diff --git a/.ci/Jenkinsfile-SITL_tests b/.ci/Jenkinsfile-SITL_tests
index f0900c7da42..740ff0f74bb 100644
--- a/.ci/Jenkinsfile-SITL_tests
+++ b/.ci/Jenkinsfile-SITL_tests
@@ -12,12 +12,27 @@ pipeline {
   }
 
   stages {
+
+    stage('Setup Environment') {
+      steps {
+        script {
+
+          env.CTEST_OUTPUT_ON_FAILURE=1
+
+          if (env.PX4_CMAKE_BUILD_TYPE == 'AddressSanitizer') {
+            env.PX4_ASAN=1
+            env.ASAN_OPTIONS="detect_stack_use_after_return=1:check_initialization_order=1"
+          }
+        }
+      }
+    }
+
     stage('Build') {
 
       agent {
         docker {
           image 'px4io/px4-dev-ros-kinetic:2018-09-11'
-          args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+          args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE --cap-add SYS_PTRACE'
         }
       }
 
@@ -128,7 +143,7 @@ pipeline {
             ],
 
           ]
-        
+
           def test_nodes = [:]
           for (def i = 0; i < missions.size(); i++) {
             test_nodes.put(missions[i].name, createTestNode(missions[i]))
@@ -146,7 +161,7 @@ pipeline {
           agent {
             docker {
               image 'px4io/px4-dev-base:2018-09-11'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw --cap-add SYS_PTRACE'
             }
           }
           steps {
@@ -169,7 +184,7 @@ pipeline {
           agent {
             docker {
               image 'px4io/px4-dev-base:2018-09-11'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw --cap-add SYS_PTRACE'
             }
           }
           steps {
@@ -204,7 +219,7 @@ def createTestNode(Map test_def) {
   return {
     node {
       cleanWs()
-      docker.image("px4io/px4-dev-ros-kinetic:2018-09-11").inside('-e HOME=${WORKSPACE}') {
+      docker.image("px4io/px4-dev-ros-kinetic:2018-09-11").inside('-e HOME=${WORKSPACE} --cap-add SYS_PTRACE') {
         stage(test_def.name) {
 
           try {
diff --git a/cmake/common/sanitizers.cmake b/cmake/common/sanitizers.cmake
index 4b93d6d2eef..fd2ad4d9385 100644
--- a/cmake/common/sanitizers.cmake
+++ b/cmake/common/sanitizers.cmake
@@ -60,6 +60,13 @@ if (SANITIZE_ADDRESS)
 		-fno-optimize-sibling-calls
         )
         set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fsanitize=address" CACHE INTERNAL "" FORCE)
+        set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fsanitize=address" CACHE INTERNAL "" FORCE)
+        set(CMAKE_MODULE_LINKER_FLAGS "${CMAKE_MODULE_LINKER_FLAGS} -fsanitize=address" CACHE INTERNAL "" FORCE)
+
+	function(sanitizer_fail_test_on_error test_name)
+            set_tests_properties(${test_name} PROPERTIES FAIL_REGULAR_EXPRESSION "ERROR: AddressSanitizer")
+            set_tests_properties(${test_name} PROPERTIES FAIL_REGULAR_EXPRESSION "ERROR: LeakSanitizer")
+        endfunction(sanitizer_fail_test_on_error)
 
 elseif(SANITIZE_MEMORY)
         message(STATUS "MemorySanitizer enabled")
@@ -68,7 +75,11 @@ elseif(SANITIZE_MEMORY)
                 -g3
                 -fsanitize=memory
         )
-	set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fsanitize=memory" CACHE INTERNAL "" FORCE)
+        set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fsanitize=memory" CACHE INTERNAL "" FORCE)
+
+        function(sanitizer_fail_test_on_error test_name)
+            # TODO add right check here
+        endfunction(sanitizer_fail_test_on_error)
 
 elseif(SANITIZE_THREAD)
         message(STATUS "ThreadSanitizer enabled")
@@ -79,6 +90,10 @@ elseif(SANITIZE_THREAD)
         )
 	set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fsanitize=thread" CACHE INTERNAL "" FORCE)
 
+        function(sanitizer_fail_test_on_error test_name)
+            # TODO add right check here
+        endfunction(sanitizer_fail_test_on_error)
+
 elseif(SANITIZE_UNDEFINED)
         message(STATUS "UndefinedBehaviorSanitizer enabled")
 
@@ -113,4 +128,13 @@ elseif(SANITIZE_UNDEFINED)
         )
 	set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fsanitize=undefined" CACHE INTERNAL "" FORCE)
 
+        function(sanitizer_fail_test_on_error test_name)
+            # TODO add right check here
+        endfunction(sanitizer_fail_test_on_error)
+else()
+
+        function(sanitizer_fail_test_on_error test_name)
+            # default: don't do anything
+        endfunction(sanitizer_fail_test_on_error)
+
 endif()
diff --git a/platforms/posix/cmake/sitl_tests.cmake b/platforms/posix/cmake/sitl_tests.cmake
index 0d43535e757..96e9e5c77a7 100644
--- a/platforms/posix/cmake/sitl_tests.cmake
+++ b/platforms/posix/cmake/sitl_tests.cmake
@@ -58,6 +58,8 @@ foreach(test_name ${tests})
 
 	set_tests_properties(${test_name} PROPERTIES FAIL_REGULAR_EXPRESSION "${test_name} FAILED")
 	set_tests_properties(${test_name} PROPERTIES PASS_REGULAR_EXPRESSION "${test_name} PASSED")
+
+	sanitizer_fail_test_on_error(${test_name})
 endforeach()
 
 
@@ -75,6 +77,7 @@ add_test(NAME mavlink
 set_tests_properties(mavlink PROPERTIES FAIL_REGULAR_EXPRESSION "mavlink FAILED")
 set_tests_properties(mavlink PROPERTIES PASS_REGULAR_EXPRESSION "mavlink PASSED")
 
+sanitizer_fail_test_on_error(mavlink)
 
 # run arbitrary commands
 set(test_cmds
@@ -97,6 +100,7 @@ foreach(cmd_name ${test_cmds})
 			${PX4_BINARY_DIR}
 		WORKING_DIRECTORY ${SITL_WORKING_DIR})
 
+	sanitizer_fail_test_on_error(posix_${cmd_name})
 	set_tests_properties(posix_${cmd_name} PROPERTIES PASS_REGULAR_EXPRESSION "Shutting down")
 endforeach()