diff --git a/Tools/scripts/run_coverage.py b/Tools/scripts/run_coverage.py
index 96414c26ca..4df28eef0d 100755
--- a/Tools/scripts/run_coverage.py
+++ b/Tools/scripts/run_coverage.py
@@ -24,7 +24,7 @@ root_dir = os.path.realpath(os.path.join(tools_dir, '../..'))
 class CoverageRunner(object):
     """Coverage Runner Class."""
 
-    def __init__(self, verbose=False, check_tests=True):
+    def __init__(self, verbose=False, check_tests=True) -> None:
         """Set the files Path."""
         self.REPORT_DIR = os.path.join(root_dir, "reports/lcov-report")
         self.INFO_FILE = os.path.join(root_dir, self.REPORT_DIR, "lcov.info")
@@ -37,13 +37,13 @@ class CoverageRunner(object):
         self.check_tests = check_tests
         self.start_time = time.time()
 
-    def progress(self, text):
+    def progress(self, text) -> None:
         """Pretty printer."""
         delta_time = time.time() - self.start_time
         formatted_text = "****** AT-%06.1f: %s" % (delta_time, text)
         print(formatted_text)
 
-    def init_coverage(self, use_example=False):
+    def init_coverage(self, use_example=False) -> None:
         """Initialize ArduPilot for coverage.
 
         This needs to be run with the binaries built.
@@ -64,6 +64,7 @@ class CoverageRunner(object):
         binaries_dir = os.path.join(root_dir, 'build/sitl/bin')
         dirs_to_check = [["binaries", binaries_dir], ["tests", os.path.join(root_dir, 'build/linux/tests')]]
         if use_example:
+            self.progress("Adding examples")
             dirs_to_check.append(["examples", os.path.join(root_dir, 'build/linux/examples')])
         for dirc in dirs_to_check:
             if not (self.check_build(dirc[0], dirc[1])):
@@ -98,7 +99,7 @@ class CoverageRunner(object):
             exit(1)
         self.progress("Initialization done")
 
-    def check_build(self, name, path):
+    def check_build(self, name, path) -> bool:
         """Check that build directory is not empty and that binaries are built with the coverage flags."""
         self.progress("Checking that %s are set up and built" % name)
         if os.path.exists(path):
@@ -114,7 +115,7 @@ class CoverageRunner(object):
             self.progress("%s was't built with coverage support" % name)
             return False
 
-    def run_build(self, use_example=False):
+    def run_build(self, use_example=False) -> None:
         """Clean the build directory and build binaries for coverage."""
 
         os.chdir(root_dir)
@@ -127,6 +128,7 @@ class CoverageRunner(object):
 
         try:
             if use_example:
+                self.progress("Building examples")
                 subprocess.run([waf_light, "configure", "--board=linux", "--debug", "--coverage"], check=True)
                 subprocess.run([waf_light, "examples"], check=True)
             subprocess.run(
@@ -144,7 +146,7 @@ class CoverageRunner(object):
             exit(1)
         self.progress("Build examples and vehicle binaries done !")
 
-    def run_full(self, use_example=False):
+    def run_full(self, use_example=False) -> None:
         """Run full coverage on maximum of ArduPilot binaries and test functions."""
         self.progress("Running full test suite...")
         self.run_build()
@@ -158,6 +160,7 @@ class CoverageRunner(object):
             subprocess.run([self.autotest,
                             "--timeout=" + str(TIMEOUT),
                             "--debug",
+                            "--coverage",
                             "--no-clean",
                             "--speedup=" + str(SPEEDUP),
                             "run.examples"], check=self.check_tests)
@@ -183,7 +186,7 @@ class CoverageRunner(object):
         # used code, can we run other tests or things?  Replay, perhaps?
         self.update_stats()
 
-    def update_stats(self):
+    def update_stats(self) -> None:
         """Update Coverage statistics only.
 
         Assumes that coverage tests have been run.
@@ -277,6 +280,10 @@ if __name__ == '__main__':
     parser = argparse.ArgumentParser(description='Runs tests with gcov coverage support.')
     parser.add_argument('-v', '--verbose', action='store_true',
                         help='Output everything on terminal.')
+    parser.add_argument('-c', '--no-check-tests', action='store_true',
+                        help='Do not fail if tests do not run.')
+    parser.add_argument('--add-examples', action='store_true',
+                        help='Add examples to coverage.')
     group = parser.add_mutually_exclusive_group()
     group.add_argument('-i', '--init', action='store_true',
                        help='Initialise ArduPilot for coverage. It should be run after building the binaries.')
@@ -286,20 +293,17 @@ if __name__ == '__main__':
                        help='Clean the build directory and build binaries for coverage.')
     group.add_argument('-u', '--update', action='store_true',
                        help='Update coverage statistics. To be used after running some tests.')
-    group.add_argument('-c', '--no-check-tests', action='store_true',
-                       help='Do not fail if tests do not run.')
-
     args = parser.parse_args()
 
     runner = CoverageRunner(verbose=args.verbose, check_tests=not args.no_check_tests)
     if args.init:
-        runner.init_coverage()
+        runner.init_coverage(args.add_examples)
         sys.exit(0)
     if args.full:
-        runner.run_full()
+        runner.run_full(args.add_examples)
         sys.exit(0)
     if args.build:
-        runner.run_build()
+        runner.run_build(args.add_examples)
         sys.exit(0)
     if args.update:
         runner.update_stats()