diff --git a/ci-test.sh b/ci-test.sh
index c79ad9703580d64f4db35e914c7d5c2eb7134fb6..2b8060ce46483f7f59862936c1f69ff30e6c68bc 100644
--- a/ci-test.sh
+++ b/ci-test.sh
@@ -4,4 +4,4 @@ set -e
 export PATH=/usr/local/bin:$PATH
 
 # Quad
-(cd quad && make test)
+(cd quad && make deep-clean && make && make test)
diff --git a/quad/Makefile b/quad/Makefile
index b5527481519cb1d1c611395e7202833bdbdb042a..f27a39d37141e31878c324788ef9c141db241be5 100644
--- a/quad/Makefile
+++ b/quad/Makefile
@@ -38,8 +38,8 @@ test: all
 	$(MAKE) -C src/queue test
 	$(MAKE) -C src/computation_graph test
 	$(MAKE) -C src/quad_app test
-	#ruby scripts/tests/test_safety_checks.rb
-	#ruby scripts/tests/test_unix_uart.rb
+	ruby scripts/tests/test_safety_checks.rb
+	ruby scripts/tests/test_unix_uart.rb
 
 clean:
 	rm -rf $(INCDIR) $(LIBDIR) $(OUTDIR) $(EXEDIR)
diff --git a/quad/scripts/tests/test_safety_checks.rb b/quad/scripts/tests/test_safety_checks.rb
index f4e6904955db2d2fd99a220c6c79257e4ed4956a..4d81d3372be084e874b1112b22ccdf56a0238e9f 100644
--- a/quad/scripts/tests/test_safety_checks.rb
+++ b/quad/scripts/tests/test_safety_checks.rb
@@ -78,10 +78,14 @@ def check_led(on)
   assert_equal(led, on)
 end
 
+puts("Setting up...")
+
 script_dir = File.expand_path(File.dirname(__FILE__))
 bin_dir = script_dir + "/../../bin/"
 Dir.chdir(bin_dir)
 
+sleep 1
+
 # Start virtual quad
 quad = Process.spawn("./virt-quad")
 
@@ -92,8 +96,8 @@ sleep 1
 #################
 
 begin
-  puts("beginning tests")
-  
+  puts("Beginning tests...")
+
   # Set gravity
   File.write(I2C_MPU_ACCEL_Z, -1 * GRAVITY)
 
@@ -132,7 +136,7 @@ begin
   puts("Check that the LED turns on when gear is flipped on")
   # (motors should still be off because our throttle is low)
   File.write(GEAR, GEAR_ON)
-  sleep 0.020
+  sleep 0.050
   check_led 1
   check_motors_are_off
 
@@ -146,7 +150,7 @@ begin
   # Check that gear switch kills the motors
   # (and that light goes off)
   File.write(GEAR, GEAR_OFF)
-  sleep 0.040
+  sleep 0.050
   check_motors_are_off
   check_led 0
 
@@ -155,7 +159,7 @@ begin
 
   # Check that we can resume flight
   File.write(GEAR, GEAR_ON)
-  sleep 0.040
+  sleep 0.050
   check_led 1
 
   sleep 1
diff --git a/quad/scripts/tests/test_unix_uart.rb b/quad/scripts/tests/test_unix_uart.rb
index 6621744e33f2a789bf191b33a58586b769f533f4..cca364d9343416e31e0b15ef8d65a4b73bcd4b6c 100644
--- a/quad/scripts/tests/test_unix_uart.rb
+++ b/quad/scripts/tests/test_unix_uart.rb
@@ -17,10 +17,14 @@ require 'test/unit/assertions'
 require 'thread'
 include Test::Unit::Assertions
 
+puts("Setting up...")
+
 script_dir = File.expand_path(File.dirname(__FILE__))
 bin_dir = script_dir + "/../../bin/"
 Dir.chdir(bin_dir)
 
+sleep 1
+
 # Start virtual quad
 quad = Process.spawn("./virt-quad")
 
@@ -32,6 +36,8 @@ sleep 1
 
 begin
 
+  puts("Beginning tests...")
+
   # Flip gear on
   File.write(GEAR, GEAR_ON)
   sleep 0.015