp280.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/baro_bmp280_unittest.cc -o $@
-
-$(OBJECT_DIR)/baro_bmp280_unittest : \
-	$(OBJECT_DIR)/drivers/barometer_bmp280.o \
-	$(OBJECT_DIR)/baro_bmp280_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/drivers/barometer_bmp280.d \
-         $(OBJECT_DIR)/baro_bmp280_unittest.d
-
-
-$(OBJECT_DIR)/sensors/boardalignment.o : \
-	$(USER_DIR)/sensors/boardalignment.c \
-	$(USER_DIR)/sensors/boardalignment.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/boardalignment.c -o $@
-
-$(OBJECT_DIR)/alignsensor_unittest.o : \
-	$(TEST_DIR)/alignsensor_unittest.cc \
-	$(USER_DIR)/sensors/boardalignment.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/alignsensor_unittest.cc -o $@
-
-$(OBJECT_DIR)/alignsensor_unittest : \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/sensors/boardalignment.o \
-	$(OBJECT_DIR)/alignsensor_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/common/maths.d \
-         $(OBJECT_DIR)/sensors/boardalignment.d \
-         $(OBJECT_DIR)/alignsensor_unittest.d
-
-
-$(OBJECT_DIR)/build/debug.o : \
-    $(USER_DIR)/build/debug.c \
-    $(USER_DIR)/build/debug.h \
-    $(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/build/debug.c -o $@
-
-$(OBJECT_DIR)/drivers/gyro_sync.o : \
-    $(USER_DIR)/drivers/gyro_sync.c \
-    $(USER_DIR)/drivers/gyro_sync.h \
-    $(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/gyro_sync.c -o $@
-
-$(OBJECT_DIR)/drivers/accgyro_fake.o : \
-    $(USER_DIR)/drivers/accgyro_fake.c \
-    $(USER_DIR)/drivers/accgyro_fake.h \
-    $(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/accgyro_fake.c -o $@
-
-$(OBJECT_DIR)/sensors/gyro.o : \
-	$(USER_DIR)/sensors/gyro.c \
-	$(USER_DIR)/sensors/gyro.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/gyro.c -o $@
-
-$(OBJECT_DIR)/sensor_gyro_unittest.o : \
-	$(TEST_DIR)/sensor_gyro_unittest.cc \
-	$(USER_DIR)/sensors/gyro.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/sensor_gyro_unittest.cc -o $@
-
-$(OBJECT_DIR)/sensor_gyro_unittest : \
-	$(OBJECT_DIR)/build/debug.o \
-	$(OBJECT_DIR)/common/filter.o \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/drivers/accgyro_fake.o \
-	$(OBJECT_DIR)/drivers/gyro_sync.o \
-	$(OBJECT_DIR)/sensors/boardalignment.o \
-	$(OBJECT_DIR)/sensors/gyro.o \
-	$(OBJECT_DIR)/sensor_gyro_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/build/debug.d \
-         $(OBJECT_DIR)/common/filter.d \
-         $(OBJECT_DIR)/common/maths.d \
-         $(OBJECT_DIR)/drivers/accgyro_fake.d \
-         $(OBJECT_DIR)/drivers/gyro_sync.d \
-         $(OBJECT_DIR)/sensors/boardalignment.d \
-         $(OBJECT_DIR)/sensors/gyro.d \
-         $(OBJECT_DIR)/sensor_gyro_unittest.d
-
-
-$(OBJECT_DIR)/build/version.o : \
-	$(USER_DIR)/build/version.c \
-	$(USER_DIR)/build/version.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -D'__TARGET__="TEST"' -D'__REVISION__="revision"' -c $(USER_DIR)/build/version.c -o $@
-
-$(OBJECT_DIR)/drivers/buf_writer.o : \
-	$(USER_DIR)/drivers/buf_writer.c \
-	$(USER_DIR)/drivers/buf_writer.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -D'__TARGET__="TEST"' -D'__REVISION__="revision"' -c $(USER_DIR)/drivers/buf_writer.c -o $@
-
-$(OBJECT_DIR)/common/streambuf.o : \
-	$(USER_DIR)/common/streambuf.c \
-	$(USER_DIR)/common/streambuf.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -D'__TARGET__="TEST"' -D'__REVISION__="revision"' -c $(USER_DIR)/common/streambuf.c -o $@
-
-$(OBJECT_DIR)/drivers/display.o : \
-	$(USER_DIR)/drivers/display.c \
-	$(USER_DIR)/drivers/display.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/display.c -o $@
-
-$(OBJECT_DIR)/cms/cms.o : \
-	$(USER_DIR)/cms/cms.c \
-	$(USER_DIR)/cms/cms.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/cms/cms.c -o $@
-
-$(OBJECT_DIR)/cms_unittest.o : \
