diff --git a/Tools/ci/package_build_artifacts.sh b/Tools/ci/package_build_artifacts.sh
index 844a892b39..bae31eab96 100755
--- a/Tools/ci/package_build_artifacts.sh
+++ b/Tools/ci/package_build_artifacts.sh
@@ -26,6 +26,23 @@ for uavcan_bin in **/**/*.uavcan.bin; do
   fi
 done
 
+# Also check for CAN node binaries in deploy directories
+for deploy_bin in **/deploy/*.bin; do
+  if [ -f "$deploy_bin" ]; then
+    # Extract build directory name from deploy path
+    build_dir=$(echo "$deploy_bin" | sed 's|build/\([^/]*\)/.*|\1|')
+    
+    # Create subdirectory for this CAN node
+    can_node_dir="artifacts/can_nodes/$build_dir"
+    mkdir -p "$can_node_dir"
+    
+    # Copy the bin file
+    cp "$deploy_bin" "$can_node_dir/"
+    
+    echo "Packaged CAN node firmware from deploy: $deploy_bin -> $can_node_dir/"
+  fi
+done
+
 cp **/**/*.elf artifacts/ 2>/dev/null || true
 for build_dir_path in build/*/ ; do
   build_dir_path=${build_dir_path::${#build_dir_path}-1}
diff --git a/docs/en/dronecan/px4_cannode_fw.md b/docs/en/dronecan/px4_cannode_fw.md
index c165b74662..10f2023c29 100644
--- a/docs/en/dronecan/px4_cannode_fw.md
+++ b/docs/en/dronecan/px4_cannode_fw.md
@@ -20,6 +20,25 @@ make ark_can-flow_default
 
 This will create an output in **build/ark_can-flow_default** named **XX-X.X.XXXXXXXX.uavcan.bin**. Follow the instructions at [DroneCAN firmware update](index.md#firmware-update) to flash the firmware.
 
+## Firmware Releases
+
+When PX4 creates official releases, CAN node firmware files are packaged separately from regular flight controller firmware:
+
+- **Flight controller firmware**: Available as `.px4` files in the root of the release
+- **CAN node firmware**: Available as `.uavcan.bin` files organized in named subdirectories under `can_nodes/`
+
+For example, in a release you might find:
+```
+├── px4_fmu-v5_default.px4                    (flight controller firmware)
+├── can_nodes/
+│   ├── ark_can-flow_default/
+│   │   └── 1234-1.0.abcd1234.uavcan.bin     (CAN node firmware)
+│   └── ark_can-gps_default/
+│       └── 5678-2.0.efgh5678.uavcan.bin     (CAN node firmware)
+```
+
+Use the `.uavcan.bin` files from the appropriate subdirectory to flash your CAN nodes.
+
 ## Developer Information
 
 This section has information that is relevant to developers who want to add support for new DroneCAN hardware to the PX4 Autopilot.
diff --git a/docs/ko/dronecan/px4_cannode_fw.md b/docs/ko/dronecan/px4_cannode_fw.md
index 65262d4152..3d60a7f375 100644
--- a/docs/ko/dronecan/px4_cannode_fw.md
+++ b/docs/ko/dronecan/px4_cannode_fw.md
@@ -20,6 +20,25 @@ make ark_can-flow_default
 
 This will create an output in **build/ark_can-flow_default** named **XX-X.X.XXXXXXXX.uavcan.bin**. Follow the instructions at [DroneCAN firmware update](index.md#firmware-update) to flash the firmware.
 
+## Firmware Releases
+
+When PX4 creates official releases, CAN node firmware files are packaged separately from regular flight controller firmware:
+
+- **Flight controller firmware**: Available as `.px4` files in the root of the release
+- **CAN node firmware**: Available as `.uavcan.bin` files organized in named subdirectories under `can_nodes/`
+
+For example, in a release you might find:
+```
+├── px4_fmu-v5_default.px4                    (flight controller firmware)
+├── can_nodes/
+│   ├── ark_can-flow_default/
+│   │   └── 1234-1.0.abcd1234.uavcan.bin     (CAN node firmware)
+│   └── ark_can-gps_default/
+│       └── 5678-2.0.efgh5678.uavcan.bin     (CAN node firmware)
+```
+
+Use the `.uavcan.bin` files from the appropriate subdirectory to flash your CAN nodes.
+
 ## 개발자 정보
 
 This section has information that is relevant to developers who want to add support for new DroneCAN hardware to the PX4 Autopilot.