diff --git a/.github/workflows/cygwin_build.yml b/.github/workflows/cygwin_build.yml
index c2e00b051c..3a7c5efddb 100644
--- a/.github/workflows/cygwin_build.yml
+++ b/.github/workflows/cygwin_build.yml
@@ -2,6 +2,9 @@ name: Cygwin Build
 
 on:
   push:
+    branches:
+      - CxPilot
+      - master
     paths-ignore:
       # remove other vehicles
       - 'AntennaTracker/**'
@@ -212,7 +215,7 @@ jobs:
         id: check_files
         uses: andstor/file-existence-action@v2
         with:
-          files: "artifacts/*"
+          files: "artifacts/ArduPlane.elf.exe"
           fail: true
 
       - name: Archive build
diff --git a/.github/workflows/macos_build.yml b/.github/workflows/macos_build.yml
deleted file mode 100644
index 7dba405b03..0000000000
--- a/.github/workflows/macos_build.yml
+++ /dev/null
@@ -1,192 +0,0 @@
-name: Macos Build
-
-on:
-  push:
-    paths-ignore:
-      # remove other env install scripts
-      - 'Tools/environment_install/APM_install.sh'
-      - 'Tools/environment_install/install-ROS-ubuntu.sh'
-      - 'Tools/environment_install/install-prereqs-arch.sh'
-      - 'Tools/environment_install/install-prereqs-ubuntu.sh'
-      - 'Tools/environment_install/install-prereqs-windows-andAPMSource.ps1'
-      - 'Tools/environment_install/install-prereqs-windows.ps1'
-      # remove non esp32 HAL
-      - 'libraries/AP_HAL_ESP32/**'
-      # remove non SITL non stm32 directories
-      - 'Tools/AP_Bootloader/**'
-      - 'Tools/AP_Periph/**'
-      - 'Tools/CHDK-Script/**'
-      - 'Tools/CodeStyle/**'
-      - 'Tools/completion/**'
-      - 'Tools/CPUInfo/**'
-      - 'Tools/debug/**'
-      - 'Tools/FilterTestTool/**'
-      - 'Tools/Frame_params/**'
-      - 'Tools/geotag/**'
-      - 'Tools/GIT_Test/**'
-      - 'Tools/gittools/**'
-      - 'Tools/Hello/**'
-      - 'Tools/Linux_HAL_Essentials/**'
-      - 'Tools/LogAnalyzer/**'
-      - 'Tools/mavproxy_modules/**'
-      - 'Tools/Pozyx/**'
-      - 'Tools/PrintVersion.py'
-      - 'Tools/Replay/**'
-      - 'Tools/simulink/**'
-      - 'Tools/UDP_Proxy/**'
-      - 'Tools/vagrant/**'
-      - 'Tools/Vicon/**'
-      # Discard python file from Tools/scripts as not used
-      - 'Tools/scripts/**.py'
-      - 'Tools/scripts/build_sizes/**'
-      - 'Tools/scripts/build_tests/**'
-      - 'Tools/scripts/CAN/**'
-      - 'Tools/scripts/signing/**'
-      # Remove autotests stuff
-      - 'Tools/autotest/**'
-      # Remove markdown files as irrelevant
-      - '**.md'
-      # Remove dotfile at root directory
-      - './.dir-locals.el'
-      - './.dockerignore'
-      - './.editorconfig'
-      - './.flake8'
-      - './.gitattributes'
-      - './.github'
-      - './.gitignore'
-      - './.pre-commit-config.yaml'
-      - './.pydevproject'
-      - './.valgrind-suppressions'
-      - './.valgrindrc'
-      - 'Dockerfile'
-      - 'Vagrantfile'
-      - 'Makefile'
-      # Remove some directories check
-      - '.vscode/**'
-      - '.github/ISSUE_TEMPLATE/**'
-      # Remove change on other workflows
-      - '.github/workflows/test_environment.yml'
-
-  pull_request:
-    paths-ignore:
-      # remove other env install scripts
-      - 'Tools/environment_install/APM_install.sh'
-      - 'Tools/environment_install/install-ROS-ubuntu.sh'
-      - 'Tools/environment_install/install-prereqs-arch.sh'
-      - 'Tools/environment_install/install-prereqs-ubuntu.sh'
-      - 'Tools/environment_install/install-prereqs-windows-andAPMSource.ps1'
-      - 'Tools/environment_install/install-prereqs-windows.ps1'
-      # remove non esp32 HAL
-      - 'libraries/AP_HAL_ESP32/**'
