diff --git a/CMakeLists.txt b/CMakeLists.txt
index b60cac9..346f832 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,6 +27,12 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
 
+if(COVERAGE)
+  message(WARNING "building with --coverage, the performance might be limited")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --coverage")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --coverage")
+endif()
+
 set(LIBRARIES
   MrsUavManagers_GainManager
   MrsUavManagers_ConstraintManager
@@ -164,9 +170,6 @@ target_link_libraries(MrsUavManagers_TransformManager
 
 if(CATKIN_ENABLE_TESTING)
 
-  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --coverage")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --coverage")
-
   add_subdirectory(test)
 
 endif()