From bbb2e709da93204199c50ff5f5612d27e420a2ab Mon Sep 17 00:00:00 2001
From: Eric Katzfey <eric.katzfey@modalai.com>
Date: Mon, 16 Mar 2026 11:20:13 -0700
Subject: [PATCH] Various fixes

---
 boards/modalai/voxl2/cmake/install.cmake | 3 +--
 boards/modalai/voxl2/cmake/package.cmake | 4 ++--
 cmake/package.cmake                      | 2 +-
 3 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/boards/modalai/voxl2/cmake/install.cmake b/boards/modalai/voxl2/cmake/install.cmake
index 31eeea4ff5..d68943fd67 100644
--- a/boards/modalai/voxl2/cmake/install.cmake
+++ b/boards/modalai/voxl2/cmake/install.cmake
@@ -35,7 +35,7 @@
 # Included from platforms/posix/CMakeLists.txt where the px4 target exists
 
 # SLPI companion build output directory
-set(VOXL2_SLPI_BUILD_DIR "${PX4_SOURCE_DIR}/build/modalai_voxl2-slpi_default")
+set(VOXL2_SLPI_BUILD_DIR "${PX4_SOURCE_DIR}/build/modalai_voxl2_slpi")
 
 # Apps processor binary
 install(TARGETS px4 RUNTIME DESTINATION bin)
@@ -55,7 +55,6 @@ install(PROGRAMS
 # DSP firmware blob from companion SLPI build
 install(FILES ${VOXL2_SLPI_BUILD_DIR}/platforms/qurt/libpx4.so
 	DESTINATION lib/rfsa/adsp
-	OPTIONAL
 )
 
 # Configuration files
diff --git a/boards/modalai/voxl2/cmake/package.cmake b/boards/modalai/voxl2/cmake/package.cmake
index 90ebd3d1d4..865e8d0fb1 100644
--- a/boards/modalai/voxl2/cmake/package.cmake
+++ b/boards/modalai/voxl2/cmake/package.cmake
@@ -40,14 +40,14 @@ string(REGEX REPLACE "-" "~" _deb_ver "${_deb_ver}" )
 string(REGEX REPLACE "~([0-9]+)~" ".\\1." _deb_ver "${_deb_ver}")
 
 # VOXL2 is always aarch64 regardless of build host
-set(CPACK_DEBIAN_ARCHITECTURE "arm64")
+set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE "arm64")
 set(CPACK_DEBIAN_PACKAGE_NAME "voxl-px4")
 set(CPACK_DEBIAN_FILE_NAME "voxl-px4_${_deb_ver}_arm64.deb")
 set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
 set(CPACK_INSTALL_PREFIX "/usr")
 set(CPACK_SET_DESTDIR true)
 
-set(CPACK_DEBIAN_PACKAGE_DEPENDS "voxl-platform, librc-symlinks")
+set(CPACK_DEBIAN_PACKAGE_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)")
 set(CPACK_DEBIAN_PACKAGE_CONFLICTS "px4-rb5-flight")
 set(CPACK_DEBIAN_PACKAGE_REPLACES "px4-rb5-flight")
 set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 Autopilot for ModalAI VOXL2")
diff --git a/cmake/package.cmake b/cmake/package.cmake
index b022604a25..948523960b 100644
--- a/cmake/package.cmake
+++ b/cmake/package.cmake
@@ -86,7 +86,7 @@ if("${CMAKE_SYSTEM}" MATCHES "Linux")
 		set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 autopilot")
 		set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
 		set(CPACK_DEBIAN_PACKAGE_SECTION "misc")
-		set(CPACK_DEBIAN_ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})
+		set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})
 
 		# autogenerate dependency information
 		set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)