diff --git a/.github/workflows/tiiuae-gzebo-data.yaml b/.github/workflows/tiiuae-gzebo-data.yaml
deleted file mode 100644
index 607cfd1f8ce0..000000000000
--- a/.github/workflows/tiiuae-gzebo-data.yaml
+++ /dev/null
@@ -1,76 +0,0 @@
-name: tiiuea-gazebo-data
-
-on:
-  push:
-    branches: [ master ]
-    #    paths:
-    #     - Tools/sitl_gazebo/**
-  pull_request:
-    branches: [ master ]
-    #    paths:
-    #      - Tools/sitl_gazebo/**
-
-jobs:
-  gazebo-data:
-    runs-on: ubuntu-latest
-    steps:
-
-      - name: Checkout px4-firmware
-        uses: actions/checkout@v2
-        with:
-          path: px4-firmware
-          submodules: recursive
-          fetch-depth: 0
-
-      - name: Checkout gen-gazebo-data scripts
-        uses: actions/checkout@v2
-        with:
-          repository: tiiuae/gen-gazebo-data
-          path: gen-gazebo-data
-
-      # Run docker build
-      - name: Run gazebo-data docker build
-        run: |
-          set -eux
-          mkdir bin
-          pushd gen-gazebo-data
-          ./gen-gazebo-data.sh ../px4-firmware ../bin
-          popd
-
-      - name: Install jfrog CLI tool
-        env:
-          JFROG_CLI_URL: https://artifactory.ssrc.fi/artifactory/gen-public-local/tools/jfrog/jfrog-1.45.2.tar.gz
-        if: github.event_name == 'push'
-        run: |
-          set -exu
-          mkdir -p "$GITHUB_WORKSPACE/.jfrog/bin"
-          curl -L "$JFROG_CLI_URL" -o "$GITHUB_WORKSPACE/.jfrog/jfrog.tar.gz"
-          tar -C "$GITHUB_WORKSPACE/.jfrog/bin" -zxf "$GITHUB_WORKSPACE/.jfrog/jfrog.tar.gz"
-          echo "$GITHUB_WORKSPACE/.jfrog/bin" >> "$GITHUB_PATH"
-          echo "JFROG_CLI_HOME_DIR=$GITHUB_WORKSPACE/.jfrog" >> "$GITHUB_ENV"
-
-      - name: Upload to Artifactory
-        env:
-          ARTIFACTORY_TOKEN: ${{ secrets.ARTIFACTORY_TOKEN }}
-          ARTIFACTORY_GEN_REPO: gen-public-local
-          BUILD_NAME: gazebo-data
-          CI: true
-        if: github.event_name == 'push'
-        run: |
-          set -exu
-          jfrog rt c import "$ARTIFACTORY_TOKEN"
-          jfrog rt ping
-          pkg=$(find bin -name 'gazebo-data*.tar.gz')
-          pkg_name=$(basename $pkg)
-          jfrog rt u --target-props COMMIT="$GITHUB_SHA" \
-                     --build-name "$BUILD_NAME" \
-                     --build-number "$GITHUB_SHA" \
-                     "$pkg" \
-                     "$ARTIFACTORY_GEN_REPO/builds/gazebo-data/$pkg_name"
-          jfrog rt build-publish "$BUILD_NAME" "$GITHUB_SHA"
-          jfrog rt bpr "$BUILD_NAME" "$GITHUB_SHA" "$ARTIFACTORY_GEN_REPO" \
-                       --status dev \
-                       --comment "development build"
-          jfrog rt cp --flat \
-                      "$ARTIFACTORY_GEN_REPO/builds/gazebo-data/$pkg_name" \
-                      "$ARTIFACTORY_GEN_REPO/builds/gazebo-data/latest/gazebo-data.tar.gz"
diff --git a/.github/workflows/tiiuae-pixhawk-and-saluki.yaml b/.github/workflows/tiiuae-pixhawk-and-saluki.yaml
index 4abeb257770f..4e70db7e2f66 100644
--- a/.github/workflows/tiiuae-pixhawk-and-saluki.yaml
+++ b/.github/workflows/tiiuae-pixhawk-and-saluki.yaml
@@ -186,15 +186,17 @@ jobs:
           JF_ENV_1: ${{ secrets.ARTIFACTORY_CLOUD_TOKEN }}
       - name: Upload px4-firmware build to Artifactory
         env:
-          ARTIFACTORY_GEN_REPO: ssrc-gen-public-local
+          ARTIFACTORY_GEN_REPO: ssrc-gen-private-local
           BUILD_NAME_PX4: px4-firmware
           CI: true
         run: |
           set -exu
 
