diff --git a/test/failsafe_controller/modalities/failsafe_controller_modalities_acceleration_hdg.test b/test/failsafe_controller/modalities/failsafe_controller_modalities_acceleration_hdg.test
index 18be88f..c595afa 100644
--- a/test/failsafe_controller/modalities/failsafe_controller_modalities_acceleration_hdg.test
+++ b/test/failsafe_controller/modalities/failsafe_controller_modalities_acceleration_hdg.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="acceleration_hdg" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="FailsafeController_Modalities" test-name="failsafe_controller_modalities_acceleration_hdg" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="FailsafeController_acceleration_hdg" test-name="failsafe_controller_modalities_acceleration_hdg" time-limit="60.0" />
 
 </launch>
diff --git a/test/failsafe_controller/modalities/failsafe_controller_modalities_acceleration_hdg_rate.test b/test/failsafe_controller/modalities/failsafe_controller_modalities_acceleration_hdg_rate.test
index aed5c2d..060454b 100644
--- a/test/failsafe_controller/modalities/failsafe_controller_modalities_acceleration_hdg_rate.test
+++ b/test/failsafe_controller/modalities/failsafe_controller_modalities_acceleration_hdg_rate.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="acceleration_hdg_rate" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="FailsafeController_Modalities" test-name="failsafe_controller_modalities_acceleration_hdg_rate" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="FailsafeController_acceleration_hdg_rate" test-name="failsafe_controller_modalities_acceleration_hdg_rate" time-limit="60.0" />
 
 </launch>
diff --git a/test/failsafe_controller/modalities/failsafe_controller_modalities_actuators.test b/test/failsafe_controller/modalities/failsafe_controller_modalities_actuators.test
index 3d7c676..c1d90b8 100644
--- a/test/failsafe_controller/modalities/failsafe_controller_modalities_actuators.test
+++ b/test/failsafe_controller/modalities/failsafe_controller_modalities_actuators.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="actuators" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="FailsafeController_Modalities" test-name="failsafe_controller_modalities_actuators" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="FailsafeController_actuators" test-name="failsafe_controller_modalities_actuators" time-limit="60.0" />
 
 </launch>
diff --git a/test/failsafe_controller/modalities/failsafe_controller_modalities_attitude.test b/test/failsafe_controller/modalities/failsafe_controller_modalities_attitude.test
index f285851..5319dc1 100644
--- a/test/failsafe_controller/modalities/failsafe_controller_modalities_attitude.test
+++ b/test/failsafe_controller/modalities/failsafe_controller_modalities_attitude.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="attitude" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="FailsafeController_Modalities" test-name="failsafe_controller_modalities_attitude" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="FailsafeController_attitude" test-name="failsafe_controller_modalities_attitude" time-limit="60.0" />
 
 </launch>
diff --git a/test/failsafe_controller/modalities/failsafe_controller_modalities_attitude_rate.test b/test/failsafe_controller/modalities/failsafe_controller_modalities_attitude_rate.test
index b76a145..f83d6fc 100644
--- a/test/failsafe_controller/modalities/failsafe_controller_modalities_attitude_rate.test
+++ b/test/failsafe_controller/modalities/failsafe_controller_modalities_attitude_rate.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="attitude_rate" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="FailsafeController_Modalities" test-name="failsafe_controller_modalities_attitude_rate" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="FailsafeController_attitude_rate" test-name="failsafe_controller_modalities_attitude_rate" time-limit="60.0" />
 
 </launch>
diff --git a/test/failsafe_controller/modalities/failsafe_controller_modalities_control_group.test b/test/failsafe_controller/modalities/failsafe_controller_modalities_control_group.test
index d46baee..0134109 100644
--- a/test/failsafe_controller/modalities/failsafe_controller_modalities_control_group.test
+++ b/test/failsafe_controller/modalities/failsafe_controller_modalities_control_group.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="control_group" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="FailsafeController_Modalities" test-name="failsafe_controller_modalities_control_group" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="FailsafeController_control_group" test-name="failsafe_controller_modalities_control_group" time-limit="60.0" />
 
 </launch>
diff --git a/test/failsafe_controller/modalities/failsafe_controller_modalities_velocity_hdg.test b/test/failsafe_controller/modalities/failsafe_controller_modalities_velocity_hdg.test
index 51eedd9..00f2e50 100644
--- a/test/failsafe_controller/modalities/failsafe_controller_modalities_velocity_hdg.test
+++ b/test/failsafe_controller/modalities/failsafe_controller_modalities_velocity_hdg.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="velocity_hdg" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="FailsafeController_Modalities" test-name="failsafe_controller_modalities_velocity_hdg" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="FailsafeController_velocity_hdg" test-name="failsafe_controller_modalities_velocity_hdg" time-limit="60.0" />
 
