diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 832e013e40..703e011c35 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -92,7 +92,7 @@ build_esp_idf_tests:
     - cd tools/unit-test-app
     - git checkout ${CI_BUILD_REF_NAME} || echo "Using default branch..."
     - make defconfig
-    - make
+    - make TESTS_ALL=1
 
 build_examples:
   <<: *build_template
@@ -292,7 +292,7 @@ deploy_docs:
   variables:
     # jobs MUST set CONFIG_FILE in before_script, and overwrite the variables above if necessary
     LOCAL_ENV_CONFIG_PATH: /home/gitlab-runner/LocalConfig/ESP32_IDF
-    BIN_PATH: "$CI_PROJECT_DIR/esp-idf-tests/build/"
+    BIN_PATH: "$CI_PROJECT_DIR/tools/unit-test-app/build/"
     LOG_PATH: "$CI_PROJECT_DIR/$CI_BUILD_REF"
     APP_NAME: "ut"
     TEST_CASE_FILE_PATH: "$CI_PROJECT_DIR/components/idf_test/unit_test"
diff --git a/components/esp32/test/Kconfig b/components/esp32/test/Kconfig
deleted file mode 100644
index af5e5b45e7..0000000000
--- a/components/esp32/test/Kconfig
+++ /dev/null
@@ -1,9 +0,0 @@
-menu "TESTS"
-
-config FP_TEST_ENABLE
-    bool "Enable test fp"
-    default "y"
-    help
-        For FPGA single core CPU which has no floating point support, floating point test should be disabled.
-
-endmenu
diff --git a/components/esp32/test/test_fp.c b/components/esp32/test/test_fp.c
index 5c2573b227..1b88e9722c 100644
--- a/components/esp32/test/test_fp.c
+++ b/components/esp32/test/test_fp.c
@@ -4,7 +4,6 @@
 #include "freertos/task.h"
 #include "unity.h"
 
-#if CONFIG_FP_TEST_ENABLE
 static float addsf(float a, float b)
 {
     float result;
@@ -192,4 +191,3 @@ TEST_CASE("context switch saves FP registers", "[fp]")
     }
     TEST_ASSERT(state.fail == 0);
 }
-#endif
diff --git a/components/idf_test/unit_test/CIConfigs/UT_Function_SYS_01.yml b/components/idf_test/unit_test/CIConfigs/UT_Function_SYS_01.yml
index c3561aa0c5..f4755dfec4 100644
--- a/components/idf_test/unit_test/CIConfigs/UT_Function_SYS_01.yml
+++ b/components/idf_test/unit_test/CIConfigs/UT_Function_SYS_01.yml
@@ -2,7 +2,6 @@ Config: {execute count: 1, execute order: in order}
 DUT: [UT1]
 Filter:
 - Add:
-    ID: [SYS_OS_0102, SYS_MISC_0103, SYS_MISC_0102, SYS_MISC_0105, SYS_MISC_0104,
-      SYS_MISC_0107, SYS_MISC_0106, SYS_MISC_0109, SYS_MISC_0108, SYS_MISC_0112, SYS_MISC_0113,
-      SYS_MISC_0110, SYS_MISC_0111, SYS_MISC_0115, SYS_LIB_0103, SYS_LIB_0102, SYS_LIB_0101,
-      SYS_LIB_0106, SYS_LIB_0105, SYS_LIB_0104]
+    ID: [SYS_OS_0102, SYS_MISC_0102, SYS_MISC_0107, SYS_MISC_0106, SYS_MISC_0109,
+      SYS_MISC_0108, SYS_MISC_0112, SYS_MISC_0113, SYS_MISC_0110, SYS_MISC_0111, SYS_LIB_0103,
+      SYS_LIB_0102, SYS_LIB_0101, SYS_LIB_0106, SYS_LIB_0105, SYS_LIB_0104]