           pr_or_empty=""
+          latest_link=""
           if [ ${{ github.event_name }} == 'pull_request' ]; then
-            pr_or_empty="pr/"
+            latest_link="pr/"
+            pr_or_empty="pr/${{ github.head_ref || github.ref_name }}/"
           fi
 
           newline=$'\n'
@@ -219,6 +221,7 @@ jobs:
             fi
 
             artifactory_path=$ARTIFACTORY_GEN_REPO/builds/px4-firmware/${target_path}/${pr_or_empty}
+            artifactory_latest_path=$ARTIFACTORY_GEN_REPO/builds/px4-firmware/${target_path}/${latest_link}latest/${pkg_name}.${ext}
 
             jfrog rt u --target-props COMMIT="$GITHUB_SHA" \
               --build-name "$BUILD_NAME_PX4" \
@@ -226,12 +229,13 @@ jobs:
               "$pkg" \
               "${artifactory_path}$file_name"
 
+            # link to latest
             jfrog rt cp --flat \
               "${artifactory_path}$file_name" \
-              "${artifactory_path}latest/${pkg_name}.${ext}"
+              "${artifactory_latest_path}"
 
-              # append every file to artifactory_links
-              artifactory_links+="${newline}| ${pkg_name} | ${artifactory_base_url}${artifactory_path}${file_name} |"
+            # append every file to artifactory_links
+            artifactory_links+="${newline}| ${pkg_name} | ${artifactory_base_url}${artifactory_path}${file_name} |"
           done
 
           jfrog rt build-publish "$BUILD_NAME_PX4" "$GITHUB_SHA"
@@ -268,8 +272,10 @@ jobs:
           set -exu
 
           pr_or_empty=""
+          latest_link=""
           if [ ${{ github.event_name }} == 'pull_request' ]; then
-            pr_or_empty="pr/"
+            latest_link="pr/"
+            pr_or_empty="pr/${{ github.head_ref || github.ref_name }}/"
           fi
 
           newline=$'\n'
@@ -294,6 +300,7 @@ jobs:
             fi
 
             artifactory_path=$ARTIFACTORY_GEN_REPO/builds/px4-firmware/${target_path}/${pr_or_empty}
+            artifactory_latest_path=$ARTIFACTORY_GEN_REPO/builds/px4-firmware/${target_path}/${latest_link}latest/${pkg_name}.${ext}
 
             jfrog rt u --target-props COMMIT="$GITHUB_SHA" \
               --build-name "$BUILD_NAME_PX4" \
@@ -301,9 +308,10 @@ jobs:
               "$pkg" \
               "${artifactory_path}$file_name"
 
+            # link to latest
             jfrog rt cp --flat \
               "${artifactory_path}$file_name" \
-              "${artifactory_path}latest/${pkg_name}.${ext}"
+              "${artifactory_latest_path}"
 
