diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index e97d62e3a2..b5343ff73d 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -57,6 +57,7 @@ set(config_module_list
 	modules/systemlib/mixer
 	modules/uORB
 	modules/vtol_att_control
+
 	lib/controllib
 	lib/conversion
 	lib/DriverFramework/framework
@@ -72,6 +73,17 @@ set(config_module_list
 	lib/terrain_estimation
 
 	examples/px4_simple_app
+
+	#
+	# Testing
+	#
+	modules/commander/commander_tests
+	modules/controllib_test
+	#modules/mavlink/mavlink_tests
+	modules/unit_test
+	modules/uORB/uORB_tests
+	systemcmds/tests
+
 	)
 
 set(config_extra_builtin_cmds
diff --git a/cmake/configs/posix_sitl_test.cmake b/cmake/configs/posix_sitl_test.cmake
index 22e59e9425..3237c7b16e 100644
--- a/cmake/configs/posix_sitl_test.cmake
+++ b/cmake/configs/posix_sitl_test.cmake
@@ -49,6 +49,7 @@ set(config_module_list
 	modules/navigator
 	modules/param
 	modules/position_estimator_inav
+	modules/local_position_estimator
 	modules/sdlog2
 	modules/sensors
 	modules/simulator
@@ -72,7 +73,7 @@ set(config_module_list
 	lib/terrain_estimation
 
 	examples/px4_simple_app
-	
+
 	#
 	# Testing
 	#
diff --git a/src/systemcmds/tests/CMakeLists.txt b/src/systemcmds/tests/CMakeLists.txt
index 50365c62b3..bbd989058c 100644
--- a/src/systemcmds/tests/CMakeLists.txt
+++ b/src/systemcmds/tests/CMakeLists.txt
@@ -72,6 +72,7 @@ px4_add_module(
 	STACK_MAIN 9000
 	STACK_MAX 9000
 	COMPILE_FLAGS
+		-Wno-unused-result
 		-Wno-float-equal
 		-Os
 	SRCS ${srcs}
diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c
index bdb089e405..fb081e27b3 100644
--- a/src/systemcmds/tests/test_file.c
+++ b/src/systemcmds/tests/test_file.c
@@ -39,13 +39,14 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
+#include <px4_config.h>
+#include <px4_posix.h>
+
 #include <sys/stat.h>
 #include <poll.h>
 #include <dirent.h>
 #include <stdio.h>
 #include <stddef.h>
-#include <unistd.h>
-#include <fcntl.h>
 #include <systemlib/err.h>
 #include <systemlib/perf_counter.h>
 #include <string.h>
@@ -125,7 +126,7 @@ test_file(int argc, char *argv[])
 			uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
 			hrt_abstime start, end;
 
-			int fd = open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
+			int fd = px4_open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
 
 			warnx("testing unaligned writes - please wait..");
 
@@ -156,7 +157,7 @@ test_file(int argc, char *argv[])
 
 			warnx("write took %" PRIu64 " us", (end - start));
 
-			close(fd);
+			px4_close(fd);
 			fd = open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_RDONLY);
 
 			/* read back data for validation */
@@ -196,7 +197,7 @@ test_file(int argc, char *argv[])
 
 			close(fd);
 			int ret = unlink(PX4_ROOTFSDIR "/fs/microsd/testfile");
-			fd = open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
+			fd = px4_open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
 
 			warnx("testing aligned writes - please wait.. (CTRL^C to abort)");
 
@@ -218,7 +219,7 @@ test_file(int argc, char *argv[])
 
 			warnx("reading data aligned..");
 
-			close(fd);
+			px4_close(fd);
 			fd = open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_RDONLY);
 
 			bool align_read_ok = true;
diff --git a/src/systemcmds/tests/test_mount.c b/src/systemcmds/tests/test_mount.c
index f92c5f6316..364536b973 100644
--- a/src/systemcmds/tests/test_mount.c
+++ b/src/systemcmds/tests/test_mount.c
@@ -39,12 +39,13 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
+#include <px4_config.h>
+#include <px4_posix.h>
+
 #include <sys/stat.h>
 #include <dirent.h>
 #include <stdio.h>
 #include <stddef.h>
-#include <unistd.h>
-#include <fcntl.h>
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/perf_counter.h>
@@ -200,7 +201,7 @@ test_mount(int argc, char *argv[])
 
 			uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
 
-			int fd = open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
+			int fd = px4_open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
 
 			for (unsigned i = 0; i < iterations; i++) {
 
@@ -236,8 +237,8 @@ test_mount(int argc, char *argv[])
 			fsync(fileno(stderr));
 			usleep(200000);
 
-			close(fd);
-			fd = open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_RDONLY);
+			px4_close(fd);
+			fd = px4_open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_RDONLY);
 
 			/* read back data for validation */
 			for (unsigned i = 0; i < iterations; i++) {
@@ -267,7 +268,7 @@ test_mount(int argc, char *argv[])
 			}
 
 			int ret = unlink(PX4_ROOTFSDIR "/fs/microsd/testfile");
-			close(fd);
+			px4_close(fd);
 
 			if (ret) {
 				PX4_ERR("UNLINKING FILE FAILED");