diff --git a/.travis.yml b/.travis.yml
index e0a47f22c2..8f1fe6e03f 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -10,6 +10,7 @@ addons:
     - check
     - doxygen
     - cmake
+    - lcov
     - gradle
     - libgmp-dev
 
@@ -62,7 +63,18 @@ matrix:
         - sudo pip install --upgrade Sphinx
         - npm install -g mocha
         - npm install
-      script: make test-c test-haskell test-java test-javascript
+      script:
+        - make test-c
+        - make test-haskell
+        - make test-java
+        - make test-javascript
+    - env:
+        - TRAVIS_TARGET=codecov
+        - CMAKEFLAGS="-DCODE_COVERAGE=ON -DCMAKE_BUILD_TYPE=Debug"
+      script:
+        - make test-c
+      after_success:
+        bash <(curl -s https://codecov.io/bash) -s c/build || echo "Codecov did not collect coverage reports";
 
 deploy:
   provider: releases
diff --git a/Makefile b/Makefile
index 6e1cb3f344..c27c0fa654 100644
--- a/Makefile
+++ b/Makefile
@@ -18,7 +18,7 @@ SBP_PATCH_VERSION := $(word 3, $(subst ., , $(SBP_VERSION)))
 
 CHANGELOG_MAX_ISSUES := 100
 
-.PHONY: help test release dist silly all docs pdf html c deps-c gen-c test-c python deps-python gen-python test-python javascript deps-javascript gen-javascript test-javascript java deps-java gen-java test-java haskell deps-haskell gen-haskell test-haskell haskell deps-protobuf gen-protobuf test-protobuf verify-prereq-generator verify-prereq-c verify-prereq-javascript verify-prereq-python verify-prereq-java verify-prereq-haskell verify-prereq-protobuf mapping
+.PHONY: help test release dist clean all docs pdf html c deps-c gen-c test-c python deps-python gen-python test-python javascript deps-javascript gen-javascript test-javascript java deps-java gen-java test-java haskell deps-haskell gen-haskell test-haskell haskell deps-protobuf gen-protobuf test-protobuf verify-prereq-generator verify-prereq-c verify-prereq-javascript verify-prereq-python verify-prereq-java verify-prereq-haskell verify-prereq-protobuf mapping
 
 # Functions
 define announce-begin
@@ -43,6 +43,7 @@ help:
 	@echo "Please use \`make <target>' where <target> is one of"
 	@echo "  help      to display this help message"
 	@echo "  all       to make SBP clients across all languages"
+	@echo "  clean     to remove any output files"
 	@echo "  c         to make C headers"
 	@echo "  dist      to distribute packages"
 	@echo "  docs      to make HTML and pdf documentation"
@@ -58,6 +59,9 @@ help:
 	@echo
 
 all: c python pythonNG javascript java docs haskell protobuf
+clean:
+	@echo "Removing the ./c/build directory..."
+	rm -r $(SWIFTNAV_ROOT)/c/build
 docs: verify-prereq-docs pdf html
 
 c:          deps-c          gen-c          test-c
@@ -212,7 +216,7 @@ test-c:
 	$(call announce-begin,"Running C tests")
 	cd $(SWIFTNAV_ROOT)/c; \
 	mkdir -p build/ && cd build/; \
-	cmake ../; \
+	cmake $(CMAKEFLAGS) ../; \
 	make
 	$(call announce-end,"Finished running C tests")
 
@@ -247,7 +251,7 @@ test-protobuf:
 
 dist-python:
 	$(call announce-begin,"Deploying Python package")
-	make -C $(SWIFTNAV_ROOT)/python SBP_VERSION="$(SBP_MAJOR_VERSION).$(SBP_MINOR_VERSION).$(SBP_PATCH_VERSION)" deploy 
+	make -C $(SWIFTNAV_ROOT)/python SBP_VERSION="$(SBP_MAJOR_VERSION).$(SBP_MINOR_VERSION).$(SBP_PATCH_VERSION)" deploy
 	$(call announce-end,"Finished deploying Python package")
 
 dist-javascript:
diff --git a/c/CMakeLists.txt b/c/CMakeLists.txt
index 3e4f3499fd..dbfaa74752 100644
--- a/c/CMakeLists.txt
+++ b/c/CMakeLists.txt
@@ -11,6 +11,8 @@ swift_create_project_options(
     HAS_DOCS
     TEST_PACKAGES "Check"
     )
+include(CodeCoverage)
+add_code_coverage_all_targets()
 
 ##########################################################
 # Set some reasonable default compiler flags.
diff --git a/c/cmake/common b/c/cmake/common
index ed44946e1a..0616a352eb 160000
--- a/c/cmake/common
+++ b/c/cmake/common
@@ -1 +1 @@
-Subproject commit ed44946e1acf06acea6963393a56879caea600de
+Subproject commit 0616a352eb7b3141393efb65614fdae90f4d7e6a
diff --git a/c/src/CMakeLists.txt b/c/src/CMakeLists.txt
index 1568255e2f..c58749f3c0 100644
--- a/c/src/CMakeLists.txt
+++ b/c/src/CMakeLists.txt
@@ -46,6 +46,7 @@ set_target_properties(sbp PROPERTIES
         POSITION_INDEPENDENT_CODE ON
         C_STANDARD 99
         C_STANDARD_REQUIRED ON)
+target_code_coverage(sbp AUTO ALL)
 
 install(TARGETS sbp
         EXPORT sbp-export
diff --git a/c/test/CMakeLists.txt b/c/test/CMakeLists.txt
index 71300d8d33..4dcd99f225 100644
--- a/c/test/CMakeLists.txt
+++ b/c/test/CMakeLists.txt
@@ -30,6 +30,7 @@ else()
     target_link_libraries(test_libsbp PRIVATE "-L/usr/local/lib")
   endif()
 endif()
+target_code_coverage(test_libsbp AUTO ALL)
 
 add_custom_command(
   TARGET test_libsbp POST_BUILD
diff --git a/codecov.yml b/codecov.yml
new file mode 100644
index 0000000000..878c974688
--- /dev/null
+++ b/codecov.yml
@@ -0,0 +1,13 @@
+coverage:
+  status:
+    project:
+      tests:
+        target: 30%
+        paths:
+          - c/test/
+      libsbp:
+        paths:
+          - c/include/
+          - c/src/
+
+comment: off