diff --git a/.github/workflows/carbonix_build.yml b/.github/workflows/carbonix_build.yml
new file mode 100644
index 0000000000..ae16001889
--- /dev/null
+++ b/.github/workflows/carbonix_build.yml
@@ -0,0 +1,344 @@
+name: Carbonix Build
+
+on:
+    push:
+      branches:
+        - CxPilot
+        - CxPilot-*
+        - master
+      paths-ignore:
+        # remove non chibios HAL
+        - 'libraries/AP_HAL_Linux/**'
+        - 'libraries/AP_HAL_ESP32/**'
+        - 'libraries/AP_HAL_SITL/**'
+        # remove non stm directories
+        - 'Tools/CHDK-Script/**'
+        - 'Tools/CodeStyle/**'
+        - 'Tools/completion/**'
+        - 'Tools/debug/**'
+        - 'Tools/environment_install/**'
+        - 'Tools/FilterTestTool/**'
+        - 'Tools/Frame_params/**'
+        - 'Tools/geotag/**'
+        - 'Tools/GIT_Test/**'
+        - 'Tools/gittools/**'
+        - 'Tools/Hello/**'
+        - 'Tools/LogAnalyzer/**'
+        - 'Tools/mavproxy_modules/**'
+        - 'Tools/Pozyx/**'
+        - 'Tools/PrintVersion.py'
+        - 'Tools/Replay/**'
+        - 'Tools/simulink/**'
+        - 'Tools/UDP_Proxy/**'
+        - 'Tools/vagrant/**'
+        - 'Tools/Vicon/**'
+        # Remove vehicles autotest we need support of test_build_option.py in the Tools/autotest directory
+        - 'Tools/autotest/antennatracker.py'
+        - 'Tools/autotest/arduplane.py'
+        - 'Tools/autotest/ardusub.py'
+        - 'Tools/autotest/balancebot.py'
+        - 'Tools/autotest/location.txt'
+        - 'Tools/autotest/quadplane.py'
+        - 'Tools/autotest/rover.py'
+        - 'Tools/autotest/sailboat.py'
+        - 'Tools/autotest/swarminit.txt'
+        # 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/**'
+  
+    pull_request:
+      paths-ignore:
+        # remove non chibios HAL
+        - 'libraries/AP_HAL_Linux/**'
+        - 'libraries/AP_HAL_ESP32/**'
+        - 'libraries/AP_HAL_SITL/**'
+        # remove non stm directories
+        - 'Tools/CHDK-Script/**'
+        - 'Tools/CodeStyle/**'
+        - 'Tools/completion/**'
+        - 'Tools/debug/**'
+        - 'Tools/environment_install/**'
+        - 'Tools/FilterTestTool/**'
+        - 'Tools/Frame_params/**'
+        - 'Tools/geotag/**'
+        - 'Tools/GIT_Test/**'
+        - 'Tools/gittools/**'
+        - 'Tools/Hello/**'
+        - 'Tools/LogAnalyzer/**'
+        - 'Tools/mavproxy_modules/**'
+        - 'Tools/Pozyx/**'
+        - 'Tools/PrintVersion.py'
+        - 'Tools/Replay/**'
+        - 'Tools/simulink/**'
+        - 'Tools/UDP_Proxy/**'
+        - 'Tools/vagrant/**'
+        - 'Tools/Vicon/**'
+        # Remove vehicles autotest we need support of test_build_option.py in the Tools/autotest directory
+        - 'Tools/autotest/antennatracker.py'
+        - 'Tools/autotest/arduplane.py'
+        - 'Tools/autotest/ardusub.py'
+        - 'Tools/autotest/autotest.py'
+        - 'Tools/autotest/balancebot.py'
+        - 'Tools/autotest/common.py'
+        - 'Tools/autotest/examples.py'
+        - 'Tools/autotest/quadplane.py'
+        - 'Tools/autotest/rover.py'
+        - 'Tools/autotest/sailboat.py'
+        - 'Tools/autotest/**.txt'
+        - 'Tools/autotest/logger_metadata/**'
+        - 'Tools/autotest/param_metadata/**'
+        # 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/**'
+
+    release:
+      types: [published]
+    
+    workflow_dispatch:
+      
+concurrency:
+    group: ci-${{github.workflow}}-${{ github.ref }}
+    cancel-in-progress: true
+
+jobs:
+  build-sitl:
+    runs-on: 'windows-latest'
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+      - name: Prepare ccache timestamp
+        id: ccache_cache_timestamp
+        shell: bash
+        run: |
+          NOW=$(date -u +"%F-%T")
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
