diff --git a/.travis.yml b/.travis.yml
index 08472d4c9e..32f9ebb15b 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -34,17 +34,12 @@ matrix:
       services:
         - docker
       env: BUILD_TARGET=px4_metadata
-    - os: osx
-      sudo: true
-      osx_image: xcode8
-      env: BUILD_TARGET=tests
 
 cache:
   ccache: true
 
 before_install:
   - if [[ "${TRAVIS_OS_NAME}" = "linux" && "${TRAVIS_BRANCH}" == "coverity" ]]; then sudo apt-get install genromfs && pip install empy jinja2; fi
-  - if [ "${TRAVIS_OS_NAME}" = "osx" ]; then sudo -H easy_install pip && sudo -H pip install empy jinja2; fi
 
 env:
   global:
@@ -68,8 +63,6 @@ script:
       ./Tools/docker_run.sh 'make px4_metadata';
     elif [[ "${BUILD_TARGET}" = "clang-tidy" ]]; then
       PX4_DOCKER_REPO=px4io/px4-dev-clang:2017-04-22 ./Tools/docker_run.sh 'make clang-tidy-parallel';
-    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
-      make tests;
     fi
 
 after_success:
diff --git a/circle.yml b/circle.yml
index 4f66a8d7c1..4a628fdc88 100644
--- a/circle.yml
+++ b/circle.yml
@@ -1,6 +1,6 @@
 machine:
-  services:
-    - docker
+  xcode:
+    version: 8.2
 
 checkout:
   post:
@@ -12,14 +12,18 @@ checkout:
 
 dependencies:
   pre:
-    - sudo pip install cpp-coveralls
-    - sudo apt-get install -y lcov
+    # PX4 OSX instructions 2017-04-28: https://dev.px4.io/en/setup/dev_env_mac.html
+
+    # After installing Homebrew, copy these commands to your shell:
+    - brew tap PX4/px4
+    - brew update
+    - brew install genromfs gcc-arm-none-eabi ninja
+
+    # Then install the required python packages:
+    - sudo -H easy_install pip
+    - sudo -H pip install empy jinja2
 
 test:
   override:
-    - ./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
-    # only post to coveralls if not a fork PR
-    - if [ -z ${CIRCLE_PR_USERNAME}]; then cpp-coveralls -l coverage.info; fi
+    - make tests
+    - make px4fmu-v3_default