-      # remove non SITL non stm32 directories
-      - 'Tools/AP_Bootloader/**'
-      - 'Tools/AP_Periph/**'
-      - 'Tools/CHDK-Script/**'
-      - 'Tools/CodeStyle/**'
-      - 'Tools/completion/**'
-      - 'Tools/CPUInfo/**'
-      - 'Tools/debug/**'
-      - 'Tools/FilterTestTool/**'
-      - 'Tools/Frame_params/**'
-      - 'Tools/geotag/**'
-      - 'Tools/GIT_Test/**'
-      - 'Tools/gittools/**'
-      - 'Tools/Hello/**'
-      - 'Tools/Linux_HAL_Essentials/**'
-      - 'Tools/LogAnalyzer/**'
-      - 'Tools/mavproxy_modules/**'
-      - 'Tools/Pozyx/**'
-      - 'Tools/PrintVersion.py'
-      - 'Tools/Replay/**'
-      - 'Tools/simulink/**'
-      - 'Tools/UDP_Proxy/**'
-      - 'Tools/vagrant/**'
-      - 'Tools/Vicon/**'
-      # Discard python file from Tools/scripts as not used
-      - 'Tools/scripts/**.py'
-      - 'Tools/scripts/build_sizes/**'
-      - 'Tools/scripts/build_tests/**'
-      - 'Tools/scripts/CAN/**'
-      - 'Tools/scripts/signing/**'
-      # Remove autotests stuff
-      - 'Tools/autotest/**'
-      # Remove markdown files as irrelevant
-      - '**.md'
-      # Remove dotfile at root directory
-      - './.dir-locals.el'
-      - './.dockerignore'
-      - './.editorconfig'
-      - './.flake8'
-      - './.gitattributes'
-      - './.github'
-      - './.gitignore'
-      - './.pre-commit-config.yaml'
-      - './.pydevproject'
-      - './.valgrind-suppressions'
-      - './.valgrindrc'
-      - 'Dockerfile'
-      - 'Vagrantfile'
-      - 'Makefile'
-      # Remove some directories check
-      - '.vscode/**'
-      - '.github/ISSUE_TEMPLATE/**'
-      # Remove change on other workflows
-      - '.github/workflows/test_environment.yml'
-
-  workflow_dispatch:
-
-concurrency:
-  group: ci-${{github.workflow}}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: macos-latest
-    strategy:
-      fail-fast: false  # don't cancel if a job from the matrix fails
-      matrix:
-        config: [
-            sitl,
-            CubeOrange,
-        ]
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: 'recursive'
-      - name: Install Prerequisites
-        shell: bash
-        run: |
-          if [[ ${{ matrix.config }} == "sitl" ]]; then
-            export DO_AP_STM_ENV=0
-          fi
-          Tools/environment_install/install-prereqs-mac.sh -y
-          source ~/.bash_profile
-      # Put ccache into github cache for faster build
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        shell: bash
-        run: |
-          NOW=$(date -u +"%F-%T")
-          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
-      - name: ccache cache files
-        uses: actions/cache@v3
-        with:
-          path: ~/.ccache
-          key: ${{github.workflow}}-ccache-${{matrix.config}}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-${{matrix.config}} # restore ccache from either previous build on this branch or on master
-      - name: setup ccache
-        run: |
-          . .github/workflows/ccache.env
-      - name: test build ${{matrix.config}}
-        env:
-          CI_BUILD_TARGET: ${{matrix.config}}
-        shell: bash
-        run: |
-          source ~/.bash_profile
-          PATH="/github/home/.local/bin:$PATH"
-          echo $PATH
-          ./waf configure --board ${{matrix.config}}
-          ./waf
-          ccache -s
-          ccache -z
diff --git a/.github/workflows/test_ccache.yml b/.github/workflows/test_ccache.yml
index c00521bc7b..627de1e613 100644
--- a/.github/workflows/test_ccache.yml
+++ b/.github/workflows/test_ccache.yml
@@ -2,6 +2,9 @@ name: test ccache
 