+          WORKFLOWNAME="${{github.workflow}}"
+          NAME_DASHED=${WORKFLOWNAME//+( )/_}
+          echo "cache-key=${NAME_DASHED}" >> $GITHUB_OUTPUT
+
+      - uses: cygwin/cygwin-install-action@master
+        with:
+          packages: cygwin64 gcc-g++=10.2.0-1 ccache python37 python37-future python37-lxml python37-pip python37-setuptools python37-wheel git procps gettext
+          add-to-path: false
+      # Put ccache into github cache for faster build
+      - name: setup ccache
+        env:
+          PATH: /usr/bin:$(cygpath ${SYSTEMROOT})/system32
+        shell: C:\cygwin\bin\bash.exe -eo pipefail '{0}'
+        run: >-
+          mkdir -p /cygdrive/d/a/ardupilot/ardupilot/ccache &&
+          mkdir -p /usr/local/etc &&
+          echo "export CCACHE_SLOPPINESS=file_stat_matches" >> ~/ccache.conf &&
+          echo "export CCACHE_DIR=/cygdrive/d/a/ardupilot/ardupilot/ccache" >> ~/ccache.conf &&
+          echo "export CCACHE_BASEDIR=/cygdrive/d/a/ardupilot/ardupilot" >> ~/ccache.conf &&
+          echo "export CCACHE_COMPRESS=1" >> ~/ccache.conf &&
+          echo "export CCACHE_COMPRESSLEVEL=6" >> ~/ccache.conf &&
+          echo "export CCACHE_MAXSIZE=400M" >> ~/ccache.conf &&
+          source ~/ccache.conf &&
+          ccache -s
+      - name: ccache cache files
+        uses: actions/cache@v3
+        with:
+          path: D:/a/ardupilot/ardupilot/ccache
+          key: ${{ steps.ccache_cache_timestamp.outputs.cache-key }}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{ steps.ccache_cache_timestamp.outputs.cache-key }}-ccache-  # restore ccache from either previous build on this branch or on base branch
+      - name: Prepare Python environment
+        env:
+          PATH: /usr/bin:$(cygpath ${SYSTEMROOT})/system32
+        shell: C:\cygwin\bin\bash.exe -eo pipefail '{0}'
+        run: >-
+          ln -sf /usr/bin/python3.7 /usr/bin/python && ln -sf /usr/bin/pip3.7 /usr/bin/pip &&
+          python -m pip install --progress-bar off empy pexpect &&
+          python -m pip install --progress-bar off dronecan --upgrade &&
+          cp /usr/bin/ccache /usr/local/bin/ &&
+          cd /usr/local/bin && ln -s ccache /usr/local/bin/gcc &&
+          ln -s ccache /usr/local/bin/g++ &&
+          ln -s ccache /usr/local/bin/x86_64-pc-cygwin-gcc &&
+          ln -s ccache /usr/local/bin/x86_64-pc-cygwin-g++
+
+      - name: Build SITL
+        env:
+          PATH: /usr/bin:$(cygpath ${SYSTEMROOT})/system32
+        shell: C:\cygwin\bin\bash.exe -eo pipefail '{0}'
+        run: >-
+          export PATH=/usr/local/bin:/usr/bin:$(cygpath ${SYSTEMROOT})/system32 &&
+          source ~/ccache.conf &&
+          Tools/scripts/cygwin_build.sh &&
+          ccache -s
+
+      - name: Check build files
+        id: check_files
+        uses: andstor/file-existence-action@v2
+        with:
+          files: "artifacts/*.exe"
+          fail: true
+
+      - name: Archive build
+        uses: actions/upload-artifact@v4
+        with:
+           name: sitl
+           path: artifacts
+           retention-days: 90
+
+  build-apj:
+    runs-on: ubuntu-20.04
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.0.29
+    strategy:
+      fail-fast: false  # don't cancel if a job from the matrix fails
+      matrix:
+        toolchain: [
+            chibios,
+            #chibios-clang,
+        ]
+        gcc: [10]
+        exclude:
+          - gcc: 10
+            toolchain: chibios-clang
+
+    steps:
+      # git checkout the PR
+      - uses: actions/checkout@v3
+        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: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
+      - name: setup ccache
+        run: |
+          . .github/workflows/ccache.env
+
+      - name: build
+        shell: bash
+        run: Tools/Carbonix_scripts/carbonix_waf_build.sh
