diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index c94789320a..42a14723f0 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -164,6 +164,19 @@ class Board:
             env.DEFINES.update(
                 HAL_DEBUG_BUILD = 1,
             )
+        if cfg.env.COVERAGE:
+            env.CFLAGS += [
+                '-fprofile-arcs',
+                '-ftest-coverage',
+            ]
+            env.CXXFLAGS += [
+                '-fprofile-arcs',
+                '-ftest-coverage',
+            ]
+            env.LINKFLAGS += [
+                '-lgcov',
+                '-coverage',
+            ]
 
         if cfg.options.bootloader:
             # don't let bootloaders try and pull scripting in
diff --git a/wscript b/wscript
index 8fc729d3ac..e4a8f5fb57 100644
--- a/wscript
+++ b/wscript
@@ -82,6 +82,11 @@ def options(opt):
         default=False,
         help='Configure as debug variant.')
 
+    g.add_option('--coverage',
+                 action='store_true',
+                 default=False,
+                 help='Configure coverage flags.')
+
     g.add_option('--Werror',
         action='store_true',
         default=False,
@@ -284,6 +289,7 @@ def configure(cfg):
         
     cfg.env.BOARD = cfg.options.board
     cfg.env.DEBUG = cfg.options.debug
+    cfg.env.COVERAGE = cfg.options.coverage
     cfg.env.AUTOCONFIG = cfg.options.autoconfig
 
     _set_build_context_variant(cfg.env.BOARD)
@@ -291,6 +297,7 @@ def configure(cfg):
 
     cfg.env.BOARD = cfg.options.board
     cfg.env.DEBUG = cfg.options.debug
+    cfg.env.COVERAGE = cfg.options.coverage
     cfg.env.ENABLE_ASSERTS = cfg.options.enable_asserts
     cfg.env.BOOTLOADER = cfg.options.bootloader
     cfg.env.ENABLE_MALLOC_GUARD = cfg.options.enable_malloc_guard
@@ -368,6 +375,12 @@ def configure(cfg):
     else:
         cfg.end_msg('disabled', color='YELLOW')
 
+    cfg.start_msg('Coverage build')
+    if cfg.env.COVERAGE:
+        cfg.end_msg('enabled')
+    else:
+        cfg.end_msg('disabled', color='YELLOW')
+
     cfg.env.append_value('GIT_SUBMODULES', 'mavlink')
 
     cfg.env.prepend_value('INCLUDES', [