 on:
   push:
+    branches:
+      - CxPilot
+      - master
     paths-ignore:
       # remove other vehicles
       - 'AntennaTracker/**'
diff --git a/.github/workflows/test_chibios.yml b/.github/workflows/test_chibios.yml
index 6fe345defd..b00eb9e443 100644
--- a/.github/workflows/test_chibios.yml
+++ b/.github/workflows/test_chibios.yml
@@ -2,6 +2,9 @@ name: test chibios
 
 on:
   push:
+    branches:
+      - CxPilot
+      - master
     paths-ignore:
       # remove non chibios HAL
       - 'libraries/AP_HAL_Linux/**'
diff --git a/.github/workflows/test_coverage.yml b/.github/workflows/test_coverage.yml
deleted file mode 100644
index c6dba24a39..0000000000
--- a/.github/workflows/test_coverage.yml
+++ /dev/null
@@ -1,100 +0,0 @@
-name: test coverage
-
-on:
-  workflow_dispatch:
-  schedule:
-    - cron: '0 0 * * 0'  # every sunday at midnight
-# paths:
-# - "*"
-# - "!README.md" <-- don't rebuild on doc change
-concurrency:
-  group: ci-${{github.workflow}}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-22.04
-    container:
-      image: ardupilot/ardupilot-dev-${{ matrix.type }}:v0.1.3
-      options: --privileged
-    strategy:
-      fail-fast: false  # don't cancel if a job from the matrix fails
-      matrix:
-        toolchain: [
-            base,  # GCC
-        ]
-        config: [
-            coverage,
-            sitltest-can,
-        ]
-        type: [
-          coverage,
-        ]
-        include:
-          - config: sitltest-can
-            type: periph
-        exclude:
-          - config: sitltest-can
-            type: coverage
-    steps:
-      # git checkout the PR
-      - uses: actions/checkout@v4
-        with:
-          submodules: 'recursive'
-      # Put ccache into github cache for faster build
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        run: |
-          NOW=$(date -u +"%F-%T")
-          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
-      - name: ccache cache files
-        uses: actions/cache@v3
-        with:
-          path: ~/.ccache
-          key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-  # restore ccache from either previous build on this branch or on master
-      - name: setup ccache
-        run: |
-          . .github/workflows/ccache.env
-      - name: test ${{matrix.config}} ${{ matrix.toolchain }}
-        env:
-          CI_BUILD_TARGET: ${{matrix.config}}
-          TERM: xterm
-        shell: 'script -q -e -c "bash {0}"'
-        run: |
-          git config --global --add safe.directory ${GITHUB_WORKSPACE}
-          PATH="/github/home/.local/bin:$PATH"
-          python -m pip install --progress-bar off --user mavproxy
-          python -m pip uninstall -y pymavlink
-          git submodule update --init --recursive --depth=1
-          (cd modules/mavlink/pymavlink && DISABLE_MAVNATIVE=True MDEF="$PWD/../message_definitions" python -m pip install --progress-bar off --user .)
-          if [[ ${{ matrix.config }} == "coverage" ]]; then
-            Tools/scripts/run_coverage.py -f
-          else
-            Tools/scripts/run_coverage.py -i
-            ./waf configure --board sitl_periph_universal --debug --coverage
-            ./waf build --target bin/AP_Periph
-            Tools/scripts/run_coverage.py -i
-            Tools/autotest/autotest.py test.CAN --debug --coverage
-            Tools/scripts/run_coverage.py -u
-          fi
-
-      - name: Coveralls
-        uses: coverallsapp/github-action@master
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          path-to-lcov: ./reports/lcov-report/lcov.info
-          flag-name: run-${{matrix.config}}
-          parallel: true
-
-
-  finish:
-    if: always()
-    needs: build
-    runs-on: ubuntu-22.04
-    steps:
-      - name: Coveralls Finished
-        uses: coverallsapp/github-action@master
-        with:
-          github-token: ${{ secrets.github_token }}
-          parallel-finished: true
diff --git a/.github/workflows/test_environment.yml b/.github/workflows/test_environment.yml
deleted file mode 100644
index c19f39210e..0000000000
--- a/.github/workflows/test_environment.yml
+++ /dev/null
@@ -1,139 +0,0 @@
-name: test environment setup
-on:
-  schedule:
-    - cron: '0 0 * * 6'  # every saturday at midnight
-  workflow_dispatch:
-  push:
-    paths:
-      - '.github/workflows/test_environment.yml'
-      - 'Tools/environment_install/**'
-
-  pull_request:
-    paths:
-      - '.github/workflows/test_environment.yml'
-      - 'Tools/environment_install/**'
-
-
-concurrency:
