diff --git a/.github/bors.toml b/.github/bors.toml
index 9f02861..4622d5d 100644
--- a/.github/bors.toml
+++ b/.github/bors.toml
@@ -1,3 +1,3 @@
 block_labels = [ "S-blocked" ]
 delete_merged_branches = true
-status = [ "continuous-integration/travis-ci/push" ]
+status = ["ci"]
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 500e84d..b7e3793 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -6,20 +6,89 @@ on:
       - trying
       - master
 
+env:
+  CARGO_TERM_COLOR: always
+
 jobs:
-  build:
+  style:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v1
-    - name: Install toolchain
-      run: rustup toolchain install nightly
-    - name: Use toolchain
-      run: rustup override add nightly
-    - name: Install target
-      run: rustup target add thumbv7em-none-eabihf
-    - name: Build release
-      run: cargo build --verbose --release
-    - name: Build semihosting
-      run: cargo build --verbose --features semihosting
-    - name: Build bkpt
-      run: cargo build --verbose --features bkpt,semihosting
+      - uses: actions/checkout@v2
+      - uses: actions-rs/toolchain@v1
+        with:
+          profile: minimal
+          toolchain: stable
+          override: true
+          components: rustfmt, clippy
+      - name: cargo fmt --check
+        uses: actions-rs/cargo@v1
+        with:
+          command: fmt
+          args: --all -- --check
+      - name: cargo clippy
+        uses: actions-rs/cargo@v1
+        with:
+          command: clippy
+
+  compile:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        target:
+          - thumbv7em-none-eabihf
+        toolchain:
+          - stable
+          - 1.41.0
+          - 1.40.0
+          - 1.38.0
+          - 1.36.0
+          - beta
+    steps:
+      - uses: actions/checkout@v2
+      - name: Install Rust ${{ matrix.toolchain }} with target (${{ matrix.target }})
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: ${{ matrix.toolchain }}
+          target: ${{ matrix.target }}
+          override: true
+      - name: cargo check
+        uses: actions-rs/cargo@v1
+        with:
+          command: check
+          args: --verbose
+      - name: cargo build
+        uses: actions-rs/cargo@v1
+        with:
+          command: build
+          args: --verbose
+      - name: cargo build release
+        uses: actions-rs/cargo@v1
+        with:
+          command: build
+          args: --verbose --release
+      - name: cargo build release+semihosting
+        uses: actions-rs/cargo@v1
+        with:
+          command: build
+          args: --verbose --release --features semihosting
+
+  ci-success:
+    name: ci
+    if: github.event_name == 'push' && success()
+    needs:
+      - style
+      - compile
+    runs-on: ubuntu-latest
+    steps:
+      - name: Mark the job as a success
+      - run: exit 0
+  ci-failure:
+    name: ci
+    if: github.event_name == 'push' && !success()
+    needs:
+      - style
+      - compile
+    runs-on: ubuntu-latest
+    steps:
+      - name: Mark the job as a failure
+        run: exit 1
diff --git a/.travis.yml b/.travis.yml
deleted file mode 100644
index 1d9ab5e..0000000
--- a/.travis.yml
+++ /dev/null
@@ -1,32 +0,0 @@
-language: rust
-
-jobs:
-  include:
-    - rust: stable
-      env: FEATURES='' ARGS='--release'
-    - rust: stable
-      env: FEATURES='semihosting'
-    - rust: beta
-      env: FEATURES='' ARGS='--release'
-  allow_failures:
-    - rust: nightly
-      env: FEATURES='' ARGS='--release'
-
-branches:
-  only:
-    - staging
-    - trying
-    - master
-
-before_script:
-  - rustup target add thumbv7em-none-eabihf
-  - rustup component add clippy
-  - rustup component add rustfmt
-
-script:
-  - "cargo build --target thumbv7em-none-eabihf --features \"$FEATURES\" $ARGS"
-  - cargo clippy
-  - cargo fmt --all -- --check
-
-notifications:
-  email: false
diff --git a/README.md b/README.md
index d495081..f165f25 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,5 @@
+![CI](https://github.com/quartiq/stabilizer/workflows/ci/badge.svg)
+
 # Stabilizer Firmware
 
 ![Flow diagram](stabilizer_pid.svg)