diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index f3ac1dae..76d9ad67 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -50,7 +50,13 @@ jobs:
       - name: Create folder for test artifacts
         run: mkdir -p test_artifacts
       - name: test
-        run: cd build && ctest --output-on-failure
+        run: cd build && ctest --output-on-failure --output-junit junit.xml
+      - name: Upload test results to Codecov
+        if: ${{ !cancelled() }}
+        uses: codecov/test-results-action@v1
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          fail_ci_if_error: true
       - name: run examples
         run: ./run_examples.sh "192.168.56.101" 1
       - name: install gcovr