diff --git a/.travis.yml b/.travis.yml
index 5ed98e40c6..edb9663faa 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -7,6 +7,15 @@ git:
   depth: 2000
   submodules: false
 
+env:
+  global:
+    # COVERITY KEY
+    - secure: "NyaJoCGjU0Xc90Y6bxVYWLgjrJX5HlZsm/SPxruZ6I7xkGo19fJIFzGegOHQFR32D4AiKjllfjTUNy+ncckWplind0QwxtF4/kxXrz9XBfiby6X8jLYXIekrB6Ay0mBLGbniDdh+lpWtcyop6Dmkt5bdJCJuKY2nv9ENnhhs07M="
+    # AWS KEY: $PX4_AWS_KEY
+    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
+    # AWS SECRET: $PX4_AWS_SECRET
+    - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
+
 matrix:
   fast_finish: true
   include:
@@ -24,7 +33,12 @@ matrix:
       sudo: required
       services:
         - docker
-      env: BUILD_TARGET=tests PX4_DOCKER_REPO=px4io/px4-dev-base:ubuntu17.10
+      env: BUILD_TARGET=tests_asan
+    - os: linux
+      sudo: required
+      services:
+        - docker
+      env: BUILD_TARGET=tests_coverage
     - os: linux
       sudo: required
       services:
@@ -50,12 +64,8 @@ matrix:
       sudo: required
       env: BUILD_TARGET=coverity_scan
   allow_failures:
-    - os: linux
-      sudo: required
-      services:
-        - docker
-      env: BUILD_TARGET=tests_coverage
-
+    - env: BUILD_TARGET=tests_asan
+    - env: BUILD_TARGET=tests_coverage
 
 cache:
   ccache: true
@@ -67,30 +77,32 @@ before_install:
     fi
   # use git:// to fetch instead of https://
   - git config --global url."git://".insteadOf https://
-env:
-  global:
-    # COVERITY KEY
-    - secure: "NyaJoCGjU0Xc90Y6bxVYWLgjrJX5HlZsm/SPxruZ6I7xkGo19fJIFzGegOHQFR32D4AiKjllfjTUNy+ncckWplind0QwxtF4/kxXrz9XBfiby6X8jLYXIekrB6Ay0mBLGbniDdh+lpWtcyop6Dmkt5bdJCJuKY2nv9ENnhhs07M="
-    # AWS KEY: $PX4_AWS_KEY
-    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
-    # AWS SECRET: $PX4_AWS_SECRET
-    - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
 
 script:
   - if [[ "${BUILD_TARGET}" = "coverity_scan" ]]; then
       echo "no script for coverity build";
+
     elif [[ "${TRAVIS_BRANCH}" = "coverity" ]]; then
       echo "exit early for coverity build" && exit 0;
+
     elif [[ "${BUILD_TARGET}" = "check_format" ]]; then
       ./Tools/docker_run.sh 'make check_format';
+
     elif [[ "${BUILD_TARGET}" = "tests" ]]; then
       ./Tools/docker_run.sh 'make tests';
+
     elif [[ "${BUILD_TARGET}" = "tests_coverage" ]]; then
       ./Tools/docker_run.sh 'make tests_coverage' && bash <(curl -s https://codecov.io/bash) -F unittests;
+
+    elif [[ "${BUILD_TARGET}" = "tests_asan" ]]; then
+      ./Tools/docker_run.sh 'PX4_ASAN=1 make tests';
+
     elif [[ "${BUILD_TARGET}" = "px4_metadata" ]]; then
       ./Tools/docker_run.sh 'make px4_metadata';
+
     elif [[ "${BUILD_TARGET}" = "clang-tidy" ]]; then
       ./Tools/docker_run.sh 'make clang-tidy-quiet';
+
     fi
 
 after_success:
diff --git a/Makefile b/Makefile
index 25cf4c50e0..7a1084416c 100644
--- a/Makefile
+++ b/Makefile
@@ -108,10 +108,10 @@ else
 endif
 
 # additional config parameters passed to cmake
-CMAKE_ARGS := -Wno-deprecated
+CMAKE_ARGS += -Wno-deprecated
 
 ifdef EXTERNAL_MODULES_LOCATION
-	CMAKE_ARGS := -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
+	CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
 endif
 
 ifdef PX4_CMAKE_BUILD_TYPE
@@ -296,7 +296,7 @@ format:
 .PHONY: tests tests_coverage
 
 tests:
-	$(MAKE) --no-print-directory posix_sitl_default test_results
+	$(MAKE) --no-print-directory posix_sitl_default test_results ASAN_OPTIONS="color=always"
 
 tests_coverage:
 	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
diff --git a/cmake/common/sanitizers.cmake b/cmake/common/sanitizers.cmake
index 5fae6980e8..d62565c365 100644
--- a/cmake/common/sanitizers.cmake
+++ b/cmake/common/sanitizers.cmake
@@ -36,6 +36,16 @@ option(SANITIZE_MEMORY "Enable MemorySanitizer" Off)
 option(SANITIZE_THREAD "Enable ThreadSanitizer" Off)
 option(SANITIZE_UNDEFINED "Enable UndefinedBehaviorSanitizer" Off)
 
+if(DEFINED ENV{PX4_ASAN})
+	set(SANITIZE_ADDRESS ON)
+elseif(DEFINED ENV{PX4_MSAN})
+	set(SANITIZE_MEMORY ON)
+elseif(DEFINED ENV{PX4_TSAN})
+	set(SANITIZE_THREAD ON)
+elseif(DEFINED ENV{PX4_UBSAN})
+	set(SANITIZE_UNDEFINED ON)
+endif()
+
 if (SANITIZE_ADDRESS)
         message(STATUS "address sanitizer enabled")
 
@@ -48,6 +58,7 @@ if (SANITIZE_ADDRESS)
                 -fsanitize=address
                 #-fsanitize-address-use-after-scope
         )
+        set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fsanitize=address" CACHE INTERNAL "" FORCE)
 
 elseif(SANITIZE_MEMORY)
         message(STATUS "thread sanitizer enabled")
@@ -64,6 +75,7 @@ elseif(SANITIZE_THREAD)
                 -g3
                 -fsanitize=thread
         )
+	set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fsanitize=thread" CACHE INTERNAL "" FORCE)
 
 elseif(SANITIZE_UNDEFINED)
         message(STATUS "undefined behaviour sanitizer enabled")
@@ -90,5 +102,6 @@ elseif(SANITIZE_UNDEFINED)
                 -fsanitize=vla-bound
                 -fsanitize=vptr
         )
+	set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fsanitize=undefined" CACHE INTERNAL "" FORCE)
 
 endif()