feat(boards/modalai/voxl2): add Debian packaging framework

Add a scalable .deb packaging framework for VOXL2, built on the
existing cmake/package.cmake CPack infrastructure. The framework
handles multi-processor boards by having the POSIX (_default) build
own the .deb and pull in the companion SLPI build's artifacts.

Board-specific files:
- cmake/package.cmake: CPack variable overrides (name, deps, version)
- cmake/install.cmake: install() rules for all .deb contents
- debian/postinst: px4-* symlinks, DSP signature, directory setup
- debian/prerm: service stop, symlink cleanup
- debian/voxl-px4.service: systemd unit (after sscrpcd)

Infrastructure changes:
- cmake/package.cmake: hook for board-specific CPack overrides
- platforms/posix/CMakeLists.txt: hook for board install.cmake
- Makefile: %_deb pattern rule (build _default, then cpack -G DEB)
- CI: auto-discover _deb targets, collect .deb artifacts, upload
  to GitHub Releases

Future boards: add cmake/package.cmake + cmake/install.cmake and
CI discovers it automatically. No new file formats or tools needed.

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

.github/workflows/build_all_targets.yml

@@ -265,5 +265,7 @@ 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 }}

Makefile

@@ -234,6 +234,13 @@ modalai_voxl2: modalai_voxl2_slpi
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)
 
+# DEB package targets: builds _default config, then runs cpack.
+# Multi-processor boards (e.g. VOXL2) chain companion builds automatically
+# via existing cmake prerequisites.
+%_deb:
+	@$(call cmake-build,$(subst _deb,_default,$@)$(BUILD_DIR_SUFFIX))
+	@cd "$(SRC_DIR)/build/$(subst _deb,_default,$@)" && cpack -G DEB
+
 updateconfig:
 	@./Tools/kconfig/updateconfig.py
 

Tools/ci/generate_board_targets_json.py

@@ -207,6 +207,47 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
                         if t not in companions
                     ]
 
+# Append _deb targets for boards that have cmake/package.cmake
+for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
+    if not manufacturer.is_dir():
+        continue
+    if manufacturer.name in excluded_manufacturers:
+        continue
+    for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
+        if not board.is_dir():
+            continue
+        board_name = manufacturer.name + '_' + board.name
+        if board_name in excluded_boards:
+            continue
+        package_cmake = os.path.join(board.path, 'cmake', 'package.cmake')
+        if os.path.exists(package_cmake):
+            deb_target = board_name + '_deb'
+            if target_filter and not any(deb_target.startswith(f) for f in target_filter):
+                continue
+            # Determine the container and group for this board
+            container = default_container
+            if board_name in board_container_overrides:
+                container = board_container_overrides[board_name]
+            target_entry = {'target': deb_target, 'container': container}
+            if args.group:
+                # Find the group where this board's _default target already lives
+                default_target = board_name + '_default'
+                group = None
+                for g in grouped_targets:
+                    targets_in_group = grouped_targets[g].get('manufacturers', {}).get(manufacturer.name, [])
+                    if default_target in targets_in_group:
+                        group = g
+                        break
+                if group is None:
+                    group = 'base'
+                target_entry['arch'] = group
+                if group not in grouped_targets:
+                    grouped_targets[group] = {'container': container, 'manufacturers': {}}
+                if manufacturer.name not in grouped_targets[group]['manufacturers']:
+                    grouped_targets[group]['manufacturers'][manufacturer.name] = []
+                grouped_targets[group]['manufacturers'][manufacturer.name].append(deb_target)
+            build_configs.append(target_entry)
+
 if(verbose):
     import pprint
     print("============================")

