diff --git a/.github/workflows/cygwin_build.yml b/.github/workflows/cygwin_build.yml
index 0d601df2fa..dad336196d 100644
--- a/.github/workflows/cygwin_build.yml
+++ b/.github/workflows/cygwin_build.yml
@@ -1,6 +1,139 @@
 name: Cygwin Build
 
-on: [push, pull_request, workflow_dispatch]
+on:
+  push:
+    branches:
+      - CxPilot
+      - master
+    paths-ignore:
+      # remove other vehicles
+      - 'AntennaTracker/**'
+      - 'Blimp/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - 'Tools/Pozyx/**'
+      - 'Tools/PrintVersion.py'
+      - 'Tools/Replay/**'
+      - 'Tools/UDP_Proxy/**'
+      - 'Tools/Vicon/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/completion/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/geotag/**'
+      - 'Tools/gittools/**'
+      - 'Tools/mavproxy_modules/**'
+      - 'Tools/simulink/**'
+      - 'Tools/vagrant/**'
+      # 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 autotest
+      - '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/**'
+
+  pull_request:
+    paths-ignore:
+      # remove other vehicles
+      - 'AntennaTracker/**'
+      - 'Blimp/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - '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 autotest
+      - '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/**'
+
+  workflow_dispatch:
+
 concurrency:
   group: ci-${{github.workflow}}-${{ github.ref }}
   cancel-in-progress: true
@@ -10,34 +143,78 @@ jobs:
     runs-on: 'windows-latest'
 
     steps:
-      - uses: actions/checkout@v2
+      - 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}" >> $GITHUB_OUTPUT
+
       - uses: cygwin/cygwin-install-action@master
         with:
-          packages: cygwin64 gcc-g++=10.2.0-1 python37 python37-future python37-lxml python37-pip python37-setuptools python37-wheel git procps gettext
+          packages: cygwin64 gcc-g++=10.2.0-1 ccache python37 python37-future python37-lxml python37-pip python37-setuptools python37-wheel git procps gettext
+          add-to-path: false
+      # Put ccache into github cache for faster build
+      - name: setup ccache
+        env:
+          PATH: /usr/bin:$(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:
-          HOME: ${{ runner.workspace }}/ardupilot
-        run: |
-          bash --login -c "ln -sf /usr/bin/python3.7 /usr/bin/python && ln -sf /usr/bin/pip3.7 /usr/bin/pip"
-          bash --login -c "python -m pip install empy pexpect"
-          bash --login -c "python -m pip install dronecan --upgrade"
+          PATH: /usr/bin:$(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:
-          HOME: ${{ runner.workspace }}/ardupilot
-        run: |
-          bash --login -c "Tools/scripts/cygwin_build.sh"
+          PATH: /usr/bin:$(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@v1
+        uses: andstor/file-existence-action@v2
         with:
-          files: "artifacts/*"
-          allow_failure: true
+          files: "artifacts/ArduPlane.elf.exe"
+          fail: true
 
       - name: Archive build
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         with:
            name: binaries
            path: artifacts
diff --git a/.github/workflows/macos_build.yml b/.github/workflows/macos_build.yml
deleted file mode 100644
index e142a796ac..0000000000
--- a/.github/workflows/macos_build.yml
+++ /dev/null
@@ -1,57 +0,0 @@
-name: Macos Build
-
-on: [push, pull_request, 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@v2
-        with:
-          submodules: 'recursive'
-      - name: Install Prerequisites
-        shell: bash
-        run: |
-          if [[ ${{ matrix.config }} == "sitl" ]]; then
-            export DO_AP_STM_ENV=0
-          fi
-          Tools/environment_install/install-prereqs-mac.sh -y
-          source ~/.bash_profile
-      # Put ccache into github cache for faster build
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        run: |
-          NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
-      - name: ccache cache files
-        uses: actions/cache@v2
-        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 dd5d970d5b..062df2173e 100644
--- a/.github/workflows/test_ccache.yml
+++ b/.github/workflows/test_ccache.yml
@@ -1,9 +1,123 @@
 name: test ccache
 
-on: [push, pull_request, workflow_dispatch]
-# paths:
-# - "*"
-# - "!README.md" <-- don't rebuild on doc change
+on:
+  push:
+    branches:
+      - CxPilot
+      - master
+    paths-ignore:
+      # remove other vehicles
+      - 'AntennaTracker/**'
+      - 'ArduPlane/**'
+      - 'ArduSub/**'
+      - 'Blimp/**'
+      - 'Rover/**'
+      # 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 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/**'
+
+  pull_request:
+    paths-ignore:
+      # remove other vehicles
+      - 'AntennaTracker/**'
+      - 'ArduPlane/**'
+      - 'ArduSub/**'
+      - 'Blimp/**'
+      - 'Rover/**'
+      # 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 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/**'
+
+  workflow_dispatch:
+
 concurrency:
   group: ci-${{github.workflow}}-${{ github.ref }}
   cancel-in-progress: true
@@ -11,7 +125,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-20.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:latest
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.0.29
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -21,7 +135,7 @@ jobs:
         gcc: [10]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       - name: ccache test
@@ -29,5 +143,5 @@ jobs:
         run: |
           PATH="/usr/lib/ccache:/opt/gcc-arm-none-eabi-${{matrix.gcc}}/bin:$PATH"
           Tools/scripts/build_tests/test_ccache.py --boards MatekF405,MatekF405-bdshot --min-cache-pct=75
-          Tools/scripts/build_tests/test_ccache.py --boards CubeOrange,Durandal --min-cache-pct=75
+          Tools/scripts/build_tests/test_ccache.py --boards Durandal,Pixhawk6X --min-cache-pct=73
 
diff --git a/.github/workflows/test_chibios.yml b/.github/workflows/test_chibios.yml
index faf560472c..49006accd0 100644
--- a/.github/workflows/test_chibios.yml
+++ b/.github/workflows/test_chibios.yml
@@ -1,10 +1,131 @@
 name: test chibios
 
-on: [push, pull_request, workflow_dispatch]
+on:
+  push:
+    branches:
+      - 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/**'
+
+  workflow_dispatch:
 
