diff --git a/.github/workflows/carbonix_build.yml b/.github/workflows/carbonix_build.yml
index 411a6bed2e..9c83a8cd5c 100644
--- a/.github/workflows/carbonix_build.yml
+++ b/.github/workflows/carbonix_build.yml
@@ -1,4 +1,4 @@
-name: Build and Archive
+name: Carbonix Build
 
 on:
     push:
@@ -125,6 +125,9 @@ on:
         - '.vscode/**'
         - '.github/ISSUE_TEMPLATE/**'
 
+    release:
+      types: [published]
+    
     workflow_dispatch:
       
 concurrency:
@@ -196,16 +199,61 @@ jobs:
         with:
           files: "build/CubeOrange/*, build/CarbonixCubeOrange/*, build/sitl/*, build/CarbonixF405/*, build/CarbonixF405-NoCrystal/* , build/Volanti-M1/*, build/Volanti-M2/*, build/Volanti-M3/*, build/Volanti-M4/*, build/Volanti-M5/*, build/Volanti-LWing/*, build/Volanti-RWing/*, build/Volanti-LTail/*, build/Volanti-RTail/*, build/Ottano-M1/*, build/Ottano-M2/*, build/Ottano-M3/*, build/Ottano-M4/*, build/Ottano-M5/*, build/Ottano-LWing/*, build/Ottano-RWing/*, build/Ottano-LTail/*, build/Ottano-RTail/*"
           fail: true
-      - name: Install zip utility
-        run: sudo apt-get install zip
-      - name: Archive build output
+      - name: Extract firmware version and commit id
+        id: extract_info
         run: |
-          echo build/*/bin/ | xargs -n 1 cp -v ArduPlane/ReleaseNotes.txt
-          cp -v ArduPlane/ReleaseNotes.txt build/
-          zip -r build-output.zip build/*/bin/*
+          FIRMWARE_VERSION=$(grep -oP '#define AP_CUSTOM_FIRMWARE_STRING "\K(.*)(?=")' libraries/AP_Common/AP_FWVersionDefine.h)
+          COMMIT_ID=$(git rev-parse --short HEAD)
+          echo "firmware_version=$FIRMWARE_VERSION" >> $GITHUB_ENV
+          echo "commit_id=$COMMIT_ID" >> $GITHUB_ENV
+        shell: sh -e {0}
+      - name: Gather build output
+        run: |
+          mkdir -p temp
+          for dir in CubeOrange CarbonixCubeOrange sitl CarbonixF405 Volanti-M1 Volanti-M2 Volanti-M3 Volanti-M4 Volanti-M5 Volanti-LWing Volanti-RWing Volanti-LTail Volanti-RTail Ottano-M1 Ottano-M2 Ottano-M3 Ottano-M4 Ottano-M5 Ottano-LWing Ottano-RWing Ottano-LTail Ottano-RTail; do
+            mkdir -p temp/$dir/bin
+            cp -v build/$dir/bin/* temp/$dir/bin/
+          done
+          cp -v ArduPlane/ReleaseNotes.txt temp/
+        shell: sh -e {0}
       - name: Archive production artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: compiled-output
-          path: build-output.zip
+          name: ${{ env.firmware_version }}_${{ env.commit_id }}
+          path: temp
           retention-days: 90
+
+      - name: Install AWS CLI
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y curl unzip
+          curl "https://d1vvhvl2y92vvt.cloudfront.net/awscli-exe-linux-x86_64.zip" -o "awscliv2.zip"
+          unzip awscliv2.zip
+          sudo ./aws/install
+  
+      - name: Configure AWS credentials
+        uses: aws-actions/configure-aws-credentials@v1
+        with:
+          aws-access-key-id: ${{ secrets.AWS_S3_ACCESS_KEY_ID }}
+          aws-secret-access-key: ${{ secrets.AWS_S3_SECRET_ACCESS_KEY }}
+          aws-region: us-east-1 
+
+      - name: Set BRANCH_NAME
+        run: echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV
+                
+      - name: Upload artifacts to S3
+        run: |
+          DATE_HR=$(date +%Y%m%d_%H%M)
+          if ${{ github.event_name == 'release' }}; then
+            PATH_TO_S3=s3://carbonix-firmware-release-files/Carbopilot_V2/${DATE_HR}_${{ env.firmware_version }}_${{ env.commit_id }}/
+            echo "Uploading to: $PATH_TO_S3"
+            aws s3 cp temp/ $PATH_TO_S3 --recursive
+          elif ${{ github.event_name == 'push' && startsWith(env.BRANCH_NAME, 'CxPilot') }}; then
+            PATH_TO_S3=s3://carbonix-firmware-dev-files/Carbopilot_V2/${{ env.BRANCH_NAME }}/${DATE_HR}_${{ env.firmware_version }}_${{ env.commit_id }}/
+            echo "Uploading to: $PATH_TO_S3"
+            aws s3 cp temp/ $PATH_TO_S3 --recursive
+          elif ${{ github.event_name == 'pull_request' }}; then
+            PATH_TO_S3=s3://carbonix-firmware-dev-files/Carbopilot_V2/PR/${DATE_HR}_${{ env.firmware_version }}_${{ env.commit_id }}_${{ github.event.pull_request.number }}/
+            echo "Uploading to: $PATH_TO_S3"
+            aws s3 cp temp/ $PATH_TO_S3 --recursive
+          fi
diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
index 245d131a32..fe0d8ffb46 100644
--- a/ArduPlane/ReleaseNotes.txt
+++ b/ArduPlane/ReleaseNotes.txt
@@ -1,3 +1,9 @@
+Release 5.1.3 29th May 2024
+------------------------------
+- Volanti-M5 CPN added Range Finder Support
+- workflow: Carbonix_build: push data to AWS S3
+- workflow: carbonix_build rename artifacts and cleanup
+
 Release 5.1.2 6th May 2024
 ------------------------------
 - .github: added no crystal build for Carbonix AP_Periph boards
diff --git a/libraries/AP_Common/AP_FWVersionDefine.h b/libraries/AP_Common/AP_FWVersionDefine.h
index 1b00045c80..6e1407fb88 100644
--- a/libraries/AP_Common/AP_FWVersionDefine.h
+++ b/libraries/AP_Common/AP_FWVersionDefine.h
@@ -24,7 +24,7 @@
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 
 #ifdef CARBOPILOT
-#define AP_CUSTOM_FIRMWARE_STRING "CxPilot 5.1.2"
+#define AP_CUSTOM_FIRMWARE_STRING "CxPilot-5.1.3"
 #endif
 
 /*
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Volanti-M5/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Volanti-M5/hwdef.dat
index 5957be31a8..fe9a90cfbf 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Volanti-M5/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Volanti-M5/hwdef.dat
@@ -28,3 +28,6 @@ COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_NONE
 #enable baro
 define HAL_PERIPH_ENABLE_BARO
 BARO MS56XX I2C:0:0x76
+
+# enable Rangefinder
+define HAL_PERIPH_ENABLE_RANGEFINDER 1