 </launch>
diff --git a/test/failsafe_controller/modalities/failsafe_controller_modalities_velocity_hdg_rate.test b/test/failsafe_controller/modalities/failsafe_controller_modalities_velocity_hdg_rate.test
index 56e7f9d..1a19dd2 100644
--- a/test/failsafe_controller/modalities/failsafe_controller_modalities_velocity_hdg_rate.test
+++ b/test/failsafe_controller/modalities/failsafe_controller_modalities_velocity_hdg_rate.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="velocity_hdg_rate" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="FailsafeController_Modalities" test-name="failsafe_controller_modalities_velocity_hdg_rate" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="FailsafeController_velocity_hdg_rate" test-name="failsafe_controller_modalities_velocity_hdg_rate" time-limit="60.0" />
 
 </launch>
diff --git a/test/mpc_controller/modalities/mpc_controller_modalities_acceleration_hdg.test b/test/mpc_controller/modalities/mpc_controller_modalities_acceleration_hdg.test
index d405f3d..84d99c8 100644
--- a/test/mpc_controller/modalities/mpc_controller_modalities_acceleration_hdg.test
+++ b/test/mpc_controller/modalities/mpc_controller_modalities_acceleration_hdg.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="acceleration_hdg" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="MpcController_Modalities" test-name="mpc_controller_modalities_acceleration_hdg" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="MpcController_acceleration_hdg" test-name="mpc_controller_modalities_acceleration_hdg" time-limit="60.0" />
 
 </launch>
diff --git a/test/mpc_controller/modalities/mpc_controller_modalities_acceleration_hdg_rate.test b/test/mpc_controller/modalities/mpc_controller_modalities_acceleration_hdg_rate.test
index bff7c2d..e65c59e 100644
--- a/test/mpc_controller/modalities/mpc_controller_modalities_acceleration_hdg_rate.test
+++ b/test/mpc_controller/modalities/mpc_controller_modalities_acceleration_hdg_rate.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="acceleration_hdg_rate" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="MpcController_Modalities" test-name="mpc_controller_modalities_acceleration_hdg_rate" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="MpcController_acceleration_hdg_rate" test-name="mpc_controller_modalities_acceleration_hdg_rate" time-limit="60.0" />
 
 </launch>
diff --git a/test/mpc_controller/modalities/mpc_controller_modalities_actuators.test b/test/mpc_controller/modalities/mpc_controller_modalities_actuators.test
index 1567d96..2fdba0c 100644
--- a/test/mpc_controller/modalities/mpc_controller_modalities_actuators.test
+++ b/test/mpc_controller/modalities/mpc_controller_modalities_actuators.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="actuators" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="MpcController_Modalities" test-name="mpc_controller_modalities_actuators" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="MpcController_actuators" test-name="mpc_controller_modalities_actuators" time-limit="60.0" />
 
 </launch>
diff --git a/test/mpc_controller/modalities/mpc_controller_modalities_attitude.test b/test/mpc_controller/modalities/mpc_controller_modalities_attitude.test
index b8e4f96..d575e41 100644
--- a/test/mpc_controller/modalities/mpc_controller_modalities_attitude.test
+++ b/test/mpc_controller/modalities/mpc_controller_modalities_attitude.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="attitude" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="MpcController_Modalities" test-name="mpc_controller_modalities_attitude" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="MpcController_attitude" test-name="mpc_controller_modalities_attitude" time-limit="60.0" />
 
 </launch>
diff --git a/test/mpc_controller/modalities/mpc_controller_modalities_attitude_rate.test b/test/mpc_controller/modalities/mpc_controller_modalities_attitude_rate.test
index beaaba1..ef8a020 100644
--- a/test/mpc_controller/modalities/mpc_controller_modalities_attitude_rate.test
+++ b/test/mpc_controller/modalities/mpc_controller_modalities_attitude_rate.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="attitude_rate" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="MpcController_Modalities" test-name="mpc_controller_modalities_attitude_rate" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="MpcController_attitude_rate" test-name="mpc_controller_modalities_attitude_rate" time-limit="60.0" />
 
