diff --git a/.gitignore b/.gitignore
index a23729142c..7172cf0274 100644
--- a/.gitignore
+++ b/.gitignore
@@ -11,6 +11,7 @@
 /Tools/autotest/jsb_sim/rascal_test.xml
 /Tools/autotest/jsbsim_fgout_0.xml
 /Tools/autotest/jsbsim_start_0.xml
+/Tools/autotest/rover-ch7_mission.txt
 /tmp/*
 *.bin
 *.d
@@ -109,4 +110,6 @@ parameters.edn
 .idea/*
 # CMake
 cmake-build-*/
+/reports/
+/GCOV_*.log
 
diff --git a/Tools/scripts/install-prereqs-ubuntu.sh b/Tools/scripts/install-prereqs-ubuntu.sh
index 447470a24a..7510e06895 100755
--- a/Tools/scripts/install-prereqs-ubuntu.sh
+++ b/Tools/scripts/install-prereqs-ubuntu.sh
@@ -11,7 +11,7 @@ PX4_PKGS="python-argparse openocd flex bison libncurses5-dev \
           zip genromfs python-empy cmake cmake-data"
 ARM_LINUX_PKGS="g++-arm-linux-gnueabihf pkg-config-arm-linux-gnueabihf"
 # python-wxgtk packages are added to SITL_PKGS below
-SITL_PKGS="libtool libxml2-dev libxslt1-dev python-dev python-pip python-setuptools python-matplotlib python-serial python-scipy python-opencv python-numpy python-pyparsing xterm"
+SITL_PKGS="libtool libxml2-dev libxslt1-dev python-dev python-pip python-setuptools python-matplotlib python-serial python-scipy python-opencv python-numpy python-pyparsing xterm lcov gcovr"
 ASSUME_YES=false
 QUIET=false
 
diff --git a/wscript b/wscript
index a01f21c1c4..a0fe1001e1 100644
--- a/wscript
+++ b/wscript
@@ -4,7 +4,9 @@
 from __future__ import print_function
 
 import os.path
+import os
 import sys
+import subprocess
 sys.path.insert(0, 'Tools/ardupilotwaf/')
 
 import ardupilotwaf
@@ -193,6 +195,110 @@ configuration in order to save typing.
         default=False,
         help='Force a static build')
 
