diff --git a/.github/workflows/ros_nightly.yml b/.github/workflows/ros_nightly.yml
index 40af9a9..80adaef 100644
--- a/.github/workflows/ros_nightly.yml
+++ b/.github/workflows/ros_nightly.yml
@@ -71,7 +71,7 @@ jobs:
         uses: docker/login-action@v4
         with:
           username: ${{ secrets.DOCKER_USERNAME }}
-          password: ${{ secrets.DOCKER_PASSWORD }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
 
       # Only push if it comes from tagging
       - name: Build ardupilot-dev-ros images
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index f60291c..129f758 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -3,7 +3,7 @@
 
 repos:
   -   repo: https://github.com/pre-commit/pre-commit-hooks
-      rev: v5.0.0
+      rev: v6.0.0
       hooks:
         -   id: trailing-whitespace
         -   id: end-of-file-fixer
@@ -20,7 +20,7 @@ repos:
         -   id: check-xml
 
   - repo: https://github.com/hadolint/hadolint
-    rev: v2.12.0
+    rev: v2.14.0
     hooks:
       - id: hadolint-docker
         types: [file]
diff --git a/README.md b/README.md
index f2a4ca4..690b3b8 100644
--- a/README.md
+++ b/README.md
@@ -42,4 +42,4 @@ In order to publish them to DockerHub, we need to make a release and tag the ima
 
 The repo setting is quite simple, it needs GitHub Action and an account on DockerHub.
 In order to be able to publish the image on DockerHub, you need to set two secrets on your repo setting :
-`DOCKER_USERNAME` and `DOCKER_PASSWORD`
+`DOCKER_USERNAME` and `DOCKERHUB_TOKEN`
diff --git a/docker/Dockerfile_dev-armhf-musl b/docker/Dockerfile_dev-armhf-musl
index e5fc025..7b171af 100644
--- a/docker/Dockerfile_dev-armhf-musl
+++ b/docker/Dockerfile_dev-armhf-musl
@@ -1,28 +1,28 @@
 # syntax=docker/dockerfile:1
 ARG TAG="latest"
-FROM ardupilot/ardupilot-dev-armhf:${TAG}
+FROM ardupilot/ardupilot-dev-armhf:"${TAG}"
 
 # Get ArduPilot MUSL ARM toolchain
 ARG MUSL_ROOT="arm-linux-musleabihf-cross"
-ARG MUSL_TARBALL="$MUSL_ROOT.tgz"
+ARG MUSL_TARBALL="${MUSL_ROOT}.tgz"
 # ARG MUSL_TARBALL_URL="https://musl.cc/$MUSL_TARBALL"  # Seems prevent github actions from accessing the URL
-ARG MUSL_TARBALL_URL="https://github.com/ArduPilot/ardupilot_dev_docker/releases/download/v0.1.4/$MUSL_TARBALL"
+ARG MUSL_TARBALL_URL="https://github.com/ArduPilot/ardupilot_dev_docker/releases/download/v0.1.4/${MUSL_TARBALL}"
 
 RUN set -eu \
 	&& mkdir -p /opt && cd /opt \
 	# Download to file with retries to avoid truncated archives
-	&& wget -q --tries=5 --timeout=30 -O "$MUSL_TARBALL" "$MUSL_TARBALL_URL" \
-	&& test -s "$MUSL_TARBALL" \
-	&& tar -xzf "$MUSL_TARBALL" \
-	&& rm -f "$MUSL_TARBALL" \
-	&& rm -rf "/opt/$MUSL_ROOT/share/doc"
+	&& wget -q --tries=5 --timeout=30 -O "${MUSL_TARBALL}" "${MUSL_TARBALL_URL}" \
+	&& test -s "${MUSL_TARBALL}" \
+	&& tar -xzf "${MUSL_TARBALL}" \
+	&& rm -f "${MUSL_TARBALL}" \
+	&& rm -rf "/opt/${MUSL_ROOT}/share/doc"
 
 # manual ccache setup for new toolchain
 RUN ln -s /usr/bin/ccache /usr/lib/ccache/arm-linux-musleabihf-g++ \
 	&& ln -s /usr/bin/ccache /usr/lib/ccache/arm-linux-musleabihf-gcc
 
