diff --git a/.github/workflows/appimage.yml b/.github/workflows/appimage.yml
new file mode 100644
index 0000000000..073548d9df
--- /dev/null
+++ b/.github/workflows/appimage.yml
@@ -0,0 +1,37 @@
+name: Build PX4 SITL AppImage
+
+on:
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  build-appimage:
+    runs-on: ubuntu-latest
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+
+      - name: Install PX4 dependencies
+        run: |
+          sudo apt-get update
+          bash ./Tools/setup/ubuntu.sh --no-nuttx --no-sim-tools
+
+      - name: Install appimagetool
+        run: |
+          wget -O appimagetool-x86_64.AppImage \
+            https://github.com/AppImage/AppImageKit/releases/download/continuous/appimagetool-x86_64.AppImage
+          chmod +x appimagetool-x86_64.AppImage
+          sudo mv appimagetool-x86_64.AppImage /usr/local/bin/appimagetool
+
+      - name: Build PX4 SITL and AppImage
+        run: |
+          make appimage
+
+      - name: Upload AppImage artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4-sitl-appimage
+          path: build/*.AppImage