+
+      - name: Check build files
+        id: check_files
+        uses: andstor/file-existence-action@v2
+        with:
+          files: "build/CubeOrange/*, build/CubeOrange-Volanti/*, build/CubeOrange-Ottano/*, build/CarbonixF405/*, build/CarbonixF405-no-crystal/*"
+          fail: true
+      - name: Gather build output
+        run: |
+          mkdir -p temp/others
+          for dir in CubeOrange CubeOrange-Volanti CubeOrange-Ottano CarbonixF405 CarbonixF405-no-crystal; do
+            mkdir -p temp/others/$dir/bin
+            cp -vr build/$dir/bin/* temp/others/$dir/bin/
+          done
+          cp -vr output/* temp/
+          mv temp/others/CubeOrange-Volanti temp/Volanti
+          mv temp/others/CubeOrange-Ottano temp/Ottano
+          if [ -d "ArduPlane/ReleaseNotes.txt" ]; then
+            cp -v ArduPlane/ReleaseNotes.txt temp/
+          else
+            echo "ReleaseNotes.txt File does not exist"
+          fi
+          if [ -d "libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads" ]; then
+            cp -vr libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads temp/
+          else
+            echo "payloads Folder does not exist"
+          fi
+        shell: sh -e {0}
+      - name: Archive production artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: apj
+          path: temp
+          retention-days: 90
+
+  upload:
+    runs-on: ubuntu-20.04
+    needs: [build-apj, build-sitl]
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+
+      - name: Extract firmware version, commit id, and branch name
+        id: extract_info
+        run: |
+          FIRMWARE_VERSION=$(grep -oP '#define AP_CUSTOM_FIRMWARE_STRING "\K(.*)(?=")' libraries/AP_Common/CxVersion.h)
+          COMMIT_ID=$(git rev-parse --short HEAD)
+          BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})
+          echo "firmware_version=$FIRMWARE_VERSION" >> $GITHUB_ENV
+          echo "commit_id=$COMMIT_ID" >> $GITHUB_ENV
+          echo "branch_name=$BRANCH_NAME" >> $GITHUB_ENV
+        shell: sh -e {0}
+  
+      - name: Download APJ build
+        uses: actions/download-artifact@v4
+        with:
+          name: apj
+          path: temp
+
+      - name: Download SITL build
+        uses: actions/download-artifact@v4
+        with:
+          name: sitl
+          path: temp/sitl
+
+      - name: Configure AWS credentials
+        uses: aws-actions/configure-aws-credentials@v1
+        with:
+          aws-access-key-id: ${{ secrets.AWS_S3_ACCESS_KEY_ID }}
+          aws-secret-access-key: ${{ secrets.AWS_S3_SECRET_ACCESS_KEY }}
+          aws-region: us-east-1 
+                
+      - name: Upload artifacts to S3
+        run: |
+          DATE_HR=$(date +%Y%m%d_%H%M)
+          if ${{ github.event_name == 'release' }}; then
+            PATH_TO_S3=s3://carbonix-firmware-release-files/Carbopilot_V2/${DATE_HR}_${{ env.firmware_version }}_${{ env.commit_id }}/
+            echo "Uploading to: $PATH_TO_S3"
+            aws s3 cp temp/ $PATH_TO_S3 --recursive
+          elif ${{ github.event_name == 'push' && startsWith(env.branch_name, 'CxPilot') }}; then
+            PATH_TO_S3=s3://carbonix-firmware-dev-files/Carbopilot_V2/${{ env.branch_name }}/${DATE_HR}_${{ env.firmware_version }}_${{ env.commit_id }}/
+            echo "Uploading to: $PATH_TO_S3"
+            aws s3 cp temp/ $PATH_TO_S3 --recursive
+          elif ${{ github.event_name == 'pull_request' }}; then
+            PATH_TO_S3=s3://carbonix-firmware-dev-files/Carbopilot_V2/PR/${DATE_HR}_${{ env.firmware_version }}_${{ env.commit_id }}_${{ github.event.pull_request.number }}/
+            echo "Uploading to: $PATH_TO_S3"
+            aws s3 cp temp/ $PATH_TO_S3 --recursive
+          fi
diff --git a/.github/workflows/ccache.env b/.github/workflows/ccache.env
