diff --git a/src/test/Makefile b/src/test/Makefile
index a874c32578..935d472ae9 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -110,18 +110,34 @@ TEST_INCLUDE_DIRS := $(TEST_DIR) \
 
 TEST_CFLAGS	 = $(addprefix -I,$(TEST_INCLUDE_DIRS))
 
-$(OBJECT_DIR)/common/maths.o : \
-	$(USER_DIR)/common/maths.c \
-	$(USER_DIR)/common/maths.h \
-	$(GTEST_HEADERS)
+LIBCLEANFLIGHT_SRC = \
+	common/encoding.c \
+	common/maths.c \
+	drivers/barometer_ms5611.c \
+	drivers/light_ws2811strip.c \
+	flight/altitudehold.c \
+	flight/failsafe.c \
+	flight/gps_conversion.c \
+	flight/imu.c \
+	flight/lowpass.c \
+	flight/mixer.c \
+	io/ledstrip.c \
+	io/rc_controls.c \
+	io/serial.c \
+	rx/rx.c \
+	sensors/battery.c \
+	telemetry/hott.c
 
-	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/maths.c -o $@
+LIBCLEANFLIGHT_OBJ = $(LIBCLEANFLIGHT_SRC:%.c=$(OBJECT_DIR)/%.o)
 
+LIBS = $(OBJECT_DIR)/libcleanflight.a $(OBJECT_DIR)/gtest_main.a
 
-$(OBJECT_DIR)/sensors/battery.o : $(USER_DIR)/sensors/battery.c $(USER_DIR)/sensors/battery.h $(GTEST_HEADERS)
-	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/battery.c -o $@
+$(OBJECT_DIR)/libcleanflight.a: $(LIBCLEANFLIGHT_OBJ)
+	$(AR) $(ARFLAGS) $@ $^
+
+$(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 \
@@ -132,17 +148,11 @@ $(OBJECT_DIR)/battery_unittest.o : \
 	$(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
+	$(LIBS)
 
 	$(CXX) $(CXX_FLAGS) $^ -o $@
 
-$(OBJECT_DIR)/common/encoding.o : $(USER_DIR)/common/encoding.c $(USER_DIR)/common/encoding.h $(GTEST_HEADERS)
-	@mkdir -p $(dir $@)
-	$(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 \
@@ -152,20 +162,11 @@ $(OBJECT_DIR)/encoding_unittest.o : \
 	$(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
+	$(LIBS)
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
-$(OBJECT_DIR)/flight/imu.o : \
-	$(USER_DIR)/flight/imu.c \
-	$(USER_DIR)/flight/imu.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(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 \
@@ -175,11 +176,8 @@ $(OBJECT_DIR)/flight_imu_unittest.o : \
 	$(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
+	$(LIBS)
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
@@ -192,19 +190,10 @@ $(OBJECT_DIR)/maths_unittest.o : \
 
 $(OBJECT_DIR)/maths_unittest : \
 	$(OBJECT_DIR)/maths_unittest.o \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/gtest_main.a
+	$(LIBS)
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
-$(OBJECT_DIR)/flight/altitudehold.o : \
-	$(USER_DIR)/flight/altitudehold.c \
-	$(USER_DIR)/flight/altitudehold.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(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 \
@@ -214,21 +203,11 @@ $(OBJECT_DIR)/altitude_hold_unittest.o : \
 	$(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
+	$(LIBS)
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
-
-$(OBJECT_DIR)/flight/gps_conversion.o : \
-	$(USER_DIR)/flight/gps_conversion.c \
-	$(USER_DIR)/flight/gps_conversion.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/gps_conversion.c -o $@
-
 $(OBJECT_DIR)/gps_conversion_unittest.o : \
 	$(TEST_DIR)/gps_conversion_unittest.cc \
 	$(USER_DIR)/flight/gps_conversion.h \
@@ -238,22 +217,11 @@ $(OBJECT_DIR)/gps_conversion_unittest.o : \
 	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/gps_conversion_unittest.cc -o $@
 