 </launch>
diff --git a/test/mpc_controller/modalities/mpc_controller_modalities_control_group.test b/test/mpc_controller/modalities/mpc_controller_modalities_control_group.test
index e452bfc..638d89f 100644
--- a/test/mpc_controller/modalities/mpc_controller_modalities_control_group.test
+++ b/test/mpc_controller/modalities/mpc_controller_modalities_control_group.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="control_group" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="MpcController_Modalities" test-name="mpc_controller_modalities_control_group" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="MpcController_control_group" test-name="mpc_controller_modalities_control_group" time-limit="60.0" />
 
 </launch>
diff --git a/test/mpc_controller/modalities/mpc_controller_modalities_position.test b/test/mpc_controller/modalities/mpc_controller_modalities_position.test
index 54a4893..6d5b4a0 100644
--- a/test/mpc_controller/modalities/mpc_controller_modalities_position.test
+++ b/test/mpc_controller/modalities/mpc_controller_modalities_position.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="position" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="MpcController_Modalities" test-name="mpc_controller_modalities_position" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="MpcController_position" test-name="mpc_controller_modalities_position" time-limit="60.0" />
 
 </launch>
diff --git a/test/mpc_controller/modalities/mpc_controller_modalities_velocity_hdg.test b/test/mpc_controller/modalities/mpc_controller_modalities_velocity_hdg.test
index d8fcea4..9837123 100644
--- a/test/mpc_controller/modalities/mpc_controller_modalities_velocity_hdg.test
+++ b/test/mpc_controller/modalities/mpc_controller_modalities_velocity_hdg.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="velocity_hdg" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="MpcController_Modalities" test-name="mpc_controller_modalities_velocity_hdg" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="MpcController_velocity_hdg" test-name="mpc_controller_modalities_velocity_hdg" time-limit="60.0" />
 
 </launch>
diff --git a/test/mpc_controller/modalities/mpc_controller_modalities_velocity_hdg_rate.test b/test/mpc_controller/modalities/mpc_controller_modalities_velocity_hdg_rate.test
index 8550ca1..2289007 100644
--- a/test/mpc_controller/modalities/mpc_controller_modalities_velocity_hdg_rate.test
+++ b/test/mpc_controller/modalities/mpc_controller_modalities_velocity_hdg_rate.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="velocity_hdg_rate" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="MpcController_Modalities" test-name="mpc_controller_modalities_velocity_hdg_rate" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="MpcController_velocity_hdg_rate" test-name="mpc_controller_modalities_velocity_hdg_rate" time-limit="60.0" />
 
 </launch>
diff --git a/test/se3_controller/modalities/se3_controller_modalities_acceleration_hdg.test b/test/se3_controller/modalities/se3_controller_modalities_acceleration_hdg.test
index ee0a44c..bbe03ac 100644
--- a/test/se3_controller/modalities/se3_controller_modalities_acceleration_hdg.test
+++ b/test/se3_controller/modalities/se3_controller_modalities_acceleration_hdg.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="acceleration_hdg" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="Se3Controller_Modalities" test-name="se3_controller_modalities_acceleration_hdg" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="Se3Controller_acceleration_hdg" test-name="se3_controller_modalities_acceleration_hdg" time-limit="60.0" />
 
 </launch>
diff --git a/test/se3_controller/modalities/se3_controller_modalities_acceleration_hdg_rate.test b/test/se3_controller/modalities/se3_controller_modalities_acceleration_hdg_rate.test
index 51f7776..f27c4ab 100644
--- a/test/se3_controller/modalities/se3_controller_modalities_acceleration_hdg_rate.test
+++ b/test/se3_controller/modalities/se3_controller_modalities_acceleration_hdg_rate.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="acceleration_hdg_rate" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="Se3Controller_Modalities" test-name="se3_controller_modalities_acceleration_hdg_rate" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="Se3Controller_acceleration_hdg_rate" test-name="se3_controller_modalities_acceleration_hdg_rate" time-limit="60.0" />
 
 </launch>
diff --git a/test/se3_controller/modalities/se3_controller_modalities_actuators.test b/test/se3_controller/modalities/se3_controller_modalities_actuators.test
index b894f43..fc38e64 100644
--- a/test/se3_controller/modalities/se3_controller_modalities_actuators.test
+++ b/test/se3_controller/modalities/se3_controller_modalities_actuators.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="actuators" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="Se3Controller_Modalities" test-name="se3_controller_modalities_actuators" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="Se3Controller_actuators" test-name="se3_controller_modalities_actuators" time-limit="60.0" />
 
