diff --git a/.github/workflows/build_all_targets.yml b/.github/workflows/build_all_targets.yml
index 4c0bc0fcb9..130c037064 100644
--- a/.github/workflows/build_all_targets.yml
+++ b/.github/workflows/build_all_targets.yml
@@ -181,6 +181,17 @@ jobs:
           name: px4_${{matrix.group}}_build_artifacts
           path: artifacts/
 
+      - name: Build voxl2 Debian Package
+        if: contains(matrix.targets, 'modalai_voxl2')
+        run: ./Tools/packaging/voxl2/make_package.sh
+
+      - name: Upload voxl2 Debian Package
+        if: contains(matrix.targets, 'modalai_voxl2')
+        uses: actions/upload-artifact@v4
+        with:
+          name: voxl-px4-deb
+          path: Tools/packaging/voxl2/*.deb
+
       - name: Cache Post Build Stats
         if: always()
         run: |
@@ -265,5 +276,7 @@ jobs:
         with:
           draft: true
           prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
-          files: artifacts/*.px4
+          files: |
+            artifacts/*.px4
+            artifacts/*.deb
           name: ${{ steps.upload-location.outputs.uploadlocation }}
diff --git a/Tools/packaging/voxl2/make_package.sh b/Tools/packaging/voxl2/make_package.sh
new file mode 100755
index 0000000000..baaa810da6
--- /dev/null
+++ b/Tools/packaging/voxl2/make_package.sh
@@ -0,0 +1,169 @@
+#!/bin/bash
+################################################################################
+# Copyright (c) 2026 ModalAI, Inc. All rights reserved.
+#
+# Builds a Debian package for the voxl2 target from existing build artifacts.
+# Both modalai_voxl2 and modalai_voxl2-slpi must be built before running this.
+#
+# Usage:
+#   ./Tools/packaging/voxl2/make_package.sh
+#
+################################################################################
+
+set -e
+
+################################################################################
+# Resolve paths - script can be run from anywhere
+################################################################################
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+PX4_DIR="$(cd "$SCRIPT_DIR/../../.." && pwd)"
+PKG_DIR="$SCRIPT_DIR/pkg"
+
+BOARD_DIR="$PX4_DIR/boards/modalai/voxl2"
+BUILD_APPS="$PX4_DIR/build/modalai_voxl2_default"
+BUILD_SLPI="$PX4_DIR/build/modalai_voxl2-slpi_default"
+
+################################################################################
+# Check arguments
+################################################################################
+for arg in "$@"; do
+	case "$(echo "$arg" | tr '[:upper:]' '[:lower:]')" in
+		"-h"|"--help")
+			echo ""
+			echo " Build a Debian package for the voxl2 target."
+			echo " You must build modalai_voxl2 and modalai_voxl2-slpi first."
+			echo ""
+			echo " Usage:"
+			echo "   ./Tools/packaging/voxl2/make_package.sh"
+			echo ""
+			exit 0
+			;;
+		*)
+			echo "Unknown argument: $arg"
+			exit 1
+			;;
+	esac
+done
+
+################################################################################
+# Derive version from git
+################################################################################
+cd "$PX4_DIR"
+GIT_TAG=$(git describe --tags --abbrev=0 2>/dev/null || echo "0.0.0")
+VERSION=$(echo "$GIT_TAG" | sed 's/^v//')
+SHORT_HASH=$(git rev-parse --short HEAD)
+VERSION="${VERSION}-g${SHORT_HASH}"
+
+PACKAGE=$(grep "^Package:" "$PKG_DIR/control/control" | cut -d' ' -f 2)
+
+echo "Package: $PACKAGE"
+echo "Version: $VERSION"
+
+################################################################################
+# Validate build artifacts
+################################################################################
+MISSING=false
+
+if [ ! -f "$BUILD_APPS/bin/px4" ]; then
+	echo "Error: $BUILD_APPS/bin/px4 not found. Run 'make modalai_voxl2' first."
+	MISSING=true
+fi
+
+if [ ! -f "$BUILD_APPS/bin/px4-alias.sh" ]; then
+	echo "Error: $BUILD_APPS/bin/px4-alias.sh not found."
+	MISSING=true
+fi
+
+if [ ! -f "$BUILD_SLPI/platforms/qurt/libpx4.so" ]; then
+	echo "Error: $BUILD_SLPI/platforms/qurt/libpx4.so not found. Run 'make modalai_voxl2-slpi' first."
