diff --git a/.github/codecov.yml b/.github/codecov.yml
new file mode 100644
index 000000000..f836078a5
--- /dev/null
+++ b/.github/codecov.yml
@@ -0,0 +1,12 @@
+# Codecov reports coverage, and does not comment or fail a pull request.  Only
+# "All tests passed" and the PR title are required checks (see CONTRIBUTING.md).
+comment: false
+
+coverage:
+  status:
+    project:
+      default:
+        informational: true
+    patch:
+      default:
+        informational: true
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 5c6dc8137..611a1a4e9 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -168,7 +168,7 @@ jobs:
           key: robot-descriptions-v2-${{ runner.os }}-3.12
 
       - name: Run coverage
-        run: pytest tests/ --ignore=tests/test_blocks.py --cov=src/roboticstoolbox --cov-report=xml:coverage.xml -q
+        run: pytest tests/ --ignore=tests/test_blocks.py --cov=roboticstoolbox --cov-report=xml:coverage.xml -q
 
       - uses: codecov/codecov-action@303a32d7a59b442fa8d48b6a1cc6825c09c847a5  # v7.1.1
         with:
diff --git a/pyproject.toml b/pyproject.toml
index f3d4d80ad..afeaab36f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -379,5 +379,26 @@ module = [
 ]
 ignore_errors = true
 
+# CI installs the package and runs the tests against the installed copy, so coverage
+# measures it by name.  [tool.coverage.paths] maps the installed files back to src/,
+# so that the report, and Codecov, use the paths of the repository.
 [tool.coverage.run]
-omit = ["src/roboticstoolbox/demo/*", "test_*.py"]
+source = ["roboticstoolbox"]
+relative_files = true
+omit = ["src/roboticstoolbox/demo/*", "*/roboticstoolbox/demo/*", "test_*.py"]
+
+[tool.coverage.paths]
+source = ["src/roboticstoolbox", "*/site-packages/roboticstoolbox"]
+
+# Left out of the report, since they have no tests or cannot be measured
+[tool.coverage.report]
+omit = [
+    # sketches for hardware, with no tests, that nobody maintains
+    "*/roboticstoolbox/backends/Dynamixel/*",
+    "*/roboticstoolbox/backends/ROS/*",
+    # the unfinished port of DHFactor, which nothing imports
+    "*/roboticstoolbox/robot/DHFactor.py",
+    "*/roboticstoolbox/tools/DHFactor.py",
+    # the command-line tools run in a subprocess in the tests, which coverage does not trace
+    "*/roboticstoolbox/bin/*",
+]