-# paths:
-# - "*"
-# - "!README.md" <-- don't rebuild on doc change
 concurrency:
   group: ci-${{github.workflow}}-${{ github.ref }}
   cancel-in-progress: true
@@ -12,7 +133,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-20.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:latest
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.0.29
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -34,32 +155,17 @@ jobs:
             signing
         ]
         toolchain: [
-            chibios,  # GCC-6
+            chibios,
             #chibios-clang,
         ]
-        gcc: [6, 10]
+        gcc: [10]
         exclude:
           - gcc: 10
             toolchain: chibios-clang
-          - gcc: 6
-            config: fmuv2-plane
-          - gcc: 6
-            config: revo-mini
-          - gcc: 6
-            config: MatekF405-Wing
-          - gcc: 6
-            config: periph-build
-          - gcc: 6
-            config: CubeOrange-ODID
-          - gcc: 6
-            config: signing
-        include:
-          - config: stm32h7
-            toolchain: chibios-py2
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -67,9 +173,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{matrix.config}}-${{ matrix.toolchain }}-${{ matrix.gcc }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -82,6 +188,7 @@ jobs:
           CI_BUILD_TARGET: ${{matrix.config}}
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           if [[ ${{ matrix.toolchain }} == "chibios-clang" ]]; then
             export CC=clang
             export CXX=clang++
diff --git a/.github/workflows/test_coverage.yml b/.github/workflows/test_coverage.yml
index b700fa830e..ed9bc392ef 100644
--- a/.github/workflows/test_coverage.yml
+++ b/.github/workflows/test_coverage.yml
@@ -29,7 +29,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -37,9 +37,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
diff --git a/.github/workflows/test_environment.yml b/.github/workflows/test_environment.yml
deleted file mode 100644
index ee34b50aaf..0000000000
--- a/.github/workflows/test_environment.yml
+++ /dev/null
@@ -1,126 +0,0 @@
-name: test environment setup
-on:
-  schedule:
-    - cron: '0 0 * * 6'  # every saturday at midnight
-  workflow_dispatch:
-
-
-concurrency:
-  group: ci-${{github.workflow}}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-20.04
-    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: bionic
-          - os: ubuntu
-            name: focal
-          - os: ubuntu
-            name: hirsute
-          - os: archlinux
-            name: latest
-          - 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 -Sy --noconfirm --needed git sudo
-          ;;
-          esac
-
-      # git checkout the PR
-      - uses: actions/checkout@v2
-        with:
-            submodules: 'recursive'
-      - name: test install environment ${{matrix.os}}.${{matrix.name}}
-        timeout-minutes: 30
-        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 /__w/ardupilot/ardupilot
-            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: |
-          source ~/.bashrc
-          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: |
-          source ~/.bashrc
-          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 e36a28fc3d..b44ec5454f 100644
--- a/.github/workflows/test_linux_sbc.yml
+++ b/.github/workflows/test_linux_sbc.yml
@@ -1,9 +1,132 @@
 name: test Linux SBC
 
-on: [push, pull_request, workflow_dispatch]
-# paths:
-# - "*"
-# - "!README.md" <-- don't rebuild on doc change
+on:
+  push:
+    branches:
+      - CxPilot
+      - master
+    paths-ignore:
+      # remove non LINUX HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_SITL/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/LogAnalyzer/**'
+      - 'Tools/mavproxy_modules/**'
+      - 'Tools/Pozyx/**'
+      - 'Tools/PrintVersion.py'
+      - 'Tools/Replay/**'
+      - 'Tools/simulink/**'
+      - 'Tools/UDP_Proxy/**'
+      - 'Tools/vagrant/**'
+      - 'Tools/Vicon/**'
+      # Discard file from Tools/scripts as not used
+      - '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/**'
+
+  pull_request:
+    paths-ignore:
+      # remove non LINUX HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_SITL/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - '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/**'
+
+  workflow_dispatch:
+
 concurrency:
   group: ci-${{github.workflow}}-${{ github.ref }}
   cancel-in-progress: true
@@ -11,7 +134,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-20.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:latest
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.0.29
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -43,7 +166,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -51,13 +174,13 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{matrix.config}}-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
+          restore-keys: ${{github.workflow}}-ccache-${{matrix.config}}-${{ matrix.toolchain }}-  # restore ccache from either previous build on this branch or on master
       - name: setup ccache
         run: |
           . .github/workflows/ccache.env
@@ -66,6 +189,7 @@ jobs:
           CI_BUILD_TARGET: ${{matrix.config}}
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           if [[ ${{ matrix.toolchain }} == "clang" ]]; then
             export CC=clang
             export CXX=clang++
diff --git a/.github/workflows/test_replay.yml b/.github/workflows/test_replay.yml
index 7ecae879f4..4a85335e0f 100644
--- a/.github/workflows/test_replay.yml
+++ b/.github/workflows/test_replay.yml
@@ -1,9 +1,145 @@
 name: test replay
 
-on: [push, pull_request, workflow_dispatch]
-# paths:
-# - "*"
-# - "!README.md" <-- don't rebuild on doc change
+on:
+  push:
+    branches:
+      - CxPilot
+      - master
+    paths-ignore:
+      # remove other vehicles
+      - 'AntennaTracker/**'
+      - 'ArduCopter/**'
+      - 'ArduPlane/**'
+      - 'ArduSub/**'
+      - 'Blimp/**'
+      - 'Rover/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - 'Tools/mavproxy_modules/**'
+      - 'Tools/Pozyx/**'
+      - 'Tools/PrintVersion.py'
+      - '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/**'
+
+  pull_request:
+    paths-ignore:
+      # remove other vehicles
+      - 'AntennaTracker/**'
+      - 'ArduCopter/**'
+      - 'ArduPlane/**'
+      - 'ArduSub/**'
+      - 'Blimp/**'
+      - 'Rover/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - 'Tools/mavproxy_modules/**'
+      - 'Tools/Pozyx/**'
+      - 'Tools/PrintVersion.py'
+      - '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/**'
+
+  workflow_dispatch:
+
 concurrency:
   group: ci-${{github.workflow}}-${{ github.ref }}
   cancel-in-progress: true
@@ -11,7 +147,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-20.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:latest
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.0.29
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -24,7 +160,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -32,9 +168,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -47,6 +183,7 @@ jobs:
           CI_BUILD_TARGET: ${{matrix.config}}
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           if [[ ${{ matrix.toolchain }} == "clang" ]]; then
             export CC=clang
             export CXX=clang++
@@ -55,7 +192,7 @@ jobs:
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         if: failure()
         with:
            name: fail-${{ matrix.toolchain }}-${{matrix.config}}
diff --git a/.github/workflows/test_scripting_docs.yml b/.github/workflows/test_scripting_docs.yml
new file mode 100644
index 0000000000..2be32b0e9f
--- /dev/null
+++ b/.github/workflows/test_scripting_docs.yml
@@ -0,0 +1,51 @@
+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/**'
+      - '**.lua'
+
+  pull_request:
+    paths: # only run for scripting changes
+      - 'libraries/AP_Scripting/tests/docs_check.py'
+      - 'libraries/AP_Scripting/generator/**'
+      - '**.lua'
+
+  workflow_dispatch:
+
+concurrency:
+  group: ci-${{github.workflow}}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  test-scripting:
+    runs-on: ubuntu-20.04
+    container: ardupilot/ardupilot-dev-base:v0.0.29
+    steps:
+      # git checkout the PR
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+
+      - name: copy docs
+        run: |
+          PATH="/github/home/.local/bin:$PATH"
+          mv "libraries/AP_Scripting/docs/docs.lua" "libraries/AP_Scripting/docs/current_docs.lua"
+
+      - name: build sitl # we don't really need to build the full code, just trigger docs re-gen with --scripting-docs, timeout after 10 seconds
+        shell: bash
+        run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
+          PATH="/github/home/.local/bin:$PATH"
+          ./waf configure --board sitl
+          timeout 10 ./waf antennatracker --scripting-docs || code=$?; if [[ $code -ne 124 && $code -ne 0 ]]; then exit $code; fi
+
+      - name: run compare
+        run: |
+          PATH="/github/home/.local/bin:$PATH"
+          python ./libraries/AP_Scripting/tests/docs_check.py "./libraries/AP_Scripting/docs/docs.lua" "./libraries/AP_Scripting/docs/current_docs.lua"
diff --git a/.github/workflows/test_sitl_copter.yml b/.github/workflows/test_sitl_copter.yml
index 28c72a64f0..c22d586db6 100644
--- a/.github/workflows/test_sitl_copter.yml
+++ b/.github/workflows/test_sitl_copter.yml
@@ -1,9 +1,158 @@
 name: test copter
 
