diff --git a/cmake/Modules/FindGNSSSIMULATOR.cmake b/cmake/Modules/FindGNSSSIMULATOR.cmake
index 6754d1716..6a193746d 100644
--- a/cmake/Modules/FindGNSSSIMULATOR.cmake
+++ b/cmake/Modules/FindGNSSSIMULATOR.cmake
@@ -1,7 +1,7 @@
 # GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
 # This file is part of GNSS-SDR.
 #
-# SPDX-FileCopyrightText: 2011-2020 C. Fernandez-Prades cfernandez(at)cttc.es
+# SPDX-FileCopyrightText: 2011-2021 C. Fernandez-Prades cfernandez(at)cttc.es
 # SPDX-License-Identifier: BSD-3-Clause
 
 if(GNSSSIMULATOR_ROOT)
@@ -27,8 +27,17 @@ find_program(SW_GENERATOR_BIN gnss_sim
         /usr/local
         /opt/local
     PATH_SUFFIXES bin
+    ONLY_CMAKE_FIND_ROOT_PATH
 )
 
+if(SW_GENERATOR_BIN AND CMAKE_CROSSCOMPILING)
+    if(CMAKE_SYSROOT)
+        string(REGEX REPLACE "${CMAKE_SYSROOT}" "" SW_GENERATOR_BIN "${SW_GENERATOR_BIN}")
+    elseif(DEFINED ENV{OECORE_TARGET_SYSROOT})
+        string(REGEX REPLACE "$ENV{OECORE_TARGET_SYSROOT}" "" SW_GENERATOR_BIN "${SW_GENERATOR_BIN}")
+    endif()
+endif()
+
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(GNSSSIMULATOR DEFAULT_MSG SW_GENERATOR_BIN)
 mark_as_advanced(SW_GENERATOR_BIN)
diff --git a/cmake/Modules/FindGNUPLOT.cmake b/cmake/Modules/FindGNUPLOT.cmake
new file mode 100644
index 000000000..c464bc6b6
--- /dev/null
+++ b/cmake/Modules/FindGNUPLOT.cmake
@@ -0,0 +1,45 @@
+# GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+# This file is part of GNSS-SDR.
+#
+# SPDX-FileCopyrightText: 2021 C. Fernandez-Prades cfernandez(at)cttc.es
+# SPDX-License-Identifier: BSD-3-Clause
+
+
+find_program(GNUPLOT_EXECUTABLE
+    NAMES
+        gnuplot
+        pgnuplot
+    PATHS
+        /usr/bin
+        /usr/local/bin
+        /opt/local/bin
+    ONLY_CMAKE_FIND_ROOT_PATH
+)
+
+if(NOT CMAKE_CROSSCOMPILING)
+    if(GNUPLOT_EXECUTABLE)
+        execute_process(COMMAND "${GNUPLOT_EXECUTABLE}" --version
+            OUTPUT_VARIABLE GNUPLOT_OUTPUT_VARIABLE
+            ERROR_QUIET
+            OUTPUT_STRIP_TRAILING_WHITESPACE
+        )
+        string(REGEX REPLACE "^gnuplot ([0-9\\.]+)( patchlevel )?" "\\1." GNUPLOT_VERSION_STRING "${GNUPLOT_OUTPUT_VARIABLE}")
+        string(REGEX REPLACE "\\.$" "" GNUPLOT_VERSION_STRING "${GNUPLOT_VERSION_STRING}")
+        unset(GNUPLOT_OUTPUT_VARIABLE)
+    endif()
+else()
+    if(GNUPLOT_EXECUTABLE)
+        if(CMAKE_SYSROOT)
+            string(REGEX REPLACE "${CMAKE_SYSROOT}" "" GNUPLOT_EXECUTABLE "${GNUPLOT_EXECUTABLE}")
+        elseif(DEFINED ENV{OECORE_TARGET_SYSROOT})
+            string(REGEX REPLACE "$ENV{OECORE_TARGET_SYSROOT}" "" GNUPLOT_EXECUTABLE "${GNUPLOT_EXECUTABLE}")
+        endif()
+    else()
+        message(STATUS "Warning: Gnuplot is not found, you can install it later.")
+        message(STATUS "  Setting default path to /usr/bin/gnuplot")
+        set(GNUPLOT_EXECUTABLE "/usr/bin/gnuplot")
+    endif()
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(GNUPLOT DEFAULT_MSG GNUPLOT_EXECUTABLE)
diff --git a/docs/CHANGELOG.md b/docs/CHANGELOG.md
index a8b2ff148..65e942829 100644
--- a/docs/CHANGELOG.md
+++ b/docs/CHANGELOG.md
@@ -74,6 +74,7 @@ All notable changes to GNSS-SDR will be documented in this file.
 - Added support for Apple M1 AArch64 architecture processor and for FreeBSD on
   x86, improved AMD microarchitecture detection.
 - CMake now selects the C++23 standard if the environment allows for it.
+- Improved detection of Gnuplot and `gnss_sim` when cross-compiling.
 
 ### Improvements in Reliability
 
diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt
index a7a06ae6c..e663cf272 100644
--- a/src/tests/CMakeLists.txt
+++ b/src/tests/CMakeLists.txt
@@ -248,21 +248,21 @@ if(has_std_plus_void)
     add_definitions(-DCOMPILER_HAS_STD_PLUS_VOID=1)
 endif()
 
-find_package(Gnuplot)
+find_package(GNUPLOT)
 if(GNUPLOT_FOUND)
     add_definitions(-DGNUPLOT_EXECUTABLE="${GNUPLOT_EXECUTABLE}")
 endif()
-set_package_properties(Gnuplot PROPERTIES
+set_package_properties(GNUPLOT PROPERTIES
     URL "http://www.gnuplot.info"
     PURPOSE "Used to generate plots in some tests."
     TYPE OPTIONAL
 )
 if(GNUPLOT_FOUND AND GNUPLOT_VERSION_STRING)
-    set_package_properties(Gnuplot PROPERTIES
+    set_package_properties(GNUPLOT PROPERTIES
         DESCRIPTION "A portable command-line driven graphing utility (found: v${GNUPLOT_VERSION_STRING})"
     )
 else()
-    set_package_properties(Gnuplot PROPERTIES
+    set_package_properties(GNUPLOT PROPERTIES
         DESCRIPTION "A portable command-line driven graphing utility"
     )
 endif()
@@ -287,6 +287,12 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
     endif()
     find_package(GNSSSIMULATOR QUIET)
     if(GNSSSIMULATOR_FOUND OR NOT ENABLE_GNSS_SIM_INSTALL)
+        if(NOT GNSSSIMULATOR_FOUND)
+            message(STATUS "Warning: gnss_sim has not been found, you can install it later.")
+            message(STATUS "  See https://bitbucket.org/jarribas/gnss-simulator")
+            message(STATUS "  It is expected at /usr/bin/gnss_sim")
+            set(SW_GENERATOR_BIN "/usr/bin/gnss_sim")
+        endif()
         add_definitions(-DSW_GENERATOR_BIN="${SW_GENERATOR_BIN}")
         add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_INSTALL_PREFIX}/share/gnss-sim/brdc3540.14n")
         add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_INSTALL_PREFIX}/share/gnss-sim/circle.csv")