diff --git a/.clang-tidy b/.clang-tidy
index 1494d475a5..b9c796e4be 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -93,7 +93,7 @@ Checks:          'clang-diagnostic-*,clang-analyzer-*,-*,
 		google-runtime-memset,
 		google-runtime-operator,
 		## evaluate # google-runtime-references,
-		llvm-header-guard,
+		#llvm-header-guard,
 		## evaluate # llvm-include-order,
 		#llvm-namespace-comment,
 		misc-argument-comment,
@@ -192,7 +192,6 @@ Checks:          'clang-diagnostic-*,clang-analyzer-*,-*,
 		readability-uniqueptr-delete-release,
 		'
 WarningsAsErrors: '*'
-HeaderFilterRegex: '*.h, *.hpp, *.hh, *.hxx'
 AnalyzeTemporaryDtors: false
 CheckOptions:
   - key:             cert-dcl59-cpp.HeaderFileExtensions
diff --git a/.gitignore b/.gitignore
index 9dc9f14471..d573d737d6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -91,3 +91,5 @@ posix-configs/SITL/init/test/*_generated
 parameters.md
 airframes.md
 airframes.xml
+
+cppcheck-result.xml
diff --git a/.travis.yml b/.travis.yml
index 7aebab8506..879ef59b7c 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -29,6 +29,11 @@ matrix:
       services:
         - docker
       env: BUILD_TARGET=clang-tidy
+    - os: linux
+      sudo: required
+      services:
+        - docker
+      env: BUILD_TARGET=scan-build
     - os: linux
       sudo: required
       services:
@@ -62,18 +67,25 @@ script:
     elif [[ "${BUILD_TARGET}" = "px4_metadata" ]]; then
       ./Tools/docker_run.sh 'make px4_metadata';
     elif [[ "${BUILD_TARGET}" = "clang-tidy" ]]; then
-      ./Tools/docker_run.sh 'make clang-tidy-parallel';
+      ./Tools/docker_run.sh 'make clang-tidy-quiet';
+    elif [[ "${BUILD_TARGET}" = "scan-build" ]]; then
+      ./Tools/docker_run.sh 'make scan-build';
     fi
 
 after_success:
-# s3 deploy individual firmware files (.px4), Firmware.zip, airframe.xml, and param.xml
+  # s3 deploy individual firmware files (.px4), Firmware.zip
   - if [[ "${BUILD_TARGET}" = "qgc_firmware" && "${TRAVIS_PULL_REQUEST}" == "false" && "${TRAVIS_BRANCH}" != "coverity" ]]; then
          ./Tools/docker_run.sh 'make s3put_firmware AWS_S3_BUCKET="px4-travis/archives/Firmware/${TRAVIS_BRANCH}/${TRAVIS_BUILD_ID}"'
       && ./Tools/docker_run.sh 'make s3put_qgc_firmware AWS_S3_BUCKET="px4-travis/Firmware/${TRAVIS_BRANCH}"';
     fi
+  # s3 deploy airframe and parameter metadata
   - if [[ "${BUILD_TARGET}" = "px4_metadata" && "${TRAVIS_PULL_REQUEST}" == "false" && "${TRAVIS_BRANCH}" != "coverity" ]]; then
          ./Tools/docker_run.sh 'make s3put_metadata AWS_S3_BUCKET="px4-travis/Firmware/${TRAVIS_BRANCH}"';
     fi
+  # s3 upload clang scan-build output for master branch
+  - if [[ "${BUILD_TARGET}" = "scan-build" && "${TRAVIS_PULL_REQUEST}" == "false" && "${TRAVIS_BRANCH}" == "master" ]]; then
+         PX4_DOCKER_REPO=px4io/px4-dev-clang:2017-04-22 ./Tools/docker_run.sh 'make s3put_scan-build AWS_S3_BUCKET="px4-travis/scan-build"';
+    fi
 
 deploy:
 # on tags deploy Firmware.zip to Github releases
diff --git a/Makefile b/Makefile
index a5dd81dfde..eae5ac6018 100644
--- a/Makefile
+++ b/Makefile
@@ -258,7 +258,7 @@ px4_metadata: parameters_metadata airframe_metadata
 #  AWS_ACCESS_KEY_ID
 #  AWS_SECRET_ACCESS_KEY
 #  AWS_S3_BUCKET
-.PHONY: s3put_firmware s3put_qgc_firmware
+.PHONY: s3put_firmware s3put_qgc_firmware s3put_px4_metadata s3put_scan-build
 
