diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 4d2965b5e8f..a69c2f4907f 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -18,7 +18,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
         matrix:
-          id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+          id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19]
 
     steps:
       - uses: actions/checkout@v4
diff --git a/.github/workflows/dev-builds.yml b/.github/workflows/dev-builds.yml
deleted file mode 100644
index d2ffc058f80..00000000000
--- a/.github/workflows/dev-builds.yml
+++ /dev/null
@@ -1,245 +0,0 @@
-name: Build pre-release
-# Don't enable CI on push, just on PR. If you
-# are working on the main repo and want to trigger
-# a CI build submit a draft PR.
-on: 
-  push:
-    branches:
-    - master
-    paths:
-      - 'src/**'
-      - '.github/**'
-      - 'cmake/**'
-      - 'lib/**'
-      - 'docs/Settings.md'
-      - 'CMakeLists.txt'
-      - '*.sh'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-        matrix:
-          id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
-
-    steps:
-      - uses: actions/checkout@v4
-      - name: Install dependencies
-        run: sudo apt-get update && sudo apt-get -y install ninja-build
-      - name: Setup environment
-        env:
-          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-        run: |
-          # This is the hash of the commit for the PR
-          # when the action is triggered by PR, empty otherwise
-          COMMIT_ID=${{ github.event.pull_request.head.sha }}
-          # This is the hash of the commit when triggered by push
-          # but the hash of refs/pull/<n>/merge, which is different
-          # from the hash of the latest commit in the PR, that's
-          # why we try github.event.pull_request.head.sha first
-          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
-          BUILD_SUFFIX=dev-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
-          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "NUM_CORES=$(grep processor /proc/cpuinfo | wc -l)" >> $GITHUB_ENV
-      - uses: actions/cache@v4
-        with:
-          path: downloads
-          key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}}
-      - name: Build targets (${{ matrix.id }})
-        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DVERSION_TYPE=dev -G Ninja .. && ninja -j${{ env.NUM_CORES }} ci
-      - name: Upload artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: ${{ env.BUILD_NAME }}.${{ matrix.id }}
-          path: ./build/*.hex
-
-  build-SITL-Linux:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - name: Install dependencies
-        run: sudo apt-get update && sudo apt-get -y install ninja-build
-      - name: Setup environment
-        env:
-          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-        run: |
-          # This is the hash of the commit for the PR
-          # when the action is triggered by PR, empty otherwise
-          COMMIT_ID=${{ github.event.pull_request.head.sha }}
-          # This is the hash of the commit when triggered by push
-          # but the hash of refs/pull/<n>/merge, which is different
-          # from the hash of the latest commit in the PR, that's
-          # why we try github.event.pull_request.head.sha first
-          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
-          BUILD_SUFFIX=dev-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }')
-          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "NUM_CORES=$(grep processor /proc/cpuinfo | wc -l)" >> $GITHUB_ENV
-      - name: Build SITL
-        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja -DVERSION_TYPE=dev .. && ninja -j${{ env.NUM_CORES }}
-      - name: Upload artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: sitl-${{ env.BUILD_NAME }}-Linux
-          path: ./build_SITL/*_SITL
-
-  build-SITL-Mac:
-    runs-on: macos-latest
-    steps:
-      - uses: actions/checkout@v4
-      - name: Install dependencies
-        run: |
-          brew install cmake ninja ruby
-
-      - name: Setup environment
-        env:
-          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-        run: |
-          # This is the hash of the commit for the PR
-          # when the action is triggered by PR, empty otherwise
-          COMMIT_ID=${{ github.event.pull_request.head.sha }}
-          # This is the hash of the commit when triggered by push
-          # but the hash of refs/pull/<n>/merge, which is different
-          # from the hash of the latest commit in the PR, that's
-          # why we try github.event.pull_request.head.sha first
-          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
-          BUILD_SUFFIX=dev-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }')
-          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-      - name: Build SITL
-        run: |
-          mkdir -p build_SITL && cd build_SITL
-          cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64" -DVERSION_TYPE=dev -G Ninja ..
