diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 6dc7c151a5..daa914fceb 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -32,7 +32,7 @@ jobs:
       - name: Install dependencies
         run: sudo apt-get update && sudo apt-get install -y lcov python3-future
       - name: configure
-        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Coverage -DASAN=ON -DWERROR=OFF -Bbuild -H.
+        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Coverage -DASAN=ON -DWERROR=OFF -DENABLE_CPPTRACE=On -Bbuild -H.
       - name: build
         run: cmake --build build -j2
       - name: unit tests
@@ -64,7 +64,7 @@ jobs:
             cmake -Bthird_party/mavlink/build -Sthird_party/mavlink
             sudo cmake --build third_party/mavlink/build
       - name: configure
-        run: cmake -DCMAKE_BUILD_TYPE=Release -DSUPERBUILD=OFF -DWERROR=OFF -Bbuild/release -H.
+        run: cmake -DCMAKE_BUILD_TYPE=Release -DSUPERBUILD=OFF -DWERROR=OFF -DENABLE_CPPTRACE=On -Bbuild/release -H.
       - name: build
         run: cmake --build build/release -j2
       - name: unit tests
@@ -91,7 +91,7 @@ jobs:
         if: steps.cache.outputs.cache-hit == 'true'
         run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(pwd)/build/release/third_party/install" >> $GITHUB_ENV
       - name: configure
-        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DWERROR=OFF -Bbuild/release -H.
+        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DWERROR=OFF -DENABLE_CPPTRACE=On -Bbuild/release -H.
       - name: build
         run: cmake --build build/release -j2
       - name: install
@@ -131,7 +131,7 @@ jobs:
             cmake -Bthird_party/mavlink/build -Sthird_party/mavlink
             sudo cmake --build third_party/mavlink/build
       - name: configure
-        run: cmake -DSUPERBUILD=OFF -DHUNTER_ENABLED=ON -DCMAKE_TOOLCHAIN_FILE=$(pwd)/src/cmake/fpic_toolchain.cmake  -DCMAKE_BUILD_TYPE=Debug -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=OFF -Bbuild -H. -DENABLE_CPPTRACE=On
+        run: cmake -DSUPERBUILD=OFF -DHUNTER_ENABLED=ON -DCMAKE_TOOLCHAIN_FILE=$(pwd)/src/cmake/fpic_toolchain.cmake  -DCMAKE_BUILD_TYPE=Debug -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=OFF -DENABLE_CPPTRACE=On -Bbuild -H.
       - name: build
         run: cmake --build build -j2
       - name: unit tests
@@ -157,7 +157,7 @@ jobs:
         if: steps.cache.outputs.cache-hit == 'true'
         run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(pwd)/build/default/third_party/install" >> $GITHUB_ENV
       - name: build necessary protoc tooling
-        run: cmake $superbuild $cmake_prefix_path -DBUILD_MAVSDK_SERVER=ON -Bbuild/default -H.
+        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Debug -DBUILD_MAVSDK_SERVER=ON -DENABLE_CPPTRACE=On -Bbuild/default -H.
       - name: generate code from protos
         run: PATH="$PATH:$HOME/.local/bin" tools/generate_from_protos.sh
       - name: fix style
@@ -275,7 +275,7 @@ jobs:
         if: steps.cache.outputs.cache-hit == 'true'
         run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(pwd)/build/release/third_party/install" >> $GITHUB_ENV
       - name: configure
-        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_MAVSDK_SERVER=ON -DCMAKE_INSTALL_PREFIX=install -DWERROR=OFF -Bbuild/release -H.
+        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_MAVSDK_SERVER=ON -DCMAKE_INSTALL_PREFIX=install -DWERROR=OFF -DENABLE_CPPTRACE=On -Bbuild/release -H.
       - name: build
         run: cmake --build build/release --target install -- -j2
       - name: unit tests
@@ -404,7 +404,7 @@ jobs:
       - name: set SDKROOT value
         run: echo "SDKROOT=$(xcrun --sdk macosx --show-sdk-path)" >> $GITHUB_ENV
       - name: configure
-        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/macos/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DMACOS_FRAMEWORK=${{ matrix.build-framework }} -DWERROR=OFF -Bbuild/macos -H.
+        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/macos/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DMACOS_FRAMEWORK=${{ matrix.build-framework }} -DWERROR=OFF -DENABLE_CPPTRACE=On -Bbuild/macos -H.
       - name: build
         run: cmake --build build/macos -j2 --target install
       - name: unit tests