diff --git a/.ci/Jenkinsfile-hardware_linux b/.ci/Jenkinsfile-hardware_linux
new file mode 100644
index 0000000000..796bc5db7b
--- /dev/null
+++ b/.ci/Jenkinsfile-hardware_linux
@@ -0,0 +1,35 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+    stage('Build and Verify') {
+
+      agent {
+        label 'navio2'
+      }
+      steps {
+        sh 'export'
+        sh 'make distclean'
+        sh 'ccache -z'
+        sh 'git fetch --tags'
+        sh 'make emlid_navio2_native'
+        sh 'ccache -s'
+	sh 'cd build/emlid_navio2_native/ && ./bin/px4 -s ../../posix-configs/rpi/px4_test.config'
+      }
+      options {
+        timeout(time: 30, unit: 'MINUTES')
+      }
+
+    }
+
+  } // stages
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+}
diff --git a/posix-configs/rpi/px4_test.config b/posix-configs/rpi/px4_test.config
new file mode 100644
index 0000000000..932f7e4281
--- /dev/null
+++ b/posix-configs/rpi/px4_test.config
@@ -0,0 +1,54 @@
+#!/bin/sh
+# PX4 commands need the 'px4-' prefix in bash.
+# (px4-alias.sh is expected to be in the PATH)
+. px4-alias.sh
+
+# navio config for a quad
+uorb start
+if [ -f eeprom/parameters ]
+then
+	param load
+fi
+param set SYS_AUTOSTART 4001
+param set MAV_BROADCAST 1
+param set MAV_TYPE 2
+param set BAT_CNT_V_VOLT 0.001
+param set BAT_V_DIV 10.9176300578
+param set BAT_CNT_V_CURR 0.001
+param set BAT_A_PER_V 15.391030303
+dataman start
+df_lsm9ds1_wrapper start -R 4
+#df_mpu9250_wrapper start -R 10
+#df_hmc5883_wrapper start
+df_ms5611_wrapper start
+navio_rgbled start
+navio_adc start
+gps start -d /dev/spidev0.0 -i spi -p ubx
+sensors start
+commander start
+navigator start
+ekf2 start
+land_detector start multicopter
+mc_pos_control start
+mc_att_control start
+mavlink start -x -u 14556 -r 1000000
+mavlink stream -u 14556 -s HIGHRES_IMU -r 50
+mavlink stream -u 14556 -s ATTITUDE -r 50
+
+if [ -f /dev/ttyUSB0 ]
+then
+	mavlink start -x -d /dev/ttyUSB0
+	mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50
+	mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50
+fi
+
+navio_sysfs_rc_in start
+linux_pwm_out start
+logger start -t -b 200
+mavlink boot_complete
+
+list_topics
+sensors status
+commander check
+perf
+shutdown