Tools/ci/package_build_artifacts.sh

@@ -3,6 +3,7 @@
 mkdir artifacts
 cp **/**/*.px4 artifacts/ 2>/dev/null || true
 cp **/**/*.elf artifacts/ 2>/dev/null || true
+cp **/**/*.deb artifacts/ 2>/dev/null || true
 for build_dir_path in build/*/ ; do
   build_dir_path=${build_dir_path::${#build_dir_path}-1}
   build_dir=${build_dir_path#*/}

boards/modalai/voxl2/cmake/install.cmake

@@ -0,0 +1,84 @@
+############################################################################
+#
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+# VOXL2 board-specific install rules for .deb packaging
+# 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")
+
+# Apps processor binary
+install(TARGETS px4 RUNTIME DESTINATION bin)
+
+# px4-alias.sh (generated during build into bin/ subdirectory)
+install(PROGRAMS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/px4-alias.sh DESTINATION bin)
+
+# Startup scripts from board target directory
+install(PROGRAMS
+	${PX4_BOARD_DIR}/target/voxl-px4
+	${PX4_BOARD_DIR}/target/voxl-px4-start
+	${PX4_BOARD_DIR}/target/voxl-px4-hitl
+	${PX4_BOARD_DIR}/target/voxl-px4-hitl-start
+	DESTINATION bin
+)
+
+# DSP firmware blob from companion SLPI build
+install(FILES ${VOXL2_SLPI_BUILD_DIR}/platforms/qurt/libpx4.so
+	DESTINATION lib/rfsa/adsp
+	OPTIONAL
+)
+
+# Configuration files
+install(FILES
+	${PX4_BOARD_DIR}/target/voxl-px4-fake-imu-calibration.config
+	${PX4_BOARD_DIR}/target/voxl-px4-hitl-set-default-parameters.config
+	DESTINATION ../etc/modalai
+)
+
+# Systemd service file
+install(FILES ${PX4_BOARD_DIR}/debian/voxl-px4.service
+	DESTINATION ../etc/systemd/system
+)
+
+# Component metadata JSON files
+install(FILES
+	${PX4_BINARY_DIR}/actuators.json.xz
+	${PX4_BINARY_DIR}/component_general.json.xz
+	${PX4_BINARY_DIR}/parameters.json.xz
+	DESTINATION ../data/px4/etc/extras
+	OPTIONAL
+)
+install(FILES ${PX4_BINARY_DIR}/events/all_events.json.xz
+	DESTINATION ../data/px4/etc/extras
+	OPTIONAL
+)

boards/modalai/voxl2/cmake/package.cmake

@@ -0,0 +1,63 @@
+############################################################################
+#
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+# VOXL2 board-specific CPack overrides
+# Loaded after cmake/package.cmake sets up CPack defaults
+
+# Derive Debian-compatible version from git tag (e.g. v1.17.0-alpha1-42-gabcdef -> 1.17.0~alpha1.42.gabcdef)
+string(REGEX REPLACE "^v" "" _deb_ver "${PX4_GIT_TAG}")
+string(REGEX REPLACE "-" "~" _deb_ver "${_deb_ver}" )
+string(REGEX REPLACE "~([0-9]+)~" ".\\1." _deb_ver "${_deb_ver}")
+
+# VOXL2 is always aarch64 regardless of build host
+set(CPACK_DEBIAN_ARCHITECTURE "arm64")
+set(CPACK_DEBIAN_PACKAGE_NAME "voxl-px4")
+set(CPACK_DEBIAN_FILE_NAME "voxl-px4_${_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_CONFLICTS "px4-rb5-flight")
+set(CPACK_DEBIAN_PACKAGE_REPLACES "px4-rb5-flight")
+set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 Autopilot for ModalAI VOXL2")
+set(CPACK_DEBIAN_PACKAGE_MAINTAINER "ModalAI <support@modalai.com>")
+
+# Disable shlibdeps for cross-compiled boards
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF)
+
+set(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA
+	"${PX4_BOARD_DIR}/debian/postinst;${PX4_BOARD_DIR}/debian/prerm")
+
+# Install rules are in boards/modalai/voxl2/cmake/install.cmake,
+# included from platforms/posix/CMakeLists.txt where the px4 target exists.