-on: [push, pull_request, workflow_dispatch]
-# paths:
-# - "*"
-# - "!README.md" <-- don't rebuild on doc change
+on:
+  push:
+    branches:
+      - CxPilot
+      - master
+    paths-ignore:
+      # remove other vehicles
+      - 'AntennaTracker/**'
+      - 'ArduPlane/**'
+      - 'ArduSub/**'
+      - 'Blimp/**'
+      - 'Rover/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - 'Tools/Pozyx/**'
+      - 'Tools/PrintVersion.py'
+      - '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 other vehicles autotest
+      - '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 other vehicles
+      - 'AntennaTracker/**'
+      - 'ArduPlane/**'
+      - 'ArduSub/**'
+      - 'Blimp/**'
+      - 'Rover/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - 'Tools/Pozyx/**'
+      - 'Tools/PrintVersion.py'
+      - '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 other vehicles autotest
+      - '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/**'
+
+  workflow_dispatch:
+
 concurrency:
   group: ci-${{github.workflow}}-${{ github.ref }}
   cancel-in-progress: true
@@ -11,7 +160,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-20.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:latest
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.0.29
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -21,7 +170,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -29,9 +178,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -42,6 +191,7 @@ jobs:
       - name: build copter ${{ matrix.toolchain }}
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           if [[ ${{ matrix.toolchain }} == "clang" ]]; then
             export CC=clang
             export CXX=clang++
@@ -56,7 +206,7 @@ jobs:
     needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-20.04
     container:
-      image: ardupilot/ardupilot-dev-base:latest
+      image: ardupilot/ardupilot-dev-base:v0.0.29
       options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
@@ -73,7 +223,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -81,9 +231,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache/restore@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -96,11 +246,12 @@ jobs:
           CI_BUILD_TARGET: ${{matrix.config}}
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           PATH="/github/home/.local/bin:$PATH"
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         if: failure()
         with:
            name: fail-${{matrix.config}}
@@ -114,7 +265,7 @@ jobs:
            retention-days: 14
 
       - name: Archive .bin artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         with:
            name: BIN-${{matrix.config}}
            path: /__w/ardupilot/ardupilot/logs
@@ -123,11 +274,11 @@ jobs:
   build-gcc-heli:
     runs-on: ubuntu-20.04
     container:
-      image: ardupilot/ardupilot-dev-base:latest
+      image: ardupilot/ardupilot-dev-base:v0.0.29
       options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -135,9 +286,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -148,6 +299,7 @@ jobs:
       - name: build heli
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           PATH="/github/home/.local/bin:$PATH"
           ./waf configure --board sitl
           ./waf build --target bin/arducopter-heli
@@ -157,7 +309,7 @@ jobs:
   autotest-heli:
     needs: build-gcc-heli  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-20.04
-    container: ardupilot/ardupilot-dev-base:latest
+    container: ardupilot/ardupilot-dev-base:v0.0.29
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -167,7 +319,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -175,9 +327,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache/restore@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -190,11 +342,12 @@ jobs:
           CI_BUILD_TARGET: ${{matrix.config}}
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           PATH="/github/home/.local/bin:$PATH"
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         if: failure()
         with:
            name: fail-${{matrix.config}}
@@ -208,7 +361,7 @@ jobs:
            retention-days: 14
 
       - name: Archive .bin artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         with:
            name: BIN-${{matrix.config}}
            path: /__w/ardupilot/ardupilot/logs
diff --git a/.github/workflows/test_sitl_periph.yml b/.github/workflows/test_sitl_periph.yml
index 8a517adf87..f26d3e7b76 100644
--- a/.github/workflows/test_sitl_periph.yml
+++ b/.github/workflows/test_sitl_periph.yml
@@ -1,9 +1,157 @@
 name: test ap_periph
 
