diff --git a/.coveragerc b/.coveragerc
new file mode 100644
index 000000000..d1638fe52
--- /dev/null
+++ b/.coveragerc
@@ -0,0 +1,9 @@
+[run]
+parallel = true
+include =
+  src/algorithms/classic/graph_based/*
+  *_manager.py
+  src/maps/*
+  src/simulator/*
+  src/structures/*
+  src/algorithms/configuration/*
diff --git a/.github/workflows/test-PRs.yml b/.github/workflows/test-PRs.yml
index b50d12f13..b1818e5aa 100644
--- a/.github/workflows/test-PRs.yml
+++ b/.github/workflows/test-PRs.yml
@@ -12,7 +12,7 @@ on:
 jobs:
   build:
 
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     strategy:
       matrix:
         python-version: [3.8.5]
@@ -27,8 +27,8 @@ jobs:
         python-version: ${{ matrix.python-version }}
     - name: Install dependencies
       run: |
-        sudo apt-get install xvfb scrot
-        python -m pip install --upgrade pip
+        sudo apt-get install -y xvfb scrot gcc
+        python -m pip install --upgrade pip setuptools wheel
         pip install flake8 coverage
         if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
         if [ -f tests/requirements.txt ]; then pip install -r tests/requirements.txt; fi
@@ -40,5 +40,7 @@ jobs:
         flake8 . --count --exit-zero --max-complexity=10 --max-line-length=127 --statistics
     - name: Run tests with coverage and upload
       run: |
-        coverage run tests/run_tests.py --cov-report=xml --spawn-display
-        bash <(curl -s https://codecov.io/bash) -t ${{ secrets.CODECOV_TOKEN }} -e PYTHON
+        CODECOV_EXEC="coverage run -p"
+        $CODECOV_EXEC tests/run_tests.py --spawn-display
+        ls -a
+        bash <(curl -s https://codecov.io/bash) -t ${{ secrets.CODECOV_TOKEN }} -e PYTHON -f '.coverage.*'
diff --git a/src/main.py b/src/main.py
index 34f12be6c..1155c28ea 100644
--- a/src/main.py
+++ b/src/main.py
@@ -1,20 +1,23 @@
-from algorithms.configuration.configuration import Configuration
-from algorithms.algorithm_manager import AlgorithmManager
-from maps.map_manager import MapManager
-from algorithms.lstm.trainer import Trainer
-from analyzer.analyzer import Analyzer
-from generator.generator import Generator
-from simulator.services.debug import DebugLevel
-from simulator.services.services import Services
-from simulator.simulator import Simulator
-from utility.misc import flatten
-from utility.argparse import add_configuration_flags
-
-import copy
 import sys
 import os
-import argparse
-from typing import List, Callable
+
+# Compatibility for running with codecov, add 'PathBench/src' to system path for module imports
+sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+
+from algorithms.configuration.configuration import Configuration  # noqa: E402
+from algorithms.algorithm_manager import AlgorithmManager  # noqa: E402
+from maps.map_manager import MapManager  # noqa: E402
+from algorithms.lstm.trainer import Trainer  # noqa: E402
+from analyzer.analyzer import Analyzer  # noqa: E402
+from generator.generator import Generator  # noqa: E402
+from simulator.services.debug import DebugLevel  # noqa: E402
+from simulator.services.services import Services  # noqa: E402
+from simulator.simulator import Simulator  # noqa: E402
+from utility.misc import flatten  # noqa: E402
+from utility.argparse import add_configuration_flags  # noqa: E402
+
+import argparse  # noqa: E402
+from typing import List, Callable  # noqa: E402
 
 class MainRunner:
     main_services: Services
diff --git a/tests/run_tests.py b/tests/run_tests.py
index a8cf1affd..4a2aac00a 100644
--- a/tests/run_tests.py
+++ b/tests/run_tests.py
@@ -5,14 +5,17 @@
 import unittest
 from unittest import TestLoader, TestSuite, TextTestRunner, TestResult
 
-from utils import make_src_modules_importable
+# Compatibility for running with codecov, add 'PathBench/tests' to system path for module imports
+sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+
+from utils import make_src_modules_importable  # noqa: E402
 
 def run() -> bool:
     # add src folder to system path
     make_src_modules_importable()
 
     tests_path = os.path.dirname(os.path.abspath(__file__))
-    
+
     parser = argparse.ArgumentParser(prog="run_tests.py",
                                      description="PathBench test runner",
                                      formatter_class=argparse.RawTextHelpFormatter)
@@ -28,6 +31,7 @@ def run() -> bool:
     res: TestResult = testRunner.run(tests)
     return (len(res.errors) == 0 and len(res.failures) == 0)
 
+
 if __name__ == '__main__':
     res = run()
     sys.exit(int(not res))
diff --git a/tests/test_graphics/common.py b/tests/test_graphics/common.py
index da4d248a7..ed83c9cef 100644
--- a/tests/test_graphics/common.py
+++ b/tests/test_graphics/common.py
@@ -45,8 +45,12 @@ def setup(args: argparse.Namespace, visualiser_args: List[str]) -> None:
     # enforce correct display being used
     pyautogui._pyautogui_x11._display = Xlib.display.Display(os.environ['DISPLAY'])
 
+    # Fall back to sys executable if no env variable to specify how to run with codecov
+    executable_name = os.environ.get("CODECOV_EXEC", sys.executable)
+    print(f"Using executable {executable_name}")
+
     if not args.no_launch_visualiser:
-        launch_process([sys.executable, os.path.join(SRC_PATH, 'main.py'), '-d', args.debug, '-v', '-Vwindowed-fullscreen',
+        launch_process([executable_name, os.path.join(SRC_PATH, 'main.py'), '-d', args.debug, '-v', '-Vwindowed-fullscreen',
                         '-Vaudio-library-name=null', '--deterministic'] + visualiser_args,
                         on_kill=lambda _: pyautogui.press('esc'))
 
diff --git a/tests/utils.py b/tests/utils.py
index 0147b9dca..d12df5a47 100644
--- a/tests/utils.py
+++ b/tests/utils.py
@@ -22,6 +22,9 @@ def handle_display_args(args) -> None:
     from utility.process import launch_process
     sys.path.pop(0) # remove src folder from path
 
+    if 'DISPLAY' not in os.environ:
+        args.spawn_display = ':99'
+
     if args.spawn_display:
         cmd = ["Xvfb", args.spawn_display, "-screen", "0", "2112x1376x24", "-fbdir", "/var/tmp"]
         if 'DISPLAY' in os.environ: