diff --git a/cmake/GtsamTesting.cmake b/cmake/GtsamTesting.cmake
index 24a340b79..9fff4f351 100644
--- a/cmake/GtsamTesting.cmake
+++ b/cmake/GtsamTesting.cmake
@@ -195,13 +195,10 @@ macro(gtsamAddTestsGlob_impl groupName globPatterns excludedFiles linkLibraries)
 
 				# Add TOPSRCDIR
 				set_property(SOURCE ${script_src} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${GTSAM_SOURCE_DIR}\"")
-
-				if(QNX)
-				# Do not exclude from 'make all' and 'make install'
-				set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL OFF)
-				else()
+				
 				# Exclude from 'make all' and 'make install'
-				set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL ON)
+				if(NOT QNX OR NOT DEFINED ENV{QNX_BUILD_TESTS})
+					set_target_properties(${script_name} PROPERTIES EXCLUDE_FROM_ALL ON)
 				endif()
 
 				# Configure target folder (for MSVC and Xcode)
@@ -242,14 +239,11 @@ macro(gtsamAddTestsGlob_impl groupName globPatterns excludedFiles linkLibraries)
 			# Add TOPSRCDIR
 			set_property(SOURCE ${script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${GTSAM_SOURCE_DIR}\"")
 
-			if(QNX)
-			# Do not exclude from 'make all' and 'make install'
-			set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL OFF)
-			else()
 			# Exclude from 'make all' and 'make install'
-			set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL ON)
+			if(NOT QNX OR NOT DEFINED ENV{QNX_BUILD_TESTS})
+				set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL ON)
 			endif()
-
+		
 			# Configure target folder (for MSVC and Xcode)
 			set_property(TARGET ${script_name} PROPERTY FOLDER "Unit tests")
 		endif()
diff --git a/gtsam/3rdparty/ceres/CMakeLists.txt b/gtsam/3rdparty/ceres/CMakeLists.txt
index 3a6031f17..e8d39da67 100644
--- a/gtsam/3rdparty/ceres/CMakeLists.txt
+++ b/gtsam/3rdparty/ceres/CMakeLists.txt
@@ -1,6 +1,7 @@
 file(GLOB ceres_headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h")
-if(QNX)
-    install(FILES ${ceres_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/ceres)
-else()
+if(NOT QNX)
     install(FILES ${ceres_headers} DESTINATION include/gtsam/3rdparty/ceres)
+else()
+    #Install in the install include directory rather than at the install prefix.
+    install(FILES ${ceres_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/ceres)
 endif()
\ No newline at end of file
diff --git a/gtsam/3rdparty/metis/include/CMakeLists.txt b/gtsam/3rdparty/metis/include/CMakeLists.txt
index b87596f97..0d5af2e83 100644
--- a/gtsam/3rdparty/metis/include/CMakeLists.txt
+++ b/gtsam/3rdparty/metis/include/CMakeLists.txt
@@ -1,5 +1,6 @@
-if(QNX)
-    install(FILES metis.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/metis)
+if(NOT QNX)
+    install(FILES metis.h DESTINATION include/gtsam/3rdparty/metis)
 else()
+    #Install in the install include directory rather than at the install prefix.
     install(FILES metis.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/metis)
 endif()
\ No newline at end of file
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index bf3d8556f..fb4a3c6e4 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -83,7 +83,7 @@ ENDIF(MSVC)
 
 # Generate and install config and dllexport files
 #For config.in searches
-if(DEFINED ENV{QNX})
+if(QNX)
 set(QNX_TARGET_DATASET_DIR "$ENV{QNX_TARGET_DATASET_DIR}")
 endif()
 configure_file(config.h.in config.h)
diff --git a/gtsam/base/CMakeLists.txt b/gtsam/base/CMakeLists.txt
index b876c7293..7e9927d6d 100644
--- a/gtsam/base/CMakeLists.txt
+++ b/gtsam/base/CMakeLists.txt
@@ -1,23 +1,19 @@
 # Install headers
+# Header groups
 file(GLOB base_headers "*.h")
-if(QNX)
-    install(FILES ${base_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/base)
-else()
-    install(FILES ${base_headers} DESTINATION include/gtsam/base)
-endif()
-
 file(GLOB base_headers_tree "treeTraversal/*.h")
-if(QNX)
-    install(FILES ${base_headers_tree} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/base/treeTraversal)
-else()
-    install(FILES ${base_headers_tree} DESTINATION include/gtsam/base/treeTraversal)
-endif()
-
 file(GLOB deprecated_headers "deprecated/*.h")
-if(QNX)
-    install(FILES ${deprecated_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/base/deprecated)
-else()
+
+# Installation
+if(NOT QNX)
+    install(FILES ${base_headers} DESTINATION include/gtsam/base)
+    install(FILES ${base_headers_tree} DESTINATION include/gtsam/base/treeTraversal)
     install(FILES ${deprecated_headers} DESTINATION include/gtsam/base/deprecated)
+else()
+    # For QNX, Install in the Installation's Include Directory
+    install(FILES ${base_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/base)
+    install(FILES ${base_headers_tree} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/base/treeTraversal)
+    install(FILES ${deprecated_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/base/deprecated)
 endif()
 
