diff --git a/.travis.yml b/.travis.yml
index f2da8bcf96..3272b1bfc7 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -7,11 +7,15 @@ matrix:
   fast_finish: true
   include:
     - os: linux
-      sudo: false
-      env: GCC_VER=4.8
+      sudo: required
+      env: GCC_VER=4.8 DOCKER_REPO="px4io/px4-dev-base"
+      services:
+        - docker
     - os: linux
-      sudo: false
-      env: GCC_VER=4.9
+      sudo: required
+      env: GCC_VER=4.9 DOCKER_REPO="px4io/px4-dev-nuttx-gcc4.9"
+      services:
+        - docker
     - os: osx
       osx_image: xcode7
       sudo: true
@@ -20,49 +24,10 @@ cache:
   directories:
     - $HOME/.ccache
 
-addons:
-  apt:
-    sources:
-    - kubuntu-backports
-    - ubuntu-toolchain-r-test
-    - george-edison55-precise-backports
-    packages:
-    - build-essential
-    - ccache
-    - clang-3.5
-    - cmake
-    - g++-4.9
-    - gcc-4.9
-    - genromfs
-    - libc6-i386
-    - libncurses5-dev
-    - ninja-build
-    - python-argparse
-    - python-empy
-    - s3cmd
-    - texinfo
-    - zlib1g-dev
-
 before_install:
-  - cd ${TRAVIS_BUILD_DIR} && git fetch --unshallow && git fetch --all --tags
+  - cd ${TRAVIS_BUILD_DIR} && git fetch --unshallow && git fetch --all --tags && git submodule update --quiet --init --recursive
   - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-         pushd .
-      && cd ~ && mkdir gcc && cd gcc
-      && if [ "$GCC_VER" = "4.8" ]; then GCC_URL="https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2" ; fi
-      && if [ "$GCC_VER" = "4.9" ]; then GCC_URL="https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2" ; fi
-      && wget -O gcc.tar.bz2 ${GCC_URL}
-      && tar -jxf gcc.tar.bz2 --strip 1
-      && exportline="export PATH=$HOME/gcc/bin:\$PATH"
-      && if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
-      && . ~/.profile
-      && popd
-      && git clone git://github.com/PX4/CI-Tools.git
-      && ./CI-Tools/s3cmd-configure
-      && mkdir -p ~/bin
-      && wget -O ~/bin/astyle https://github.com/PX4/astyle/releases/download/2.05.1/astyle-linux && chmod +x ~/bin/astyle
-      && astyle --version
-      && if [ "$CXX" = "g++" ]; then export CXX="g++-4.9" CC="gcc-4.9"; fi
-      ;
+      docker pull ${DOCKER_REPO};
     elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
          brew tap PX4/homebrew-px4
       && brew update; brew update
@@ -73,24 +38,8 @@ before_install:
       ;
     fi
 
-before_script:
-# setup ccache
-  - mkdir -p ~/bin
-  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-g++
-  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-gcc
-  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-size
-  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-objcopy
-  - ln -s /usr/bin/ccache ~/bin/clang++
-  - ln -s /usr/bin/ccache ~/bin/clang++-3.4
-  - ln -s /usr/bin/ccache ~/bin/clang++-3.5
-  - ln -s /usr/bin/ccache ~/bin/clang
-  - ln -s /usr/bin/ccache ~/bin/clang-3.4
-  - ln -s /usr/bin/ccache ~/bin/clang-3.5
-  - export PATH=~/bin:$PATH
-
 env:
   global:
-    - NINJA_BUILD=1
 # AWS KEY: $PX4_AWS_KEY
     - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
 # AWS SECRET: $PX4_AWS_SECRET
@@ -98,39 +47,63 @@ env:
     - PX4_AWS_BUCKET=px4-travis
 
 script:
-  - git submodule update --quiet --init --recursive
   - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-      arm-none-eabi-gcc --version && make check VECTORCONTROL=1;
+      docker run --rm -v `pwd`:`pwd`:rw -v $HOME/.ccache:$HOME/.ccache:rw -e CCACHE_DIR=$HOME/.ccache -w=`pwd` --user=$UID -it ${DOCKER_REPO} /bin/bash -c "ccache -z; make check VECTORCONTROL=1; ccache -s";
     elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
       make check_posix_sitl_default;
     fi
 
 after_success:
-  - if [[ "${TRAVIS_OS_NAME}" = "linux" && "${GCC_VER}" = "4.8" ]]; then
-         make package_firmware
-      && find . -name \*.px4 -exec cp "{}" . \;
-      && find . -maxdepth 1 -mindepth 1 -type f -name 'nuttx-*-default.px4' | sed 's/.\/nuttx-//' | sed 's/-default.px4//' | xargs -I{} mv nuttx-{}-default.px4 {}_default.px4
-      && ./CI-Tools/s3cmd-put `find . -maxdepth 1 -mindepth 1 -type f -name '*_default.px4'` build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
-      && ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
-      && ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
-      && ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
-      && ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
-      && echo ""
-      && echo "Binaries have been posted to:" https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
-      ;
-    fi
+  - make package_firmware && mkdir s3deploy-archive && cp Firmware.zip s3deploy-archive/
+# find all px4 firmware (*.px4) and rename
+  - find . -type f -name 'nuttx-*-default.px4' -exec cp "{}" . \;
+  - find . -maxdepth 1 -mindepth 1 -type f -name 'nuttx-*-default.px4' | sed 's/.\/nuttx-//' | sed 's/-default.px4//' | xargs -I{} mv nuttx-{}-default.px4 {}_default.px4
+  - mkdir s3deploy-branch && mv *_default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml s3deploy-branch/
 
