diff --git a/.travis.yml b/.travis.yml
deleted file mode 100644
index 92de188da5..0000000000
--- a/.travis.yml
+++ /dev/null
@@ -1,33 +0,0 @@
-language: cpp
-os: linux
-dist: trusty
-
-python:
-  - '3.5'
-
-addons:
-  apt:
-    packages:
-     - clang
-     - cmake
-     - libeigen3-dev
-     - python-dev
-     - swig3.0
-
-matrix:
-  fast_finish: true
-  include:
-    - compiler: gcc
-    - compiler: clang
-      env: CC=clang CXX=clang++
-    - env: RUN_PYTEST=1
-  allow_failures:
-    - env: RUN_PYTEST=1
-
-
-before_install:
-  - if [ -n "${RUN_PYTEST}" ]; then
-      pip install --user -r ./EKF/tests/pytest/requirements.txt;
-    fi
-
-script: ./build.sh
diff --git a/EKF/CMakeLists.txt b/EKF/CMakeLists.txt
index 7dc791cd37..6330ce758f 100644
--- a/EKF/CMakeLists.txt
+++ b/EKF/CMakeLists.txt
@@ -38,13 +38,6 @@ project(ECL CXX)
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
 
-# Find Eigen
-message("looking for FindEigen3.cmake in ${CMAKE_MODULE_PATH}")
-find_package(Eigen3 REQUIRED)
-if(NOT EIGEN3_INCLUDE_DIR)
-	message(FATAL_ERROR "Eigen3 not found.")
-endif()
-
 set(MATRIX_DIR ${CMAKE_SOURCE_DIR}/../matrix)
 if(NOT EXISTS "${MATRIX_DIR}/.git")
 	message(SEND_ERROR "The git submodules are not available. Please run git submodule update --init --recursive")
@@ -53,13 +46,13 @@ endif()
 include_directories(
 	..
 	${MATRIX_DIR}
-	${EIGEN3_INCLUDE_DIR}
 	)
 
 set(SRCS
 	airspeed_fusion.cpp
 	control.cpp
 	covariance.cpp
+	drag_fusion.cpp
 	ekf.cpp
 	ekf_helper.cpp
 	estimator_interface.cpp
@@ -71,15 +64,16 @@ set(SRCS
 	sideslip_fusion.cpp
 	terrain_estimator.cpp
 	vel_pos_fusion.cpp
-	drag_fusion.cpp
 	)
 
 add_definitions(-DPOSIX_SHARED)
 add_compile_options(
 	-pedantic
 	-std=c++11
+
 	-Wall
 	-Werror
+
 	-Wno-deprecated-declarations
 	-Wno-enum-compare
 	-Wno-unused-local-typedefs
diff --git a/Jenkinsfile b/Jenkinsfile
new file mode 100644
index 0000000000..741f289c98
--- /dev/null
+++ b/Jenkinsfile
@@ -0,0 +1,57 @@
+pipeline {
+  agent none
+  stages {
+    stage('build') {
+      parallel {
+
+        stage('build') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-base:2017-12-30'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+            } 
+          }
+          steps {
+            sh 'git clean -ff -x -d .'
+            sh 'git submodule deinit -f .'
+            sh 'git submodule update --init --recursive'
+            sh './build.sh'
+          }
+        }
+
+        stage('build clang') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-clang:2017-12-30'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+            }
+            
+          }
+          steps {
+            sh 'git clean -ff -x -d .'
+            sh 'git submodule deinit -f .'
+            sh 'git submodule update --init --recursive'
+            sh 'CC=clang CXX=clang++ ./build.sh'
+          }
+        }
+
+        //stage('pytest') {
+        //  agent {
+        //    docker {
+        //      image 'px4io/px4-dev-base:2017-12-30'
+        //      args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+        //    }
+        //  }
+        //  steps {
+        //    sh 'git clean -ff -x -d .'
+        //    sh 'git submodule deinit -f .'
+        //    sh 'git submodule update --init --recursive'
+        //    sh 'pip install --user -r ./EKF/tests/pytest/requirements.txt'
+        //    sh './build.sh'
+        //  }
+        //}
+
+      }
+    }
+  }
+}