 Firmware.zip:
 	@rm -rf Firmware.zip
@@ -270,12 +270,15 @@ s3put_firmware: Firmware.zip
 s3put_qgc_firmware: qgc_firmware
 	@find $(SRC_DIR)/build_* -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
 
-s3put_metadata: px4_metadata
+s3put_px4_metadata: px4_metadata
 	@$(SRC_DIR)/Tools/s3put.sh airframes.md
 	@$(SRC_DIR)/Tools/s3put.sh airframes.xml
 	@$(SRC_DIR)/Tools/s3put.sh build_posix_sitl_default/parameters.xml
 	@$(SRC_DIR)/Tools/s3put.sh parameters.md
 
+s3put_scan-build: scan-build
+	$(SRC_DIR)/Tools/s3put.sh `find build_scan-build -mindepth 1 -maxdepth 1 -type d`/
+
 # Astyle
 # --------------------------------------------------------------------
 .PHONY: check_format format
@@ -312,34 +315,37 @@ tests_coverage:
 	@genhtml --legend --show-details --function-coverage --quiet --output-directory coverage-html coverage.info
 	@$(MAKE) --no-print-directory posix_sitl_default test_results_junit
 
-# Clang analyzers
+# static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build clang-check clang-tidy
+.PHONY: posix_sitl_default-clang scan-build clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck
+
+posix_sitl_default-clang:
+	@mkdir -p $(SRC_DIR)/build_posix_sitl_default-clang
+	@cd $(SRC_DIR)/build_posix_sitl_default-clang && cmake .. -GNinja -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
+	@cd $(SRC_DIR)/build_posix_sitl_default-clang && ninja
 
 scan-build:
-	@export CCACHE_DISABLE=1
-	@mkdir -p $(SRC_DIR)/build_posix_sitl_default_scan-build
-	@cd $(SRC_DIR)/build_posix_sitl_default_scan-build && scan-build cmake .. -GNinja -DCONFIG=posix_sitl_default
-	@scan-build cmake --build $(SRC_DIR)/build_posix_sitl_default_scan-build
+	@export CCC_CC=clang
+	@export CCC_CXX=clang++
+	@mkdir -p $(SRC_DIR)/build_posix_sitl_default-scan-build
+	@cd $(SRC_DIR)/build_posix_sitl_default-scan-build && scan-build cmake .. -GNinja -DCONFIG=posix_sitl_default
+	@scan-build -o $(SRC_DIR)/build_scan-build cmake --build $(SRC_DIR)/build_posix_sitl_default-scan-build
 
-clang-check:
-	@CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default
-	@$(SRC_DIR)/Tools/clang-tool.sh -b build_posix_sitl_default -t clang-check
+clang-tidy: posix_sitl_default-clang
+	@cd build_posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .
 
-clang-tidy:
-	rm -rf $(SRC_DIR)/build_posix_sitl_default
-	@CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default
-	@$(SRC_DIR)/Tools/clang-tool.sh -b build_posix_sitl_default -t clang-tidy
+# to automatically fix a single check at a time, eg modernize-redundant-void-arg
+#  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
+clang-tidy-fix: posix_sitl_default-clang
+	@cd build_posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p .
 
-clang-tidy-parallel:
-	rm -rf $(SRC_DIR)/build_posix_sitl_default
-	@CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default
-	@$(SRC_DIR)/Tools/run-clang-tidy.py -j$(j) -p $(SRC_DIR)/build_posix_sitl_default
+# modified version of run-clang-tidy.py to return error codes and only output relevant results
+clang-tidy-quiet: posix_sitl_default-clang
+	@cd build_posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
 
-clang-tidy-fix:
-	rm -rf $(SRC_DIR)/build_posix_sitl_default
-	@CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default
-	@run-clang-tidy.py -fix -j$(j) -p $(SRC_DIR)/build_posix_sitl_default
+cppcheck: posix_sitl_default-clang
+	@cppcheck --enable=all --project=build_posix_sitl_default-clang/compile_commands.json --xml-version=2 2> cppcheck-result.xml
+	@cppcheck-htmlreport --file=cppcheck-result.xml --report-dir=build_cppcheck-htmlreport --source-dir=$(SRC_DIR)/src/
 