-on: [push, pull_request, workflow_dispatch]
-# paths:
-# - "*"
-# - "!README.md" <-- don't rebuild on doc change
+on: 
+  push:
+    branches:
+      - CxPilot
+      - master
+    paths-ignore:
+      # remove other vehicles than copter
+      - 'AntennaTracker/**'
+      - 'ArduPlane/**'
+      - 'ArduSub/**'
+      - 'Blimp/**'
+      - 'Rover/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - '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 other vehicles autotest keep only coptertest
+      - 'Tools/autotest/antennatracker.py'
+      - 'Tools/autotest/arduplane.py'
+      - 'Tools/autotest/ardusub.py'
+      - 'Tools/autotest/balancebot.py'
+      - 'Tools/autotest/helicopter.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 other vehicles than copter
+      - 'AntennaTracker/**'
+      - 'ArduPlane/**'
+      - 'ArduSub/**'
+      - 'Blimp/**'
+      - 'Rover/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - '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 other vehicles autotest keep only coptertest
+      - 'Tools/autotest/antennatracker.py'
+      - 'Tools/autotest/arduplane.py'
+      - 'Tools/autotest/ardusub.py'
+      - 'Tools/autotest/balancebot.py'
+      - 'Tools/autotest/helicopter.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/**'
+
+  workflow_dispatch:
+
 concurrency:
   group: ci-${{github.workflow}}-${{ github.ref }}
   cancel-in-progress: true
@@ -11,10 +159,10 @@ concurrency:
 jobs:
   build-gcc-ap_periph:
     runs-on: ubuntu-20.04
-    container: ardupilot/ardupilot-dev-base:latest
+    container: ardupilot/ardupilot-dev-periph:v0.0.29
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -22,9 +170,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -32,11 +180,6 @@ jobs:
       - name: setup ccache
         run: |
           . .github/workflows/ccache.env
-      - name: install 32-bit libraries
-        run: |
-          dpkg --add-architecture i386
-          apt-get update
-          apt-get install -y gcc-multilib g++-multilib
 
       - name: run dronecan dsdlc generator test
         run: |
@@ -46,6 +189,7 @@ jobs:
       - name: build sitl_periph_gps
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           PATH="/github/home/.local/bin:$PATH"
           ./waf configure --board sitl_periph_gps
           ./waf build --target bin/AP_Periph
@@ -56,7 +200,7 @@ jobs:
     needs: build-gcc-ap_periph  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-20.04
     container: 
-      image: ardupilot/ardupilot-dev-base:latest
+      image: ardupilot/ardupilot-dev-periph:v0.0.29
       options: --privileged
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
@@ -67,7 +211,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -75,9 +219,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -85,11 +229,6 @@ jobs:
       - name: setup ccache
         run: |
           . .github/workflows/ccache.env
-      - name: install 32-bit libraries
-        run: |
-          sudo dpkg --add-architecture i386
-          sudo apt-get update
-          sudo apt-get install -y gcc-multilib g++-multilib
       - name: setup can-utils
         run: |
           kernel_ver=`uname -r`
@@ -104,6 +243,7 @@ jobs:
           CI_BUILD_TARGET: ${{matrix.config}}
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           kernel_ver=`uname -r`
           if [ "$kernel_ver" = "5.4.0-1032-azure" ] || [ "$kernel_ver" = "5.11.4-051104-generic" ]; then echo "Unsupported Kernel $kernel_ver" && exit 0; fi;
           PATH="/github/home/.local/bin:$PATH"
diff --git a/.github/workflows/test_sitl_plane.yml b/.github/workflows/test_sitl_plane.yml
index 3640bc4e90..a91cf72735 100644
--- a/.github/workflows/test_sitl_plane.yml
+++ b/.github/workflows/test_sitl_plane.yml
@@ -1,9 +1,159 @@
 name: test plane
 
-on: [push, pull_request, workflow_dispatch]
-# paths:
-# - "*"
-# - "!README.md" <-- don't rebuild on doc change
+on:
+  push:
+    branches:
+      - CxPilot
+      - master
+    paths-ignore:
+      # remove other vehicles
+      - 'AntennaTracker/**'
+      - 'ArduCopter/**'
+      - 'ArduSub/**'
+      - 'Blimp/**'
+      - 'Rover/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - '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 other vehicles autotest
+      - 'Tools/autotest/antennatracker.py'
+      - 'Tools/autotest/arducopter.py'
+      - 'Tools/autotest/ardusub.py'
+      - 'Tools/autotest/balancebot.py'
+      - 'Tools/autotest/helicopter.py'
+      - 'Tools/autotest/location.txt'
+      - '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 other vehicles
+      - 'AntennaTracker/**'
+      - 'ArduCopter/**'
+      - 'ArduSub/**'
+      - 'Blimp/**'
+      - 'Rover/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - '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 other vehicles autotest
+      - 'Tools/autotest/antennatracker.py'
+      - 'Tools/autotest/arducopter.py'
+      - 'Tools/autotest/ardusub.py'
+      - 'Tools/autotest/balancebot.py'
+      - 'Tools/autotest/helicopter.py'
+      - 'Tools/autotest/location.txt'
+      - '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/**'
+
+  workflow_dispatch:
+
 concurrency:
   group: ci-${{github.workflow}}-${{ github.ref }}
   cancel-in-progress: true
@@ -11,7 +161,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-20.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:latest
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.0.29
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -21,7 +171,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -29,9 +179,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -42,6 +192,7 @@ jobs:
       - name: build plane ${{ matrix.toolchain }}
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           if [[ ${{ matrix.toolchain }} == "clang" ]]; then
             export CC=clang
             export CXX=clang++
@@ -56,7 +207,7 @@ jobs:
     needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-20.04
     container:
-      image: ardupilot/ardupilot-dev-base:latest
+      image: ardupilot/ardupilot-dev-base:v0.0.29
       options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
@@ -68,7 +219,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -76,9 +227,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache/restore@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -91,11 +242,12 @@ jobs:
           CI_BUILD_TARGET: ${{matrix.config}}
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           PATH="/github/home/.local/bin:$PATH"
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         if: failure()
         with:
            name: fail-${{matrix.config}}
@@ -109,7 +261,7 @@ jobs:
            retention-days: 14
 
       - name: Archive .bin artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         with:
            name: BIN-${{matrix.config}}
            path: /__w/ardupilot/ardupilot/logs
diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml
index f14ffcf919..c519164478 100644
--- a/.github/workflows/test_sitl_rover.yml
+++ b/.github/workflows/test_sitl_rover.yml
@@ -1,9 +1,158 @@
 name: test rover
 
