diff --git a/Makefile b/Makefile
index 2bbadd6577..e78cf04144 100644
--- a/Makefile
+++ b/Makefile
@@ -95,13 +95,6 @@ endif
 
 SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
 
-# optionally run commmands in PX4 docker
-ifdef PX4_DOCKER
-	PX4_RUN = docker run -it --rm -v $(SRC_DIR):$(SRC_DIR):rw -w $(SRC_DIR) -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v $(HOME)/.ccache:$(HOME)/.ccache:rw -e CCACHE_DIR=$(HOME)/.ccache -e LOCAL_USER_ID=`id -u $(USER)` px4io/px4-dev-nuttx:2017-01-01 /bin/bash -c "$1"
-else
-	PX4_RUN = $1
-endif
-
 # check if replay env variable is set & set build dir accordingly
 ifdef replay
 	BUILD_DIR_SUFFIX := _replay
diff --git a/Tools/docker_run.sh b/Tools/docker_run.sh
index 29d48eb6ac..7a319ee379 100755
--- a/Tools/docker_run.sh
+++ b/Tools/docker_run.sh
@@ -12,4 +12,4 @@ docker run -it --rm -w ${SRC_DIR} \
 	-v ${CCACHE_DIR}:${CCACHE_DIR}:rw \
 	-e CCACHE_DIR=${CCACHE_DIR} \
 	-e LOCAL_USER_ID=`id -u` \
-	px4io/px4-dev-nuttx:2017-01-07 /bin/bash -c "$@"
+	px4io/px4-dev-nuttx:2017-01-08 /bin/bash -c "$@"
diff --git a/circle.yml b/circle.yml
index 6f99d060ec..4f66a8d7c1 100644
--- a/circle.yml
+++ b/circle.yml
@@ -17,9 +17,9 @@ dependencies:
 
 test:
   override:
-    - ./Tools/docker_run.sh 'make tests'
+    - ./Tools/docker_run.sh 'make tests_coverage'
     # copy test results for circleci
-    #- mkdir -p $CIRCLE_TEST_REPORTS/junit/ && cp ./build_posix_sitl_default/JUnitTestResults.xml build_unittest/test_detail.xml $CIRCLE_TEST_REPORTS/junit/
-    #- mkdir -p $CIRCLE_ARTIFACTS && cp -R coverage-html $CIRCLE_ARTIFACTS
+    - mkdir -p $CIRCLE_TEST_REPORTS/junit/ && cp ./build_posix_sitl_default/JUnitTestResults.xml build_unittest/test_detail.xml $CIRCLE_TEST_REPORTS/junit/
+    - mkdir -p $CIRCLE_ARTIFACTS && cp -R coverage-html $CIRCLE_ARTIFACTS
     # only post to coveralls if not a fork PR
-    #- if [ -z ${CIRCLE_PR_USERNAME}]; then ./Tools/docker_run.sh 'cpp-coveralls -l coverage.info'; fi
+    - if [ -z ${CIRCLE_PR_USERNAME}]; then cpp-coveralls -l coverage.info; fi
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 2769cdd8fc..6663b60a0a 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -796,7 +796,7 @@ function(px4_add_common_flags)
 
 	# code coverage
 	if ($ENV{PX4_CODE_COVERAGE} MATCHES "1")
-		set(max_optimization -O0)
+		#set(max_optimization -O0)
 	endif()
 
 	set(c_warnings