             # append every file to artifactory_links
             artifactory_links+="${newline}| ${pkg_name} | ${artifactory_base_url}${artifactory_path}${file_name} |"
diff --git a/.github/workflows/tiiuae-pixhawk-artifact-publish.yaml b/.github/workflows/tiiuae-pixhawk-artifact-publish.yaml
deleted file mode 100644
index f12906c6a192..000000000000
--- a/.github/workflows/tiiuae-pixhawk-artifact-publish.yaml
+++ /dev/null
@@ -1,271 +0,0 @@
-name: tiiuae-pixhawk-uae-artifact-publish
-
-on:
-  push:
-    branches: [ master ]
-  pull_request:
-    branches: [ master ]
-  # Allows you to run this workflow manually from the Actions tab
-  workflow_dispatch:
-
-jobs:
-  pixhawk4:
-    name: build pixhawk4
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout px4-firmware
-        uses: actions/checkout@v2
-        with:
-          path: px4-firmware
-          fetch-depth: 0
-      - name: Run px4-firmware pixhawk4 build
-        run: |
-          set -eux
-          mkdir -p bin
-          cd px4-firmware/
-          ./clone_public.sh
-          ./build.sh ../bin/ pixhawk4
-          ls ../bin
-      - name: Upload pixhawk4
-        uses: actions/upload-artifact@v2
-        with:
-          name: pixhawk
-          path: bin/
-          retention-days: 1
-
-  # NOTE: private repo is needed for this build, which is not available for forked PRs
-  saluki-v1:
-    name: build saluki-v1
-    runs-on: ubuntu-latest
-    if: github.event.pull_request.head.repo.full_name == github.repository || github.event_name == 'push'
-    steps:
-      - name: Checkout px4-firmware
-        uses: actions/checkout@v2
-        with:
-          token: ${{ secrets.GH_REPO_TOKEN }}
-          submodules: recursive
-          path: px4-firmware
-          fetch-depth: 0
-      - name: Run px4-firmware saluki-v1 build
-        run: |
-          set -eux
-          mkdir -p bin
-          cd px4-firmware/
-          ./build.sh ../bin/ saluki-v1
-          ls ../bin
-      - name: Upload saluki-v1
-        uses: actions/upload-artifact@v2
-        with:
-          name: pixhawk
-          path: bin/
-          retention-days: 1
-
-  saluki-v2:
-    name: build saluki-v2
-    runs-on: ubuntu-latest
-    if: github.event.pull_request.head.repo.full_name == github.repository || github.event_name == 'push'
-    steps:
-      - name: Checkout px4-firmware
-        uses: actions/checkout@v2
-        with:
-          token: ${{ secrets.GH_REPO_TOKEN }}
-          submodules: recursive
-          path: px4-firmware
-          fetch-depth: 0
-      - name: Run px4-firmware saluki-v2 build
-        run: |
-          set -eux
-          mkdir -p bin
-          cd px4-firmware/
-          ./build.sh ../bin/ saluki-v2
-          ls ../bin
-      - name: Upload saluki-v2
-        uses: actions/upload-artifact@v2
-        with:
-          name: pixhawk
-          path: bin/
-          retention-days: 1
-
-  px4fwupdater:
-    name: build px4fwupdater
-    runs-on: ubuntu-latest
-    needs: [pixhawk4, saluki-v1, saluki-v2]
-    steps:
-      - name: Checkout px4-firmware
-        uses: actions/checkout@v2
-        with:
-          path: px4-firmware
-          fetch-depth: 0
-      - name: Download pixhawk artifacts
-        uses: actions/download-artifact@v2
-        with:
-          name: pixhawk
-          path: bin
-      - name: Run px4-firmware px4fwupdater build
-        run: |
-          set -eux
-          mkdir -p bin
-          cd px4-firmware/
-          ./clone_public.sh
-          ./build.sh ../bin/ px4fwupdater
-          ls ../bin
-      - name: Upload px4fwupdater
-        uses: actions/upload-artifact@v2
-        with:
-          name: pixhawk
-          path: bin/
-          retention-days: 1
-      - name: Firmware flasher - Container metadata
-        id: containermeta # referenced from later step
-        uses: docker/metadata-action@v3
-        with:
-          images: artifactory.ssrcdevops.tii.ae/tiiuae/px4-firmware
-          tags: |
-            type=ref,event=branch
-            type=ref,event=pr
-            type=semver,pattern={{version}}