-on: [push, pull_request, workflow_dispatch]
-# paths:
-# - "*"
-# - "!README.md" <-- don't rebuild on doc change
+on:
+  push:
+    branches:
+      - CxPilot
+      - master
+    paths-ignore:
+      # remove other vehicles
+      - 'AntennaTracker/**'
+      - 'ArduCopter/**'
+      - 'ArduPlane/**'
+      - 'ArduSub/**'
+      - 'Blimp/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - '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 other vehicles autotest
+      - 'Tools/autotest/antennatracker.py'
+      - 'Tools/autotest/arducopter.py'
+      - 'Tools/autotest/arduplane.py'
+      - 'Tools/autotest/ardusub.py'
+      - 'Tools/autotest/helicopter.py'
+      - 'Tools/autotest/location.txt'
+      - 'Tools/autotest/quadplane.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 other vehicles
+      - 'AntennaTracker/**'
+      - 'ArduCopter/**'
+      - 'ArduPlane/**'
+      - 'ArduSub/**'
+      - 'Blimp/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - '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 other vehicles autotest
+      - 'Tools/autotest/antennatracker.py'
+      - 'Tools/autotest/arducopter.py'
+      - 'Tools/autotest/arduplane.py'
+      - 'Tools/autotest/ardusub.py'
+      - 'Tools/autotest/helicopter.py'
+      - 'Tools/autotest/location.txt'
+      - 'Tools/autotest/quadplane.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/**'
+
+  workflow_dispatch:
+
 concurrency:
   group: ci-${{github.workflow}}-${{ github.ref }}
   cancel-in-progress: true
@@ -11,7 +160,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-20.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:latest
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.0.29
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -21,7 +170,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -29,9 +178,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -42,6 +191,7 @@ jobs:
       - name: build rover ${{ matrix.toolchain }}
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           if [[ ${{ matrix.toolchain }} == "clang" ]]; then
             export CC=clang
             export CXX=clang++
@@ -56,7 +206,7 @@ jobs:
     needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-20.04
     container:
-      image: ardupilot/ardupilot-dev-base:latest
+      image: ardupilot/ardupilot-dev-base:v0.0.29
       options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
@@ -69,7 +219,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -77,9 +227,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache/restore@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -92,11 +242,12 @@ jobs:
           CI_BUILD_TARGET: ${{matrix.config}}
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           PATH="/github/home/.local/bin:$PATH"
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         if: failure()
         with:
            name: fail-${{matrix.config}}
@@ -110,7 +261,7 @@ jobs:
            retention-days: 14
 
       - name: Archive .bin artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         with:
            name: BIN-${{matrix.config}}
            path: /__w/ardupilot/ardupilot/logs
diff --git a/.github/workflows/test_sitl_sub.yml b/.github/workflows/test_sitl_sub.yml
index 39c25c28b5..04eaf44c50 100644
--- a/.github/workflows/test_sitl_sub.yml
+++ b/.github/workflows/test_sitl_sub.yml
@@ -1,9 +1,161 @@
 name: test sub
 
-on: [push, pull_request, workflow_dispatch]
-# paths:
-# - "*"
-# - "!README.md" <-- don't rebuild on doc change
+on:
+  push:
+    branches:
+      - CxPilot
+      - master
+    paths-ignore:
+      # remove other vehicles
+      - 'AntennaTracker/**'
+      - 'ArduCopter/**'
+      - 'ArduPlane/**'
+      - 'Blimp/**'
+      - 'Rover/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - '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 other vehicles autotest
+      - 'Tools/autotest/antennatracker.py'
+      - 'Tools/autotest/arducopter.py'
+      - 'Tools/autotest/arduplane.py'
+      - 'Tools/autotest/balancebot.py'
+      - 'Tools/autotest/helicopter.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 other vehicles
+      - 'AntennaTracker/**'
+      - 'ArduCopter/**'
+      - 'ArduPlane/**'
+      - 'Blimp/**'
+      - 'Rover/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - '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 other vehicles autotest
+      - 'Tools/autotest/antennatracker.py'
+      - 'Tools/autotest/arducopter.py'
+      - 'Tools/autotest/arduplane.py'
+      - 'Tools/autotest/balancebot.py'
+      - 'Tools/autotest/helicopter.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/**'
+
+  workflow_dispatch:
+
 concurrency:
   group: ci-${{github.workflow}}-${{ github.ref }}
   cancel-in-progress: true
@@ -11,7 +163,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-20.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:latest
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.0.29
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -21,7 +173,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -29,9 +181,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -42,6 +194,7 @@ jobs:
       - name: build sub ${{ matrix.toolchain }}
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           if [[ ${{ matrix.toolchain }} == "clang" ]]; then
             export CC=clang
             export CXX=clang++
@@ -56,7 +209,7 @@ jobs:
     needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-20.04
     container:
-      image: ardupilot/ardupilot-dev-base:latest
+      image: ardupilot/ardupilot-dev-base:v0.0.29
       options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
@@ -67,7 +220,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -75,9 +228,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache/restore@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -90,11 +243,12 @@ jobs:
           CI_BUILD_TARGET: ${{matrix.config}}
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           PATH="/github/home/.local/bin:$PATH"
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         if: failure()
         with:
            name: fail-${{matrix.config}}
@@ -108,7 +262,7 @@ jobs:
            retention-days: 14
 
       - name: Archive .bin artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         with:
            name: BIN-${{matrix.config}}
            path: /__w/ardupilot/ardupilot/logs
diff --git a/.github/workflows/test_sitl_tracker.yml b/.github/workflows/test_sitl_tracker.yml
index 8c6abec961..81307adf5d 100644
--- a/.github/workflows/test_sitl_tracker.yml
+++ b/.github/workflows/test_sitl_tracker.yml
@@ -1,9 +1,161 @@
 name: test tracker
 
-on: [push, pull_request, workflow_dispatch]
-# paths:
-# - "*"
-# - "!README.md" <-- don't rebuild on doc change
+on:
+  push:
+    branches:
+      - CxPilot
+      - master
+    paths-ignore:
+      # remove other vehicles
+      - 'ArduCopter/**'
+      - 'ArduPlane/**'
+      - 'ArduSub/**'
+      - 'Blimp/**'
+      - 'Rover/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - '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 other vehicles autotest
+      - 'Tools/autotest/arducopter.py'
+      - 'Tools/autotest/arduplane.py'
+      - 'Tools/autotest/ardusub.py'
+      - 'Tools/autotest/balancebot.py'
+      - 'Tools/autotest/helicopter.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 other vehicles
+      - 'ArduCopter/**'
+      - 'ArduPlane/**'
+      - 'ArduSub/**'
+      - 'Blimp/**'
+      - 'Rover/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/AP_Periph/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - '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 other vehicles autotest
+      - 'Tools/autotest/arducopter.py'
+      - 'Tools/autotest/arduplane.py'
+      - 'Tools/autotest/ardusub.py'
+      - 'Tools/autotest/balancebot.py'
+      - 'Tools/autotest/helicopter.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/**'
+
+  workflow_dispatch:
+
 concurrency:
   group: ci-${{github.workflow}}-${{ github.ref }}
   cancel-in-progress: true
@@ -11,7 +163,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-20.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:latest
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.0.29
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -21,7 +173,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -29,9 +181,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -42,6 +194,7 @@ jobs:
       - name: build tracker ${{ matrix.toolchain }}
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           if [[ ${{ matrix.toolchain }} == "clang" ]]; then
             export CC=clang
             export CXX=clang++
@@ -56,7 +209,7 @@ jobs:
     needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-20.04
     container:
-      image: ardupilot/ardupilot-dev-base:latest
+      image: ardupilot/ardupilot-dev-base:v0.0.29
       options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
@@ -67,7 +220,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -75,9 +228,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache/restore@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -90,11 +243,12 @@ jobs:
           CI_BUILD_TARGET: ${{matrix.config}}
         shell: bash
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           PATH="/github/home/.local/bin:$PATH"
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         if: failure()
         with:
            name: fail-${{matrix.config}}
@@ -108,7 +262,7 @@ jobs:
            retention-days: 14
 
