feat(packaging): add voxl2 Debian package build

Add make_package.sh and supporting files to build a .deb package
for the voxl2 target, bundling both the ARM64 apps processor binary
and Hexagon SLPI DSP library. The package version is derived from
the git tag and short commit hash. CI is updated to build and upload
the .deb alongside existing .px4 artifacts.

.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 }}

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"

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

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

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