 deploy:
-  provider: releases
-  api_key:
-    secure: cdHWLRBxA5UlYpOS0Sp891QK7PFmMgQ5ZWs1aPt+sw0rIrowyWMHCwXNBEdUqaExHYNYgXCUDI0EzNgfB7ZcR63Qv1MQeoyamV4jsxlyAqDqmxNtWO82S6RhHGeMLk26VgFKzynVcEk1IYlQP2nqzMQLdu+jTrngERuAIrCdRuc=
-  file: "Firmware.zip"
-  skip_cleanup: true
-  on:
-    tags: true
-    all_branches: true
-    repo: PX4/Firmware
-    condition: $GCC_VER = 4.8
+# deploy *.px4 to S3 px4-travis/Firmware/$TRAVIS_BRANCH
+  - provider: s3
+    access_key_id: $PX4_AWS_KEY
+    secret_access_key:
+      secure: $PX4_AWS_SECRET
+    bucket: px4-travis
+    local_dir: s3deploy-branch
+    upload-dir: Firmware/$TRAVIS_BRANCH
+    acl: public_read
+    skip_cleanup: true
+    on:
+      branch: master
+      branch: beta
+      branch: stable
+      condition: $GCC_VER = 4.8
+
+# deploy Firmware.zip to S3 px4-travis/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID
+  - provider: s3
+    access_key_id: $PX4_AWS_KEY
+    secret_access_key:
+      secure: $PX4_AWS_SECRET
+    bucket: px4-travis
+    local_dir: s3deploy-archive
+    upload-dir: archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID
+    acl: public_read
+    skip_cleanup: true
+    on:
+      branch: master
+      branch: beta
+      branch: stable
+      condition: $GCC_VER = 4.8
+
+# on tags deploy Firmware.zip to Github releases
+  - provider: releases
+    api_key: 
+      secure: cdHWLRBxA5UlYpOS0Sp891QK7PFmMgQ5ZWs1aPt+sw0rIrowyWMHCwXNBEdUqaExHYNYgXCUDI0EzNgfB7ZcR63Qv1MQeoyamV4jsxlyAqDqmxNtWO82S6RhHGeMLk26VgFKzynVcEk1IYlQP2nqzMQLdu+jTrngERuAIrCdRuc=
+    file: "Firmware.zip"
+    skip_cleanup: true
+    on:
+      tags: true
+      all_branches: true
+      repo: PX4/Firmware
+      condition: $GCC_VER = 4.8
 
 notifications:
   webhooks:
diff --git a/Makefile b/Makefile
index 26aad575a8..bd6533e3e7 100644
--- a/Makefile
+++ b/Makefile
@@ -223,8 +223,8 @@ run_sitl_ros: sitl_deprecation
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: gazebo_build uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean
-.NOTPARALLEL: gazebo_build uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean
+.PHONY: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+.NOTPARALLEL: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
 
 gazebo_build:
 	@mkdir -p build_gazebo
@@ -287,15 +287,20 @@ ifeq ($(VECTORCONTROL),1)
 endif
 
 unittest: posix_sitl_test
-	@export CC=clang
-	@export CXX=clang++
-	@export ASAN_OPTIONS=symbolize=1
 	$(call cmake-build-other,unittest, ../unittests)
 	@(cd build_unittest && ctest -j2 --output-on-failure)
 	
 test_onboard_sitl:
 	@HEADLESS=1 make posix_sitl_test gazebo_iris
 
+
+# QGroundControl flashable firmware
+qgc_firmware: \
+	check_px4fmu-v1_default \
+	check_px4fmu-v2_default \
+	check_mindpx-v2_default \
+	check_px4fmu-v4_default_and_uavcan
+
 package_firmware:
 	@zip --junk-paths Firmware.zip `find . -name \*.px4`
 
diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index 5d39cc4bb7..2a628bb1f1 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -1,8 +1,8 @@
 cmake_minimum_required(VERSION 2.8)
 
 include(CMakeForceCompiler)
-CMAKE_FORCE_C_COMPILER(clang Clang)
-CMAKE_FORCE_CXX_COMPILER(clang++ Clang)
+#CMAKE_FORCE_C_COMPILER(clang Clang)
+#CMAKE_FORCE_CXX_COMPILER(clang++ Clang)
 
 if("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang")
 	add_compile_options(-Qunused-arguments )
@@ -28,6 +28,7 @@ endif()
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=gnu99 -g")
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -fsanitize=address -fno-omit-frame-pointer")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-sign-compare -Wno-unused-but-set-variable")
 
 set(GTEST_DIR ${CMAKE_SOURCE_DIR}/googletest)
 add_subdirectory(${GTEST_DIR})