diff --git a/.ci/script.sh b/.ci/script.sh
index d243f0b..848f63e 100755
--- a/.ci/script.sh
+++ b/.ci/script.sh
@@ -12,7 +12,7 @@ fi
 mkdir build
 cd build
 
-if [ $BUILD_NAME = TRUSTY_GCC_DEBUG ]; then
+if [ $BUILD_NAME = BIONIC_GCC_DEBUG_CODECOV ]; then
   cmake "-DCMAKE_BUILD_TYPE=${BUILD_TYPE}" "-DLLVM_DIR=${LLVM_DIR}" "-DCODECOV=ON" ..
 else
   cmake "-DCMAKE_BUILD_TYPE=${BUILD_TYPE}" "-DLLVM_DIR=${LLVM_DIR}" "-DCODECOV=OFF" ..
@@ -36,7 +36,7 @@ if [ "${OS_NAME}" = "linux" ]; then
     # - https://travis-ci.org/github/personalrobotics/chimera/jobs/671301082#L2523-L2573
     make tests binding_tests
 
-    if [ $BUILD_NAME = TRUSTY_GCC_DEBUG ]; then
+    if [ $BUILD_NAME = BIONIC_GCC_DEBUG_CODECOV ]; then
       make chimera_coverage
     else
       ctest --output-on-failure
diff --git a/.travis.yml b/.travis.yml
index fd30905..4a3529a 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -13,7 +13,15 @@ env:
 
 matrix:
   include:
-      # TODO: Fix CODECOV reporting
+    - os: linux
+      compiler: gcc
+      env:
+        - BUILD_NAME=BIONIC_GCC_DEBUG_CODECOV
+        - BUILD_TYPE=Debug
+        - COMPILER=GCC
+        - LLVM_VERSION=6.0
+        - PYTHON_VERSION=3.6
+        - SUDO=sudo
     - os: linux
       compiler: gcc
       env:
diff --git a/CMakeLists.txt b/CMakeLists.txt
index dbf2104..584acd4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -66,9 +66,7 @@ option(CODECOV "Enable CodeCov support" OFF)
 if(CODECOV)
   include(CodeCoverage)
   setup_target_for_coverage(${PROJECT_NAME}_coverage ctest coverage)
-  set(CMAKE_CXX_FLAGS
-    "${CMAKE_CXX_FLAGS} -g -O0 -fprofile-arcs -ftest-coverage"
-  )
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O0 --coverage")
 endif()
 
 ###########
diff --git a/cmake/CodeCoverage.cmake b/cmake/CodeCoverage.cmake
index a0b0ef5..ef283a4 100644
--- a/cmake/CodeCoverage.cmake
+++ b/cmake/CodeCoverage.cmake
@@ -35,6 +35,9 @@
 # - Added support for Clang.
 # - Some additional usage instructions.
 #
+# 2019-01-24, Brian Hou
+# - Added support for Codecov uploads.
+#
 # USAGE:
 
 # 0. (Mac only) If you use Xcode 5.1 make sure to patch geninfo as described here:
@@ -132,6 +135,7 @@ FUNCTION(SETUP_TARGET_FOR_COVERAGE _targetname _testrunner _outputname)
 
 	SET(coverage_info "${CMAKE_BINARY_DIR}/${_outputname}.info")
 	SET(coverage_cleaned "${coverage_info}.cleaned")
+	SET(codecov_script "${CMAKE_BINARY_DIR}/codecov.sh")
 
 	SEPARATE_ARGUMENTS(test_command UNIX_COMMAND "${_testrunner}")
 
@@ -148,6 +152,13 @@ FUNCTION(SETUP_TARGET_FOR_COVERAGE _targetname _testrunner _outputname)
 		COMMAND ${LCOV_PATH} --directory . --capture --output-file ${coverage_info}
 		COMMAND ${LCOV_PATH} --remove ${coverage_info} 'tests/*' '/usr/*' --output-file ${coverage_cleaned}
 		COMMAND ${GENHTML_PATH} -o ${_outputname} ${coverage_cleaned}
+
+		# Upload to Codecov (added by @brianhou)
+		COMMAND curl -s "https://codecov.io/bash" > ${codecov_script}
+		COMMAND chmod +x ${codecov_script}
+		COMMAND ${codecov_script} -R ${CMAKE_SOURCE_DIR} -X gcov -f ${coverage_cleaned}
+
+		# Clean up reports
 		COMMAND ${CMAKE_COMMAND} -E remove ${coverage_info} ${coverage_cleaned}
 
 		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
diff --git a/cmake/chimeraFindLLVM.cmake b/cmake/chimeraFindLLVM.cmake
index d742c1f..ea63fc4 100644
--- a/cmake/chimeraFindLLVM.cmake
+++ b/cmake/chimeraFindLLVM.cmake
@@ -34,7 +34,7 @@ endif()
 #
 # Note that LLVM >= 7 causes memory leaks in chimera::util::resolveDeclaration()
 # See https://github.com/personalrobotics/chimera/issues/222
-set(COMPATIBLE_LLVM_VERSIONS 3.6 3.9 6.0 8.0 9.0 10.0)
+set(COMPATIBLE_LLVM_VERSIONS 3.6 3.9 6.0 7.0 8.0 9.0 10.0)
 set(LLVM_VERSION_MAJOR_MINOR ${LLVM_VERSION_MAJOR}.${LLVM_VERSION_MINOR})
 set(FOUND_COMPATIBLE_LLVM FALSE)
 foreach(version ${COMPATIBLE_LLVM_VERSIONS})