boards/modalai/voxl2/debian/postinst

@@ -0,0 +1,36 @@
+#!/bin/bash
+set -e
+
+# Create px4-* symlinks from px4-alias.sh
+# The alias format is: alias <module>='px4-<module> --instance $px4_instance'
+# We extract the px4-<module> command name and symlink it to the px4 binary
+if [ -f /usr/bin/px4-alias.sh ]; then
+    grep "^alias " /usr/bin/px4-alias.sh | \
+        sed -n "s/.*'\(px4-[a-zA-Z0-9_]*\).*/\1/p" | while read cmd; do
+        ln -sf px4 "/usr/bin/${cmd}"
+    done
+fi
+
+# Detect platform and generate DSP test signature if needed
+if ! /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then
+    echo "[INFO] Generating DSP test signature..."
+    if [ -f /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh ]; then
+        /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh || true
+    elif [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
+        /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh || true
+    else
+        echo "[WARNING] Could not find DSP signature generation script"
+    fi
+fi
+
+# Create required data directories
+mkdir -p /data/px4/param
+mkdir -p /data/px4/etc/extras
+chown -R root:root /data/px4
+
+# Reload systemd if available
+if command -v systemctl > /dev/null 2>&1; then
+    systemctl daemon-reload
+fi
+
+echo "voxl-px4 installed successfully"

boards/modalai/voxl2/debian/prerm

@@ -0,0 +1,14 @@
+#!/bin/bash
+set -e
+
+# Stop voxl-px4 service if running
+if command -v systemctl > /dev/null 2>&1; then
+    systemctl stop voxl-px4 2>/dev/null || true
+fi
+
+# Remove px4-* symlinks
+for f in /usr/bin/px4-*; do
+    if [ -L "$f" ] && [ "$(readlink "$f")" = "px4" ]; then
+        rm -f "$f"
+    fi
+done

boards/modalai/voxl2/debian/voxl-px4.service

@@ -0,0 +1,14 @@
+[Unit]
+Description=PX4 Autopilot for VOXL2
+After=sscrpcd.service
+Requires=sscrpcd.service
+
+[Service]
+Type=simple
+ExecStart=/usr/bin/voxl-px4
+ExecStopPost=/usr/bin/voxl-reset-slpi
+Restart=on-failure
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target

cmake/package.cmake

@@ -97,4 +97,9 @@ else()
 	set(CPACK_GENERATOR "ZIP")
 endif()
 
+# Board-specific overrides (loaded after defaults are set)
+if(EXISTS "${PX4_BOARD_DIR}/cmake/package.cmake")
+	include(${PX4_BOARD_DIR}/cmake/package.cmake)
+endif()
+
 include(CPack)

docs/en/SUMMARY.md

@@ -476,6 +476,7 @@
     - [Flight Controller Porting Guide](hardware/porting_guide.md)
       - [PX4 Board Configuration (kconfig)](hardware/porting_guide_config.md)
       - [NuttX Board Porting Guide](hardware/porting_guide_nuttx.md)
+      - [Board Firmware Packaging (.deb)](hardware/board_packaging.md)
     - [Serial Port Mapping](hardware/serial_port_mapping.md)
     - [Airframes](dev_airframes/index.md)
       - [Adding a New Airframe](dev_airframes/adding_a_new_frame.md)

