diff --git a/src/test/Makefile b/src/test/Makefile
index 041e56b211..fcb6aa7456 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -139,232 +139,15 @@ LIBS = $(OBJECT_DIR)/libcleanflight.a $(OBJECT_DIR)/gtest_main.a
 $(OBJECT_DIR)/libcleanflight.a: $(LIBCLEANFLIGHT_OBJ)
 	$(AR) $(ARFLAGS) $@ $^
 
+# Build a module from the flight software.
 $(OBJECT_DIR)/%.o: $(USER_DIR)/%.c
 	mkdir -p $(@D)
 	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $< -o $@
 
-$(OBJECT_DIR)/battery_unittest.o : \
-	$(TEST_DIR)/battery_unittest.cc \
-	$(USER_DIR)/sensors/battery.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $< -o $@
-
-$(OBJECT_DIR)/battery_unittest : \
-	$(OBJECT_DIR)/battery_unittest.o \
-	$(LIBS)
-
-	$(CXX) $(CXX_FLAGS) $^ -o $@
-
-$(OBJECT_DIR)/encoding_unittest.o : \
-	$(TEST_DIR)/encoding_unittest.cc \
-	$(USER_DIR)/common/encoding.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/encoding_unittest.cc -o $@
-
-$(OBJECT_DIR)/encoding_unittest : \
-	$(OBJECT_DIR)/encoding_unittest.o \
-	$(LIBS)
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
-$(OBJECT_DIR)/flight_imu_unittest.o : \
-	$(TEST_DIR)/flight_imu_unittest.cc \
-	$(USER_DIR)/flight/imu.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_imu_unittest.cc -o $@
-
-$(OBJECT_DIR)/flight_imu_unittest : \
-	$(OBJECT_DIR)/flight_imu_unittest.o \
-	$(LIBS)
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
-$(OBJECT_DIR)/maths_unittest.o : \
-	$(TEST_DIR)/maths_unittest.cc \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/maths_unittest.cc -o $@
-
-$(OBJECT_DIR)/maths_unittest : \
-	$(OBJECT_DIR)/maths_unittest.o \
-	$(LIBS)
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
-$(OBJECT_DIR)/altitude_hold_unittest.o : \
-	$(TEST_DIR)/altitude_hold_unittest.cc \
-	$(USER_DIR)/flight/altitudehold.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/altitude_hold_unittest.cc -o $@
-
-$(OBJECT_DIR)/altitude_hold_unittest : \
-	$(OBJECT_DIR)/altitude_hold_unittest.o \
-	$(LIBS)
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
-$(OBJECT_DIR)/gps_conversion_unittest.o : \
-	$(TEST_DIR)/gps_conversion_unittest.cc \
-	$(USER_DIR)/flight/gps_conversion.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/gps_conversion_unittest.cc -o $@
-
-$(OBJECT_DIR)/gps_conversion_unittest : \
-	$(OBJECT_DIR)/gps_conversion_unittest.o \
-	$(LIBS)
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
-$(OBJECT_DIR)/telemetry_hott_unittest.o : \
-	$(TEST_DIR)/telemetry_hott_unittest.cc \
-	$(USER_DIR)/telemetry/hott.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_hott_unittest.cc -o $@
-
-$(OBJECT_DIR)/telemetry_hott_unittest : \
-	$(OBJECT_DIR)/telemetry_hott_unittest.o \
-	$(LIBS)
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
-$(OBJECT_DIR)/rc_controls_unittest.o : \
-	$(TEST_DIR)/rc_controls_unittest.cc \
-	$(USER_DIR)/io/rc_controls.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rc_controls_unittest.cc -o $@
-
-$(OBJECT_DIR)/rc_controls_unittest : \
-	$(OBJECT_DIR)/rc_controls_unittest.o \
-	$(LIBS)
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
-$(OBJECT_DIR)/ledstrip_unittest.o : \
-	$(TEST_DIR)/ledstrip_unittest.cc \
-	$(USER_DIR)/io/ledstrip.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ledstrip_unittest.cc -o $@
-
-$(OBJECT_DIR)/ledstrip_unittest : \
-	$(OBJECT_DIR)/ledstrip_unittest.o \
-	$(LIBS)
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
-$(OBJECT_DIR)/ws2811_unittest.o : \
-	$(TEST_DIR)/ws2811_unittest.cc \
-	$(USER_DIR)/drivers/light_ws2811strip.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ws2811_unittest.cc -o $@
-
-$(OBJECT_DIR)/ws2811_unittest : \
-	$(OBJECT_DIR)/ws2811_unittest.o \
-	$(LIBS)
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
-$(OBJECT_DIR)/lowpass_unittest.o : \
-	$(TEST_DIR)/lowpass_unittest.cc \
-	$(USER_DIR)/flight/lowpass.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/lowpass_unittest.cc -o $@
-
-$(OBJECT_DIR)/lowpass_unittest : \
-	$(OBJECT_DIR)/lowpass_unittest.o \
-	$(LIBS)
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
-$(OBJECT_DIR)/flight_mixer_unittest.o : \
-	$(TEST_DIR)/flight_mixer_unittest.cc \
-	$(USER_DIR)/flight/mixer.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_mixer_unittest.cc -o $@
-
-$(OBJECT_DIR)/flight_mixer_unittest : \
-	$(OBJECT_DIR)/flight_mixer_unittest.o \
-	$(LIBS)
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
-$(OBJECT_DIR)/flight_failsafe_unittest.o : \
-	$(TEST_DIR)/flight_failsafe_unittest.cc \
-	$(USER_DIR)/flight/failsafe.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_failsafe_unittest.cc -o $@
-
-$(OBJECT_DIR)/flight_failsafe_unittest : \
-	$(OBJECT_DIR)/flight_failsafe_unittest.o \
-	$(LIBS)
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
-$(OBJECT_DIR)/io_serial_unittest.o : \
-	$(TEST_DIR)/io_serial_unittest.cc \
-	$(USER_DIR)/io/serial.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/io_serial_unittest.cc -o $@
-
-$(OBJECT_DIR)/io_serial_unittest : \
-	$(OBJECT_DIR)/io_serial_unittest.o \
-	$(LIBS)
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
-$(OBJECT_DIR)/rx_rx_unittest.o : \
-	$(TEST_DIR)/rx_rx_unittest.cc \
-	$(USER_DIR)/rx/rx.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rx_rx_unittest.cc -o $@
-
-$(OBJECT_DIR)/rx_rx_unittest : \
-	$(OBJECT_DIR)/rx_rx_unittest.o \
-	$(LIBS)
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
-$(OBJECT_DIR)/baro_unittest.o : \
-	$(TEST_DIR)/baro_unittest.cc \
-	$(USER_DIR)/drivers/barometer_ms5611.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/baro_unittest.cc -o $@
-
-$(OBJECT_DIR)/baro_unittest : \
-	$(OBJECT_DIR)/baro_unittest.o \
-	$(LIBS)
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+# Build the unit test executable.
+$(OBJECT_DIR)/%: $(TEST_DIR)/%.cc $(LIBS)
+	@mkdir -p $(@D)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -o $@ $< $(LIBS)
 
 test: $(TESTS:%=test-%)