diff --git a/external_example/integration_tests/CMakeLists.txt b/external_example/integration_tests/CMakeLists.txt
index 2fe62505cd..7528e1c7cd 100644
--- a/external_example/integration_tests/CMakeLists.txt
+++ b/external_example/integration_tests/CMakeLists.txt
@@ -1,11 +1,16 @@
+cmake_minimum_required(VERSION 3.1)
+
 add_executable(external_example_integration_tests_runner
-    ${PROJECT_SOURCE_DIR}/core/unittests_main.cpp
+    ../../core/unittests_main.cpp
     hello_world.cpp
 )
 
 include_directories(
-    ${PROJECT_SOURCE_DIR}/core
-    ${PROJECT_SOURCE_DIR}/external_example
+    ../../core
+    ../../integration_tests
+    ../../external_example
+    ../../third_party/gtest/googletest/include
+    ../../third_party/gtest/googlemock/include
 )
 
 target_link_libraries(external_example_integration_tests_runner
diff --git a/integration_tests/CMakeLists.txt b/integration_tests/CMakeLists.txt
index 6eff5eae93..2cf12ad120 100644
--- a/integration_tests/CMakeLists.txt
+++ b/integration_tests/CMakeLists.txt
@@ -13,34 +13,37 @@ add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --verbose)
 # This includes all GTests that run integration tests
 add_executable(integration_tests_runner
     ../core/unittests_main.cpp
-    simple_connect.cpp
-    async_connect.cpp
-    telemetry_simple.cpp
-    telemetry_async.cpp
-    telemetry_modes.cpp
-    telemetry_health.cpp
-    simple_hover.cpp
-    async_hover.cpp
-    takeoff_and_kill.cpp
-    offboard_velocity.cpp
-    logging.cpp
-    info.cpp
-    mission.cpp
-    mission_change_speed.cpp
-    mission_survey.cpp
-    rtl.cpp
-    gimbal.cpp
-    transition_multicopter_fixedwing.cpp
-    follow_me.cpp
-    multi_components.cpp
+    action_hover_async.cpp
+    action_hover_sync.cpp
+    action_takeoff_and_kill.cpp
+    action_transition_multicopter_fixedwing.cpp
     calibration.cpp
-    path_checker.cpp
-    camera_take_photo.cpp
-    camera_take_photo_interval.cpp
     camera_mode.cpp
+    camera_settings.cpp
     camera_status.cpp
+    camera_take_photo.cpp
+    camera_take_photo_interval.cpp
     camera_test_helpers.cpp
-    camera_settings.cpp
+    camera_test_helpers.h
+    CMakeLists.txt
+    follow_me.cpp
+    gimbal.cpp
+    info.cpp
+    logging.cpp
+    mission_change_speed.cpp
+    mission.cpp
+    mission_rtl.cpp
+    mission_survey.cpp
+    offboard_velocity.cpp
+    path_checker.cpp
+    path_checker.h
+    system_connection_async.cpp
+    system_connection_sync.cpp
+    system_multi_components.cpp
+    telemetry_async.cpp
+    telemetry_health.cpp
+    telemetry_modes.cpp
+    telemetry_sync.cpp
 )
 
 include_directories(
diff --git a/integration_tests/async_hover.cpp b/integration_tests/action_hover_async.cpp
similarity index 98%
rename from integration_tests/async_hover.cpp
rename to integration_tests/action_hover_async.cpp
index 690ba4e85b..ba00bd906b 100644
--- a/integration_tests/async_hover.cpp
+++ b/integration_tests/action_hover_async.cpp
@@ -15,7 +15,7 @@ void receive_in_air(bool in_air);
 static bool _all_ok = false;
 static bool _in_air = false;
 
-TEST_F(SitlTest, ActionAsyncHover)
+TEST_F(SitlTest, ActionHoverAsync)
 {
     DronecodeSDK dc;
 
diff --git a/integration_tests/simple_hover.cpp b/integration_tests/action_hover_sync.cpp
similarity index 94%
rename from integration_tests/simple_hover.cpp
rename to integration_tests/action_hover_sync.cpp
index 1ff5ec29f9..f35196f82d 100644
--- a/integration_tests/simple_hover.cpp
+++ b/integration_tests/action_hover_sync.cpp
@@ -9,17 +9,17 @@ using namespace dronecode_sdk;
 
 static void takeoff_and_hover_at_altitude(float altitude_m = NAN);
 
