diff --git a/.clang-tidy b/.clang-tidy
new file mode 100644
index 000000000..5eb3cab9e
--- /dev/null
+++ b/.clang-tidy
@@ -0,0 +1,3 @@
+---
+Checks: '-*,boost-use-to-string,cert-dcl21-cpp,cert-dcl58-cpp,cert-env33-c,cert-err52-cpp,cert-err60-cpp,cert-flp30-c,clang-analyzer-cplusplus*,cppcoreguidelines-pro-type-static-cast-downcast,cppcoreguidelines-slicing,google-build-namespaces,google-runtime-int,google-runtime-references,llvm-header-guard,misc-misplaced-const,misc-new-delete-overloads,misc-non-copyable-objects,misc-static-assert,misc-throw-by-value-catch-by-reference,misc-uniqueptr-reset-release,modernize-deprecated-headers,modernize-loop-convert,modernize-pass-by-value,modernize-raw-string-literal,modernize-use-auto,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-noexcept,modernize-use-nullptr,modernize-use-using,performance-faster-string-find,performance-move-const-arg,readability-named-parameter,readability-string-compare'
+HeaderFilterRegex: '.*'
diff --git a/CMakeLists.txt b/CMakeLists.txt
index fceeb244b..41c2685a7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1131,7 +1131,13 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
                 endif()
                 message(FATAL_ERROR "libtool is required to build matio from source")
             endif()
-            if(EXISTS "/usr/bin/aclocal" OR EXISTS "/usr/bin/aclocal-1.16" OR EXISTS "/usr/bin/aclocal-1.15" OR EXISTS "/usr/bin/aclocal-1.14" OR EXISTS "/usr/bin/aclocal-1.13" OR EXISTS "/usr/bin/aclocal-1.11"  OR EXISTS "/usr/bin/aclocal-1.10")
+            if(EXISTS "/usr/bin/aclocal" OR
+                EXISTS "/usr/bin/aclocal-1.16" OR
+                EXISTS "/usr/bin/aclocal-1.15" OR
+                EXISTS "/usr/bin/aclocal-1.14" OR
+                EXISTS "/usr/bin/aclocal-1.13" OR
+                EXISTS "/usr/bin/aclocal-1.11" OR
+                EXISTS "/usr/bin/aclocal-1.10")
                 message(STATUS "Automake found.")
             else()
                 message(" aclocal has not been found.")
@@ -1612,6 +1618,26 @@ if((CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "GNU
 endif()
 
 
+########################################################################
+# clang-tidy https://clang.llvm.org/extra/clang-tidy/index.html
+########################################################################
+if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    if(NOT (CMAKE_VERSION VERSION_LESS "3.6"))
+        find_program(
+            CLANG_TIDY_EXE
+            NAMES "clang-tidy"
+            DOC "Path to clang-tidy executable"
+        )
+        if(NOT CLANG_TIDY_EXE)
+            message(STATUS "clang-tidy not found.")
+        else()
+            message(STATUS "clang-tidy found: ${CLANG_TIDY_EXE}")
+            set(DO_CLANG_TIDY "${CLANG_TIDY_EXE}" "-checks=*")
+            set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+        endif()
+    endif()
+endif()
+
 
 ########################################################################
 # Create uninstall target
diff --git a/docs/changelog b/docs/changelog
index 2382a4779..aa77a3554 100644
--- a/docs/changelog
+++ b/docs/changelog
@@ -71,6 +71,7 @@ Next release will have several improvements in different dimensions, addition of
 - Improvement in C++ usage: The override special identifier is now used when overriding a virtual function. This helps the compiler to check for type changes in the base class, making the detection of errors easier.
 - Improvement in C++ usage: A number of unused includes have been removed. Order of includes set to: local (in-source) headers, then library headers, then system headers. This helps to detect missing includes.
 - Improvement in C++ usage: Enhanced const correctness. Misuses of those variables are detected by the compiler.
+- Improved code with clang-tidy and generation of a compile_commands.json file containing the exact compiler calls for all translation units of the project in machine-readable form if clang-tidy is detected.
 - Applied some style rules to CMake scripts.
 - Minimal versions of dependencies identified and detected.