diff --git a/build.sh b/build.sh
index f095b78..7c670d8 100755
--- a/build.sh
+++ b/build.sh
@@ -52,6 +52,19 @@ build_docker() {
         /esp/uas-ugv/build.sh cmake "$targets"
 }
 
+docker_idf() {
+    mkdir -p "$BUILD_DIR"
+    command -v setfacl 1>/dev/null && setfacl -m default:u:$USER:rwx "$BUILD_DIR"
+    build_docker_container
+    get_docker_run_flags
+    echo_status "Running idf.py $*"
+    docker run \
+        --volume="$DIR:/esp/uas-ugv" \
+        "${DOCKER_RUN_FLAGS[@]}" \
+        "$TOOLCHAIN_IMAGE" \
+        '/bin/bash' -c "cd /esp/uas-ugv && \$IDF_PATH/tools/idf.py $*"
+}
+
 build_cmake() {
     mkdir -p "$BUILD_DIR"
     cd "$BUILD_DIR"
@@ -70,6 +83,7 @@ CMD="$1"; shift
 case $CMD in 
     docker_container) build_docker_container ;;
     docker) build_docker "$@" ;;
+    docker_idf) docker_idf "$@" ;;
     cmake) build_cmake "$@" ;;
     clean) build_clean ;;
     *) echo "Usage: $0 <docker_container|docker|cmake>" ;;