+    g.add_option("--enable-gcov",
+        help=("Enable gcov code coverage analysis."
+             " WARNING: this option only has effect "
+             "with the configure command. "
+             "You should also add --lcov-report to your build command."),
+        action="store_true", default=False,
+        dest="enable_gcov")
+
+    g.add_option("--lcov-report",
+        help=("Generates a lcov code coverage report "
+             "(use this option at build time, not in configure)"),
+        action="store_true", default=False,
+        dest="lcov_report")
+
+
+
+# EXECUTE enough code via the autotest tool to see coverage results afterwards, but don't build/rebuild anything
+# our aim here is to try to execute as many code path/s as we have available to us, and we'll afterward report
+# on the percentage of code executed and not executed etc.
+def	run_coverage_tests(bld):
+
+    FNULL = open(os.devnull, 'w')
+
+    #tests = ['fly.ArduPlane']
+    #tests = ['fly.ArduCopter','fly.ArduPlane']
+    tests = ['fly.ArduCopter','fly.ArduPlane', 'fly.QuadPlane', 'drive.APMrover2', 'dive.ArduSub']
+
+    for test in tests:
+        print("LCOV/GCOV -> "+test+" started.... this will take quite some time...")
+        testcmd = '( ./Tools/autotest/autotest.py --debug --no-configure '+test+' ) '
+        print("Coverage Tests Executing:"+testcmd+" > ./GCOV_"+test+".log")
+        FLOG = open("./GCOV_"+test+".log", 'w')
+        if subprocess.Popen(testcmd, shell=True , stdout=FLOG, stderr=FNULL).wait():
+	        print("LCOV/GCOV -> "+test+" see ./GCOV_"+test+".log for log of activity)")
+	        raise SystemExit(1)
+        print("LCOV/GCOV -> "+test+" succeeded")
+        FLOG.close()
+
+    #TODO add any other execution path/s we can to maximise the actually used code, can we run other tests or things?
+    # eg run.unit_tests, run.examples , test.AntennaTracker or other things?
+
+
+def lcov_report(bld):
+    """
+    Generates the coverage report
+    :param bld: temporal options context
+    :type bld: wscript.tmp
+    """
+    env = bld.env
+    REPORTS = "reports"
+
+    if not env.GCOV_ENABLED:
+        raise WafError("project not configured for code coverage;"
+                       " reconfigure with --enable-gcov")
+
+    run_coverage_tests(bld)
+    lcov_report_dir = os.path.join(REPORTS, "lcov-report")
+    try:
+        if not os.path.exists(REPORTS):
+            os.mkdir(REPORTS)
+
+        create_dir_command = "rm -rf " + lcov_report_dir
+        create_dir_command += " && mkdir " + lcov_report_dir
+
+        print (create_dir_command );
+        if subprocess.Popen(create_dir_command, shell=True).wait():
+            raise SystemExit(1)
+
+        info_file = os.path.join(lcov_report_dir, "lcov.info")
+
+        FLOG = open("GCOV_lcov.log", 'w')
+        FNULL = open(os.devnull, 'w')
+
+        lcov_command =\
+            "lcov --no-external --capture --directory . -o " + info_file
+        lcov_command +=\
+            " && lcov --remove " + info_file + " \".waf*\" -o " + info_file
+
+        print("LCOV/GCOV executing lcov -> ")
+        print ("\t"+lcov_command + " > ./GCOV_lcov.log")
+        if subprocess.Popen(lcov_command, shell=True, stdout=FLOG, stderr=FNULL).wait():
+            raise SystemExit(1)
+        FLOG.close()
+
+
+        FLOG = open("GCOV_genhtml.log", 'w')
+        genhtml_command = "genhtml " + info_file
+        genhtml_command += " -o " + lcov_report_dir
+        print("LCOV/GCOV building html report -> ")
+        print ("\t"+genhtml_command + " > ./GCOV_genhtml.log")
+        if subprocess.Popen(genhtml_command, shell=True, stdout=FLOG, stderr=FNULL).wait():
+            raise SystemExit(1)
+        FLOG.close()
+
+    except:
+        print (\
+            "LCOV/GCOV -> Problems running coverage. Try manually" );
+
+    finally:
+        print (\
+            "LCOV/GCOV -> Coverage successful. Open " + lcov_report_dir +\
+            "/index.html" );
+
+
 def _collect_autoconfig_files(cfg):
     for m in sys.modules.values():
         paths = []
@@ -212,10 +318,16 @@ def _collect_autoconfig_files(cfg):
                 cfg.files.append(p)
 
 def configure(cfg):
+	# we need to enable debug mode when building for gconv, and force it to sitl
+    if cfg.options.enable_gcov:
+        cfg.options.debug = True
+        cfg.options.board = 'sitl'
+
     if cfg.options.board is None:
         cfg.options.board = 'sitl'
 
     cfg.env.BOARD = cfg.options.board
+    cfg.env.DEBUG = cfg.options.debug
     cfg.env.AUTOCONFIG = cfg.options.autoconfig
 
     _set_build_context_variant(cfg.env.BOARD)
@@ -234,6 +346,21 @@ def configure(cfg):
 
     cfg.msg('Autoconfiguration', 'enabled' if cfg.options.autoconfig else 'disabled')
 
+    #Sets the lcov flag if is configurated
+    if cfg.options.enable_gcov:
+        cfg.start_msg("GCOV code coverage analysis")
+        cfg.env.GCOV_ENABLED = True
+        cfg.env.append_value('CCFLAGS', '-fprofile-arcs')
+        cfg.env.append_value('CCFLAGS', '-ftest-coverage')
+        cfg.env.append_value('CXXFLAGS', '-fprofile-arcs')
+        cfg.env.append_value('CXXFLAGS', '-ftest-coverage')
+        cfg.env.append_value('LINKFLAGS', '-lgcov')
+        cfg.env.append_value('LINKFLAGS', '-coverage')
+        cfg.end_msg('yes' , color='RED')
+    else:
+        cfg.start_msg("GCOV code coverage analysis")
+        cfg.end_msg('no' , color='GREEN')
+
     if cfg.options.static:
         cfg.msg('Using static linking', 'yes', color='YELLOW')
         cfg.env.STATIC_LINKING = True
@@ -472,6 +599,9 @@ def _build_post_funs(bld):
     if bld.env.SUBMODULE_UPDATE:
         bld.git_submodule_post_fun()
 
+    if bld.env.GCOV_ENABLED:
+      bld.add_post_fun(lcov_report)
+
 def _load_pre_build(bld):
     '''allow for a pre_build() function in build modules'''
     brd = bld.get_board()