-          ninja -j4
-
-      - name: Upload artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: sitl-${{ env.BUILD_NAME }}-MacOS
-          path: ./build_SITL/*_SITL
-
-  build-SITL-Windows:
-    runs-on: windows-latest
-    defaults:
-      run:
-        shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}'
-    steps:
-      - uses: actions/checkout@v4
-      - name: Setup Cygwin
-        uses: egor-tensin/setup-cygwin@v4
-        with:
-          packages: cmake ruby ninja gcc-g++
-      - name: Setup environment
-        env:
-          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-        run: |
-          # This is the hash of the commit for the PR
-          # when the action is triggered by PR, empty otherwise
-          COMMIT_ID=${{ github.event.pull_request.head.sha }}
-          # This is the hash of the commit when triggered by push
-          # but the hash of refs/pull/<n>/merge, which is different
-          # from the hash of the latest commit in the PR, that's
-          # why we try github.event.pull_request.head.sha first
-          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
-          BUILD_SUFFIX=dev-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }')
-          #echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
-          #echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-          #echo "VERSION_TAG=-$(date '+%Y%m%d')" >> $GITHUB_ENV
-          echo "version=${VERSION}" >> $GITHUB_OUTPUT
-      - name: Build SITL
-        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DVERSION_TYPE=dev -G Ninja .. && ninja -j4
-      - name: Upload artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: sitl-${{ env.BUILD_NAME }}-WIN
-          path: ./build_SITL/*.exe
-
-
-  test:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - name: Install dependencies
-        run: sudo apt-get update && sudo apt-get -y install ninja-build
-      - name: Run Tests
-        run: mkdir -p build && cd build && cmake -DTOOLCHAIN=none -G Ninja .. && ninja check
-
-  release:
-    needs: [build, build-SITL-Linux, build-SITL-Mac, build-SITL-Windows, test]
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - name: Get version
-        id: version
-        run: |
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }')
-          echo "version=${VERSION}" >> $GITHUB_OUTPUT
-      - name: Get current date
-        id: date
-        run: echo "today=$(date '+%Y%m%d')" >> $GITHUB_OUTPUT
-      - name: download artifacts
-        uses: actions/download-artifact@v4
-        with:
-          path: hexes
-          pattern: inav-*
-          merge-multiple: true
-      - name: download sitl linux
-        uses: actions/download-artifact@v4
-        with:
-          path: resources/sitl/linux
-          pattern: sitl-*-Linux
-          merge-multiple: true
-      - name: download sitl windows
-        uses: actions/download-artifact@v4
-        with:
-          path: resources/sitl/windows
-          pattern: sitl-*-WIN
-          merge-multiple: true
-      - name: download sitl mac
-        uses: actions/download-artifact@v4
-        with:
-          path: resources/sitl/macos
-          pattern: sitl-*-MacOS
-          merge-multiple: true
-      - name: Consolidate sitl files
-        run: |
-          zip -r -9 sitl-resources.zip resources/
-      - name: Upload release artifacts
-        uses: softprops/action-gh-release@v2
-        with:
-          name: inav-${{ steps.version.outputs.version }}-dev-${{ steps.date.outputs.today }}-${{ github.run_number }}-${{ github.sha }}
-          tag_name: v${{ steps.version.outputs.version }}-${{ steps.date.outputs.today }}.${{ github.run_number }}
-          # To create release on a different repo, we need a token setup
-          token: ${{ secrets.NIGHTLY_TOKEN }}
-          repository: iNavFlight/inav-nightly
-          prerelease: true
-          draft: false
-          #generate_release_notes: true
-          make_latest: false
-          files: |
-            hexes/*.hex
-            sitl-resources.zip
-          body: |
-            ${{ steps.notes.outputs.notes }}
-
-            ### Flashing
-            These are nightly builds and configuration settings can be added and removed often. Flashing with Full chip erase is strongly recommended to avoid issues.
-            Firmware related issues should be opened in the iNavflight/inav repository, not in inav-nightly.
-
-            ### Repository:
-            ${{ github.repository }} ([link](${{ github.event.repository.html_url }}))
-
-            ### Branch:
-            ${{ github.ref_name }} ([link](${{ github.event.repository.html_url }}/tree/${{ github.ref_name }}))
-
-            ### Latest changeset:
-            ${{ github.event.head_commit.id }} ([link](${{ github.event.head_commit.url }}))
-
-            ### Changes:
-            ${{ github.event.head_commit.message }}
-
diff --git a/.github/workflows/nightly-build.yml b/.github/workflows/nightly-build.yml
new file mode 100644
index 00000000000..b709cedd6c9
--- /dev/null
+++ b/.github/workflows/nightly-build.yml
@@ -0,0 +1,97 @@
+name: Build pre-release
+# Don't enable CI on push, just on PR. If you
+# are working on the main repo and want to trigger
+# a CI build submit a draft PR.