       - name: Archive .bin artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         with:
            name: BIN-${{matrix.config}}
            path: /__w/ardupilot/ardupilot/logs
diff --git a/.github/workflows/test_size.yml b/.github/workflows/test_size.yml
deleted file mode 100644
index ed38175a1f..0000000000
--- a/.github/workflows/test_size.yml
+++ /dev/null
@@ -1,170 +0,0 @@
-name: test size
-
-on: [pull_request]
-# paths:
-# - "*"
-# - "!README.md" <-- don't rebuild on doc change
-concurrency:
-  group: ci-${{github.workflow}}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-20.04
-    container: ardupilot/ardupilot-dev-chibios:latest
-    strategy:
-      fail-fast: false  # don't cancel if a job from the matrix fails
-      matrix:
-        toolchain: [
-            base,  # GCC
-        ]
-        config: [
-            Durandal,
-            MatekF405,
-            Pixhawk1-1M,
-            Hitec-Airspeed,  # see special code for Periph below (3 places!)
-            f103-GPS  # see special code for Periph below (3 places!)
-        ]
-    steps:
-      - uses: actions/checkout@v2
-        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 "::set-output name=timestamp::${NOW}"
-      - name: ccache cache files
-        uses: actions/cache@v2
-        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: Build ${{ github.event.pull_request.base.ref }} ${{matrix.config}} ${{ matrix.toolchain }}
-        env:
-          CI_BUILD_TARGET: ${{matrix.config}}
-        shell: bash
-        run: |
-          PATH="/github/home/.local/bin:$PATH"
-          cd base_branch
-          ./waf configure --board ${{matrix.config}}
-          if [ "${{matrix.config}}" = "Hitec-Airspeed" ] ||
-             [ "${{matrix.config}}" = "f103-GPS" ]; then
-            ./waf AP_Periph
-          else
-            ./waf
-          fi
-          mkdir -p $GITHUB_WORKSPACE/base_branch_bin
-          cp -r build/${{matrix.config}}/bin/* $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 "$NO_VERSIONS_DIR"
-
-          if [ "${{matrix.config}}" = "Hitec-Airspeed" ] ||
-             [ "${{matrix.config}}" = "f103-GPS" ]; then
-            CHIBIOS_GIT_VERSION="12345678" GIT_VERSION="abcdef" GIT_VERSION_INT="15" ./waf AP_Periph
-          else
-            CHIBIOS_GIT_VERSION="12345678" GIT_VERSION="abcdef" GIT_VERSION_INT="15" ./waf
-          fi
-          cp -r build/${{matrix.config}}/bin/* "$NO_VERSIONS_DIR"
-
-          echo [`date`] Built ${{ github.event.pull_request.base.ref }} with no versions
-
-      - uses: actions/checkout@v2
-        with:
-          fetch-depth: 0
-          path: 'pr'
-
-      - name: Build PR rebased ${{matrix.config}} ${{ matrix.toolchain }}
-        env:
-          CI_BUILD_TARGET: ${{matrix.config}}
-        shell: bash
-        run: |
-          PATH="/github/home/.local/bin:$PATH"
-          cd pr/
-          git config user.email "ardupilot-ci@ardupilot.org"
-          git config user.name "ArduPilot CI"
-          git remote add ardupilot https://github.com/ArduPilot/ardupilot.git
-          git fetch --no-tags --prune --progress ardupilot ${{ github.event.pull_request.base.ref }}
-          git rebase ardupilot/${{ github.event.pull_request.base.ref }}
-          git submodule update --init --recursive --depth=1
-          ./waf configure --board ${{matrix.config}}
-          if [ "${{matrix.config}}" = "Hitec-Airspeed" ] ||
-             [ "${{matrix.config}}" = "f103-GPS" ]; then
-            ./waf AP_Periph
-          else
-            ./waf
-          fi
-          mkdir $GITHUB_WORKSPACE/pr_bin
-          cp -r build/${{matrix.config}}/bin/* $GITHUB_WORKSPACE/pr_bin/
-
-          # build a set of binaries without symbols so we can check if
-          #  the binaries have changed.
-          echo [`date`] Building PR with no versions
-
-          NO_VERSIONS_DIR="$GITHUB_WORKSPACE/pr_bin_no_versions"
-          mkdir "$NO_VERSIONS_DIR"
-
-          if [ "${{matrix.config}}" = "Hitec-Airspeed" ] ||
-             [ "${{matrix.config}}" = "f103-GPS" ]; then
-            CHIBIOS_GIT_VERSION="12345678" GIT_VERSION="abcdef" GIT_VERSION_INT="15" ./waf AP_Periph
-          else
-            CHIBIOS_GIT_VERSION="12345678" GIT_VERSION="abcdef" GIT_VERSION_INT="15" ./waf
-          fi
-          cp -r build/${{matrix.config}}/bin/* "$NO_VERSIONS_DIR"
-
-          echo [`date`] Built PR with no versions
-
-          # build MatekF405 Plane without quadplane
-          if [ "${{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/
-          python3 -m pip install -U tabulate
-          Tools/scripts/pretty_diff_size.py -m $GITHUB_WORKSPACE/base_branch_bin -s $GITHUB_WORKSPACE/pr_bin
-
-      - 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
-
-      - name: elf_diff compare with ${{ github.event.pull_request.base.ref }}
-        shell: bash
-        run: |
-          python3 -m pip install -U weasyprint elf_diff anytree
-          mkdir elf_diff
-          if [ "${{matrix.config}}" = "Hitec-Airspeed" ] ||
-             [ "${{matrix.config}}" = "f103-GPS" ]; then
-             python3 -m elf_diff --bin_prefix=arm-none-eabi- --html_dir=elf_diff/AP_Periph $GITHUB_WORKSPACE/base_branch_bin/AP_Periph $GITHUB_WORKSPACE/pr_bin/AP_Periph
-          else
-             python3 -m elf_diff --bin_prefix=arm-none-eabi- --html_dir=elf_diff/plane $GITHUB_WORKSPACE/base_branch_bin/arduplane $GITHUB_WORKSPACE/pr_bin/arduplane
-             python3 -m elf_diff --bin_prefix=arm-none-eabi- --html_dir=elf_diff/copter $GITHUB_WORKSPACE/base_branch_bin/arducopter $GITHUB_WORKSPACE/pr_bin/arducopter
-          fi
-          zip -r elf_diff.zip elf_diff
-
-      - name: Archive elf_diff output
-        uses: actions/upload-artifact@v2
-        with:
-           name: ELF_DIFF_${{matrix.config}}
-           path: elf_diff.zip
-           retention-days: 14
diff --git a/.github/workflows/test_unit_tests.yml b/.github/workflows/test_unit_tests.yml
index eba8083a9d..329a4c2a62 100644
--- a/.github/workflows/test_unit_tests.yml
+++ b/.github/workflows/test_unit_tests.yml
@@ -1,9 +1,97 @@
-name: test unit tests and Python cleanliness
+name: test unit tests and sitl building
+
+on:
+  push:
+    branches:
+      - CxPilot
+      - master
+    paths-ignore:
+      # Remove markdown files as irrelevant
+      - '**.md'
+      # Remove dotfile at root directory
+      - './.dir-locals.el'
+      - './.dockerignore'
+      - './.editorconfig'
+      - './.gitattributes'
+      - './.github'
+      - './.gitignore'
+      - './.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 SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+  pull_request:
+    paths-ignore:
+      # Remove markdown files as irrelevant
+      - '**.md'
+      # Remove dotfile at root directory
+      - './.dir-locals.el'
+      - './.dockerignore'
+      - './.editorconfig'
+      - './.gitattributes'
+      - './.github'
+      - './.gitignore'
+      - './.valgrind-suppressions'
+      - './.valgrindrc'
+      - 'Dockerfile'
+      - 'Vagrantfile'
+      - 'Makefile'
+      # Remove some directories check
+      - '.vscode/**'
+      - '.github/ISSUE_TEMPLATE/**'
+      # Remove generic tools
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/Hello/**'
+      - 'Tools/Linux_HAL_Essentials/**'
+      - 'Tools/LogAnalyzer/**'
+      - 'Tools/Pozyx/**'
+      - 'Tools/PrintVersion.py'
+      - 'Tools/completion/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/geotag/**'
+      - 'Tools/gittools/**'
+      - 'Tools/mavproxy_modules/**'
+      - 'Tools/simulink/**'
+      - 'Tools/vagrant/**'
+      - 'Tools/UDP_Proxy/**'
+      - 'Tools/Vicon/**'
+      # remove non SITL HAL
+      - 'libraries/AP_HAL_ChibiOS/**'
+      - 'libraries/AP_HAL_ESP32/**'
+  workflow_dispatch:
 
