diff --git a/.github/workflows/compile_nuttx.yml b/.github/workflows/compile_nuttx.yml
new file mode 100644
index 000000000000..79080ed5634c
--- /dev/null
+++ b/.github/workflows/compile_nuttx.yml
@@ -0,0 +1,26 @@
+name: compile nuttx
+
+on: [push]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx:2019-10-24
+    strategy:
+      matrix:
+        config: [
+          px4_io-v2_default,
+          px4_fmu-v2_default, px4_fmu-v2_fixedwing, px4_fmu-v2_lpe, px4_fmu-v2_multicopter, px4_fmu-v2_rover, px4_fmu-v2_test,
+          px4_fmu-v3_default,
+          px4_fmu-v4_default,
+          px4_fmu-v4pro_default,
+          px4_fmu-v5_default, px4_fmu-v5_fixedwing, px4_fmu-v5_multicopter, px4_fmu-v5_rover, px4_fmu-v5_rtps, px4_fmu-v5_stackcheck,
+          px4_fmu-v5x_default,
+          airmind_mindpx-v2_default, auav_x21_default, av_x-v1_default, bitcraze_crazyflie_default,
+          holybro_kakutef7, holybro_durandal-v1_default, holybro_durandal-v1_stackcheck,
+          intel_aerofc-v1_default, modalai_fc-v1_default, mro_ctrl-zero-f7_default, nxp_fmuk66-v3_default, omnibus_f4sd_default, uvify_core_default
+          ]
+    steps:
+    - uses: actions/checkout@v1
+    - name: make ${{ matrix.config }}
+      run: make ${{ matrix.config }}