diff --git a/cmake/gtest/px4_add_gtest.cmake b/cmake/gtest/px4_add_gtest.cmake
index a69bdaf57d..f9d4f505ad 100644
--- a/cmake/gtest/px4_add_gtest.cmake
+++ b/cmake/gtest/px4_add_gtest.cmake
@@ -91,7 +91,7 @@ function(px4_add_functional_gtest)
 		add_executable(${TESTNAME} EXCLUDE_FROM_ALL ${SRC})
 
 		# link the libary to test and gtest
-		target_link_libraries(${TESTNAME} ${LINKLIBS} gtest_main
+		target_link_libraries(${TESTNAME} ${LINKLIBS} gtest_functional_main
 		                                              px4_daemon
 		                                              px4_platform
 		                                              modules__uORB
diff --git a/src/lib/CollisionPrevention/CollisionPreventionTest.cpp b/src/lib/CollisionPrevention/CollisionPreventionTest.cpp
index 11910ce724..cb3e73bcc7 100644
--- a/src/lib/CollisionPrevention/CollisionPreventionTest.cpp
+++ b/src/lib/CollisionPrevention/CollisionPreventionTest.cpp
@@ -39,16 +39,9 @@
 class CollisionPreventionTest : public ::testing::Test
 {
 public:
-	void SetUp() override
-	{
-		uORB::Manager::initialize();
-		param_init();
-	}
-
 	void TearDown() override
 	{
 		param_reset_all();
-		uORB::Manager::terminate();
 	}
 };
 
diff --git a/src/lib/parameters/ParameterTest.cpp b/src/lib/parameters/ParameterTest.cpp
index 491fadc615..783dd1bf5e 100644
--- a/src/lib/parameters/ParameterTest.cpp
+++ b/src/lib/parameters/ParameterTest.cpp
@@ -41,16 +41,9 @@
 class ParameterTest : public ::testing::Test
 {
 public:
-	void SetUp() override
-	{
-		uORB::Manager::initialize();
-		param_init();
-	}
-
 	void TearDown() override
 	{
 		param_reset_all();
-		uORB::Manager::terminate();
 	}
 };
 
diff --git a/src/platforms/CMakeLists.txt b/src/platforms/CMakeLists.txt
index 6055801eae..272e4d66bd 100644
--- a/src/platforms/CMakeLists.txt
+++ b/src/platforms/CMakeLists.txt
@@ -35,4 +35,5 @@ add_subdirectory(common)
 
 if (${PX4_PLATFORM} STREQUAL "posix" AND BUILD_TESTING)
 	add_subdirectory(posix/test_stubs)
+	add_subdirectory(posix/gtest_runner)
 endif()
diff --git a/src/platforms/posix/gtest_runner/CMakeLists.txt b/src/platforms/posix/gtest_runner/CMakeLists.txt
new file mode 100644
index 0000000000..0000dda9f8
--- /dev/null
+++ b/src/platforms/posix/gtest_runner/CMakeLists.txt
@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+set(SRCS
+    gtest_functional_main.cpp
+   )
+
+px4_add_library(gtest_functional_main ${SRCS})
+target_link_libraries(gtest_functional_main PUBLIC gtest)
diff --git a/src/platforms/posix/gtest_runner/gtest_functional_main.cpp b/src/platforms/posix/gtest_runner/gtest_functional_main.cpp
new file mode 100644
index 0000000000..dc44167a34
--- /dev/null
+++ b/src/platforms/posix/gtest_runner/gtest_functional_main.cpp
@@ -0,0 +1,45 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <gtest/gtest.h>
+
+#include <uORB/Subscription.hpp>
+
+int main(int argc, char **argv)
+{
+	testing::InitGoogleTest(&argc, argv);
+
+	uORB::Manager::initialize();
+	param_init();
+	return RUN_ALL_TESTS();
+}