 # Cleanup
 # --------------------------------------------------------------------
diff --git a/Tools/clang-tool.sh b/Tools/clang-tool.sh
deleted file mode 100755
index 10b796a57c..0000000000
--- a/Tools/clang-tool.sh
+++ /dev/null
@@ -1,66 +0,0 @@
-#!/bin/bash
-
-while getopts "b:t:" opt; do
-  case "${opt}" in
-    b)
-      builddir=$OPTARG
-      ;;
-    t)
-      tool=$OPTARG
-      ;;
-  esac
-done
-
-echo "builddir = ${builddir}, tool = ${tool}"
-
-case "${builddir}" in
-  "build_posix_rpi_cross")
-    CXX_INC=$(cd ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/arm-linux-gnueabihf/include/c++/*; pwd)
-    EXTRA_ARG1=-I${CXX_INC}
-    EXTRA_ARG2=-I${CXX_INC}/arm-linux-gnueabihf
-    EXTRA_ARG3=-I${CXX_INC}/backward
-    extra_args="--extra-arg=-I${CXX_INC} --extra-arg=-I${CXX_INC}/arm-linux-gnueabihf --extra-arg=-I${CXX_INC}/backward"
-    ;;
-  "build_posix_sitl_default")
-    ;;
-  *)
-    echo "unknown build dir: ${builddir}"
-    ;;
-esac
-
-COMPILE_DB=$(/bin/pwd)/${builddir}
-if [[ ! -f ${COMPILE_DB}/compile_commands.json ]]; then
-  echo "compile_commands.json not found in ${COMPILE_DB}"
-  exit 1
-fi
-
-case "${tool}" in
-  "clang-check")
-    command=clang-check;
-    option=-analyze;
-    ;;
-  "clang-tidy")
-    command=clang-tidy
-    #option=-fix
-    ;;
-esac
-
-failed=0
-while read line; do
-	file_line=$(echo $line | grep \"file\")
-	if [ $? -eq 0 ]; then
-		file_path=$(echo $file_line | awk '{ print $2; }' | sed 's/\"//g')
-
-		echo ${file_path}
-		${command} ${option} -p ${COMPILE_DB} ${extra_args} ${file_path}
-
-		if [ $? -ne 0 ]; then
-			failed=1
-		fi
-		echo
-	fi
-done <${COMPILE_DB}/compile_commands.json
-
-if [ $failed -ne 0 ]; then
-    exit 1
-fi
diff --git a/Tools/s3put.sh b/Tools/s3put.sh
index 80a2c05f90..dbb7133509 100755
--- a/Tools/s3put.sh
+++ b/Tools/s3put.sh
@@ -11,9 +11,9 @@ filename=${1}
 [ -z "$AWS_SECRET_ACCESS_KEY" ] && { echo "ERROR: Need to set AWS_SECRET_ACCESS_KEY"; exit 1; }
 [ -z "$AWS_S3_BUCKET" ] && { echo "ERROR: Need to set AWS_S3_BUCKET"; exit 1; }
 
-if [ -f ${filename} ]; then
+if [ -e ${filename} ]; then
 	base_file_name=`basename $filename`
-	s3cmd --access_key=${AWS_ACCESS_KEY_ID} --secret_key=${AWS_SECRET_ACCESS_KEY} put ${filename} s3://${AWS_S3_BUCKET}/${base_file_name}
+	s3cmd --access_key=${AWS_ACCESS_KEY_ID} --secret_key=${AWS_SECRET_ACCESS_KEY} put -r ${filename} s3://${AWS_S3_BUCKET}/${base_file_name}
 else
 	echo "ERROR: ${file} doesn't exist"
 	exit 1
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index adad6be2ca..ffebd72cf7 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -846,6 +846,15 @@ function(px4_add_common_flags)
 		)
 	endif()
 
+	if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+		if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 4.9)
+			# force color for gcc > 4.9
+			list(APPEND _optimization_flags
+				-fdiagnostics-color=always
+			)
+		endif()
+	endif()
+
 	set(visibility_flags
 		-fvisibility=hidden
 		-include visibility.h