diff --git a/.github/workflows/compile_macos.yml b/.github/workflows/compile_macos.yml
new file mode 100644
index 0000000000..2e9d5ecd57
--- /dev/null
+++ b/.github/workflows/compile_macos.yml
@@ -0,0 +1,61 @@
+name: MacOS build
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: macos-10.15
+    strategy:
+      matrix:
+        config: [
+          px4_fmu-v5_default,
+          tests, # includes px4_sitl
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - uses: actions/cache@v2
+      with:
+        path: ~/Library/Caches/pip
+        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+        restore-keys: |
+          ${{ runner.os }}-pip-
+
+    - name: setup
+      run: ./Tools/setup/OSX.sh
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: |
+          ccache -z
+          make ${{matrix.config}}
+          ccache -s
diff --git a/Tools/setup/OSX.sh b/Tools/setup/OSX.sh
index 57e0e32995..eef3129311 100755
--- a/Tools/setup/OSX.sh
+++ b/Tools/setup/OSX.sh
@@ -19,28 +19,37 @@ do
 done
 
 # install Homebrew
-/usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)" < /dev/null
-
-# confirm Homebrew installed correctly
-brew doctor
+/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"
 
 # Install px4-dev formula
-echo
-echo "Installing PX4 general dependencies (homebrew px4-dev)"
-
 if [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
+  echo "Re-installing PX4 general dependencies (homebrew px4-dev)"
+
+  # confirm Homebrew installed correctly
+  brew doctor
+
   brew tap PX4/px4
-  brew reinstall px4-dev
-elif brew ls --versions px4-dev > /dev/null; then
-  brew tap PX4/px4
-  brew install px4-dev
+  brew reinstall px4-dev ccache
+
+  # python dependencies
+  brew install python3
+  sudo -H python3 -m pip install --upgrade pip
+else
+  if brew ls --versions px4-dev > /dev/null; then
+    echo "px4-dev already installed"
+  else
+    echo "Installing PX4 general dependencies (homebrew px4-dev)"
+    brew tap PX4/px4
+    brew install px4-dev ccache
+
+    # python dependencies
+    brew install python3
+    sudo -H python3 -m pip install --upgrade pip
+  fi
 fi
 
 # Python3 dependencies
-echo
 echo "Installing PX4 Python3 dependencies"
-brew install python3
-sudo -H python3 -m pip install --upgrade pip
 sudo -H python3 -m pip install -r ${DIR}/requirements.txt
 
 # Optional, but recommended additional simulation tools: