diff --git a/.ci/Jenkinsfile-SITL_tests b/.ci/Jenkinsfile-SITL_tests
new file mode 100644
index 0000000000..a216eddc24
--- /dev/null
+++ b/.ci/Jenkinsfile-SITL_tests
@@ -0,0 +1,129 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+
+    stage('Build') {
+      steps {
+        script {
+          stage('sitl package') {
+            node {
+              docker.image("px4io/px4-dev-ros:2018-07-19").inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE') {
+                stage("sitl package") {
+                  try {
+                    checkout(scm)
+                    sh('export')
+                    sh('make distclean')
+                    sh "ccache -z"
+                    sh('make posix_sitl_default')
+                    sh "ccache -s"
+                    sh('make posix_sitl_default sitl_gazebo')
+                    sh "ccache -s"
+                    sh('make posix_sitl_default package')
+                    stash(name: "px4_sitl_package", includes: "build/posix_sitl_default/*.bz2")
+                  }
+                  catch (exc) {
+                    throw (exc)
+                  }
+                  finally {
+                    sh('make distclean')
+                  }
+                }
+              }
+            }
+          }
+        } // script
+      } // steps
+    } // Build
+
+    stage('ROS Tests') {
+      steps {
+        script {
+          def missions = [
+            [
+              name: "VTOL standard",
+              test: "mavros_posix_test_mission.test",
+              mission: "vtol_new_1",
+              vehicle: "standard_vtol"
+            ],
+            [
+              name: "VTOL tailsitter",
+              test: "mavros_posix_test_mission.test",
+              mission: "vtol_new_1",
+              vehicle: "tailsitter"
+            ],
+            [
+              name: "VTOL tiltrotor",
+              test: "mavros_posix_test_mission.test",
+              mission: "vtol_new_1",
+              vehicle: "tiltrotor"
+            ],
+            [
+              name: "MC box",
+              test: "mavros_posix_test_mission.test",
+              mission: "multirotor_box",
+              vehicle: "iris"
+            ],
+            [
+              name: "MC offboard att",
+              test: "mavros_posix_tests_offboard_attctl.test",
+              mission: "",
+              vehicle: "iris"
+            ],
+            [
+              name: "MC offboard pos",
+              test: "mavros_posix_tests_offboard_posctl.test",
+              mission: "",
+              vehicle: "iris"
+            ]
+          ]
+        
+          def test_nodes = [:]
+          for (def i = 0; i < missions.size(); i++) {
+            test_nodes.put(missions[i].name, createTestNode(missions[i]))
+          }
+
+          parallel test_nodes
+        } // script
+      } // steps
+    } // ROS Tests
+
+  } //stages
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+} // pipeline
+
+def createTestNode(Map test_def) {
+  return {
+    node {
+      cleanWs()
+      docker.image("px4io/px4-dev-ros:2018-03-30").inside('-e HOME=${WORKSPACE}') {
+        stage(test_def.name) {
+          try {
+            sh('export')            
+            unstash('px4_sitl_package')
+            sh('tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2')
+            sh('px4-posix_sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
+            sh('px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/rootfs/fs/microsd/log/*/*.ulg')
+            }
+          catch (exc) {
+            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
+            throw (exc)
+          }
+          finally {
+            sh('px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg')
+            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
+          }
+        }
+      }
+      cleanWs()
+    }
+  }
+}
\ No newline at end of file
diff --git a/Jenkinsfile b/Jenkinsfile
index 09a1c51e0d..37cae9214f 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -324,210 +324,6 @@ pipeline {
           }
         }
 
-        stage('ROS vtol standard mission') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-07-19'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-          steps {
-            sh 'export'
-            sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
-            unstash 'px4_sitl_package'
-            sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
-            sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol'
-            sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
-          }
-          post {
-            always {
-              sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '.ros/**/*.pdf'
-              archiveArtifacts '.ros/**/*.csv'
-              deleteDir()
-            }
-            failure {
-              sh 'ls -a'
-              archiveArtifacts '.ros/**/*.ulg'
-              archiveArtifacts '.ros/**/rosunit-*.xml'
-              archiveArtifacts '.ros/**/rostest-*.log'
-            }
-          }
-        }
-
-        stage('ROS vtol tailsitter mission') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-07-19'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-          steps {
-            sh 'export'
-            sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
-            unstash 'px4_sitl_package'
-            sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
-            sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tailsitter'
-            sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
-          }
-          post {
-            always {
-              sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '.ros/**/*.pdf'
-              archiveArtifacts '.ros/**/*.csv'
-              deleteDir()
-            }
-            failure {
-              sh 'ls -a'
-              archiveArtifacts '.ros/**/*.ulg'
-              archiveArtifacts '.ros/**/rosunit-*.xml'
-              archiveArtifacts '.ros/**/rostest-*.log'
-            }