 # Set MUSL toolchain to the PATH
-ENV PATH="/opt/$MUSL_ROOT/bin:$PATH"
+ENV PATH="/opt/${MUSL_ROOT}/bin:$PATH"
 
 # Set ccache to the PATH
 ENV PATH="/usr/lib/ccache:$PATH"
diff --git a/docker/Dockerfile_dev-base b/docker/Dockerfile_dev-base
index 15f76f0..e6c7c04 100644
--- a/docker/Dockerfile_dev-base
+++ b/docker/Dockerfile_dev-base
@@ -1,43 +1,49 @@
 # syntax=docker/dockerfile:1
-FROM ubuntu:22.04 AS base
+FROM ubuntu:24.04 AS base
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update \
     && apt-get install --no-install-recommends -y \
-    lsb-release \
-    sudo \
-    wget \
-    software-properties-common \
     astyle \
     build-essential  \
     ccache \
+    cmake \
     g++ \
-    gdb \
     gawk \
+    gdb \
     git \
-    make \
-    cmake \
-    ninja-build \
+    libpython3-stdlib \
     libtool \
+    libtool-bin \
     libxml2-dev \
     libxml2-utils \
     libxslt1-dev \
+    lsb-release \
+    make \
+    ninja-build \
     openjdk-11-jre-headless \
+    ppp \
+    python-is-python3 \
+    python3-dev \
     python3-numpy \
     python3-pyparsing \
     python3-serial \
-    python-is-python3 \
-    libpython3-stdlib \
-    libtool-bin \
+    software-properties-common \
+    sudo \
+    wget \
     zip \
     && apt-get clean \
     && apt-get -y autoremove \
     && apt-get autoclean \
     && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
 
+ENV PYTHONUNBUFFERED=1 \
+    PYTHONDONTWRITEBYTECODE=1 \
+    PIP_DISABLE_PIP_VERSION_CHECK=on
+
 # TAKEN from https://github.com/docker-library/python/blob/a58630aef106c8efd710011c6a2a0a1d551319a0/3.11/bullseye/Dockerfile
 # if this is called "PIP_VERSION", pip explodes with "ValueError: invalid truth value '<VERSION>'"
-ENV PYTHON_PIP_VERSION=25.0.1
+ENV PYTHON_PIP_VERSION=26.1.2
 # https://github.com/docker-library/python/issues/365
 ENV PYTHON_SETUPTOOLS_VERSION=78.1.0
 # https://github.com/pypa/get-pip
@@ -53,14 +59,19 @@ RUN set -eux; \
 		--disable-pip-version-check \
 		--no-cache-dir \
 		--no-compile \
+        --break-system-packages \
 		"pip==$PYTHON_PIP_VERSION" \
 		"setuptools==$PYTHON_SETUPTOOLS_VERSION" \
+        wheel \
 	; \
 	rm -f get-pip.py; \
 	\
-	pip --version
-
-RUN python -m pip install --no-cache-dir -U wheel future lxml pexpect flake8 pycodestyle empy==3.3.4 pyelftools tabulate pre-commit junitparser
+	pip --version; \
+    mkdir -p ~/.config/pip \
+    && echo "[global]" >> ~/.config/pip/pip.conf \
+    && echo "break-system-packages = true" >> ~/.config/pip/pip.conf
+    
+RUN python -m pip install --no-cache-dir -U wheel future lxml pexpect fastcrc flake8 pycodestyle empy==3.3.4 pyelftools tabulate pre-commit junitparser ptyprocess dronecan requests mock
 
 RUN mkdir -p /__w/ardupilot/ardupilot && git config --global --add safe.directory /__w/ardupilot/ardupilot && git config --system --add safe.directory /__w/ardupilot/ardupilot
 
@@ -84,8 +95,9 @@ COPY --from=dds-gen-builder /dds-gen/scripts scripts/
 COPY --from=dds-gen-builder /dds-gen/share share/
 WORKDIR /
 
+ENV PATH="/dds-gen/scripts:$PATH"
 # Set ccache to the PATH
-ENV PATH="/dds-gen/scripts:/usr/lib/ccache:$PATH"
+ENV PATH="/usr/lib/ccache:$PATH"
 