+on: 
+  push:
+    branches:
+    - master
+    paths:
+      - 'src/**'
+      - '.github/**'
+      - 'cmake/**'
+      - 'lib/**'
+      - 'docs/Settings.md'
+      - 'CMakeLists.txt'
+      - '*.sh'
+
+jobs:
+  build:
+    name: build
+    uses: ./.github/workflows/ci.yaml
+
+  release:
+    name: Release
+    needs: [build]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Get version
+        id: version
+        run: |
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }')
+          echo "version=${VERSION}" >> $GITHUB_OUTPUT
+      - name: Get current date
+        id: date
+        run: echo "today=$(date '+%Y%m%d')" >> $GITHUB_OUTPUT
+      - name: download artifacts
+        uses: actions/download-artifact@v4
+        with:
+          path: hexes
+          pattern: inav-*
+          merge-multiple: true
+      - name: download sitl linux
+        uses: actions/download-artifact@v4
+        with:
+          path: resources/sitl/linux
+          pattern: sitl-*-Linux
+          merge-multiple: true
+      - name: download sitl windows
+        uses: actions/download-artifact@v4
+        with:
+          path: resources/sitl/windows
+          pattern: sitl-*-WIN
+          merge-multiple: true
+      - name: download sitl mac
+        uses: actions/download-artifact@v4
+        with:
+          path: resources/sitl/macos
+          pattern: sitl-*-MacOS
+          merge-multiple: true
+      - name: Consolidate sitl files
+        run: |
+          zip -r -9 sitl-resources.zip resources/
+      - name: Upload release artifacts
+        uses: softprops/action-gh-release@v2
+        with:
+          name: inav-${{ steps.version.outputs.version }}-dev-${{ steps.date.outputs.today }}-${{ github.run_number }}-${{ github.sha }}
+          tag_name: v${{ steps.version.outputs.version }}-${{ steps.date.outputs.today }}.${{ github.run_number }}
+          # To create release on a different repo, we need a token setup
+          token: ${{ secrets.NIGHTLY_TOKEN }}
+          repository: iNavFlight/inav-nightly
+          prerelease: true
+          draft: false
+          #generate_release_notes: true
+          make_latest: false
+          files: |
+            hexes/*.hex
+            sitl-resources.zip
+          body: |
+            ${{ steps.notes.outputs.notes }}
+
+            ### Flashing
+            These are nightly builds and configuration settings can be added and removed often. Flashing with Full chip erase is strongly recommended to avoid issues.
+            Firmware related issues should be opened in the iNavflight/inav repository, not in inav-nightly.
+
+            ### Repository:
+            ${{ github.repository }} ([link](${{ github.event.repository.html_url }}))
+
+            ### Branch:
+            ${{ github.ref_name }} ([link](${{ github.event.repository.html_url }}/tree/${{ github.ref_name }}))
+
+            ### Latest changeset:
+            ${{ github.event.head_commit.id }} ([link](${{ github.event.head_commit.url }}))
+
+            ### Changes:
+            ${{ github.event.head_commit.message }}
+
diff --git a/cmake/ci.cmake b/cmake/ci.cmake
index 4546a8b6303..daa17337e61 100644
--- a/cmake/ci.cmake
+++ b/cmake/ci.cmake
@@ -3,13 +3,20 @@ if(DEFINED CI_JOB_INDEX AND DEFINED CI_JOB_COUNT)
     message("-- configuring CI job ${job_name}/${CI_JOB_COUNT}")
     get_property(targets GLOBAL PROPERTY RELEASE_TARGETS)
     list(LENGTH targets count)
+    message("-- ${count} total targets")
     math(EXPR per_job "(${count}+${CI_JOB_COUNT}-1)/${CI_JOB_COUNT}")
-    message("-- ${per_job} targets per job")
     math(EXPR start "${CI_JOB_INDEX}*${per_job}")
-    list(SUBLIST targets ${start} ${per_job} ci_targets)
-    message("-- will build targets: ${ci_targets}")
-    add_custom_target(ci
-        ${CMAKE_COMMAND} -E true
-        DEPENDS ${ci_targets}
-)
+    message("-- ${per_job} targets per job, starting at ${start}")
+    if(${start} LESS ${count})
+        list(SUBLIST targets ${start} ${per_job} ci_targets)
+        message("-- will build targets: ${ci_targets}")
+        add_custom_target(ci
+            ${CMAKE_COMMAND} -E true
+            DEPENDS ${ci_targets}
+        )
+    else()
+        add_custom_target(ci
+            ${CMAKE_COMMAND} -E true
+        )
+    endif()
 endif()