docs/en/hardware/board_packaging.md

@@ -0,0 +1,298 @@
+# Board Firmware Packaging
+
+PX4 supports building distributable firmware packages for Linux-based (POSIX) boards.
+While NuttX boards produce `.px4` firmware files that are flashed via QGroundControl, POSIX boards can produce `.deb` (Debian) packages that are installed using standard Linux package management tools (`dpkg`, `apt`).
+
+This page covers how manufacturers can add `.deb` packaging to their boards, with examples for both single-processor and multi-processor architectures.
+
+## Overview
+
+The packaging framework uses [CMake CPack](https://cmake.org/cmake/help/latest/module/CPack.html) with the DEB generator.
+It is built on two extension points in the PX4 build system:
+
+- **`boards/<vendor>/<board>/cmake/package.cmake`**: CPack variable overrides (package name, version, dependencies, architecture, maintainer info). Loaded during CMake configure.
+- **`boards/<vendor>/<board>/cmake/install.cmake`**: `install()` rules that define what goes into the package (binaries, scripts, config files, service files). Loaded from `platforms/posix/CMakeLists.txt` where build targets are available.
+
+When a board provides these files, CI automatically discovers and builds the `_deb` target alongside the normal firmware build.
+
+## Build Command
+
+For any board with packaging support:
+
+```sh
+make <vendor>_<board>_deb
+```
+
+For example:
+
+```sh
+make modalai_voxl2_deb
+```
+
+This builds the `_default` configuration (and any companion builds for multi-processor boards), then runs `cpack -G DEB` in the build directory.
+The resulting `.deb` file is placed in `build/<vendor>_<board>_default/`.
+
+## Adding Packaging to a Board
+
+### File Structure
+
+```
+boards/<vendor>/<board>/
+    cmake/
+        package.cmake      # CPack configuration (required)
+        install.cmake      # Install rules (required)
+    debian/
+        postinst           # Post-install script (optional)
+        prerm              # Pre-remove script (optional)
+        <name>.service     # Systemd unit file (optional)
+```
+
+### Step 1: CPack Configuration (package.cmake)
+
+This file sets CPack variables that control the `.deb` metadata.
+It is included from `cmake/package.cmake` after the base CPack defaults are configured.
+
+```cmake
+# boards/<vendor>/<board>/cmake/package.cmake
+
+# Derive Debian-compatible version from git tag
+# v1.17.0-alpha1-42-gabcdef -> 1.17.0~alpha1.42.gabcdef
+# v1.17.0 -> 1.17.0
+string(REGEX REPLACE "^v" "" _deb_ver "${PX4_GIT_TAG}")
+string(REGEX REPLACE "-" "~" _deb_ver "${_deb_ver}")
+string(REGEX REPLACE "~([0-9]+)~" ".\\1." _deb_ver "${_deb_ver}")
+
+# Target architecture (use the target arch, not the build host)
+set(CPACK_DEBIAN_ARCHITECTURE "arm64")
+
+# Package identity
+set(CPACK_DEBIAN_PACKAGE_NAME "my-px4-board")
+set(CPACK_DEBIAN_FILE_NAME "my-px4-board_${_deb_ver}_arm64.deb")
+
+# Install prefix
+set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
+set(CPACK_INSTALL_PREFIX "/usr")
+set(CPACK_SET_DESTDIR true)
+
+# Package metadata
+set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 Autopilot for My Board")
+set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Vendor <support@vendor.com>")
+set(CPACK_DEBIAN_PACKAGE_DEPENDS "some-dependency (>= 1.0)")
+set(CPACK_DEBIAN_PACKAGE_CONFLICTS "")
+set(CPACK_DEBIAN_PACKAGE_REPLACES "")
+
+# Disable shlibdeps for cross-compiled boards
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF)
+
+# Include post-install and pre-remove scripts (optional)
+set(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA
+    "${PX4_BOARD_DIR}/debian/postinst;${PX4_BOARD_DIR}/debian/prerm")
+```
+
+**Key variables:**
+
+| Variable | Purpose |
+|---|---|
+| `CPACK_DEBIAN_ARCHITECTURE` | Target architecture. Set explicitly for cross-compiled boards since `dpkg --print-architecture` reports the build host, not the target. |
+| `CPACK_DEBIAN_PACKAGE_NAME` | Package name as it appears in `dpkg -l`. |
+| `CPACK_DEBIAN_FILE_NAME` | Output `.deb` filename. |
+| `CPACK_DEBIAN_PACKAGE_DEPENDS` | Runtime dependencies (comma-separated, Debian format). |
+| `CPACK_DEBIAN_PACKAGE_SHLIBDEPS` | Set to `OFF` for cross-compiled boards where `dpkg-shlibdeps` cannot inspect target binaries. |
+
+### Step 2: Install Rules (install.cmake)
+
+This file defines what files are packaged in the `.deb`.
+It is included from `platforms/posix/CMakeLists.txt` where the `px4` build target is available.
+
+All paths are relative to `CPACK_PACKAGING_INSTALL_PREFIX` (typically `/usr`). Use `../` to install outside the prefix (e.g., `../etc/` installs to `/etc/`).
+
+**Minimal example (single-processor board):**
+
+```cmake
+# boards/<vendor>/<board>/cmake/install.cmake
+
+# PX4 binary
+install(TARGETS px4 RUNTIME DESTINATION bin)
+
+# Module alias script (generated during build)
+install(PROGRAMS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/px4-alias.sh DESTINATION bin)
+
+# Startup scripts
+install(PROGRAMS
+    ${PX4_BOARD_DIR}/target/my-px4-start
+    DESTINATION bin
+)
+
+# Configuration files
+install(FILES
+    ${PX4_BOARD_DIR}/target/my-config.conf
+    DESTINATION ../etc/my-board
+)
+
+# Systemd service
+install(FILES ${PX4_BOARD_DIR}/debian/my-px4.service
+    DESTINATION ../etc/systemd/system
+)
+
+# Component metadata
+install(FILES