index 2cae97776a..47455589cb 100644
--- a/.github/workflows/ccache.env
+++ b/.github/workflows/ccache.env
@@ -1,6 +1,8 @@
 # common ccache env vars for CI
 export CCACHE_SLOPPINESS=file_stat_matches
 
+git config --global --add safe.directory ${GITHUB_WORKSPACE}
+
 mkdir -p ~/.ccache
 echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
 echo "compression = true" >> ~/.ccache/ccache.conf
diff --git a/.github/workflows/colcon.yml b/.github/workflows/colcon.yml
index e39af18fc1..22d29b466d 100644
--- a/.github/workflows/colcon.yml
+++ b/.github/workflows/colcon.yml
@@ -2,6 +2,10 @@ name: colcon build/test
 
 on:
   push:
+    branches:
+      - CxPilot
+      - CxPilot-*
+      - master
     paths-ignore:
       # remove not tests vehicles
       - 'AntennaTracker/**'
diff --git a/.github/workflows/cx_build_compare.yml b/.github/workflows/cx_build_compare.yml
new file mode 100644
index 0000000000..51720cdf1a
--- /dev/null
+++ b/.github/workflows/cx_build_compare.yml
@@ -0,0 +1,128 @@
+name: Compare Build Outputs
+
+on:
+  pull_request:
+    types: [labeled]
+
+concurrency:
+    group: ci-${{github.workflow}}-${{ github.ref }}
+    cancel-in-progress: true
+      
+jobs:
+  build-and-compare:
+    if: github.event.label.name == 'CX_NO_CODE_CHANGE'
+    runs-on: ubuntu-20.04
+
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.0.29
+    strategy:
+      fail-fast: false  # don't cancel if a job from the matrix fails
+      matrix:
+        toolchain: [
+            chibios,
+        ]
+        gcc: [10]
+        exclude:
+          - gcc: 10
+            toolchain: chibios-clang
+        board: ["CubeOrange-Volanti", "CubeOrange-Ottano", "CarbonixF405", "CarbonixF405-no-crystal"]
+    steps:
+      # git checkout the PR
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+          submodules: 'recursive'
+
+      # Put ccache into github cache for faster build
+      - name: Prepare ccache timestamp
+        id: ccache_cache_timestamp
+        run: |
+          NOW=$(date -u +"%F-%T")
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
+
+      - name: ccache cache files
+        uses: actions/cache@v3
+        with:
+          path: ~/.ccache
+          key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
+      
+      - name: setup ccache
+        run: |
+          . .github/workflows/ccache.env
+      
+      - name: Check if Hwdef directory has been modified
+        run: |
+          git fetch origin ${{ github.event.pull_request.base.ref }}
+          CHANGED=$(git diff --quiet HEAD origin/${{ github.event.pull_request.base.ref }} -- libraries/AP_HAL_ChibiOS/hwdef || echo "changed")
+          if [ "$CHANGED" = "changed" ]; then
+            echo "Directory has been modified"
+            exit 1
+          fi
+
+      - name: Build Head and ${{ github.event.pull_request.base.ref }} ${{matrix.board}} 
+        shell: bash
+        run: |
+            git config --global --add safe.directory ${GITHUB_WORKSPACE}
+            PATH="/github/home/.local/bin:$PATH"
+
+            # 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"
+            ./waf configure --board ${{matrix.board}} 
+
+            ./Tools/Carbonix_scripts/build_no_clean.sh ${{ matrix.board }}
+  
+            NO_VERSIONS_DIR="$GITHUB_WORKSPACE/${{matrix.board}}/pr_bin_no_versions"
+            mkdir -p "$NO_VERSIONS_DIR"  
+            cp -r build/${{matrix.board}}/bin/* "$NO_VERSIONS_DIR"
+
+            echo [`date`] Built Base with no versions
+
+            git checkout ${{ github.event.pull_request.base.ref }} 
+
+            # 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"
+            ./Tools/Carbonix_scripts/build_no_clean.sh ${{ matrix.board }}
+
+            NO_VERSIONS_DIR="$GITHUB_WORKSPACE/${{matrix.board}}/base_branch_bin_no_versions"