 # Build tests
diff --git a/gtsam/basis/CMakeLists.txt b/gtsam/basis/CMakeLists.txt
index e429adce4..98e6076e9 100644
--- a/gtsam/basis/CMakeLists.txt
+++ b/gtsam/basis/CMakeLists.txt
@@ -1,9 +1,9 @@
 # Install headers
 file(GLOB basis_headers "*.h")
-if(QNX)
-    install(FILES ${basis_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/basis)
+if(NOT QNX)
+    install(FILES ${basis_headers} DESTINATION include/gtsam/basis) 
 else()
-    install(FILES ${basis_headers} DESTINATION include/gtsam/basis)
+    install(FILES ${basis_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/basis)
 endif()
 
 # Build tests
diff --git a/gtsam/config.h.in b/gtsam/config.h.in
index 5691b8f7f..6e237a8d5 100644
--- a/gtsam/config.h.in
+++ b/gtsam/config.h.in
@@ -26,9 +26,11 @@
 
 // Paths to example datasets distributed with GTSAM
 #define GTSAM_SOURCE_TREE_DATASET_DIR "@GTSAM_SOURCE_DIR@/examples/Data"
+#ifndef __QNX__  
 #define GTSAM_INSTALLED_DATASET_DIR "@GTSAM_TOOLBOX_INSTALL_PATH@/gtsam_examples/Data"
-#ifdef __QNX__
-#define QNX_INSTALLED_DATASET_DIR "@QNX_TARGET_DATASET_DIR@/gtsam_examples/Data"
+#else
+//Set toolbox path to the path on the target.
+#define GTSAM_INSTALLED_DATASET_DIR "@QNX_TARGET_DATASET_DIR@/gtsam_examples/Data"
 #endif
 
 // Whether GTSAM is compiled to use quaternions for Rot3 (otherwise uses rotation matrices)
diff --git a/gtsam/inference/tests/testOrdering.cpp b/gtsam/inference/tests/testOrdering.cpp
index 0305218af..e33015cca 100644
--- a/gtsam/inference/tests/testOrdering.cpp
+++ b/gtsam/inference/tests/testOrdering.cpp
@@ -270,7 +270,7 @@ TEST(Ordering, MetisLoop) {
   symbolicGraph.push_factor(0, 5);
 
   // METIS
-#if !defined(__APPLE__)
+#if !defined(__APPLE__) && !defined(__QNX__)
   {
     Ordering actual = Ordering::Create(Ordering::METIS, symbolicGraph);
     //  - P( 0 4 1)
diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp
index 0baaccf1b..d7e925bd9 100644
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
@@ -69,9 +69,6 @@ string findExampleDataFile(const string &name) {
   // Constants below are defined by CMake, see gtsam/gtsam/CMakeLists.txt
   rootsToSearch.push_back(GTSAM_SOURCE_TREE_DATASET_DIR);
   rootsToSearch.push_back(GTSAM_INSTALLED_DATASET_DIR);
-  #ifdef __QNX__
-  rootsToSearch.push_back(QNX_INSTALLED_DATASET_DIR);
-  #endif
 
   // Search for filename as given, and with .graph and .txt extensions
   vector<string> namesToSearch;
diff --git a/gtsam/symbolic/tests/testSymbolicBayesTree.cpp b/gtsam/symbolic/tests/testSymbolicBayesTree.cpp
index 33fc3243b..a5e0a8c6c 100644
--- a/gtsam/symbolic/tests/testSymbolicBayesTree.cpp
+++ b/gtsam/symbolic/tests/testSymbolicBayesTree.cpp
@@ -731,7 +731,7 @@ TEST(SymbolicBayesTree, COLAMDvsMETIS) {
   {
     Ordering ordering = Ordering::Create(Ordering::METIS, sfg);
 // Linux and Mac split differently when using mettis
-#if !defined(__APPLE__)
+#if !defined(__APPLE__) && !defined(__QNX__)
     EXPECT(assert_equal(Ordering(list_of(3)(2)(5)(0)(4)(1)), ordering));
 #else
     EXPECT(assert_equal(Ordering(list_of(5)(4)(2)(1)(0)(3)), ordering));
@@ -742,7 +742,7 @@ TEST(SymbolicBayesTree, COLAMDvsMETIS) {
     //  | | - P( 5 | 0 4)
     //  | - P( 2 | 1 3)
     SymbolicBayesTree expected;
-#if !defined(__APPLE__)
+#if !defined(__APPLE__) && !defined(__QNX__)
     expected.insertRoot(
         MakeClique(list_of(2)(4)(1), 3,
             list_of(
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 78cf1614a..068b39eca 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -14,8 +14,3 @@ if(MSVC)
 	set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/testSerializationSLAM.cpp"
 		APPEND PROPERTY COMPILE_FLAGS "/bigobj")
 endif()
-
-if(QNX)
-file(GLOB built_tests "${PROJECT_BINARY_DIR}/tests/test*")
-install(FILES ${built_tests} DESTINATION ${CMAKE_INSTALL_BINDIR}/gtsam_tests/)
-endif()
\ No newline at end of file