diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
index 8d2910010f..c315170b2c 100644
--- a/.ci/Jenkinsfile-hardware
+++ b/.ci/Jenkinsfile-hardware
@@ -739,6 +739,79 @@ pipeline {
           }
         }
 
+        stage("mro_ctrl-zero-f7_default") {
+          stages {
+            stage("build mro_ctrl-zero-f7_default") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
+                sh 'make mro_ctrl-zero-f7_default'
+                sh 'make sizes'
+                sh 'ccache -s'
+                stash includes: 'build/mro_ctrl-zero-f7_default/mro_ctrl-zero-f7_default.elf', name: 'mro_ctrl-zero-f7_default'
+              }
+              post {
+                always {
+                    sh 'make distclean'
+                }
+              }
+            } // stage build
+            stage("test") {
+              agent {
+                label 'mro_ctrl-zero-f7'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'mro_ctrl-zero-f7_default'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/mro_ctrl-zero-f7_default/mro_ctrl-zero-f7_default.elf'
+                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                  }
+                }
+                stage("configure") {
+                  steps {
+                    // configure
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
+                  }
+                }
+                stage("status") {
+                  steps {
+                    statusFTDI()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    // run tests
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*` || true' // ignore failures for now (flaky console on test rack)
+                  }
+                }
+                stage("reset") {
+                  steps {
+                    cleanupFTDI();
+                  }
+                }
+              }
+              options {
+                timeout(time: 60, unit: 'MINUTES')
+              }
+            } // stage test
+          }
+        }
+
       } // parallel
     } // stage Hardware Test
   } // stages