-          }
-        }
-
-        stage('ROS vtol tiltrotor mission') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-07-19'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-          steps {
-            sh 'export'
-            sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
-            unstash 'px4_sitl_package'
-            sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
-            sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tiltrotor'
-            sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
-          }
-          post {
-            always {
-              sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '.ros/**/*.pdf'
-              archiveArtifacts '.ros/**/*.csv'
-              deleteDir()
-            }
-            failure {
-              sh 'ls -a'
-              archiveArtifacts '.ros/**/*.ulg'
-              archiveArtifacts '.ros/**/rosunit-*.xml'
-              archiveArtifacts '.ros/**/rostest-*.log'
-            }
-          }
-        }
-
-        stage('ROS vtol mission new 2') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-07-19'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-          steps {
-            sh 'export'
-            sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
-            unstash 'px4_sitl_package'
-            sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
-            sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2 vehicle:=standard_vtol'
-            sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
-          }
-          post {
-            always {
-              sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '.ros/**/*.pdf'
-              archiveArtifacts '.ros/**/*.csv'
-              deleteDir()
-            }
-            failure {
-              sh 'ls -a'
-              archiveArtifacts '.ros/**/*.ulg'
-              archiveArtifacts '.ros/**/rosunit-*.xml'
-              archiveArtifacts '.ros/**/rostest-*.log'
-            }
-          }
-        }
-
-        stage('ROS vtol mission old 1') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-07-19'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-          steps {
-            sh 'export'
-            sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
-            unstash 'px4_sitl_package'
-            sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
-            sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_1 vehicle:=standard_vtol'
-            sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
-          }
-          post {
-            always {
-              sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '.ros/**/*.pdf'
-              archiveArtifacts '.ros/**/*.csv'
-              deleteDir()
-            }
-            failure {
-              sh 'ls -a'
-              archiveArtifacts '.ros/**/*.ulg'
-              archiveArtifacts '.ros/**/rosunit-*.xml'
-              archiveArtifacts '.ros/**/rostest-*.log'
-            }
-          }
-        }
-
-        stage('ROS vtol mission old 2') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-07-19'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-          steps {
-            sh 'export'
-            sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
-            unstash 'px4_sitl_package'
-            sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
-            sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_2 vehicle:=standard_vtol'
-            sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
-          }
-          post {
-            always {
-              sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '.ros/**/*.pdf'
-              archiveArtifacts '.ros/**/*.csv'
-              deleteDir()
-            }
-            failure {
-              sh 'ls -a'
-              archiveArtifacts '.ros/**/*.ulg'
-              archiveArtifacts '.ros/**/rosunit-*.xml'
-              archiveArtifacts '.ros/**/rostest-*.log'
-            }
-          }
-        }
-
         stage('ROS MC mission box (EKF2)') {
           agent {
             docker {
@@ -593,71 +389,6 @@ pipeline {
           }
         }
 
-        stage('ROS offboard att') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-07-19'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-          steps {
-            sh 'export'
-            sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
-            unstash 'px4_sitl_package'
-            sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
-            sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test'
-            sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
-          }
-          post {
-            always {
-              sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '.ros/**/*.pdf'
-              archiveArtifacts '.ros/**/*.csv'
-              deleteDir()
-            }
-            failure {
-              sh 'ls -a'
-              archiveArtifacts '.ros/**/*.ulg'
-              archiveArtifacts '.ros/**/rosunit-*.xml'
-              archiveArtifacts '.ros/**/rostest-*.log'
-            }
-          }
-        }
-
-        stage('ROS offboard pos') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2018-07-19'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
-            unstash 'px4_sitl_package'
-            sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
-            sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test'
-            sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
-          }
-          post {
-            always {
-              sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '.ros/**/*.pdf'
-              archiveArtifacts '.ros/**/*.csv'
-              deleteDir()
-            }
-            failure {
-              sh 'ls -a'
-              archiveArtifacts '.ros/**/*.ulg'
-              archiveArtifacts '.ros/**/rosunit-*.xml'
-              archiveArtifacts '.ros/**/rostest-*.log'
-            }
-          }
-        }
-
       }
     }