 # Gain some time by disabling mavnative
 ENV DISABLE_MAVNATIVE=True
@@ -97,3 +109,4 @@ ENV TZ=UTC
 
 ENV PYTHONDONTWRITEBYTECODE=1
 ENV PYTHONUNBUFFERED=1
+ENV PIP_DISABLE_PIP_VERSION_CHECK=on
diff --git a/docker/Dockerfile_dev-chibios b/docker/Dockerfile_dev-chibios
index 76444b2..384c30a 100644
--- a/docker/Dockerfile_dev-chibios
+++ b/docker/Dockerfile_dev-chibios
@@ -1,17 +1,17 @@
 # syntax=docker/dockerfile:1
 ARG TAG="latest"
-FROM ardupilot/ardupilot-dev-base:${TAG}
+FROM ardupilot/ardupilot-dev-base:"${TAG}"
 
 # Get ArduPilot STM32 toolchain
 ARG ARM_ROOT="gcc-arm-none-eabi-10"
 ARG ARM_ROOT_EXT="-2020-q4-major"
-ARG ARM_TARBALL="$ARM_ROOT$ARM_ROOT_EXT-x86_64-linux.tar.bz2"
-ARG ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL"
+ARG ARM_TARBALL="${ARM_ROOT}${ARM_ROOT_EXT}-x86_64-linux.tar.bz2"
+ARG ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/${ARM_TARBALL}"
 
 RUN mkdir -p /opt && cd /opt \
-	&& wget -qO- "$ARM_TARBALL_URL" | tar jx \
-	&& mv "/opt/$ARM_ROOT$ARM_ROOT_EXT" "/opt/$ARM_ROOT" \
-	&& rm -rf "/opt/$ARM_ROOT/share/doc"
+	&& wget -qO- "${ARM_TARBALL_URL}" | tar jx \
+	&& mv "/opt/${ARM_ROOT}${ARM_ROOT_EXT}" "/opt/${ARM_ROOT}" \
+	&& rm -rf "/opt/${ARM_ROOT}/share/doc"
 
 RUN python -m pip install --no-cache-dir -U intelhex
 
@@ -20,7 +20,7 @@ RUN ln -s /usr/bin/ccache /usr/lib/ccache/arm-none-eabi-g++ \
 	&& ln -s /usr/bin/ccache /usr/lib/ccache/arm-none-eabi-gcc
 
 # Set STM32 toolchain to the PATH
-ENV PATH="/opt/$ARM_ROOT/bin:$PATH"
+ENV PATH="/opt/${ARM_ROOT}/bin:$PATH"
 
 
 RUN ln -s -f /opt/gcc-arm-none-eabi-10/ g++-10.2.1
diff --git a/docker/Dockerfile_dev-clang b/docker/Dockerfile_dev-clang
index cf55d34..d69fd50 100644
--- a/docker/Dockerfile_dev-clang
+++ b/docker/Dockerfile_dev-clang
@@ -1,7 +1,7 @@
 # syntax=docker/dockerfile:1
 ARG TAG="latest"
-FROM ardupilot/ardupilot-dev-base:${TAG}
-ENV CLANG_VERSION=14
+FROM ardupilot/ardupilot-dev-base:"${TAG}"
+ENV CLANG_VERSION=18
 
 RUN apt-get update && apt-get install --no-install-recommends -y \
     clang-"$CLANG_VERSION" \
diff --git a/docker/Dockerfile_dev-coverage b/docker/Dockerfile_dev-coverage
index c52429e..8b27950 100644
--- a/docker/Dockerfile_dev-coverage
+++ b/docker/Dockerfile_dev-coverage
@@ -1,6 +1,6 @@
 # syntax=docker/dockerfile:1
 ARG TAG="latest"
-FROM ardupilot/ardupilot-dev-base:${TAG}
+FROM ardupilot/ardupilot-dev-base:"${TAG}"
 
 RUN apt-get update && apt-get install --no-install-recommends -y \
     lcov \
diff --git a/docker/Dockerfile_dev-periph b/docker/Dockerfile_dev-periph
index 346dec4..0327117 100644
--- a/docker/Dockerfile_dev-periph
+++ b/docker/Dockerfile_dev-periph
@@ -1,6 +1,6 @@
 # syntax=docker/dockerfile:1
 ARG TAG="latest"
-FROM ardupilot/ardupilot-dev-coverage:${TAG}
+FROM ardupilot/ardupilot-dev-coverage:"${TAG}"
 
