diff --git a/Tools/scripts/configure-ci.sh b/Tools/scripts/configure-ci.sh
new file mode 100755
index 0000000000..08a8312b59
--- /dev/null
+++ b/Tools/scripts/configure-ci.sh
@@ -0,0 +1,51 @@
+#!/bin/bash
+# Install dependencies and configure the environment for CI build testing
+
+set -ev
+
+PKGS="build-essential gawk ccache genromfs libc6-i386 \
+      python-argparse python-empy python-serial zlib1g-dev"
+
+ARM_ROOT="gcc-arm-none-eabi-4_9-2015q3"
+ARM_TARBALL="$ARM_ROOT-20150921-linux.tar.bz2"
+
+RPI_ROOT="master"
+RPI_TARBALL="$RPI_ROOT.tar.gz"
+
+sudo apt-get -qq -y update
+sudo apt-get -qq -y install $PKGS
+
+pushd $HOME
+
+mkdir -p $HOME/opt
+pushd $HOME/opt
+
+# PX4 toolchain
+compiler=$ARM_ROOT
+if [ ! -d "$HOME/opt/$compiler" ]; then
+  wget http://firmware.diydrones.com/Tools/PX4-tools/$ARM_TARBALL
+  tar -xf $ARM_TARBALL
+fi
+
+# RPi/BBB toolchain
+compiler="tools-master/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64"
+if [ ! -d "$HOME/opt/$compiler" ]; then
+  wget http://firmware.diydrones.com/Tools/Travis/NavIO/$RPI_TARBALL
+  tar -xf $RPI_TARBALL
+fi
+
+popd
+
+mkdir -p $HOME/bin
+
+ln -sf /usr/bin/gcc-4.8 $HOME/bin/gcc
+ln -sf /usr/bin/g++-4.8 $HOME/bin/g++
+
+exportline="export PATH=$HOME/bin:$HOME/opt/gcc-arm-none-eabi-4_9-2015q3/bin:\
+$HOME/opt/tools-master/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin:\$PATH"
+
+if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
+. ~/.profile
+
+popd
+