-            type=sha
-      - name: Login to SSRC jFrog Container Registry
-        uses: docker/login-action@v1
-        with:
-          registry: artifactory.ssrcdevops.tii.ae
-          username: ${{ secrets.UAE_RT_USER }}
-          password: ${{ secrets.UAE_RT_APIKEY }}
-      - name: Firmware flasher - Build and push
-        uses: docker/build-push-action@v2
-        with:
-          push: true
-          context: .
-          file: px4-firmware/Tools/px_uploader.Dockerfile
-          tags: ${{ steps.containermeta.outputs.tags }}
-          labels: ${{ steps.containermeta.outputs.labels }}
-
-  artifactory:
-    name: upload builds to Artifactory
-    runs-on: ubuntu-latest
-    needs: [pixhawk4, saluki-v1, saluki-v2, px4fwupdater]
-    if: true
-    steps:
-      - name: Download pixhawk artifacts
-        uses: actions/download-artifact@v2
-        with:
-          name: pixhawk
-          path: bin
-      - uses: jfrog/setup-jfrog-cli@v2
-        env:
-          JF_ARTIFACTORY_1: ${{ secrets.UAE_ARTIFACTORY_TOKEN }}
-      - name: Upload px4-firmware build to Artifactory
-        env:
-          ARTIFACTORY_GEN_REPO: gen-public-local
-          BUILD_NAME_PX4: px4-firmware
-          CI: true
-        run: |
-          set -exu
-          px5_pkg=$(find bin -name 'px4_fmu-v5x_ssrc*.px4')
-          saluki_pkg=$(find bin -name 'ssrc_saluki-v1_default*.px4')
-          saluki_prot_pkg=$(find bin -name 'ssrc_saluki-v1_protected*.px4')
-          saluki_amp_pkg=$(find bin -name 'ssrc_saluki-v1*.bin')
-          saluki_bl_pkg=$(find bin -name 'ssrc_saluki-v1*.elf')
-          saluki_v2_pkg=$(find bin -name 'ssrc_saluki-v2*.px4')
-          saluki_v2_amp_pkg=$(find bin -name 'ssrc_saluki-v2*.bin')
-          saluki_v2_bl_pkg=$(find bin -name 'ssrc_saluki-v2*.elf')
-          px5_pkg_name=$(basename $px5_pkg)
-          saluki_pkg_name=$(basename $saluki_pkg)
-          saluki_prot_pkg_name=$(basename $saluki_prot_pkg)
-          saluki_amp_pkg_name=$(basename $saluki_amp_pkg)
-          saluki_bl_pkg_name=$(basename $saluki_bl_pkg)
-          saluki_v2_pkg_name=$(basename $saluki_v2_pkg)
-          saluki_v2_amp_pkg_name=$(basename $saluki_v2_amp_pkg)
-          saluki_v2_bl_pkg_name=$(basename $saluki_v2_bl_pkg)
-          pr_or_empty=""
-          if [ ${{ github.event_name }} == 'pull_request' ]; then
-            pr_or_empty="pr/"
-          fi
-          jfrog rt u --target-props COMMIT="$GITHUB_SHA" \
-                     --build-name "$BUILD_NAME_PX4" \
-                     --build-number "$GITHUB_SHA" \
-                     "$px5_pkg" \
-                     "$ARTIFACTORY_GEN_REPO/builds/${pr_or_empty}px4-firmware/pixhawk/$px5_pkg_name"
-          jfrog rt u --target-props COMMIT="$GITHUB_SHA" \
-                     --build-name "$BUILD_NAME_PX4" \
-                     --build-number "$GITHUB_SHA" \
-                     "$saluki_pkg" \
-                     "$ARTIFACTORY_GEN_REPO/builds/${pr_or_empty}px4-firmware/saluki/$saluki_pkg_name"
-          jfrog rt u --target-props COMMIT="$GITHUB_SHA" \
-                     --build-name "$BUILD_NAME_PX4" \
-                     --build-number "$GITHUB_SHA" \
-                     "$saluki_prot_pkg" \
-                     "$ARTIFACTORY_GEN_REPO/builds/${pr_or_empty}px4-firmware/saluki/$saluki_prot_pkg_name"
-          jfrog rt u --target-props COMMIT="$GITHUB_SHA" \
-                     --build-name "$BUILD_NAME_PX4" \
-                     --build-number "$GITHUB_SHA" \
-                     "$saluki_amp_pkg" \
-                     "$ARTIFACTORY_GEN_REPO/builds/${pr_or_empty}px4-firmware/saluki/$saluki_amp_pkg_name"
-          jfrog rt u --target-props COMMIT="$GITHUB_SHA" \
-                     --build-name "$BUILD_NAME_PX4" \
-                     --build-number "$GITHUB_SHA" \
-                     "$saluki_bl_pkg" \
-                     "$ARTIFACTORY_GEN_REPO/builds/${pr_or_empty}px4-firmware/saluki/$saluki_bl_pkg_name"
-
-          jfrog rt u --target-props COMMIT="$GITHUB_SHA" \
-                     --build-name "$BUILD_NAME_PX4" \