-  group: ci-${{github.workflow}}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-22.04
-    container:
-      image: ${{matrix.os}}:${{matrix.name}}
-      options: --privileged
-    strategy:
-      fail-fast: false  # don't cancel if a job from the matrix fails
-      matrix:
-        include:
-          - os: ubuntu
-            name: focal
-          - os: ubuntu
-            name: jammy
-          - os: ubuntu
-            name: lunar
-          - os: ubuntu
-            name: mantic
-          - os: debian
-            name: bullseye
-          - os: debian
-            name: buster
-    steps:
-      - name: Install Git
-        timeout-minutes: 30
-        env:
-          DEBIAN_FRONTEND: noninteractive
-          TZ: Europe/Paris
-        shell: 'script -q -e -c "bash {0}"'
-        run: |
-          case ${{matrix.os}} in
-          *"ubuntu"*)
-          apt-get update && apt-get install --no-install-recommends -qy \
-          lsb-release \
-          sudo \
-          git \
-          software-properties-common
-          add-apt-repository ppa:git-core/ppa -y
-          apt-get update && apt-get install --no-install-recommends -qy git
-          ;;
-          *"debian"*)
-          apt-get update && apt-get install --no-install-recommends -qy \
-          lsb-release \
-          sudo \
-          git \
-          software-properties-common
-          ;;
-          *"archlinux"*)
-          pacman -Syu --noconfirm --needed git sudo
-          ;;
-          esac
-
-      # git checkout the PR
-      - uses: actions/checkout@v4
-        with:
-            submodules: 'recursive'
-      - name: test install environment ${{matrix.os}}.${{matrix.name}}
-        timeout-minutes: 60
-        env:
-          DISABLE_MAVNATIVE: True
-          DEBIAN_FRONTEND: noninteractive
-          TZ: Europe/Paris
-          SKIP_AP_GIT_CHECK: 1
-        shell: 'script -q -e -c "bash {0}"'
-        run: |
-          PATH="/github/home/.local/bin:$PATH"
-          ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
-          sed -i 's/\$EUID/\$ID/' Tools/environment_install/install-prereqs-ubuntu.sh
-          sed -i 's/sudo usermod/\#sudo usermod/' Tools/environment_install/install-prereqs-ubuntu.sh
-          sed -i 's/sudo usermod/\#sudo usermod/' Tools/environment_install/install-prereqs-arch.sh
-          case ${{matrix.os}} in
-            *"ubuntu"*)
-            echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
-            Tools/environment_install/install-prereqs-ubuntu.sh -qy
-            ;;
-            *"debian"*)
-            Tools/environment_install/install-prereqs-ubuntu.sh -qy
-            ;;
-            *"archlinux"*)
-            cp /etc/skel/.bashrc /root
-            cp /etc/skel/.bashrc /github/home
-            git config --global --add safe.directory ${GITHUB_WORKSPACE}
-            Tools/environment_install/install-prereqs-arch.sh -qy
-            ;;
-          esac
-
-      - name: test build STIL ${{matrix.os}}.${{matrix.name}}
-        env:
-          DISABLE_MAVNATIVE: True
-          DEBIAN_FRONTEND: noninteractive
-          TZ: Europe/Paris
-        shell: 'script -q -e -c "bash {0}"'
-        run: |
-          git config --global --add safe.directory ${GITHUB_WORKSPACE}
-          source ~/.bashrc
-          source $HOME/venv-ardupilot/bin/activate || true
-          git config --global --add safe.directory /__w/ardupilot/ardupilot
-          ./waf configure
-          ./waf rover
-
-      - name: test build Chibios ${{matrix.os}}.${{matrix.name}}
-        env:
-          DISABLE_MAVNATIVE: True
-          DEBIAN_FRONTEND: noninteractive
-          TZ: Europe/Paris
-        shell: 'script -q -e -c "bash {0}"'
-        run: |
-          git config --global --add safe.directory ${GITHUB_WORKSPACE}
-          source ~/.bashrc
-          source $HOME/venv-ardupilot/bin/activate || true
-          case ${{matrix.os}} in
-            *"archlinux"*)
-              export PATH=/opt/gcc-arm-none-eabi-10-2020-q4-major/bin:$PATH
-              export PATH=/__w/ardupilot/ardupilot/ardupilot/Tools/autotest:$PATH
-              ;;
-          esac
-          git config --global --add safe.directory /__w/ardupilot/ardupilot
-          ./waf configure --board CubeOrange
-          ./waf plane
diff --git a/.github/workflows/test_linux_sbc.yml b/.github/workflows/test_linux_sbc.yml
index a66bc24de3..47d6e0e694 100644
--- a/.github/workflows/test_linux_sbc.yml
+++ b/.github/workflows/test_linux_sbc.yml
@@ -2,6 +2,9 @@ name: test Linux SBC
 
