diff --git a/.github/workflows/test_sitl_blimp.yml b/.github/workflows/test_sitl_blimp.yml
new file mode 100644
index 00000000000000..7343f4b81ebde6
--- /dev/null
+++ b/.github/workflows/test_sitl_blimp.yml
@@ -0,0 +1,270 @@
+name: test blimp
+
+on:
+  push:
+    paths-ignore:
+      # remove other vehicles
+      - 'AntennaTracker/**'
+      - 'ArduPlane/**'
+      - 'ArduSub/**'
+      - 'ArduCopter/**'
+      - 'Rover/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - 'Tools/Pozyx/**'
+      - 'Tools/PrintVersion.py'
+      - 'Tools/Replay/**'
+      - 'Tools/simulink/**'
+      - 'Tools/UDP_Proxy/**'
+      - 'Tools/vagrant/**'
+      - 'Tools/Vicon/**'
+      # Discard python file from Tools/scripts as not used
+      - 'Tools/scripts/**.py'
+      - 'Tools/scripts/build_sizes/**'
+      - 'Tools/scripts/build_tests/**'
+      - 'Tools/scripts/CAN/**'
+      - 'Tools/scripts/signing/**'
+      # Remove other vehicles autotest
+      - 'Tools/autotest/antennatracker.py'
+      - 'Tools/autotest/arduplane.py'
+      - 'Tools/autotest/arducopter.py'
+      - 'Tools/autotest/ardusub.py'
+      - 'Tools/autotest/balancebot.py'
+      - 'Tools/autotest/helicopter.py'
+      - 'Tools/autotest/location.txt'
+      - 'Tools/autotest/quadplane.py'
+      - 'Tools/autotest/rover.py'
+      - 'Tools/autotest/sailboat.py'
+      - 'Tools/autotest/swarminit.txt'
+      # Remove markdown files as irrelevant
+      - '**.md'
+      # Remove dotfile at root directory
+      - './.dir-locals.el'
+      - './.dockerignore'
+      - './.editorconfig'
+      - './.flake8'
+      - './.gitattributes'
+      - './.github'
+      - './.gitignore'
+      - './.pre-commit-config.yaml'
+      - './.pydevproject'
+      - './.valgrind-suppressions'
+      - './.valgrindrc'
+      - 'Dockerfile'
+      - 'Vagrantfile'
+      - 'Makefile'
+      # Remove some directories check
+      - '.vscode/**'
+      - '.github/ISSUE_TEMPLATE/**'
+
+
+  pull_request:
+    paths-ignore:
+      # remove other vehicles
+      - 'AntennaTracker/**'
+      - 'ArduPlane/**'
+      - 'ArduSub/**'
+      - 'ArduCopter/**'
+      - 'Rover/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - 'Tools/Pozyx/**'
+      - 'Tools/PrintVersion.py'
+      - 'Tools/Replay/**'
+      - 'Tools/simulink/**'
+      - 'Tools/UDP_Proxy/**'
+      - 'Tools/vagrant/**'
+      - 'Tools/Vicon/**'
+      # Discard python file from Tools/scripts as not used
+      - 'Tools/scripts/**.py'
+      - 'Tools/scripts/build_sizes/**'
+      - 'Tools/scripts/build_tests/**'
+      - 'Tools/scripts/CAN/**'
+      - 'Tools/scripts/signing/**'
+      # Remove other vehicles autotest
+      - 'Tools/autotest/antennatracker.py'
+      - 'Tools/autotest/arduplane.py'
+      - 'Tools/autotest/arducopter.py'
+      - 'Tools/autotest/ardusub.py'
+      - 'Tools/autotest/balancebot.py'
+      - 'Tools/autotest/helicopter.py'
+      - 'Tools/autotest/location.txt'
+      - 'Tools/autotest/quadplane.py'
+      - 'Tools/autotest/rover.py'
+      - 'Tools/autotest/sailboat.py'
+      - 'Tools/autotest/swarminit.txt'
+      # Remove markdown files as irrelevant
+      - '**.md'
+      # Remove dotfile at root directory
+      - './.dir-locals.el'
+      - './.dockerignore'
+      - './.editorconfig'
+      - './.flake8'
+      - './.gitattributes'
+      - './.github'
+      - './.gitignore'
+      - './.pre-commit-config.yaml'
+      - './.pydevproject'
+      - './.valgrind-suppressions'
+      - './.valgrindrc'
+      - 'Dockerfile'
+      - 'Vagrantfile'
+      - 'Makefile'
+      # Remove some directories check
+      - '.vscode/**'