-	$(TEST_DIR)/cms_unittest.cc \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/cms_unittest.cc -o $@
-
-$(OBJECT_DIR)/cms_unittest : \
-	$(OBJECT_DIR)/cms_unittest.o \
-	$(OBJECT_DIR)/common/typeconversion.o \
-	$(OBJECT_DIR)/drivers/display.o \
-	$(OBJECT_DIR)/cms/cms.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/cms_unittest.d \
-         $(OBJECT_DIR)/common/typeconversion.d \
-         $(OBJECT_DIR)/drivers/display.d \
-         $(OBJECT_DIR)/cms/cms.d
-
-
-$(OBJECT_DIR)/drivers/io.o : \
-	$(USER_DIR)/drivers/io.c \
-	$(USER_DIR)/drivers/io.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/io.c -o $@
-
-$(OBJECT_DIR)/config/parameter_group.o : \
-	$(USER_DIR)/config/parameter_group.c \
-	$(USER_DIR)/config/parameter_group.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/config/parameter_group.c -o $@
-
-$(OBJECT_DIR)/parameter_groups_unittest.o : \
-	$(TEST_DIR)/parameter_groups_unittest.cc \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/parameter_groups_unittest.cc -o $@
-
-$(OBJECT_DIR)/parameter_groups_unittest : \
-	$(OBJECT_DIR)/parameter_groups_unittest.o \
-	$(OBJECT_DIR)/config/parameter_group.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $(PG_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/parameter_groups_unittest.d \
-         $(OBJECT_DIR)/config/parameter_group.d
-
-
-$(OBJECT_DIR)/rx/ibus.o : \
-	$(USER_DIR)/rx/ibus.c \
-	$(USER_DIR)/rx/ibus.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/rx/ibus.c -o $@
-
-$(OBJECT_DIR)/rx_ibus_unittest.o : \
-	$(TEST_DIR)/rx_ibus_unittest.cc \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rx_ibus_unittest.cc -o $@
-
-$(OBJECT_DIR)/rx_ibus_unittest : \
-	$(OBJECT_DIR)/rx_ibus_unittest.o \
-	$(OBJECT_DIR)/rx/ibus.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $(PG_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/rx_ibus_unittest.d \
-         $(OBJECT_DIR)/rx/ibus.d
-
-
-$(OBJECT_DIR)/telemetry/ibus.o : \
-	$(USER_DIR)/telemetry/ibus.c \
-	$(USER_DIR)/telemetry/ibus.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/telemetry/ibus.c -o $@
-
-$(OBJECT_DIR)/telemetry/ibus_shared.o : \
-	$(USER_DIR)/telemetry/ibus_shared.c \
-	$(USER_DIR)/telemetry/ibus_shared.h \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/telemetry/ibus_shared.c -o $@
-
-$(OBJECT_DIR)/telemetry_ibus_unittest.o : \
-	$(TEST_DIR)/telemetry_ibus_unittest.cc \
-	$(GTEST_HEADERS)
-
-	@echo "compiling $@" "$(STDOUT)"
-	@mkdir -p $(dir $@)
-	$(V1) $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_ibus_unittest.cc -o $@
-
-$(OBJECT_DIR)/telemetry_ibus_unittest : \
-	$(OBJECT_DIR)/telemetry_ibus_unittest.o \
-	$(OBJECT_DIR)/telemetry/ibus_shared.o \
-	$(OBJECT_DIR)/telemetry/ibus.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	@echo "linking $@" "$(STDOUT)"
-	$(V1) $(CXX) $(CXX_FLAGS) $(PG_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
--include $(OBJECT_DIR)/telemetry_ibus_unittest.d \
-         $(OBJECT_DIR)/telemetry/ibus_shared.d \
-         $(OBJECT_DIR)/telemetry/ibus.d
-
-
-
-## test        : Build and run the Unit Tests
-test: $(TESTS:%=test-%)
-
-## junittest   : Build and run the Unit Tests, producing Junit XML result files."
-junittest: EXEC_OPTS = "--gtest_output=xml:$<_results.xml" 
-junittest: $(TESTS:%=test-%)
-
-test-%: $(OBJECT_DIR)/%
-	$(V0) $< $(EXEC_OPTS) "$(STDOUT)" && echo "running $@: PASS" 
-
-## help        : print this help message and exit
-## what        : print this help message and exit
-## usage       : print this help message and exit
-help what usage: Makefile
-	@echo ""
-	@echo "Makefile for Unit Tests"
-	@echo ""
-	@echo "Usage:"
-	@echo "        make [goal] "
-	@echo ""
-	@echo "Valid goals are:"
-	@echo ""
-	@sed -n 's/^## //p' $<
-	@echo ""
-	@echo "Any of the Unit Test programs can be used as goals:"
-	@$(foreach prg, $(TEST_BINARIES), echo "    $(prg)";)
-
--include $(DEPS)