 on:
   push:
+    branches:
+      - CxPilot
+      - master
     paths-ignore:
       # remove non LINUX HAL
       - 'libraries/AP_HAL_ChibiOS/**'
diff --git a/.github/workflows/test_replay.yml b/.github/workflows/test_replay.yml
index 86cd8ba3b3..c2edad8dd9 100644
--- a/.github/workflows/test_replay.yml
+++ b/.github/workflows/test_replay.yml
@@ -2,6 +2,9 @@ name: test replay
 
 on:
   push:
+    branches:
+      - CxPilot
+      - master
     paths-ignore:
       # remove other vehicles
       - 'AntennaTracker/**'
diff --git a/.github/workflows/test_scripting.yml b/.github/workflows/test_scripting.yml
index fab7a226de..0a48117050 100644
--- a/.github/workflows/test_scripting.yml
+++ b/.github/workflows/test_scripting.yml
@@ -2,6 +2,9 @@ name: test scripting
 
 on:
   push:
+    branches:
+      - CxPilot
+      - master
     paths: # only run for scripting changes
       - 'libraries/AP_Scripting/tests/docs_check.py'
       - 'libraries/AP_Scripting/generator/**'
diff --git a/.github/workflows/test_sitl_copter.yml b/.github/workflows/test_sitl_copter.yml
index 0a37998097..57e2d05e41 100644
--- a/.github/workflows/test_sitl_copter.yml
+++ b/.github/workflows/test_sitl_copter.yml
@@ -2,6 +2,9 @@ name: test copter
 
 on:
   push:
+    branches:
+      - CxPilot
+      - master
     paths-ignore:
       # remove other vehicles
       - 'AntennaTracker/**'
diff --git a/.github/workflows/test_sitl_periph.yml b/.github/workflows/test_sitl_periph.yml
index df6588792c..88c4b40702 100644
--- a/.github/workflows/test_sitl_periph.yml
+++ b/.github/workflows/test_sitl_periph.yml
@@ -2,6 +2,9 @@ name: test ap_periph
 
 on: 
   push:
+    branches:
+      - CxPilot
+      - master
     paths-ignore:
       # remove other vehicles than copter
       - 'AntennaTracker/**'
diff --git a/.github/workflows/test_sitl_plane.yml b/.github/workflows/test_sitl_plane.yml
index 18b1f0a801..d0d4f65652 100644
--- a/.github/workflows/test_sitl_plane.yml
+++ b/.github/workflows/test_sitl_plane.yml
@@ -2,6 +2,9 @@ name: test plane
 
 on:
   push:
+    branches:
+      - CxPilot
+      - master
     paths-ignore:
       # remove other vehicles
       - 'AntennaTracker/**'
diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml
index 444ad7f211..cbfe777ee7 100644
--- a/.github/workflows/test_sitl_rover.yml
+++ b/.github/workflows/test_sitl_rover.yml
@@ -2,6 +2,9 @@ name: test rover
 
 on:
   push:
+    branches:
+      - CxPilot
+      - master
     paths-ignore:
       # remove other vehicles
       - 'AntennaTracker/**'
diff --git a/.github/workflows/test_sitl_sub.yml b/.github/workflows/test_sitl_sub.yml
index 65812b31b7..ceea4cca06 100644
--- a/.github/workflows/test_sitl_sub.yml
+++ b/.github/workflows/test_sitl_sub.yml
@@ -2,6 +2,9 @@ name: test sub
 
 on:
   push:
+    branches:
+      - CxPilot
+      - master
     paths-ignore:
       # remove other vehicles
       - 'AntennaTracker/**'
diff --git a/.github/workflows/test_sitl_tracker.yml b/.github/workflows/test_sitl_tracker.yml
index e9e20eccfd..75d631aecc 100644
--- a/.github/workflows/test_sitl_tracker.yml
+++ b/.github/workflows/test_sitl_tracker.yml
@@ -2,6 +2,9 @@ name: test tracker
 