+      - '.github/ISSUE_TEMPLATE/**'
+
+  workflow_dispatch:
+
+concurrency:
+  group: ci-${{github.workflow}}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build:
+    runs-on: ubuntu-20.04
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.0.29
+    strategy:
+      fail-fast: false  # don't cancel if a job from the matrix fails
+      matrix:
+        toolchain: [
+            base,  # GCC
+            clang,
+        ]
+    steps:
+      # git checkout the PR
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+      # Put ccache into github cache for faster build
+      - name: Prepare ccache timestamp
+        id: ccache_cache_timestamp
+        run: |
+          NOW=$(date -u +"%F-%T")
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
+      - name: ccache cache files
+        uses: actions/cache@v3
+        with:
+          path: ~/.ccache
+          key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-  # restore ccache from either previous build on this branch or on master
+      - name: setup ccache
+        run: |
+          . .github/workflows/ccache.env
+      - name: build blimp ${{ matrix.toolchain }}
+        shell: bash
+        run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
+          if [[ ${{ matrix.toolchain }} == "clang" ]]; then
+            export CC=clang
+            export CXX=clang++
+          fi
+          PATH="/github/home/.local/bin:$PATH"
+          ./waf configure --board sitl
+          ./waf build --target bin/blimp
+          ccache -s
+          ccache -z
+
+  autotest:
+    needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
+    runs-on: ubuntu-20.04
+    container:
+      image: ardupilot/ardupilot-dev-base:v0.0.29
+      options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
+    strategy:
+      fail-fast: false  # don't cancel if a job from the matrix fails
+      matrix:
+        config: [
+            sitltest-blimp,
+        ]
+
+    steps:
+      # git checkout the PR
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+      # Put ccache into github cache for faster build
+      - name: Prepare ccache timestamp
+        id: ccache_cache_timestamp
+        run: |
+          NOW=$(date -u +"%F-%T")
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
+      - name: ccache cache files
+        uses: actions/cache/restore@v3
+        with:
+          path: ~/.ccache
+          key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-base-  # restore ccache from either previous build on this branch or on master
+      - name: setup ccache
+        run: |
+          . .github/workflows/ccache.env
+      - name: test ${{matrix.config}}
+        env:
+          CI_BUILD_TARGET: ${{matrix.config}}
+        shell: bash
+        run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
+          PATH="/github/home/.local/bin:$PATH"
+          Tools/scripts/build_ci.sh
+
+      - name: Archive buildlog artifacts
+        uses: actions/upload-artifact@v3
+        if: failure()
+        with:
+           name: fail-${{matrix.config}}
+           path: |
+             /tmp/buildlogs
+             /__w/ardupilot/ardupilot/logs
+             /__w/ardupilot/ardupilot/ap-*.core
+             /__w/ardupilot/ardupilot/core.*
+             /__w/ardupilot/ardupilot/dumpstack.sh_*
+             /__w/ardupilot/ardupilot/dumpcore.sh_*
+           retention-days: 14
+
+      - name: Archive .bin artifacts
+        uses: actions/upload-artifact@v3
+        with:
+           name: BIN-${{matrix.config}}
+           path: /__w/ardupilot/ardupilot/logs
+           retention-days: 7
+