diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py
index 837869c085..e228aeaf9f 100755
--- a/Tools/autotest/autotest.py
+++ b/Tools/autotest/autotest.py
@@ -143,7 +143,6 @@ def build_unit_tests(**kwargs):
     """Build tests."""
     for target in ['linux']:
         print("Running build.unit_tests for %s" % target)
-        print(*kwargs)
         try:
             util.build_tests(target, **kwargs)
         except Exception as e:
@@ -416,6 +415,7 @@ def run_step(step):
         "configure": not opts.no_configure,
         "math_check_indexes": opts.math_check_indexes,
         "extra_configure_args": opts.waf_configure_args,
+        "coverage": opts.coverage,
     }
 
     if opts.Werror:
@@ -878,6 +878,10 @@ if __name__ == "__main__":
                            default=False,
                            action='store_true',
                            help='make built binaries debug binaries')
+    group_build.add_option("--coverage",
+                           default=False,
+                           action='store_true',
+                           help='make built binaries coverage binaries')
     group_build.add_option("--enable-math-check-indexes",
                            default=False,
                            action="store_true",
@@ -1132,9 +1136,6 @@ if __name__ == "__main__":
 
     try:
         if not run_tests(steps_to_run):
-            if os.environ.get("COVERAGE", False):
-                # Don't report failure on coverage test
-                sys.exit(0)
             sys.exit(1)
     except KeyboardInterrupt:
         print("KeyboardInterrupt caught; closing pexpect connections")
diff --git a/Tools/autotest/pysim/util.py b/Tools/autotest/pysim/util.py
index 74616a2b7b..aa0a05c03f 100644
--- a/Tools/autotest/pysim/util.py
+++ b/Tools/autotest/pysim/util.py
@@ -96,10 +96,12 @@ def relwaf():
     return "./modules/waf/waf-light"
 
 
-def waf_configure(board, j=None, debug=False, math_check_indexes=False, extra_args=[]):
+def waf_configure(board, j=None, debug=False, math_check_indexes=False, coverage=False, extra_args=[]):
     cmd_configure = [relwaf(), "configure", "--board", board]
     if debug:
         cmd_configure.append('--debug')
+    if coverage:
+        cmd_configure.append('--coverage')
     if math_check_indexes:
         cmd_configure.append('--enable-math-check-indexes')
     if j is not None:
@@ -114,7 +116,7 @@ def waf_clean():
     run_cmd([relwaf(), "clean"], directory=topdir(), checkfail=True)
 
 
-def build_SITL(build_target, j=None, debug=False, board='sitl', clean=True, configure=True, math_check_indexes=False, extra_configure_args=[]):
+def build_SITL(build_target, j=None, debug=False, board='sitl', clean=True, configure=True, math_check_indexes=False, coverage=False, extra_configure_args=[]):
     """Build desktop SITL."""
 
     # first configure
@@ -123,6 +125,7 @@ def build_SITL(build_target, j=None, debug=False, board='sitl', clean=True, conf
                       j=j,
                       debug=debug,
                       math_check_indexes=math_check_indexes,
+                      coverage=coverage,
                       extra_args=extra_configure_args)
 
     # then clean
@@ -137,13 +140,14 @@ def build_SITL(build_target, j=None, debug=False, board='sitl', clean=True, conf
     return True
 
 
-def build_examples(board, j=None, debug=False, clean=False, configure=True, math_check_indexes=False, extra_configure_args=[]):
+def build_examples(board, j=None, debug=False, clean=False, configure=True, math_check_indexes=False, coverage=False, extra_configure_args=[]):
     # first configure
     if configure:
         waf_configure(board,
                       j=j,
                       debug=debug,
                       math_check_indexes=math_check_indexes,
+                      coverage=coverage,
                       extra_args=extra_configure_args)
 
     # then clean
@@ -168,13 +172,14 @@ def build_replay(board, j=None, debug=False, clean=False):
     run_cmd(cmd_make, directory=topdir(), checkfail=True, show=True)
     return True
 
-def build_tests(board, j=None, debug=False, clean=False, configure=True, math_check_indexes=False, extra_configure_args=[]):
+def build_tests(board, j=None, debug=False, clean=False, configure=True, math_check_indexes=False, coverage=False, extra_configure_args=[]):
     # first configure
     if configure:
         waf_configure(board,
                       j=j,
                       debug=debug,
                       math_check_indexes=math_check_indexes,
+                      coverage=coverage,
                       extra_args=extra_configure_args)
 
     # then clean