 on:
   push:
+    branches:
+      - CxPilot
+      - master
     paths-ignore:
       # remove other vehicles
       - 'ArduCopter/**'
diff --git a/.github/workflows/test_size.yml b/.github/workflows/test_size.yml
deleted file mode 100644
index f8015bc88a..0000000000
--- a/.github/workflows/test_size.yml
+++ /dev/null
@@ -1,309 +0,0 @@
-name: test size
-
-on:
-  pull_request:
-    paths-ignore:  # ignore autotest stuffs
-      - 'Tools/autotest/**'
-      # Remove markdown files as irrelevant
-      - '**.md'
-      # Remove dotfile at root directory
-      - './.dir-locals.el'
-      - './.dockerignore'
-      - './.editorconfig'
-      - './.flake8'
-      - './.gitattributes'
-      - './.github'
-      - './.gitignore'
-      - './.pre-commit-config.yaml'
-      - './.pydevproject'
-      - './.valgrind-suppressions'
-      - './.valgrindrc'
-      - 'Dockerfile'
-      - 'Vagrantfile'
-      - 'Makefile'
-      # Remove some directories check
-      - '.vscode/**'
-      - '.github/ISSUE_TEMPLATE/**'
-      # Remove generic tools
-      - 'Tools/CHDK-Script/**'
-      - 'Tools/CodeStyle/**'
-      - 'Tools/completion/**'
-      - 'Tools/CPUInfo/**'
-      - 'Tools/debug/**'
-      - 'Tools/environment_install/**'
-      - 'Tools/FilterTestTool/**'
-      - 'Tools/geotag/**'
-      - 'Tools/GIT_Test/**'
-      - 'Tools/gittools/**'
-      - 'Tools/Hello/**'
-      - 'Tools/Linux_HAL_Essentials/**'
-      - 'Tools/LogAnalyzer/**'
-      - 'Tools/mavproxy_modules/**'
-      - 'Tools/Pozyx/**'
-      - 'Tools/PrintVersion.py'
-      - 'Tools/simulink/**'
-      - 'Tools/UDP_Proxy/**'
-      - 'Tools/vagrant/**'
-      - 'Tools/Vicon/**'
-      # remove non CHIBIOS HAL
-      - 'libraries/AP_HAL_SITL/**'
-      - 'libraries/AP_HAL_ESP32/**'
-      - 'libraries/AP_HAL_Linux/**'
-      # Remove change on other workflows
-      - '.github/workflows/test_environment.yml'
-  workflow_dispatch:
-
-
-concurrency:
-  group: ci-${{github.workflow}}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.3
-    strategy:
-      fail-fast: false  # don't cancel if a job from the matrix fails
-      matrix:
-        toolchain: [
-            chibios,
-        ]
-        config: [
-            Durandal,
-            MatekF405,
-            KakuteF7,
-            MatekH743-bdshot,
-            Pixhawk1-1M,
-            MatekF405-CAN,  # see special "build bootloader" code below
-            DrotekP3Pro,  # see special "build bootloader" code below
-            Hitec-Airspeed,  # see special code for Periph below (3 places!)
-            f103-GPS  # see special code for Periph below (3 places!)
-        ]
-        include:
-          - config: disco
-            toolchain: armhf
-        exclude:
-          - config: disco
-            toolchain: chibios
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event.pull_request.base.ref }}
-          path: base_branch
-          submodules: 'recursive'
-      # Put ccache into github cache for faster build
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        run: |
-          NOW=$(date -u +"%F-%T")
-          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
-      - name: ccache cache files
-        uses: actions/cache@v3
-        with:
-          path: ~/.ccache
-          key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-  # restore ccache from either previous build on this branch or on base branch
-      - name: setup ccache
-        run: |
-          . base_branch/.github/workflows/ccache.env
-      - name: Build ${{ github.event.pull_request.base.ref }} ${{matrix.config}} ${{ matrix.toolchain }}
-        env:
-          CI_BUILD_TARGET: ${{matrix.config}}
-        shell: bash
-        run: |
-          set -ex
-          # set up some variables based on what sort of build we're doing:
-          BOOTLOADER=0
-          AP_PERIPH=0
-          if [ "${{matrix.config}}" = "Hitec-Airspeed" ] ||
-             [ "${{matrix.config}}" = "f103-GPS" ]; then
-            AP_PERIPH=1
-          elif [ "${{matrix.config}}" = "MatekF405-CAN" ] ||
-               [ "${{matrix.config}}" = "DrotekP3Pro" ]; then
-            BOOTLOADER=1
-          fi
-          if [ $BOOTLOADER -eq 1 ]; then
-             BIN_SRC="build/${{matrix.config}}/bootloader"
-          else
-             BIN_SRC="build/${{matrix.config}}/bin"
-          fi
-
-          git config --global --add safe.directory ${GITHUB_WORKSPACE}
-          PATH="/github/home/.local/bin:$PATH"
-
-          # build the base branch
-          cd base_branch
-          # configure:
-          if [ $BOOTLOADER -eq 1 ]; then
-            ./waf configure --board ${{matrix.config}} --bootloader
-          else
-            ./waf configure --board ${{matrix.config}}
-          fi
-          # build:
-          if [ $AP_PERIPH -eq 1 ]; then
-            ./waf AP_Periph
-          elif [ $BOOTLOADER -eq 1 ]; then
-            ./waf bootloader
-          else
-            ./waf
-          fi
-          mkdir -p $GITHUB_WORKSPACE/base_branch_bin
-
-          cp -r $BIN_SRC/* $GITHUB_WORKSPACE/base_branch_bin/
-
-          # build a set of binaries without symbols so we can check if
-          #  the binaries have changed.
-          echo [`date`] Building ${{ github.event.pull_request.base.ref }} with no versions
-
-          NO_VERSIONS_DIR="$GITHUB_WORKSPACE/base_branch_bin_no_versions"
-          mkdir "$NO_VERSIONS_DIR"
-
-          # export some environment variables designed to get
-          #            repeatable builds from the same source:
-          export CHIBIOS_GIT_VERSION="12345678"
-          export GIT_VERSION="abcdef"
-          export GIT_VERSION_INT="15"
-
-          if [ $AP_PERIPH -eq 1 ]; then
-            ./waf AP_Periph
-          elif [ $BOOTLOADER -eq 1 ]; then