 $(OBJECT_DIR)/gps_conversion_unittest : \
-	$(OBJECT_DIR)/flight/gps_conversion.o \
 	$(OBJECT_DIR)/gps_conversion_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
+	$(LIBS)
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
-
-
-$(OBJECT_DIR)/telemetry/hott.o : \
-	$(USER_DIR)/telemetry/hott.c \
-	$(USER_DIR)/telemetry/hott.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(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 \
@@ -263,23 +231,11 @@ $(OBJECT_DIR)/telemetry_hott_unittest.o : \
 	$(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)/flight/gps_conversion.o \
-	$(OBJECT_DIR)/gtest_main.a
+	$(LIBS)
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
-
-
-$(OBJECT_DIR)/io/rc_controls.o : \
-	$(USER_DIR)/io/rc_controls.c \
-	$(USER_DIR)/io/rc_controls.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rc_controls.c -o $@
-
 $(OBJECT_DIR)/rc_controls_unittest.o : \
 	$(TEST_DIR)/rc_controls_unittest.cc \
 	$(USER_DIR)/io/rc_controls.h \
@@ -289,22 +245,11 @@ $(OBJECT_DIR)/rc_controls_unittest.o : \
 	$(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)/io/rc_controls.o \
 	$(OBJECT_DIR)/rc_controls_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
+	$(LIBS)
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
-
-$(OBJECT_DIR)/io/ledstrip.o : \
-	$(USER_DIR)/io/ledstrip.c \
-	$(USER_DIR)/io/ledstrip.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(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 \
@@ -314,22 +259,11 @@ $(OBJECT_DIR)/ledstrip_unittest.o : \
 	$(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
+	$(LIBS)
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
-
-
-$(OBJECT_DIR)/drivers/light_ws2811strip.o : \
-	$(USER_DIR)/drivers/light_ws2811strip.c \
-	$(USER_DIR)/drivers/light_ws2811strip.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(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 \
@@ -339,21 +273,11 @@ $(OBJECT_DIR)/ws2811_unittest.o : \
 	$(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
+	$(LIBS)
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
-
-$(OBJECT_DIR)/flight/lowpass.o : \
-	$(USER_DIR)/flight/lowpass.c \
-	$(USER_DIR)/flight/lowpass.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/lowpass.c -o $@
-
 $(OBJECT_DIR)/lowpass_unittest.o : \
 	$(TEST_DIR)/lowpass_unittest.cc \
 	$(USER_DIR)/flight/lowpass.h \
@@ -363,20 +287,11 @@ $(OBJECT_DIR)/lowpass_unittest.o : \
 	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/lowpass_unittest.cc -o $@
 
 $(OBJECT_DIR)/lowpass_unittest : \
-	$(OBJECT_DIR)/flight/lowpass.o \
 	$(OBJECT_DIR)/lowpass_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
+	$(LIBS)
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
-$(OBJECT_DIR)/flight/mixer.o : \
-	$(USER_DIR)/flight/mixer.c \
-	$(USER_DIR)/flight/mixer.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/mixer.c -o $@
-
 $(OBJECT_DIR)/flight_mixer_unittest.o : \
 	$(TEST_DIR)/flight_mixer_unittest.cc \
 	$(USER_DIR)/flight/mixer.h \
@@ -386,21 +301,11 @@ $(OBJECT_DIR)/flight_mixer_unittest.o : \
 	$(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_mixer_unittest.o \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/gtest_main.a
+	$(LIBS)
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
-$(OBJECT_DIR)/flight/failsafe.o : \
-	$(USER_DIR)/flight/failsafe.c \
-	$(USER_DIR)/flight/failsafe.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(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 \
@@ -410,21 +315,11 @@ $(OBJECT_DIR)/flight_failsafe_unittest.o : \
 	$(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
+	$(LIBS)
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
-$(OBJECT_DIR)/io/serial.o : \
-	$(USER_DIR)/io/serial.c \
-	$(USER_DIR)/io/serial.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(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 \
@@ -434,20 +329,11 @@ $(OBJECT_DIR)/io_serial_unittest.o : \
 	$(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
+	$(LIBS)
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
-$(OBJECT_DIR)/rx/rx.o : \
-	$(USER_DIR)/rx/rx.c \
-	$(USER_DIR)/rx/rx.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(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 \
@@ -457,21 +343,11 @@ $(OBJECT_DIR)/rx_rx_unittest.o : \
 	$(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
+	$(LIBS)
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
-$(OBJECT_DIR)/drivers/barometer_ms5611.o : \
-    $(USER_DIR)/drivers/barometer_ms5611.c \
-    $(USER_DIR)/drivers/barometer_ms5611.h \
-    $(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/barometer_ms5611.c -o $@
-
 $(OBJECT_DIR)/baro_unittest.o : \
 	$(TEST_DIR)/baro_unittest.cc \
 	$(USER_DIR)/drivers/barometer_ms5611.h \
@@ -481,9 +357,8 @@ $(OBJECT_DIR)/baro_unittest.o : \
 	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/baro_unittest.cc -o $@
 
 $(OBJECT_DIR)/baro_unittest : \
-	$(OBJECT_DIR)/drivers/barometer_ms5611.o \
 	$(OBJECT_DIR)/baro_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
+	$(LIBS)
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@