+            mkdir -p "$NO_VERSIONS_DIR"
+            cp -r build/${{matrix.board}}/bin/* "$NO_VERSIONS_DIR"
+
+            echo [`date`] Built ${{ github.event.pull_request.base.ref }} with no versions
+      
+      - name: Upload Artifacts
+        uses: actions/upload-artifact@v2
+        with:
+          name: ${{ matrix.board }}
+          path: ${{ github.workspace }}/${{ matrix.board }}
+          if-no-files-found: warn
+          retention-days: 7
+
+      - name: Compare build outputs
+        shell: bash
+        run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
+          PATH="/github/home/.local/bin:$PATH"
+          differences_found=0
+
+          for base_file in $GITHUB_WORKSPACE/${{ matrix.board }}/base_branch_bin_no_versions/*.bin
+          do
+            base_filename=$(basename "$base_file")
+            diff_output=$(diff $base_file $GITHUB_WORKSPACE/${{ matrix.board }}/pr_bin_no_versions/$base_filename) || true
+            if [ "$diff_output" != "" ]; then
+              echo Failed -- Comparing $base_file and $GITHUB_WORKSPACE/${{ matrix.board }}/pr_bin_no_versions/$base_filename resulted in $diff_output 
+              differences_found=1
+            else
+              echo Passed -- Comparing $base_file and $GITHUB_WORKSPACE/${{ matrix.board }}/pr_bin_no_versions/$base_filename
+            fi
+          done
+          if [ $differences_found -eq 1 ]; then
+            exit 1
+          fi
+          
\ No newline at end of file
diff --git a/.github/workflows/test_ccache.yml b/.github/workflows/test_ccache.yml
index 627de1e613..3c8dbdd629 100644
--- a/.github/workflows/test_ccache.yml
+++ b/.github/workflows/test_ccache.yml
@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - CxPilot
+      - CxPilot-*
       - master
     paths-ignore:
       # remove other vehicles
diff --git a/.github/workflows/test_chibios.yml b/.github/workflows/test_chibios.yml
index b00eb9e443..18b5614d37 100644
--- a/.github/workflows/test_chibios.yml
+++ b/.github/workflows/test_chibios.yml
@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - CxPilot
+      - CxPilot-*
       - master
     paths-ignore:
       # remove non chibios HAL
diff --git a/.github/workflows/test_linux_sbc.yml b/.github/workflows/test_linux_sbc.yml
index 47d6e0e694..500b23ce0c 100644
--- a/.github/workflows/test_linux_sbc.yml
+++ b/.github/workflows/test_linux_sbc.yml
@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - CxPilot
+      - CxPilot-*
       - master
     paths-ignore:
       # remove non LINUX HAL
diff --git a/.github/workflows/test_replay.yml b/.github/workflows/test_replay.yml
index c2edad8dd9..36bbad80c4 100644
--- a/.github/workflows/test_replay.yml
+++ b/.github/workflows/test_replay.yml
@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - CxPilot
+      - CxPilot-*
       - master
     paths-ignore:
       # remove other vehicles
diff --git a/.github/workflows/test_sitl_copter.yml b/.github/workflows/test_sitl_copter.yml
index 57e2d05e41..0e1971ecc0 100644
--- a/.github/workflows/test_sitl_copter.yml
+++ b/.github/workflows/test_sitl_copter.yml
@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - CxPilot
+      - CxPilot-*
       - master
     paths-ignore:
       # remove other vehicles
diff --git a/.github/workflows/test_sitl_periph.yml b/.github/workflows/test_sitl_periph.yml
index 88c4b40702..f4cccba0e9 100644
--- a/.github/workflows/test_sitl_periph.yml
+++ b/.github/workflows/test_sitl_periph.yml
@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - CxPilot
+      - CxPilot-*
       - master
     paths-ignore:
       # remove other vehicles than copter
diff --git a/.github/workflows/test_sitl_plane.yml b/.github/workflows/test_sitl_plane.yml
index d0d4f65652..8306c58669 100644
--- a/.github/workflows/test_sitl_plane.yml