+	MISSING=true
+fi
+
+if $MISSING; then
+	exit 1
+fi
+
+################################################################################
+# Clean old packaging artifacts
+################################################################################
+DATA_DIR="$PKG_DIR/data"
+DEB_DIR="$PKG_DIR/DEB"
+
+rm -rf "$DATA_DIR"
+rm -rf "$DEB_DIR"
+rm -f "$SCRIPT_DIR"/*.deb
+
+mkdir -p "$DATA_DIR"
+
+################################################################################
+# Stage files into data directory
+################################################################################
+
+# --- Apps processor binary ---
+mkdir -p "$DATA_DIR/usr/bin"
+cp "$BUILD_APPS/bin/px4"          "$DATA_DIR/usr/bin/"
+cp "$BUILD_APPS/bin/px4-alias.sh" "$DATA_DIR/usr/bin/"
+chmod a+x "$DATA_DIR/usr/bin/px4"
+chmod a+x "$DATA_DIR/usr/bin/px4-alias.sh"
+
+# --- SLPI DSP library ---
+mkdir -p "$DATA_DIR/usr/lib/rfsa/adsp"
+cp "$BUILD_SLPI/platforms/qurt/libpx4.so" "$DATA_DIR/usr/lib/rfsa/adsp/"
+
+# --- Target scripts ---
+for script in voxl-px4 voxl-px4-start voxl-px4-hitl voxl-px4-hitl-start; do
+	if [ -f "$BOARD_DIR/target/$script" ]; then
+		cp "$BOARD_DIR/target/$script" "$DATA_DIR/usr/bin/"
+		chmod a+x "$DATA_DIR/usr/bin/$script"
+	fi
+done
+
+# --- Barometer calibration script ---
+if [ -f "$BOARD_DIR/scripts/baro_temp_cal" ]; then
+	cp "$BOARD_DIR/scripts/baro_temp_cal" "$DATA_DIR/usr/bin/"
+	chmod a+x "$DATA_DIR/usr/bin/baro_temp_cal"
+fi
+
+# --- Configuration files ---
+mkdir -p "$DATA_DIR/etc/modalai"
+for config in voxl-px4-fake-imu-calibration.config voxl-px4-hitl-set-default-parameters.config; do
+	if [ -f "$BOARD_DIR/target/$config" ]; then
+		cp "$BOARD_DIR/target/$config" "$DATA_DIR/etc/modalai/"
+		chmod +x "$DATA_DIR/etc/modalai/$config"
+	fi
+done
+
+# --- Systemd service ---
+mkdir -p "$DATA_DIR/etc/systemd/system"
+cp "$PKG_DIR/services/voxl-px4.service" "$DATA_DIR/etc/systemd/system/"
+
+# --- Build metadata ---
+mkdir -p "$DATA_DIR/data/px4/etc/extras"
+for meta in parameters.json.xz component_general.json.xz actuators.json.xz; do
+	if [ -f "$BUILD_APPS/$meta" ]; then
+		cp "$BUILD_APPS/$meta" "$DATA_DIR/data/px4/etc/extras/"
+	fi
+done
+if [ -f "$BUILD_APPS/events/all_events.json.xz" ]; then
+	cp "$BUILD_APPS/events/all_events.json.xz" "$DATA_DIR/data/px4/etc/extras/"
+fi
+
+# --- Create runtime directories ---
+mkdir -p "$DATA_DIR/data/px4/param"
+
+################################################################################
+# Build the DEB package
+################################################################################
+mkdir -p "$DEB_DIR"
+cp -rf "$PKG_DIR/control/" "$DEB_DIR/DEBIAN"
+cp -rf "$DATA_DIR/"*       "$DEB_DIR/"
+
+# Write the version into the control file
+sed -i "s/^Version:.*/Version: $VERSION/" "$DEB_DIR/DEBIAN/control"
+
+DEB_NAME="${PACKAGE}_${VERSION}_arm64.deb"
+dpkg-deb --build "$DEB_DIR" "$SCRIPT_DIR/$DEB_NAME"
+
+echo ""
+echo "Package built: $SCRIPT_DIR/$DEB_NAME"
+echo "DONE"
diff --git a/Tools/packaging/voxl2/pkg/control/control b/Tools/packaging/voxl2/pkg/control/control
new file mode 100644
index 0000000000..c7660e7815
--- /dev/null
+++ b/Tools/packaging/voxl2/pkg/control/control
@@ -0,0 +1,13 @@
+Package: voxl-px4
+Version: 0.0.0
+Section: devel
+Priority: optional
+Architecture: arm64
+Depends: libfc-sensor (>=1.0.10),
+ voxl-px4-params (>=0.3.10),
+ voxl3-system-image(>=0.0.2) | voxl2-system-image(>=1.5.4) | rb5-system-image(>=1.6.2),
+ modalai-slpi(>=1.1.16) | modalai-adsp(>=1.0.2)
+Replaces: px4-rb5-flight
+Conflicts: px4-rb5-flight
+Maintainer: Eric Katzfey <eric.katzfey@modalai.com>
+Description: ModalAI PX4 flight controller for VOXL2
diff --git a/Tools/packaging/voxl2/pkg/control/postinst b/Tools/packaging/voxl2/pkg/control/postinst
new file mode 100755
index 0000000000..c26be9efee
--- /dev/null
+++ b/Tools/packaging/voxl2/pkg/control/postinst
@@ -0,0 +1,91 @@
+#!/bin/bash
+################################################################################
+# Post-install script for voxl-px4
+#
+# Creates px4 module symlinks, sets up directories, and handles DSP signatures.