-on: [push, pull_request, workflow_dispatch]
-# paths:
-# - "*"
-# - "!README.md" <-- don't rebuild on doc change
 concurrency:
   group: ci-${{github.workflow}}-${{ github.ref }}
   cancel-in-progress: true
@@ -23,13 +111,12 @@ jobs:
         ]
         config: [
             unit-tests,
-            # python-cleanliness, # DISABLED for 4.3.x
             sitl
             # examples,
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -37,9 +124,9 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "::set-output name=timestamp::${NOW}"
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -52,6 +139,7 @@ jobs:
           CI_BUILD_TARGET: ${{matrix.config}}
         shell: 'script -q -e -c "bash {0}"'
         run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
           if [[ ${{ matrix.toolchain }} == "clang" ]]; then
             export CC=clang
             export CXX=clang++
@@ -60,7 +148,7 @@ jobs:
           Tools/scripts/build_ci.sh
 
       - name: Archive buildlog artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         if: failure()
         with:
            name: fail-${{ matrix.toolchain }}-${{matrix.config}}
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index e6b07cfee5..33f31bbaf7 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -9103,6 +9103,7 @@ def disabled_tests(self):
             "AltEstimation": "See https://github.com/ArduPilot/ardupilot/issues/15191",
             "GroundEffectCompensation_takeOffExpected": "Flapping",
             "GroundEffectCompensation_touchDownExpected": "Flapping",
+            "GyroFFTAverage": "Feature disabled, see https://github.com/ardupilot/ardupilot/commit/a4835634e043b1038f04226d219ac4a4fdd87897"
         }
 
 
diff --git a/Tools/scripts/cygwin_build.sh b/Tools/scripts/cygwin_build.sh
index 7761bd5ae3..b0a4895033 100755
--- a/Tools/scripts/cygwin_build.sh
+++ b/Tools/scripts/cygwin_build.sh
@@ -17,7 +17,7 @@ $GPP_COMPILER -print-sysroot
 SYS_ROOT=$($GPP_COMPILER -print-sysroot)
 echo "SYS_ROOT=$SYS_ROOT"
 
-git config --global --add safe.directory /cygdrive/d/a/ardupilot/ardupilot
+git config --global --add safe.directory /cygdrive/d/a/carbopilot_V2/carbopilot_V2
 
 rm -rf artifacts
 mkdir artifacts
@@ -25,25 +25,25 @@ 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
diff --git a/libraries/AP_EFI/AP_EFI_Currawong_ECU.cpp b/libraries/AP_EFI/AP_EFI_Currawong_ECU.cpp
index 091537807c..4a2d23a74f 100644
--- a/libraries/AP_EFI/AP_EFI_Currawong_ECU.cpp
+++ b/libraries/AP_EFI/AP_EFI_Currawong_ECU.cpp
@@ -19,10 +19,12 @@
  *      Author: Reilly Callaway / Currawong Engineering Pty Ltd
  */
 
-#include "AP_EFI_Currawong_ECU.h"
+#include "AP_EFI_config.h"
+
 
-#if HAL_EFI_CURRAWONG_ECU_ENABLED
+#if HAL_EFI_ENABLED && HAL_EFI_CURRAWONG_ECU_ENABLED
 
+#include "AP_EFI_Currawong_ECU.h"
 #include <AP_Param/AP_Param.h>
 #include <AP_PiccoloCAN/piccolo_protocol/ECUPackets.h>
 #include <AP_Math/definitions.h>
@@ -103,4 +105,4 @@ bool AP_EFI_Currawong_ECU::handle_message(AP_HAL::CANFrame &frame)
     return valid;
 }
 