+    ${PX4_BINARY_DIR}/actuators.json.xz
+    ${PX4_BINARY_DIR}/parameters.json.xz
+    DESTINATION ../data/px4/etc/extras
+    OPTIONAL
+)
+install(FILES ${PX4_BINARY_DIR}/events/all_events.json.xz
+    DESTINATION ../data/px4/etc/extras
+    OPTIONAL
+)
+```
+
+### Step 3: Debian Scripts (optional)
+
+#### postinst
+
+Runs after the package is installed. Common tasks:
+
+- Create `px4-*` module symlinks from `px4-alias.sh`
+- Set up required directories with correct ownership
+- Run `systemctl daemon-reload` to pick up the service file
+- Board-specific setup (e.g., DSP signature generation)
+
+```bash
+#!/bin/bash
+set -e
+
+# Create px4-* symlinks
+if [ -f /usr/bin/px4-alias.sh ]; then
+    grep "^alias " /usr/bin/px4-alias.sh | \
+        sed "s/alias \(px4-[a-zA-Z0-9_]*\)=.*/\1/" | while read cmd; do
+        ln -sf px4 "/usr/bin/${cmd}"
+    done
+fi
+
+# Create data directories
+mkdir -p /data/px4/param
+mkdir -p /data/px4/etc/extras
+
+# Reload systemd
+if command -v systemctl > /dev/null 2>&1; then
+    systemctl daemon-reload
+fi
+```
+
+#### prerm
+
+Runs before the package is removed:
+
+```bash
+#!/bin/bash
+set -e
+
+# Stop the service
+if command -v systemctl > /dev/null 2>&1; then
+    systemctl stop my-px4 2>/dev/null || true
+fi
+
+# Remove px4-* symlinks
+for f in /usr/bin/px4-*; do
+    if [ -L "$f" ] && [ "$(readlink "$f")" = "px4" ]; then
+        rm -f "$f"
+    fi
+done
+```
+
+Both scripts must be executable (`chmod +x`).
+
+## Multi-Processor Boards
+
+Some boards run PX4 across multiple processors, for example the ModalAI VOXL2 which has a POSIX apps processor (ARM) and a Hexagon DSP (SLPI).
+These produce two separate CMake builds, but the `.deb` must contain artifacts from both.
+
+### How It Works
+
+1. The `_default` build (POSIX/apps processor) owns the `.deb`.
+2. The Makefile `%_deb` target builds `_default`, which chains any companion builds as CMake prerequisites.
+3. The `install.cmake` pulls companion build artifacts via absolute path to the sibling build directory.
+4. CPack runs in the `_default` build tree and produces a single `.deb`.
+
+### Companion Build Artifacts
+
+In `install.cmake`, reference the companion build output by absolute path:
+
+```cmake
+# DSP firmware blob from companion SLPI build
+set(SLPI_BUILD_DIR "${PX4_SOURCE_DIR}/build/<vendor>_<board>-slpi_default")
+
+install(FILES ${SLPI_BUILD_DIR}/platforms/qurt/libpx4.so
+    DESTINATION lib/rfsa/adsp
+    OPTIONAL
+)
+```
+
+The `OPTIONAL` keyword allows the `.deb` to build even when the companion build hasn't run (useful for development/testing of just the apps-processor side).
+
+### VOXL2 Reference
+
+The VOXL2 board is a complete working example of multi-processor packaging:
+
+```
+boards/modalai/voxl2/
+    cmake/
+        package.cmake      # CPack config: voxl-px4, arm64, deps, shlibdeps off
+        install.cmake      # px4 binary, SLPI libpx4.so, scripts, configs, metadata
+    debian/
+        postinst           # Symlinks, DSP signature, directory setup
+        prerm              # Stop service, remove symlinks
+        voxl-px4.service   # Systemd unit (after sscrpcd, restart on-failure)
+    target/
+        voxl-px4           # Main startup wrapper
+        voxl-px4-start     # PX4 module startup script
+```
+
+The resulting `.deb` installs:
+
+| Path | Contents |
+|---|---|
+| `/usr/bin/px4` | Apps processor PX4 binary |
+| `/usr/bin/px4-alias.sh` | Module alias script |
+| `/usr/bin/voxl-px4` | Startup wrapper |
+| `/usr/bin/voxl-px4-start` | Module startup script |
+| `/usr/lib/rfsa/adsp/libpx4.so` | DSP firmware (from SLPI build) |
+| `/etc/modalai/*.config` | Board configuration files |
+| `/etc/systemd/system/voxl-px4.service` | Systemd service |
+| `/data/px4/etc/extras/*.json.xz` | Component metadata |
+
+## CI Integration
+
+### Automatic Discovery
+
+The CI system (`Tools/ci/generate_board_targets_json.py`) automatically discovers boards with `cmake/package.cmake` and adds a `<vendor>_<board>_deb` target to the board's existing CI group.
+No manual CI configuration is needed.
+
+### Artifact Collection
+
+The `Tools/ci/package_build_artifacts.sh` script collects `.deb` files alongside `.px4` and `.elf` artifacts.
+On tagged releases, `.deb` files are uploaded to both S3 and GitHub Releases.
+
+## Version Format
+
+The `.deb` version is derived from `PX4_GIT_TAG` using Debian-compatible formatting:
+
+| Git Tag | Debian Version | Notes |
+|---|---|---|
+| `v1.17.0` | `1.17.0` | Stable release |
+| `v1.17.0-beta1` | `1.17.0~beta1` | Pre-release (`~` sorts before release) |
+| `v1.17.0-alpha1-42-gabcdef` | `1.17.0~alpha1.42.gabcdef` | Development build |
+
+The `~` prefix in Debian versioning ensures pre-releases sort lower than the final release: `1.17.0~beta1 < 1.17.0`.
+
+## Checklist for New Boards
+
+1. Create `boards/<vendor>/<board>/cmake/package.cmake` with CPack variables
+2. Create `boards/<vendor>/<board>/cmake/install.cmake` with install rules
+3. (Optional) Create `boards/<vendor>/<board>/debian/postinst` and `prerm`
+4. (Optional) Create `boards/<vendor>/<board>/debian/<name>.service`
+5. Test locally: `make <vendor>_<board>_deb`
+6. Verify: `dpkg-deb --info build/<vendor>_<board>_default/<name>_*.deb`
+7. Verify: `dpkg-deb --contents build/<vendor>_<board>_default/<name>_*.deb`
+8. CI picks it up automatically on the next push

