diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 052b543..e42737a 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -22,7 +22,12 @@ enable_testing()
 
 include(GoogleTest)
 
-gtest_discover_tests(test_image DISCOVERY_TIMEOUT 60)
-gtest_discover_tests(test_spline_opt DISCOVERY_TIMEOUT 60)
-gtest_discover_tests(test_vio DISCOVERY_TIMEOUT 60)
-gtest_discover_tests(test_nfr DISCOVERY_TIMEOUT 60)
+#gtest_discover_tests(test_image DISCOVERY_TIMEOUT 60)
+#gtest_discover_tests(test_spline_opt DISCOVERY_TIMEOUT 60)
+#gtest_discover_tests(test_vio DISCOVERY_TIMEOUT 60)
+#gtest_discover_tests(test_nfr DISCOVERY_TIMEOUT 60)
+
+gtest_add_tests(TARGET test_image AUTO)
+gtest_add_tests(TARGET test_spline_opt AUTO)
+gtest_add_tests(TARGET test_vio AUTO)
+gtest_add_tests(TARGET test_nfr AUTO)
diff --git a/test/src/test_vio.cpp b/test/src/test_vio.cpp
index 68b9a90..7f72f65 100644
--- a/test/src/test_vio.cpp
+++ b/test/src/test_vio.cpp
@@ -21,7 +21,7 @@ std::mt19937 gen{rd()};
 std::normal_distribution<> gyro_noise_dist{0, gyro_std_dev};
 std::normal_distribution<> accel_noise_dist{0, accel_std_dev};
 
-TEST(PreIntegrationTestSuite, ImuNullspace2Test) {
+TEST(VioTestSuite, ImuNullspace2Test) {
   int num_knots = 15;
 
   Eigen::Vector3d bg, ba;
@@ -146,7 +146,7 @@ TEST(PreIntegrationTestSuite, ImuNullspace2Test) {
   EXPECT_LE(std::abs(null_res[5]), 1e-6);
 }
 
-TEST(PreIntegrationTestSuite, ImuNullspace3Test) {
+TEST(VioTestSuite, ImuNullspace3Test) {
   int num_knots = 15;
 
   Eigen::Vector3d bg, ba;
@@ -287,7 +287,7 @@ TEST(PreIntegrationTestSuite, ImuNullspace3Test) {
   EXPECT_LE(std::abs(null_res[5]), 1e-6);
 }
 
-TEST(PreIntegrationTestSuite, RelPoseTest) {
+TEST(VioTestSuite, RelPoseTest) {
   Sophus::SE3d T_w_i_h = Sophus::expd(Sophus::Vector6d::Random());
   Sophus::SE3d T_w_i_t = Sophus::expd(Sophus::Vector6d::Random());
 
@@ -335,7 +335,7 @@ TEST(PreIntegrationTestSuite, RelPoseTest) {
   }
 }
 
-TEST(PreIntegrationTestSuite, LinearizePointsTest) {
+TEST(VioTestSuite, LinearizePointsTest) {
   basalt::ExtendedUnifiedCamera<double> cam =
       basalt::ExtendedUnifiedCamera<double>::getTestProjections()[0];