diff --git a/.github/workflows/bloaty.yml b/.github/workflows/bloaty.yml
new file mode 100644
index 0000000000..ff6642e6a8
--- /dev/null
+++ b/.github/workflows/bloaty.yml
@@ -0,0 +1,52 @@
+name: bloaty
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx:2020-01-13
+    strategy:
+      matrix:
+        config: [
+          px4_fmu-v2_default,
+          px4_fmu-v4_default,
+          px4_fmu-v5_default,
+          px4_fmu-v5x_default,
+          px4_io-v2_default,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+    - uses: actions/cache@v1.1.0
+      id: ccache-persistence
+      with:
+        path: ~/.ccache
+        key: ccache-nuttx-${{matrix.config}}
+        restore-keys: |
+          ccache-nuttx-${{matrix.config}}
+    - name: setup ccache
+      run: mkdir -p ~/.ccache && echo "max_size = 300M" > ~/.ccache/ccache.conf && ccache -z && ccache -s
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: make ${{matrix.config}} bloaty_compileunits
+      run: make ${{matrix.config}} bloaty_compileunits
+    - name: make ${{matrix.config}} bloaty_inlines
+      run: make ${{matrix.config}} bloaty_inlines
+    - name: make ${{matrix.config}} bloaty_segments
+      run: make ${{matrix.config}} bloaty_segments
+    - name: make ${{matrix.config}} bloaty_symbols
+      run: make ${{matrix.config}} bloaty_symbols
+    - name: make ${{matrix.config}} bloaty_templates
+      run: make ${{matrix.config}} bloaty_templates
+    - name: make ${{matrix.config}} bloaty_compare_master
+      run: make ${{matrix.config}} bloaty_compare_master
+    - name: ccache post-run
+      run: ccache -s && ccache -z
diff --git a/Jenkinsfile b/Jenkinsfile
index 399bc72c3e..16f0d4f295 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -95,134 +95,6 @@ pipeline {
           }
         }
 
-        stage('px4_io-v2 (bloaty)') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2020-01-13'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -s'
-            sh 'git fetch --tags'
-            sh 'make px4_io-v2_default'
-            sh 'make px4_io-v2_default bloaty_compileunits'
-            sh 'make px4_io-v2_default bloaty_inlines'
-            sh 'make px4_io-v2_default bloaty_segments'
-            sh 'make px4_io-v2_default bloaty_symbols'
-            sh 'make px4_io-v2_default bloaty_templates'
-            sh 'make px4_io-v2_default bloaty_compare_master'
-            sh 'make sizes'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-          environment {
-            CCACHE_DISABLE = 1
-          }
-        }
-
-        stage('px4_fmu-v2 (bloaty)') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2020-01-13'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -s'
-            sh 'git fetch --tags'
-            sh 'make px4_fmu-v2_default'
-            sh 'make px4_fmu-v2_default bloaty_compileunits'
-            sh 'make px4_fmu-v2_default bloaty_inlines'
-            sh 'make px4_fmu-v2_default bloaty_segments'
-            sh 'make px4_fmu-v2_default bloaty_symbols'
-            sh 'make px4_fmu-v2_default bloaty_templates'
-            sh 'make px4_fmu-v2_default bloaty_compare_master'
-            sh 'make sizes'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-          environment {
-            CCACHE_DISABLE = 1
-          }
-        }
-
-        stage('px4_fmu-v5 (bloaty)') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2020-01-13'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -s'
-            sh 'git fetch --tags'
-            sh 'make px4_fmu-v5_default'
-            sh 'make px4_fmu-v5_default bloaty_compileunits'
-            sh 'make px4_fmu-v5_default bloaty_inlines'
-            sh 'make px4_fmu-v5_default bloaty_segments'
-            sh 'make px4_fmu-v5_default bloaty_symbols'
-            sh 'make px4_fmu-v5_default bloaty_templates'
-            sh 'make px4_fmu-v5_default bloaty_compare_master'
-            sh 'make sizes'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-          environment {
-            CCACHE_DISABLE = 1
-          }
-        }
-
-        stage('px4_sitl (bloaty)') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2020-01-13'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -s'
-            sh 'git fetch --tags'
-            sh 'make px4_sitl_default'
-            sh 'make px4_sitl_default bloaty_compileunits'
-            sh 'make px4_sitl_default bloaty_inlines'
-            sh 'make px4_sitl_default bloaty_segments'
-            sh 'make px4_sitl_default bloaty_symbols'
-            sh 'make px4_sitl_default bloaty_templates'
-            //sh 'make px4_fmu-v5_default bloaty_compare_master'
-            sh 'make sizes'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-          environment {
-            CCACHE_DISABLE = 1
-          }
-        }
-
         stage('px4_fmu-v5 (no ninja)') {
           agent {
             docker {