-TEST_F(SitlTest, ActionSimpleHoverDefault)
+TEST_F(SitlTest, ActionHoverSyncDefault)
 {
     takeoff_and_hover_at_altitude();
 }
 
-TEST_F(SitlTest, ActionSimpleHoverHigher)
+TEST_F(SitlTest, ActionHoverSyncHigher)
 {
     takeoff_and_hover_at_altitude(5.0f);
 }
 
-TEST_F(SitlTest, ActionSimpleHoverLower)
+TEST_F(SitlTest, ActionHoverSyncLower)
 {
     takeoff_and_hover_at_altitude(1.0f);
 }
diff --git a/integration_tests/takeoff_and_kill.cpp b/integration_tests/action_takeoff_and_kill.cpp
similarity index 100%
rename from integration_tests/takeoff_and_kill.cpp
rename to integration_tests/action_takeoff_and_kill.cpp
diff --git a/integration_tests/transition_multicopter_fixedwing.cpp b/integration_tests/action_transition_multicopter_fixedwing.cpp
similarity index 98%
rename from integration_tests/transition_multicopter_fixedwing.cpp
rename to integration_tests/action_transition_multicopter_fixedwing.cpp
index a3c9718974..7a37927430 100644
--- a/integration_tests/transition_multicopter_fixedwing.cpp
+++ b/integration_tests/action_transition_multicopter_fixedwing.cpp
@@ -11,7 +11,7 @@ static void takeoff(std::shared_ptr<Action> action, std::shared_ptr<Telemetry> t
 static void takeoff_and_transition_to_fixedwing();
 static void land_and_disarm(std::shared_ptr<Action> action, std::shared_ptr<Telemetry> telemetry);
 
-TEST_F(SitlTest, ActionSimpleTransition)
+TEST_F(SitlTest, ActionTransitionSync)
 {
     takeoff_and_transition_to_fixedwing();
 }
diff --git a/integration_tests/calibration.cpp b/integration_tests/calibration.cpp
index 8f204f0134..5b0164d2dd 100644
--- a/integration_tests/calibration.cpp
+++ b/integration_tests/calibration.cpp
@@ -13,7 +13,7 @@ static void receive_calibration_callback(Calibration::Result result,
                                          const std::string calibration_type,
                                          bool &done);
 
-TEST(HardwareTest, GyroCalibration)
+TEST(HardwareTest, CalibrationGyro)
 {
     DronecodeSDK dc;
 
@@ -37,7 +37,7 @@ TEST(HardwareTest, GyroCalibration)
     }
 }
 
-TEST(HardwareTest, AccelerometerCalibration)
+TEST(HardwareTest, CalibrationAccelerometer)
 {
     DronecodeSDK dc;
 
@@ -61,7 +61,7 @@ TEST(HardwareTest, AccelerometerCalibration)
     }
 }
 
-TEST(HardwareTest, MagnetometerCalibration)
+TEST(HardwareTest, CalibrationMagnetometer)
 {
     DronecodeSDK dc;
 
@@ -85,7 +85,7 @@ TEST(HardwareTest, MagnetometerCalibration)
     }
 }
 
-TEST(HardwareTest, GimbalAccelerometerCalibration)
+TEST(HardwareTest, CalibrationGimbalAccelerometer)
 {
     DronecodeSDK dc;
 
diff --git a/integration_tests/camera_mode.cpp b/integration_tests/camera_mode.cpp
index a9683ccf74..5f81fb1411 100644
--- a/integration_tests/camera_mode.cpp
+++ b/integration_tests/camera_mode.cpp
@@ -8,7 +8,7 @@
 
 using namespace dronecode_sdk;
 
-TEST(CameraTest, SetMode)
+TEST(CameraTest, SetModeSync)
 {
     DronecodeSDK dc;
 
diff --git a/integration_tests/camera_take_photo.cpp b/integration_tests/camera_take_photo.cpp
index a1a6428ba0..a730d44727 100644
--- a/integration_tests/camera_take_photo.cpp
+++ b/integration_tests/camera_take_photo.cpp
@@ -19,7 +19,7 @@ static void receive_capture_info(Camera::CaptureInfo capture_info);
 static std::atomic<bool> _received_result{false};
 static std::atomic<bool> _received_capture_info{false};
 
-TEST(CameraTest, TakePhoto)
+TEST(CameraTest, TakePhotoSingle)
 {
     DronecodeSDK dc;
 
@@ -47,7 +47,7 @@ TEST(CameraTest, TakePhoto)
     EXPECT_TRUE(_received_capture_info);
 }
 