platforms/posix/CMakeLists.txt

@@ -80,7 +80,8 @@ target_link_libraries(px4 PRIVATE uORB)
 # install
 #
 
-# TODO: extend to snapdragon
+# Generic install rules (skipped when board provides its own install.cmake)
+if(NOT EXISTS "${PX4_BOARD_DIR}/cmake/install.cmake")
 
 # px4 dirs
 install(
@@ -94,6 +95,8 @@ install(
 	USE_SOURCE_PERMISSIONS
 )
 
+endif() # NOT board install.cmake
+
 # Module Symlinks
 px4_posix_generate_symlinks(
 	MODULE_LIST ${module_libraries}
@@ -112,6 +115,11 @@ if(EXISTS "${PX4_BOARD_DIR}/cmake/upload.cmake")
 	include(${PX4_BOARD_DIR}/cmake/upload.cmake)
 endif()
 
+# board defined install rules for .deb packaging
+if(EXISTS "${PX4_BOARD_DIR}/cmake/install.cmake")
+	include(${PX4_BOARD_DIR}/cmake/install.cmake)
+endif()
+
 # board defined link libraries
 if(EXISTS "${PX4_BOARD_DIR}/cmake/link_libraries.cmake")
 	include(${PX4_BOARD_DIR}/cmake/link_libraries.cmake)