+################################################################################
+
+set -e
+
+################################################################################
+# Create px4 module symlinks from px4-alias.sh
+################################################################################
+cd /usr/bin
+
+if [ -f px4-alias.sh ]; then
+	# Auto-generate symlinks from the alias file produced by the build.
+	# Each alias line looks like: alias <name>='px4-<module> ...'
+	# We extract the px4-<module> part and create a symlink to the px4 binary.
+	grep "^alias " px4-alias.sh | grep -v "^alias set=" | \
+		sed -n "s/^alias [^=]*='\\(px4-[^ ']*\\).*/\\1/p" | \
+		sort -u | while read -r MODULE; do
+			ln -f -s px4 "$MODULE"
+		done
+	echo "Created px4 module symlinks"
+else
+	echo "Warning: px4-alias.sh not found, skipping symlink creation"
+fi
+
+################################################################################
+# Platform detection
+################################################################################
+PLATFORM="M0197"
+if [ -x /usr/bin/voxl-platform ]; then
+	PLATFORM=$(/usr/bin/voxl-platform 2>/dev/null || echo "M0197")
+fi
+
+if [ "$PLATFORM" = "M0052" ]; then
+	echo "Error: M0052 is no longer supported"
+	exit 1
+fi
+
+echo "Platform: $PLATFORM"
+
+################################################################################
+# Create runtime directories
+################################################################################
+mkdir -p /data/px4/param
+mkdir -p /data/px4/slpi
+
+if [ "$PLATFORM" = "M0197" ]; then
+	chown fastrpc:fastrpc /data/px4/slpi
+else
+	chown system:system /data/px4/slpi
+fi
+
+################################################################################
+# DSP test signature
+################################################################################
+SIG_SCRIPT_DIR=/share/modalai/qrb5165-slpi-test-sig
+if [ "$PLATFORM" = "M0197" ]; then
+	SIG_SCRIPT_DIR=/share/modalai/qcs6490-slpi-test-sig
+fi
+
+if /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &>/dev/null; then
+	echo "Found DSP signature file"
+else
+	echo "DSP signature file not found"
+	if [ -f "$SIG_SCRIPT_DIR/generate-test-sig.sh" ]; then
+		echo "Generating DSP signature..."
+		"$SIG_SCRIPT_DIR/generate-test-sig.sh"
+	else
+		echo "Warning: DSP signature generation script not found at $SIG_SCRIPT_DIR"
+	fi
+fi
+
+################################################################################
+# Cleanup and reload
+################################################################################
+
+# Remove legacy config file
+rm -f /etc/modalai/voxl-px4.config
+
+sync
+
+# Reload systemd if available
+set +e
+if [ -f /bin/systemctl ]; then
+	systemctl daemon-reload
+fi
+
+exit 0
diff --git a/Tools/packaging/voxl2/pkg/services/voxl-px4.service b/Tools/packaging/voxl2/pkg/services/voxl-px4.service
new file mode 100644
index 0000000000..a1f13a15f1
--- /dev/null
+++ b/Tools/packaging/voxl2/pkg/services/voxl-px4.service
@@ -0,0 +1,13 @@
+[Unit]
+Description=px4
+After=sscrpcd.service
+Requires=sscrpcd.service
+
+[Service]
+ExecStartPre=/bin/sleep 2
+ExecStart=/usr/bin/voxl-px4
+ExecStopPost=/usr/bin/voxl-reset-slpi
+Restart=on-failure
+
+[Install]
+WantedBy=multi-user.target