-                     --build-number "$GITHUB_SHA" \
-                     "$saluki_v2_pkg" \
-                     "$ARTIFACTORY_GEN_REPO/builds/${pr_or_empty}px4-firmware/saluki/$saluki_v2_pkg_name"
-          jfrog rt u --target-props COMMIT="$GITHUB_SHA" \
-                     --build-name "$BUILD_NAME_PX4" \
-                     --build-number "$GITHUB_SHA" \
-                     "$saluki_v2_amp_pkg" \
-                     "$ARTIFACTORY_GEN_REPO/builds/${pr_or_empty}px4-firmware/saluki/$saluki_v2_amp_pkg_name"
-          jfrog rt u --target-props COMMIT="$GITHUB_SHA" \
-                     --build-name "$BUILD_NAME_PX4" \
-                     --build-number "$GITHUB_SHA" \
-                     "$saluki_v2_bl_pkg" \
-                     "$ARTIFACTORY_GEN_REPO/builds/${pr_or_empty}px4-firmware/saluki/$saluki_v2_bl_pkg_name"
-
-          if [ ${{ github.event_name }} != 'pull_request' ]; then
-            jfrog rt build-publish "$BUILD_NAME_PX4" "$GITHUB_SHA"
-            jfrog rt bpr "$BUILD_NAME_PX4" "$GITHUB_SHA" "$ARTIFACTORY_GEN_REPO" \
-                         --status dev \
-                         --comment "development build"
-            jfrog rt cp --flat \
-                        "$ARTIFACTORY_GEN_REPO/builds/px4-firmware/pixhawk/$px5_pkg_name" \
-                        "$ARTIFACTORY_GEN_REPO/builds/px4-firmware/pixhawk/latest/px4_fmu-v5x_ssrc.px4"
-            jfrog rt cp --flat \
-                        "$ARTIFACTORY_GEN_REPO/builds/px4-firmware/saluki/$saluki_pkg_name" \
-                        "$ARTIFACTORY_GEN_REPO/builds/px4-firmware/saluki/latest/ssrc_saluki-v1_default.px4"
-            jfrog rt cp --flat \
-                        "$ARTIFACTORY_GEN_REPO/builds/px4-firmware/saluki/$saluki_prot_pkg_name" \
-                        "$ARTIFACTORY_GEN_REPO/builds/px4-firmware/saluki/latest/ssrc_saluki-v1_protected.px4"
-            jfrog rt cp --flat \
-                        "$ARTIFACTORY_GEN_REPO/builds/px4-firmware/saluki/$saluki_amp_pkg_name" \
-                        "$ARTIFACTORY_GEN_REPO/builds/px4-firmware/saluki/latest/ssrc_saluki-v1_amp.bin"
-            jfrog rt cp --flat \
-                        "$ARTIFACTORY_GEN_REPO/builds/px4-firmware/saluki/$saluki_v2_pkg_name" \
-                        "$ARTIFACTORY_GEN_REPO/builds/px4-firmware/saluki/latest/ssrc_saluki-v2_default.px4"
-            jfrog rt cp --flat \
-                        "$ARTIFACTORY_GEN_REPO/builds/px4-firmware/saluki/$saluki_v2_amp_pkg_name" \
-                        "$ARTIFACTORY_GEN_REPO/builds/px4-firmware/saluki/latest/ssrc_saluki-v2_amp.bin"
-          fi
-      - name: Upload px4-fwupdater build to Artifactory
-        env:
-          ARTIFACTORY_DEB_REPO: debian-public-local
-          DISTRIBUTION: focal
-          COMPONENT: fog-sw
-          ARCHITECTURE: amd64
-          BUILD_NAME_DEB: px4-fwupdater
-          CI: true
-        run: |
-          set -exu
-          pkg=$(find bin -name 'px4fwupdater*.deb')
-          pkg_name=$(basename $pkg)
-          jfrog rt u --deb "$DISTRIBUTION/$COMPONENT/$ARCHITECTURE" \
-                     --target-props COMMIT="$GITHUB_SHA" \
-                     --build-name "$BUILD_NAME_DEB" \
-                     --build-number "$GITHUB_SHA" \
-                     "$pkg" \
-                     "$ARTIFACTORY_DEB_REPO/$pkg_name"
-          jfrog rt build-publish "$BUILD_NAME_DEB" "$GITHUB_SHA"
-          jfrog rt bpr "$BUILD_NAME_DEB" "$GITHUB_SHA" "$ARTIFACTORY_DEB_REPO" \
-                       --status dev \
-                       --comment "development build"
diff --git a/.github/workflows/tiiuae-sitl.yaml b/.github/workflows/tiiuae-sitl.yaml
index c6ec1dcb6eeb..f91fa347ed58 100644
--- a/.github/workflows/tiiuae-sitl.yaml
+++ b/.github/workflows/tiiuae-sitl.yaml
@@ -78,7 +78,7 @@ jobs:
 
       - name: Upload to Artifactory (px4-sitl)
         env:
-          ARTIFACTORY_GEN_REPO: ssrc-gen-public-local
+          ARTIFACTORY_GEN_REPO: ssrc-gen-private-local
           BUILD_NAME: px4-sitl
           CI: true
         if: github.event_name == 'push'