diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index e7f2f6a471..8301b37ca5 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -198,6 +198,10 @@ for t in $CI_BUILD_TARGET; do
         $waf configure --board CubeOrange-periph
         $waf clean
         $waf AP_Periph
+        echo "Building G4-ESC peripheral fw"
+        $waf configure --board G4-ESC
+        $waf clean
+        $waf AP_Periph
         continue
     fi