 </launch>
diff --git a/test/se3_controller/modalities/se3_controller_modalities_attitude.test b/test/se3_controller/modalities/se3_controller_modalities_attitude.test
index 221825a..72e37e7 100644
--- a/test/se3_controller/modalities/se3_controller_modalities_attitude.test
+++ b/test/se3_controller/modalities/se3_controller_modalities_attitude.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="attitude" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="Se3Controller_Modalities" test-name="se3_controller_modalities_attitude" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="Se3Controller_attitude" test-name="se3_controller_modalities_attitude" time-limit="60.0" />
 
 </launch>
diff --git a/test/se3_controller/modalities/se3_controller_modalities_attitude_rate.test b/test/se3_controller/modalities/se3_controller_modalities_attitude_rate.test
index 1295a9c..1381368 100644
--- a/test/se3_controller/modalities/se3_controller_modalities_attitude_rate.test
+++ b/test/se3_controller/modalities/se3_controller_modalities_attitude_rate.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="attitude_rate" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="Se3Controller_Modalities" test-name="se3_controller_modalities_attitude_rate" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="Se3Controller_attitude_rate" test-name="se3_controller_modalities_attitude_rate" time-limit="60.0" />
 
 </launch>
diff --git a/test/se3_controller/modalities/se3_controller_modalities_control_group.test b/test/se3_controller/modalities/se3_controller_modalities_control_group.test
index d63cdf6..d0d850e 100644
--- a/test/se3_controller/modalities/se3_controller_modalities_control_group.test
+++ b/test/se3_controller/modalities/se3_controller_modalities_control_group.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="control_group" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="Se3Controller_Modalities" test-name="se3_controller_modalities_control_group" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="Se3Controller_control_group" test-name="se3_controller_modalities_control_group" time-limit="60.0" />
 
 </launch>
diff --git a/test/se3_controller/modalities/se3_controller_modalities_position.test b/test/se3_controller/modalities/se3_controller_modalities_position.test
index 7c8f241..6cfd34d 100644
--- a/test/se3_controller/modalities/se3_controller_modalities_position.test
+++ b/test/se3_controller/modalities/se3_controller_modalities_position.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="position" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="Se3Controller_Modalities" test-name="se3_controller_modalities_position" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="Se3Controller_position" test-name="se3_controller_modalities_position" time-limit="60.0" />
 
 </launch>
diff --git a/test/se3_controller/modalities/se3_controller_modalities_velocity_hdg.test b/test/se3_controller/modalities/se3_controller_modalities_velocity_hdg.test
index 0343e30..d87c09a 100644
--- a/test/se3_controller/modalities/se3_controller_modalities_velocity_hdg.test
+++ b/test/se3_controller/modalities/se3_controller_modalities_velocity_hdg.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="velocity_hdg" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="Se3Controller_Modalities" test-name="se3_controller_modalities_velocity_hdg" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="Se3Controller_velocity_hdg" test-name="se3_controller_modalities_velocity_hdg" time-limit="60.0" />
 
 </launch>
diff --git a/test/se3_controller/modalities/se3_controller_modalities_velocity_hdg_rate.test b/test/se3_controller/modalities/se3_controller_modalities_velocity_hdg_rate.test
index 9c0836e..f8bb6eb 100644
--- a/test/se3_controller/modalities/se3_controller_modalities_velocity_hdg_rate.test
+++ b/test/se3_controller/modalities/se3_controller_modalities_velocity_hdg_rate.test
@@ -4,6 +4,6 @@
     <arg name="modality" value="velocity_hdg_rate" />
   </include>
 
-  <test pkg="mrs_uav_controllers" type="Se3Controller_Modalities" test-name="se3_controller_modalities_velocity_hdg_rate" time-limit="60.0" />
+  <test pkg="mrs_uav_controllers" type="Se3Controller_velocity_hdg_rate" test-name="se3_controller_modalities_velocity_hdg_rate" time-limit="60.0" />
 
 </launch>
diff --git a/test/single_test.sh b/test/single_test.sh
index b581664..1704346 100755
--- a/test/single_test.sh
+++ b/test/single_test.sh
@@ -20,7 +20,7 @@ TEST_RESULT_PATH=$(realpath /tmp/$RANDOM)
 mkdir -p $TEST_RESULT_PATH
 
 # run the test
-rostest $PACKAGE failsafe_controller_modalities_position.test $TEXT_OUTPUT --results-filename=$PACKAGE.test --results-base-dir="$TEST_RESULT_PATH"
+rostest ./failsafe_controller/modalities/failsafe_controller_modalities_velocity_hdg_rate.test $TEXT_OUTPUT --results-filename=$PACKAGE.test --results-base-dir="$TEST_RESULT_PATH"
 
 # evaluate the test results
 echo test result path is $TEST_RESULT_PATH