-#endif // HAL_EFI_CURRAWONG_ECU_ENABLED
+#endif // HAL_EFI_CURRAWONG_ECU_ENABLED && HAL_EFI_ENABLED
diff --git a/libraries/AP_EFI/AP_EFI_Currawong_ECU.h b/libraries/AP_EFI/AP_EFI_Currawong_ECU.h
index 89387e9dd4..f87a15d2b7 100644
--- a/libraries/AP_EFI/AP_EFI_Currawong_ECU.h
+++ b/libraries/AP_EFI/AP_EFI_Currawong_ECU.h
@@ -21,14 +21,12 @@
  
 #pragma once
 
-#include "AP_EFI.h"
-#include "AP_EFI_Backend.h"
+#include "AP_EFI_config.h"
 
-#ifndef HAL_EFI_CURRAWONG_ECU_ENABLED
-#define HAL_EFI_CURRAWONG_ECU_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS && (BOARD_FLASH_SIZE > 1024)
-#endif
+#if HAL_EFI_ENABLED && HAL_EFI_CURRAWONG_ECU_ENABLED
 
-#if HAL_EFI_CURRAWONG_ECU_ENABLED
+#include "AP_EFI.h"
+#include "AP_EFI_Backend.h"
 
 class AP_EFI_Currawong_ECU : public AP_EFI_Backend {
 public:
@@ -49,5 +47,5 @@ class AP_EFI_Currawong_ECU : public AP_EFI_Backend {
     friend class AP_PiccoloCAN;
 };
 
-#endif // HAL_EFI_CURRAWONG_ECU_ENABLED
+#endif // HAL_EFI_CURRAWONG_ECU_ENABLED && HAL_EFI_ENABLED
 
diff --git a/libraries/AP_EFI/AP_EFI_DroneCAN.cpp b/libraries/AP_EFI/AP_EFI_DroneCAN.cpp
index 21d374250f..bbabee1fed 100644
--- a/libraries/AP_EFI/AP_EFI_DroneCAN.cpp
+++ b/libraries/AP_EFI/AP_EFI_DroneCAN.cpp
@@ -1,11 +1,9 @@
-#include <AP_HAL/AP_HAL.h>
 #include "AP_EFI_config.h"
 
-#if HAL_EFI_ENABLED
-#include "AP_EFI_DroneCAN.h"
-
-#if HAL_EFI_DRONECAN_ENABLED
+#if HAL_EFI_ENABLED && HAL_EFI_DRONECAN_ENABLED
 
+#include <AP_HAL/AP_HAL.h>
+#include "AP_EFI_DroneCAN.h"
 #include <AP_CANManager/AP_CANManager.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>
 
@@ -167,5 +165,4 @@ void AP_EFI_DroneCAN::handle_status(const uavcan::equipment::ice::reciprocating:
     copy_to_frontend();
 }
 
-#endif // HAL_EFI_DRONECAN_ENABLED
-#endif // HAL_EFI_ENABLED
+#endif // HAL_EFI_DRONECAN_ENABLED && HAL_EFI_ENABLED
diff --git a/libraries/AP_EFI/AP_EFI_DroneCAN.h b/libraries/AP_EFI/AP_EFI_DroneCAN.h
index 35c02d5e37..7d2d5e2b40 100644
--- a/libraries/AP_EFI/AP_EFI_DroneCAN.h
+++ b/libraries/AP_EFI/AP_EFI_DroneCAN.h
@@ -1,13 +1,10 @@
 #pragma once
 
+#include "AP_EFI_config.h"
+
+#if HAL_EFI_ENABLED && HAL_EFI_DRONECAN_ENABLED
 #include "AP_EFI.h"
 #include "AP_EFI_Backend.h"
-
-#ifndef HAL_EFI_DRONECAN_ENABLED
-#define HAL_EFI_DRONECAN_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS && BOARD_FLASH_SIZE > 1024 && HAL_CANMANAGER_ENABLED
-#endif
-
-#if HAL_EFI_DRONECAN_ENABLED
 #include <AP_UAVCAN/AP_UAVCAN.h>
 #include <uavcan/equipment/ice/reciprocating/Status.hpp>
 
@@ -28,5 +25,5 @@ class AP_EFI_DroneCAN : public AP_EFI_Backend {
     // singleton for trampoline
     static AP_EFI_DroneCAN *driver;
 };
-#endif // HAL_EFI_DRONECAN_ENABLED
+#endif // HAL_EFI_DRONECAN_ENABLED && HAL_EFI_ENABLED
 
diff --git a/libraries/AP_EFI/AP_EFI_config.h b/libraries/AP_EFI/AP_EFI_config.h
index 368e71e3f6..257da4b9bf 100644
--- a/libraries/AP_EFI/AP_EFI_config.h
+++ b/libraries/AP_EFI/AP_EFI_config.h
@@ -23,3 +23,31 @@
 #ifndef AP_EFI_THROTTLE_LINEARISATION_ENABLED
 #define AP_EFI_THROTTLE_LINEARISATION_ENABLED AP_EFI_SERIAL_HIRTH_ENABLED
 #endif
+
+#ifndef HAL_EFI_CURRAWONG_ECU_ENABLED
+#define HAL_EFI_CURRAWONG_ECU_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS && (BOARD_FLASH_SIZE > 1024)
+#endif
+
+#ifndef HAL_EFI_DRONECAN_ENABLED
+#define HAL_EFI_DRONECAN_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS && BOARD_FLASH_SIZE > 1024 && HAL_CANMANAGER_ENABLED
+#endif
+
+#ifndef AP_EFI_MAV_ENABLED
+#define AP_EFI_MAV_ENABLED AP_EFI_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_EFI_NWPWU_ENABLED
+#define AP_EFI_NWPWU_ENABLED AP_EFI_BACKEND_DEFAULT_ENABLED && HAL_MAX_CAN_PROTOCOL_DRIVERS
+#endif
+
+#ifndef AP_EFI_SCRIPTING_ENABLED
+#define AP_EFI_SCRIPTING_ENABLED (AP_EFI_BACKEND_DEFAULT_ENABLED && AP_SCRIPTING_ENABLED)
+#endif
+
+#ifndef AP_EFI_SERIAL_MS_ENABLED
+#define AP_EFI_SERIAL_MS_ENABLED AP_EFI_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_EFI_SERIAL_LUTAN_ENABLED
+#define AP_EFI_SERIAL_LUTAN_ENABLED AP_EFI_BACKEND_DEFAULT_ENABLED
+#endif
\ No newline at end of file