diff --git a/CMakeLists.txt b/CMakeLists.txt
index bfa2f191d2..858e44b144 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -123,3 +123,33 @@ add_subdirectory(geo_lookup)
 add_subdirectory(l1)
 add_subdirectory(tecs)
 add_subdirectory(validation)
+
+#=============================================================================
+# Doxygen
+#
+option(BUILD_DOXYGEN "Build doxygen documentation" OFF)
+
+if (BUILD_DOXYGEN)
+	find_package(Doxygen)
+	if (DOXYGEN_FOUND)
+		# set input and output files
+		set(DOXYGEN_IN ${CMAKE_SOURCE_DIR}/docs/Doxyfile.in)
+		set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+
+		# request to configure the file
+		configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
+
+		# note the option ALL which allows to build the docs together with the application
+		add_custom_target(doxygen ALL
+			COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
+			WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+			COMMENT "Generating documentation with Doxygen"
+			DEPENDS
+			VERBATIM
+			USES_TERMINAL
+		)
+
+	else()
+		message(FATAL_ERROR "Doxygen needs to be installed to generate documentation")
+	endif()
+endif()
diff --git a/Jenkinsfile b/Jenkinsfile
index 165d6c3c77..6fbd0346a8 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -106,6 +106,33 @@ pipeline {
           }
         }
 
+        stage('doxygen') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-base:2018-03-30'
+              args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'ccache -z'
+            sh 'make distclean'
+            //sh 'make doxygen'
+            sh 'ccache -s'
+            // publish html
+            publishHTML target: [
+              reportTitles: 'Doxygen',
+              allowMissing: true,
+              alwaysLinkToLastBuild: true,
+              keepAll: true,
+              reportDir: 'build/doxygen/Documentation',
+              reportFiles: '*',
+              reportName: 'doxygen'
+            ]
+            sh 'make distclean'
+          }
+        }
+
       } // parallel
     }
 
diff --git a/Makefile b/Makefile
index 97e0e54aba..947fe823d2 100644
--- a/Makefile
+++ b/Makefile
@@ -86,6 +86,12 @@ endef
 all:
 	@$(call cmake-build,$@,$(SRC_DIR))
 
+# Documentation
+# --------------------------------------------------------------------
+doxygen:
+	@$(call cmake-build,$@,$(SRC_DIR), "-DBUILD_DOXYGEN=ON")
+	@cmake --build $(SRC_DIR)/build/doxygen --target doxygen
+
 # Testing
 # --------------------------------------------------------------------
 
diff --git a/docs/Doxyfile.in b/docs/Doxyfile.in
new file mode 100644
index 0000000000..87413e35ef
--- /dev/null
+++ b/docs/Doxyfile.in
@@ -0,0 +1,121 @@
+# Use: `doxygen -g test.txt` to generate all possible settings for this file
+
+# For modern doxygen style uncomment these three lines:
+ #HTML_EXTRA_STYLESHEET = @CMAKE_CURRENT_SOURCE_DIR@/doxygen/customdoxygen.css
+ #HTML_HEADER = @CMAKE_SOURCE_DIR@/Documentation/header.html
+ #HTML_FOOTER = @CMAKE_SOURCE_DIR@/Documentation/footer.html
+
+# not interested build output
+QUIET                  = YES
+
+# Basic settings:
+PROJECT_NAME           = "@CMAKE_PROJECT_NAME@"
+PROJECT_NUMBER         = @PROJECT_VERSION_MAJOR@.@PROJECT_VERSION_MINOR@.@PROJECT_VERSION_PATCH@@VERSION_TYPE@
+STRIP_FROM_PATH        = @CMAKE_SOURCE_DIR@
+
+INPUT                  = @CMAKE_SOURCE_DIR@/README.md \
+                         @CMAKE_SOURCE_DIR@ \ 
+                         @CMAKE_SOURCE_DIR@/src \
+                         @CMAKE_BINARY_DIR@/ \
+                         @CMAKE_BINARY_DIR@/uORB
+                         
+FILE_PATTERNS          = *.h \
+                         *.hpp \
+                         *.hh \
+                         *.c \
+                         *.cc \
+                         *.cpp.in \
+                         *.cpp \
+                         *.md
+
+RECURSIVE              = YES
+USE_MDFILE_AS_MAINPAGE = "@CMAKE_SOURCE_DIR@/README.md"
+# output location
+HTML_OUTPUT            = "@CMAKE_BINARY_DIR@/Documentation"
+
+IMAGE_PATH = "@CMAKE_SOURCE_DIR@"
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese,
+# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States),
+# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian,
+# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages),
+# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian,
+# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian,
+# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish,
+# Ukrainian and Vietnamese.
+# The default value is: English.
+OUTPUT_LANGUAGE        = English
+
+# Color style
+HTML_COLORSTYLE_HUE    = 220
+HTML_COLORSTYLE_SAT    = 40
+HTML_COLORSTYLE_GAMMA  = 80
+
+# max size 200x55px
+PROJECT_LOGO           =
+
+
+# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
+# function all documented functions referencing it will be listed.
+# The default value is: NO.
+REFERENCED_BY_RELATION = YES
+
+# If the REFERENCES_RELATION tag is set to YES then for each documented function
+# all documented entities called/used by that function will be listed.
+# The default value is: NO.
+REFERENCES_RELATION    = YES
+
+# This is nice to have - callgraphs of functions
+HAVE_DOT               = YES
+CALL_GRAPH             = YES
+CALLER_GRAPH           = YES
+
+GRAPHICAL_HIERARCHY    = YES
+DIRECTORY_GRAPH        = YES
+GENERATE_LEGEND        = YES
+INCLUDED_BY_GRAPH      = YES
+INCLUDE_GRAPH          = YES
+DOT_IMAGE_FORMAT       = svg
+INTERACTIVE_SVG        = YES
+
+# More insight to templates, generaly not needed
+TEMPLATE_RELATIONS     = NO
+
+# in class diagrams, you will have members and such
+# Also they will be bigger
+UML_LOOK               = YES
+UML_LIMIT_NUM_FIELDS   = 6
+
+# should all pictures be collapsed?
+HTML_DYNAMIC_SECTIONS = NO
+
+
+# use with: /// @todo Do more stuff.
+GENERATE_TODOLIST      = YES
+
+# we want all we can get
+EXTRACT_ALL            = YES
+EXTRACT_STATIC         = YES
+EXTRACT_PRIVATE        = YES
+
+# We do not need latex output
+GENERATE_LATEX         = NO
+USE_PDFLATEX           = NO
+
+# this makes first sentence from comment block a brief description.
+# It is VERY useful
+JAVADOC_AUTOBRIEF      = YES
+
+# Why not...
+BUILTIN_STL_SUPPORT = YES
+
+# Do we want source code browser? YES! Do we want strip comments? NO
+SOURCE_BROWSER         = YES
+STRIP_CODE_COMMENTS    = NO
+
+# Side panel
+# If you enable this, change .container max-width: 960px; to 1240px
+GENERATE_TREEVIEW      = YES