+++ b/.github/workflows/test_sitl_plane.yml
@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - CxPilot
+      - CxPilot-*
       - master
     paths-ignore:
       # remove other vehicles
diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml
index cbfe777ee7..cc3246537a 100644
--- a/.github/workflows/test_sitl_rover.yml
+++ b/.github/workflows/test_sitl_rover.yml
@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - CxPilot
+      - CxPilot-*
       - master
     paths-ignore:
       # remove other vehicles
diff --git a/.github/workflows/test_sitl_sub.yml b/.github/workflows/test_sitl_sub.yml
index ceea4cca06..f5c54c0394 100644
--- a/.github/workflows/test_sitl_sub.yml
+++ b/.github/workflows/test_sitl_sub.yml
@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - CxPilot
+      - CxPilot-*
       - master
     paths-ignore:
       # remove other vehicles
diff --git a/.github/workflows/test_sitl_tracker.yml b/.github/workflows/test_sitl_tracker.yml
index 75d631aecc..c221f91798 100644
--- a/.github/workflows/test_sitl_tracker.yml
+++ b/.github/workflows/test_sitl_tracker.yml
@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - CxPilot
+      - CxPilot-*
       - master
     paths-ignore:
       # remove other vehicles
diff --git a/.github/workflows/test_unit_tests.yml b/.github/workflows/test_unit_tests.yml
index 833c979bc5..b2e4498d73 100644
--- a/.github/workflows/test_unit_tests.yml
+++ b/.github/workflows/test_unit_tests.yml
@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - CxPilot
+      - CxPilot-*
       - master
     paths-ignore:
       # Remove markdown files as irrelevant
diff --git a/Tools/Carbonix_scripts/build_no_clean.sh b/Tools/Carbonix_scripts/build_no_clean.sh
new file mode 100644
index 0000000000..ef61952fb4
--- /dev/null
+++ b/Tools/Carbonix_scripts/build_no_clean.sh
@@ -0,0 +1,20 @@
+#!/bin/bash
+
+# This file is mainly used by workflows/cx_build_compare.yml to build the firmware for a specific board without bootloader and clean.
+
+# Exit immediately if a command exits with a non-zero status
+set -e
+
+# The board to build for is passed as an argument to the script
+BOARD=$1
+
+if [ "$BOARD" == "CubeOrange" ] || [ "$BOARD" == "CubeOrange-Volanti" ] || [ "$BOARD" == "CubeOrange-Ottano" ] || [ "$BOARD" == "sitl" ]
+then
+    echo "Compiling Plane for $BOARD..."
+    ./waf plane
+else
+    echo "Compiling AP_Periph for $BOARD..."
+    ./waf AP_Periph
+fi
+
+echo "Build for $BOARD completed."
diff --git a/Tools/Carbonix_scripts/carbonix_waf_build.sh b/Tools/Carbonix_scripts/carbonix_waf_build.sh
new file mode 100644
index 0000000000..ab98176e22
--- /dev/null
+++ b/Tools/Carbonix_scripts/carbonix_waf_build.sh
@@ -0,0 +1,54 @@
+#!/bin/bash
+
+# Exit if any command fails
+set -e
+
+echo "Running distclean..."
+./waf distclean
+
+main_boards=("CubeOrange" "CubeOrange-Volanti" "CubeOrange-Ottano")
+for board in "${main_boards[@]}"; do
+  echo "Compiling ArduPlane for $board..."
+  ./waf configure --board "$board" --define=CARBOPILOT=1
+  ./waf plane
+done
+
+periph_boards=("CarbonixF405" "CarbonixF405-no-crystal")
+
+# Build all periph board with custom parameters
+for board in "${periph_boards[@]}"; do
+  for file in $(find libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/ -name "*.parm"); do
+    # Extract the filename without the extension 
+    filename=$(basename -- "$file")
+    filename="${filename%.*}"
+    # Extract the Parent folder name 
+    foldername=$(basename -- "$(dirname -- "$file")")
+    echo "Compiling AP_Periph for $board with $filename with foldername $foldername..."
+    # Create extra hwdef file
+    printf "undef CAN_APP_NODE_NAME\ndefine CAN_APP_NODE_NAME \"$board-$filename\"" > temp.hwdef
+    
+    # Compile AP_Periph for each board
+    echo "Compiling AP_Periph for $board with $filename..."