-            ./waf bootloader
-          else
-            ./waf
-          fi
-          cp -r $BIN_SRC/* "$NO_VERSIONS_DIR"
-
-          echo [`date`] Built ${{ github.event.pull_request.base.ref }} with no versions
-
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          path: 'pr'
-
-      - name: Build PR rebased ${{matrix.config}} ${{ matrix.toolchain }}
-        env:
-          CI_BUILD_TARGET: ${{matrix.config}}
-        shell: bash
-        run: |
-          set -ex
-          # set up some variables based on what sort of build we're doing:
-          BOOTLOADER=0
-          AP_PERIPH=0
-          if [ "${{matrix.config}}" = "Hitec-Airspeed" ] ||
-             [ "${{matrix.config}}" = "f103-GPS" ]; then
-            AP_PERIPH=1
-          elif [ "${{matrix.config}}" = "MatekF405-CAN" ] ||
-               [ "${{matrix.config}}" = "DrotekP3Pro" ]; then
-            BOOTLOADER=1
-          fi
-          if [ $BOOTLOADER -eq 1 ]; then
-             BIN_SRC="build/${{matrix.config}}/bootloader"
-          else
-             BIN_SRC="build/${{matrix.config}}/bin"
-          fi
-          git config --global --add safe.directory ${GITHUB_WORKSPACE}
-          PATH="/github/home/.local/bin:$PATH"
-          cd pr/
-          git config user.email "ardupilot-ci@ardupilot.org"
-          git config user.name "ArduPilot CI"
-          git remote add target_repo https://github.com/${{github.event.pull_request.base.repo.full_name}}
-          git fetch --no-tags --prune --progress target_repo ${{ github.event.pull_request.base.ref }}
-          git rebase target_repo/${{ github.event.pull_request.base.ref }}
-          git submodule update --init --recursive --depth=1
-          # configure
-          if [ $BOOTLOADER -eq 1 ]; then
-            ./waf configure --board ${{matrix.config}} --bootloader
-          else
-            ./waf configure --board ${{matrix.config}}
-          fi
-          # build
-          if [ $AP_PERIPH -eq 1 ]; then
-            ./waf AP_Periph
-          elif [ $BOOTLOADER -eq 1 ]; then
-            ./waf bootloader
-          else
-            ./waf
-          fi
-          mkdir $GITHUB_WORKSPACE/pr_bin
-          cp -r $BIN_SRC/* $GITHUB_WORKSPACE/pr_bin/
-
-          # build a set of binaries without symbols so we can check if
-          #  the binaries have changed.
-          echo [`date`] Building PR with no versions
-
-          NO_VERSIONS_DIR="$GITHUB_WORKSPACE/pr_bin_no_versions"
-          mkdir "$NO_VERSIONS_DIR"
-
-          # export some environment variables designed to get
-          #            repeatable builds from the same source:
-          export CHIBIOS_GIT_VERSION="12345678"
-          export GIT_VERSION="abcdef"
-          export GIT_VERSION_INT="15"
-
-          if [ $AP_PERIPH -eq 1 ]; then
-            ./waf AP_Periph
-          elif [ $BOOTLOADER -eq 1 ]; then
-            ./waf bootloader
-          else
-            ./waf
-          fi
-          cp -r $BIN_SRC/* "$NO_VERSIONS_DIR"
-
-          echo [`date`] Built PR with no versions
-
-          # build MatekF405 Plane without quadplane
-          if [ "${{matrix.config}}" = "MatekF405" ]; then
-            PLANE_BINARY="build/MatekF405/bin/arduplane.bin"
-            echo "normal size"
-            ls -l "$PLANE_BINARY"
-            EXTRA_HWDEF="/tmp/extra-options.def"
-            echo "define HAL_QUADPLANE_ENABLED 0" >"$EXTRA_HWDEF"
-            ./waf configure --board ${{matrix.config}} --extra-hwdef="$EXTRA_HWDEF"
-            ./waf plane
-            rm "$EXTRA_HWDEF"
-            echo "non-quadplane size:"
-            ls -l "$PLANE_BINARY"
-          fi
-
-      - name: Full size compare with base branch
-        shell: bash
-        run: |
-          cd pr/
-          Tools/scripts/pretty_diff_size.py -m $GITHUB_WORKSPACE/base_branch_bin -s $GITHUB_WORKSPACE/pr_bin
-
-      - name: Feature compare with  ${{ github.event.pull_request.base.ref }}
-        shell: bash
-        run: |
-          set -ex
-          cd pr/
-          BIN_PREFIX="arm-none-eabi-"
-          if [ "${{matrix.toolchain}}" = "armhf" ]; then
-             BIN_PREFIX="arm-linux-gnueabihf-"
-          fi
-          BOOTLOADER=0
-          AP_PERIPH=0
-          if [ "${{matrix.config}}" = "Hitec-Airspeed" ] ||
-             [ "${{matrix.config}}" = "f103-GPS" ]; then
-            AP_PERIPH=1
-          elif [ "${{matrix.config}}" = "MatekF405-CAN" ] ||
-               [ "${{matrix.config}}" = "DrotekP3Pro" ]; then
-            BOOTLOADER=1
-          fi
-          if [ $AP_PERIPH -eq 1 ]; then
-              EF_BINARY_NAME="AP_Periph"
-          elif [ $BOOTLOADER -eq 1 ]; then
-              EF_BINARY_NAME="AP_Bootloader"
-          else
-              EF_BINARY_NAME="arduplane"
-          fi
-          EF_BASE_BRANCH_BINARY="$GITHUB_WORKSPACE/base_branch_bin/$EF_BINARY_NAME"
-          EF_PR_BRANCH_BINARY="$GITHUB_WORKSPACE/pr_bin/$EF_BINARY_NAME"
-
-          Tools/scripts/extract_features.py "$EF_BASE_BRANCH_BINARY" -nm "${BIN_PREFIX}nm" >features-base_branch.txt
-          Tools/scripts/extract_features.py "$EF_PR_BRANCH_BINARY" -nm "${BIN_PREFIX}nm" >features-pr.txt
-          diff -u features-base_branch.txt features-pr.txt || true
-
-      - name: Checksum compare with ${{ github.event.pull_request.base.ref }}
-        shell: bash
-        run: |
-          diff -r $GITHUB_WORKSPACE/base_branch_bin_no_versions $GITHUB_WORKSPACE/pr_bin_no_versions --exclude=*.elf --exclude=*.apj || true
diff --git a/.github/workflows/test_unit_tests.yml b/.github/workflows/test_unit_tests.yml
index 609e30386c..833c979bc5 100644
--- a/.github/workflows/test_unit_tests.yml
+++ b/.github/workflows/test_unit_tests.yml
@@ -2,6 +2,9 @@ name: test unit tests and sitl building
 
