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 **Very lightweight Estimation & Control Library.**
 
-[![Build Status](https://travis-ci.org/PX4/ecl.svg?branch=master)](https://travis-ci.org/PX4/ecl)
+[![DOI](https://zenodo.org/badge/22634/PX4/ecl.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/ecl) [![Build Status](https://travis-ci.org/PX4/ecl.svg?branch=master)](https://travis-ci.org/PX4/ecl)
 
 This library solves the estimation & control problems of a number of robots and drones. It accepts GPS, vision and inertial sensor inputs. It is extremely lightweight and efficient and yet has the rugged field-proven performance.