+    ./waf configure --board "$board" --define=CARBOPILOT=1 --extra-hwdef=temp.hwdef --default-parameters="$file"
+    ./waf AP_Periph
+    
+    # Rename build outputs
+    mkdir -p output/$foldername/${filename}_$board    
+    # Move all the files (not folders) in build/$board/bin to build/$board/bin/$filename
+    find build/$board/bin -maxdepth 1 -type f -exec mv {} output/$foldername/${filename}_$board \;
+    # Move default $file in the output folder
+    cp $file output/$foldername/${filename}_$board
+
+    # Cleanup
+    rm temp.hwdef
+  done
+done
+
+# Build all Default periph board
+for board in "${periph_boards[@]}"; do
+  echo "Compiling AP_Periph for $board..."
+  ./waf configure --board "$board" --define=CARBOPILOT=1
+  ./waf AP_Periph
+done
+
+echo "Script completed successfully."
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 270242a7cc..ef92dcc1ff 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -10831,6 +10831,7 @@ def disabled_tests(self):
             "GroundEffectCompensation_takeOffExpected": "Flapping",
             "GroundEffectCompensation_touchDownExpected": "Flapping",
             "FlyMissionTwice": "See https://github.com/ArduPilot/ardupilot/pull/18561",
+            "GyroFFTAverage": "Feature disabled, see https://github.com/ardupilot/ardupilot/commit/a4835634e043b1038f04226d219ac4a4fdd87897",
             "CANGPSCopterMission": "CX temporary : JIRA - SW-317"
         }
 
diff --git a/Tools/scripts/cygwin_build.sh b/Tools/scripts/cygwin_build.sh
index 4a4b6bf129..a6283d5fb8 100755
--- a/Tools/scripts/cygwin_build.sh
+++ b/Tools/scripts/cygwin_build.sh
@@ -17,11 +17,13 @@ $GPP_COMPILER -print-sysroot
 SYS_ROOT=$($GPP_COMPILER -print-sysroot)
 echo "SYS_ROOT=$SYS_ROOT"
 
+git config --global --add safe.directory /cygdrive/d/a/carbopilot_V2/carbopilot_V2
+
 rm -rf artifacts
 mkdir artifacts
 
 (
-    python ./waf --color yes --toolchain $TOOLCHAIN --board sitl configure 2>&1
+    python ./waf --color yes --toolchain $TOOLCHAIN --board sitl configure --define CARBOPILOT=1 2>&1
     python ./waf plane 2>&1
 ) | tee artifacts/build.txt
     # python ./waf copter 2>&1
@@ -29,15 +31,20 @@ mkdir artifacts
     # python ./waf rover 2>&1
     # python ./waf sub 2>&1
 
+# Get Carbonix version number to name the exe file
+FIRMWARE_VERSION=$(grep -oP '#define AP_CUSTOM_FIRMWARE_STRING "\K(.*)(?=")' libraries/AP_Common/CxVersion.h)-$(git rev-parse --short HEAD)
+
 # 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/arduplane artifacts/${FIRMWARE_VERSION}.exe
+
+# 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/arduplane artifacts/ArduPlane.elf
+# 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
@@ -52,5 +59,25 @@ for exe in artifacts/*.exe; do
     done
 done
 
+# Process Carbonix SITL parameters
+for file in libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/sitl_params/*.parm
+do
+    destfolder=artifacts/$(basename $file .parm)-${FIRMWARE_VERSION}
+    mkdir -p $destfolder
+    outfile=$destfolder/defaults.parm
+    echo "Processing $(basename $file)"
+    
+    # Run parse_sitl_params.py script passing full path to .parm file and output folder
+    python Tools/Carbonix_scripts/process_sitl_defaults.py $file $outfile
+
+    # Create batch script to launch SITL with the correct parameters
+    if [[ $file == *"realflight"* ]]; then
+        model="flightaxis"
+    else
+        model="quadplane"
+    fi
+    printf "rem Launch at Eli Field\r\n..\\${FIRMWARE_VERSION}.exe -O 40.0594626,-88.5513292,206.0,0 --serial0 tcp:0 -M ${model} --defaults defaults.parm\r\n" > $destfolder/launch.bat
+done
+
 git log -1 > artifacts/git.txt
 ls -l artifacts/