diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index c4c02f44d3..60f4ca1f96 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -126,9 +126,9 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@master
-    - uses: dtolnay/rust-toolchain@stable
+    - uses: dtolnay/rust-toolchain@nightly
     - name: Build docs
-      run: cargo doc
+      run: cargo doc --features "default all-dialects emit-description emit-extensions format-generated-code tokio-1 signing" 
     - name: Deploy
       uses: peaceiris/actions-gh-pages@v3
       if: ${{ github.ref == 'refs/heads/master' }}
diff --git a/mavlink-core/src/lib.rs b/mavlink-core/src/lib.rs
index 12d470b614..2ef674b104 100644
--- a/mavlink-core/src/lib.rs
+++ b/mavlink-core/src/lib.rs
@@ -19,6 +19,7 @@
 //! feature without also using the `uavionix` and `icarous` features.
 //!
 #![cfg_attr(not(feature = "std"), no_std)]
+#![cfg_attr(all(any(docsrs, doc), not(doctest)), feature(doc_auto_cfg))]
 #![deny(clippy::all)]
 #![warn(clippy::use_self)]
 
diff --git a/mavlink/src/lib.rs b/mavlink/src/lib.rs
index 3690dd954c..bfdcbeafb2 100644
--- a/mavlink/src/lib.rs
+++ b/mavlink/src/lib.rs
@@ -1,4 +1,5 @@
 #![cfg_attr(not(feature = "std"), no_std)]
+#![cfg_attr(all(any(docsrs, doc), not(doctest)), feature(doc_auto_cfg))]
 // include generate definitions
 include!(concat!(env!("OUT_DIR"), "/mod.rs"));