-TEST(CameraTest, TakeMultiplePhotos)
+TEST(CameraTest, TakePhotosMultiple)
 {
     DronecodeSDK dc;
 
diff --git a/core/integration_test_helper.h b/integration_tests/integration_test_helper.h
similarity index 100%
rename from core/integration_test_helper.h
rename to integration_tests/integration_test_helper.h
diff --git a/integration_tests/rtl.cpp b/integration_tests/mission_rtl.cpp
similarity index 97%
rename from integration_tests/rtl.cpp
rename to integration_tests/mission_rtl.cpp
index e926b868bd..9214676861 100644
--- a/integration_tests/rtl.cpp
+++ b/integration_tests/mission_rtl.cpp
@@ -18,17 +18,17 @@ using namespace std::placeholders; // for `_1`
 
 void do_mission_with_rtl(float mission_altitude_m, float rtl_altitude_m);
 
-TEST_F(SitlTest, RTLHigh)
+TEST_F(SitlTest, MissionWithRTLHigh)
 {
     do_mission_with_rtl(20, 30);
 }
 
-TEST_F(SitlTest, RTLLow)
+TEST_F(SitlTest, MissionWithRTLLow)
 {
     do_mission_with_rtl(5, 10);
 }
 
-TEST_F(SitlTest, RTLHigherAnyway)
+TEST_F(SitlTest, MissionWithRTLHigherAnyway)
 {
     do_mission_with_rtl(10, 5);
 }
diff --git a/integration_tests/async_connect.cpp b/integration_tests/system_connection_async.cpp
similarity index 97%
rename from integration_tests/async_connect.cpp
rename to integration_tests/system_connection_async.cpp
index d609b966ec..75d96ad0d7 100644
--- a/integration_tests/async_connect.cpp
+++ b/integration_tests/system_connection_async.cpp
@@ -13,7 +13,7 @@ static uint64_t _uuid = 0;
 void on_discover(uint64_t uuid);
 void on_timeout(uint64_t uuid);
 
-TEST_F(SitlTest, AsyncConnect)
+TEST_F(SitlTest, SystemConnectionAsync)
 {
     DronecodeSDK dc;
 
diff --git a/integration_tests/simple_connect.cpp b/integration_tests/system_connection_sync.cpp
similarity index 96%
rename from integration_tests/simple_connect.cpp
rename to integration_tests/system_connection_sync.cpp
index c9259ea95b..0aa241c036 100644
--- a/integration_tests/simple_connect.cpp
+++ b/integration_tests/system_connection_sync.cpp
@@ -5,7 +5,7 @@
 
 using namespace dronecode_sdk;
 
-TEST_F(SitlTest, TwoConnections)
+TEST_F(SitlTest, SystemConnectionMultiple)
 {
     dronecode_sdk::DronecodeSDK *dc;
     dc = new dronecode_sdk::DronecodeSDK();
diff --git a/integration_tests/multi_components.cpp b/integration_tests/system_multi_components.cpp
similarity index 95%
rename from integration_tests/multi_components.cpp
rename to integration_tests/system_multi_components.cpp
index 8910329ba7..6b82071d6d 100644
--- a/integration_tests/multi_components.cpp
+++ b/integration_tests/system_multi_components.cpp
@@ -20,10 +20,10 @@ using namespace std::chrono;
  * 1. Connect a V4L2 Camera on Ubuntu.
  * 2. Launch Camera Streaming Daemon on Ubuntu and configure UDP port 14550.
  * 3. Launch PX4 SITL.
- * 4. Run SitlTest.MultiComponentDiscovery test.
+ * 4. Run SitlTest.SystemMultipleComponents test.
  * /////////////////////////////////////
  */
-TEST_F(SitlTest, MultiComponentDiscovery)
+TEST_F(SitlTest, SystemMultipleComponents)
 {
     DronecodeSDK dc;
 
diff --git a/integration_tests/telemetry_simple.cpp b/integration_tests/telemetry_sync.cpp
similarity index 99%
rename from integration_tests/telemetry_simple.cpp
rename to integration_tests/telemetry_sync.cpp
index aa1abdd0f1..c51e398aa8 100644
--- a/integration_tests/telemetry_simple.cpp
+++ b/integration_tests/telemetry_sync.cpp
@@ -5,7 +5,7 @@
 
 using namespace dronecode_sdk;
 
-TEST_F(SitlTest, TelemetrySimple)
+TEST_F(SitlTest, TelemetrySync)
 {
     DronecodeSDK dc;