diff --git a/CMakeLists.txt b/CMakeLists.txt
index ec7cc71..bfc03f3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -67,6 +67,17 @@ target_link_libraries(MrsUavHwApi_DummyApi
   ${catkin_LIBRARIES}
   )
 
+## --------------------------------------------------------------
+## |                           Testing                          |
+## --------------------------------------------------------------
+
+if(CATKIN_ENABLE_TESTING)
+
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --coverage")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --coverage")
+
+endif()
+
 ## --------------------------------------------------------------
 ## |                           Install                          |
 ## --------------------------------------------------------------