diff --git a/packaging/Dockerfile.coverity b/packaging/Dockerfile.coverity
deleted file mode 100644
index 6358369f5ed1..000000000000
--- a/packaging/Dockerfile.coverity
+++ /dev/null
@@ -1,27 +0,0 @@
-FROM ghcr.io/tiiuae/px4-firmware-builder-base:latest
-
-# coverity docker registry access token to download coverity tool
-# for more details refer to confluence page "Coverity docker scan"
-# https://ssrc.atlassian.net/wiki/spaces/DRON/pages/705823997/Coverity+docker+scan
-ARG COVERITY_DOCKER_REGISTRY_USERNAME
-ARG COVERITY_DOCKER_REGISTRY_ACCESS_TOKEN
-
-# coverity license file to run coverity tool
-ARG COVERITY_LICENSE_DAT_B64
-RUN echo "$COVERITY_LICENSE_DAT_B64" | base64 -d > /license.dat
-
-# access token for our internal server
-ARG COVERITY_ACCESS_TOKEN_B64
-RUN echo "$COVERITY_ACCESS_TOKEN_B64" | base64 -d > /auth_key.txt
-RUN chmod 400 /auth_key.txt
-
-# - download coverity installer package
-# - chmod and run the installer
-# - remove installation package to reduce image size
-RUN curl https://sig-repo.synopsys.com/artifactory/coverity-releases/2023.6.0/cov-analysis-linux64-2023.6.0.sh -o /coverity_install.sh -u ${COVERITY_DOCKER_REGISTRY_USERNAME}:${COVERITY_DOCKER_REGISTRY_ACCESS_TOKEN} \
-    && chmod +x /coverity_install.sh \
-    && /coverity_install.sh -q --installation.dir=/cov --license.region=6 --license.agreement=agree --license.type.choice=0 --license.cov.path=/license.dat \
-    && rm /coverity_install.sh
-
-COPY px4-firmware/packaging/entrypoint_coverity.sh /
-ENTRYPOINT [ "/entrypoint_coverity.sh" ]
diff --git a/packaging/Dockerfile.sitl b/packaging/Dockerfile.sitl
index a60728b8a31c..ab4d63497f1c 100644
--- a/packaging/Dockerfile.sitl
+++ b/packaging/Dockerfile.sitl
@@ -1,20 +1,15 @@
-FROM ghcr.io/tiiuae/fog-ros-baseimage-builder:v2.1.0
+FROM ubuntu:22.04
 
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    wget
-
-RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
-RUN wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
-RUN apt-get update && apt-get install -y --no-install-recommends \
-   libignition-transport8-dev \
-   && rm -rf /var/lib/apt/lists/*
+RUN apt update && apt install -y \
+    curl lsb-release \
+    && rm -rf /var/lib/apt/lists/*
 
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    wget
+RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /tmp/pkgs-osrf-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/tmp/pkgs-osrf-archive-keyring.gpg, trusted=yes] http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" | \
+    tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
 
-RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
-RUN wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
-RUN apt-get update && apt-get install -y --no-install-recommends \
+RUN apt update
+RUN apt install -y \
     libignition-transport8-dev \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/packaging/coverity.yaml b/packaging/coverity.yaml
deleted file mode 100644
index da2ca70fe40e..000000000000
--- a/packaging/coverity.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-capture:
-  build:
-    build-command: packaging/build_px4fw.sh ssrc_saluki-v2_default
-
-commit:
-  connect:
-    auth-key-file: /auth_key.txt
-    stream: px4-coverity-test
-    url: https://coverity.ssrc.fi:443/
-    on-new-cert: trust
diff --git a/packaging/entrypoint_coverity.sh b/packaging/entrypoint_coverity.sh
deleted file mode 100755
index 5962684f81da..000000000000
--- a/packaging/entrypoint_coverity.sh
+++ /dev/null
@@ -1,32 +0,0 @@
-#!/bin/bash -eu
-
-COVERITY_SUMMARY_OUT=/main_ws/cov-analyze-result.txt
-COVERITY_SCAN_OUT=/main_ws/cov-scan-output.txt
-COVERITY_REPORT_OUT=/main_ws/coverity-output
-
-cp /main_ws/packaging/coverity.yaml /main_ws/coverity.yaml
-
-export PATH=$PATH:/cov/bin/
-cov-configure --gcc
-coverity scan --exclude-language java |tee ${COVERITY_SCAN_OUT}
-coverity list
-
-# find important information from coverity scan to be shown on github action step summary
-# link for coverity
-grep 'Results are available at' ${COVERITY_SCAN_OUT} >> ${COVERITY_SUMMARY_OUT}
-echo 'send a slack message to tampere-drones if you have access issues' >> ${COVERITY_SUMMARY_OUT}
-
-echo "Analysis summary:">> ${COVERITY_SUMMARY_OUT}
-# '```' marks the code block for output
-echo '```' >> ${COVERITY_SUMMARY_OUT}
-# check analysis summary output and save everything beginning from "analysis summary report" to a file
-cov-analyze --dir idir --strip-path /main_ws/src/ |sed -n -E -e '/Analysis summary report:/,$ p'>>${COVERITY_SUMMARY_OUT}
-# '```' ends the code block for output
-echo '```' >> ${COVERITY_SUMMARY_OUT}
-
-echo "File findings:">> ${COVERITY_SUMMARY_OUT}
-echo '------' >> ${COVERITY_SUMMARY_OUT}
-
-# save coverity html output
-cov-format-errors --dir idir --html-output ${COVERITY_REPORT_OUT}
-echo 'for more details please check attached html report from "Artifacts" -sections above' >> ${COVERITY_SUMMARY_OUT}