diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index 06a78d6809..356c63ecb1 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -33,6 +33,36 @@
 
 add_subdirectory(Utility)
 
+# Symforce code generation
+execute_process(
+    COMMAND ${PYTHON_EXECUTABLE} -m symforce.symbolic
+    RESULT_VARIABLE PYTHON_SYMFORCE_EXIT_CODE
+    OUTPUT_QUIET
+)
+if(${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0)
+
+	set(EKF_DERIVATION_DIR ${CMAKE_CURRENT_SOURCE_DIR}/EKF/python/ekf_derivation)
+
+	set(EKF_GENERATED_SRC_FILES
+		${EKF_DERIVATION_DIR}/generated/compute_airspeed_h_and_k.h
+		${EKF_DERIVATION_DIR}/generated/compute_airspeed_innov_and_innov_var.h
+	)
+
+	add_custom_command(
+		OUTPUT ${EKF_GENERATED_SRC_FILES}
+		COMMAND ${PYTHON_EXECUTABLE} derivation.py
+		DEPENDS
+			${EKF_DERIVATION_DIR}/derivation.py
+			${EKF_DERIVATION_DIR}/derivation_utils.py
+
+		WORKING_DIRECTORY ${EKF_DERIVATION_DIR}
+		COMMENT "Symforce code generation"
+		USES_TERMINAL
+	)
+
+	add_custom_target(ekf2_symforce_generate DEPENDS ${EKF_GENERATED_SRC_FILES})
+endif()
+
 px4_add_module(
 	MODULE modules__ekf2
 	MAIN ekf2
diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/.gitignore b/src/modules/ekf2/EKF/python/ekf_derivation/generated/.gitignore
new file mode 100644
index 0000000000..751553b3ac
--- /dev/null
+++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/.gitignore
@@ -0,0 +1 @@
+*.bak