 on:
   push:
+    branches:
+      - CxPilot
+      - master
     paths-ignore:
       # Remove markdown files as irrelevant
       - '**.md'
diff --git a/Tools/scripts/cygwin_build.sh b/Tools/scripts/cygwin_build.sh
index 37bbcb7e7c..4a4b6bf129 100755
--- a/Tools/scripts/cygwin_build.sh
+++ b/Tools/scripts/cygwin_build.sh
@@ -23,25 +23,25 @@ mkdir artifacts
 (
     python ./waf --color yes --toolchain $TOOLCHAIN --board sitl configure 2>&1
     python ./waf plane 2>&1
-    python ./waf copter 2>&1
-    python ./waf heli 2>&1
-    python ./waf rover 2>&1
-    python ./waf sub 2>&1
 ) | tee artifacts/build.txt
+    # python ./waf copter 2>&1
+    # python ./waf heli 2>&1
+    # python ./waf rover 2>&1
+    # python ./waf sub 2>&1
 
 # copy both with exe and without to cope with differences
 # between windows versions in CI
 cp -v build/sitl/bin/arduplane artifacts/ArduPlane.elf.exe
-cp -v build/sitl/bin/arducopter artifacts/ArduCopter.elf.exe
-cp -v build/sitl/bin/arducopter-heli artifacts/ArduHeli.elf.exe
-cp -v build/sitl/bin/ardurover artifacts/ArduRover.elf.exe
-cp -v build/sitl/bin/ardusub artifacts/ArduSub.elf.exe
+# cp -v build/sitl/bin/arducopter artifacts/ArduCopter.elf.exe
+# cp -v build/sitl/bin/arducopter-heli artifacts/ArduHeli.elf.exe
+# cp -v build/sitl/bin/ardurover artifacts/ArduRover.elf.exe
+# cp -v build/sitl/bin/ardusub artifacts/ArduSub.elf.exe
 
 cp -v build/sitl/bin/arduplane artifacts/ArduPlane.elf
-cp -v build/sitl/bin/arducopter artifacts/ArduCopter.elf
-cp -v build/sitl/bin/arducopter-heli artifacts/ArduHeli.elf
-cp -v build/sitl/bin/ardurover artifacts/ArduRover.elf
-cp -v build/sitl/bin/ardusub artifacts/ArduSub.elf
+# cp -v build/sitl/bin/arducopter artifacts/ArduCopter.elf
+# cp -v build/sitl/bin/arducopter-heli artifacts/ArduHeli.elf
+# cp -v build/sitl/bin/ardurover artifacts/ArduRover.elf
+# cp -v build/sitl/bin/ardusub artifacts/ArduSub.elf
 
 # Find all cyg*.dll files returned by cygcheck for each exe in artifacts
 # and copy them over