 RUN apt-get update && dpkg --add-architecture i386 \
     && apt-get update \
diff --git a/docker/Dockerfile_dev-ros b/docker/Dockerfile_dev-ros
index dcd58db..dad2d58 100644
--- a/docker/Dockerfile_dev-ros
+++ b/docker/Dockerfile_dev-ros
@@ -1,48 +1,55 @@
 # syntax=docker/dockerfile:1
 ARG ROS_DISTRO=humble
-FROM ros:${ROS_DISTRO}-ros-base AS main-setup
+FROM ros:"${ROS_DISTRO}"-ros-base AS main-setup
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get install --no-install-recommends -y \
-    lsb-release \
-    sudo \
-    wget \
-    software-properties-common \
     astyle \
     build-essential  \
     ccache \
+    cmake \
+    default-jre \
     g++ \
-    gdb \
     gawk \
+    gdb \
     git \
-    make \
-    cmake \
-    ninja-build \
+    libpython3-stdlib \
     libtool \
+    libtool-bin \
     libxml2-dev \
     libxml2-utils \
     libxslt1-dev \
+    lsb-release \
+    make \
+    ninja-build \
+    openjdk-11-jre-headless \
+    ppp \
+    python-is-python3 \
+    python3-dev \
     python3-numpy \
     python3-pyparsing \
     python3-serial \
-    python-is-python3 \
-    libpython3-stdlib \
-    libtool-bin \
-    zip \
-    default-jre \
-    socat \
+    ros-"${ROS_DISTRO}"-launch-pytest \
     ros-dev-tools \
-    ros-${ROS_DISTRO}-launch-pytest \
+    socat \
+    software-properties-common \
+    sudo \
+    wget \
+    zip \
     && apt-get clean \
     && apt-get -y autoremove \
     && apt-get autoclean \
     && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
 
+ENV PYTHONUNBUFFERED=1 \
+    PYTHONDONTWRITEBYTECODE=1 \
+    PIP_DISABLE_PIP_VERSION_CHECK=on
+
 # TAKEN from https://github.com/docker-library/python/blob/a58630aef106c8efd710011c6a2a0a1d551319a0/3.11/bullseye/Dockerfile
 # if this is called "PIP_VERSION", pip explodes with "ValueError: invalid truth value '<VERSION>'"
-ENV PYTHON_PIP_VERSION=25.0.1
+ENV PYTHON_PIP_VERSION=26.1.2
 # https://github.com/docker-library/python/issues/365
-ENV PYTHON_SETUPTOOLS_VERSION=65.5.1
+ENV PYTHON_SETUPTOOLS_VERSION=78.1.0
 # https://github.com/pypa/get-pip
 ENV PYTHON_GET_PIP_URL=https://bootstrap.pypa.io/get-pip.py
 
@@ -59,12 +66,16 @@ RUN set -eux; \
         --break-system-packages \
 		"pip==$PYTHON_PIP_VERSION" \
 		"setuptools==$PYTHON_SETUPTOOLS_VERSION" \
+        wheel \
 	; \
 	rm -f get-pip.py; \
 	\
-	pip --version
+	pip --version; \
+    mkdir -p ~/.config/pip \
+    && echo "[global]" >> ~/.config/pip/pip.conf \
+    && echo "break-system-packages = true" >> ~/.config/pip/pip.conf
 
-RUN python -m pip install --no-cache-dir --break-system-packages -U wheel future lxml pexpect flake8 empy==3.3.4 pyelftools tabulate pymavlink pre-commit junitparser
+RUN python -m pip install --no-cache-dir -U wheel future lxml pexpect fastcrc flake8 pycodestyle empy==3.3.4 pyelftools tabulate pre-commit junitparser ptyprocess dronecan pymavlink requests mock
 
 RUN mkdir -p /__w/ardupilot/ardupilot && git config --global --add safe.directory /__w/ardupilot/ardupilot && git config --system --add safe.directory /__w/ardupilot/ardupilot
 
@@ -106,7 +117,7 @@ RUN ln -s /usr/bin/ccache /usr/lib/ccache/arm-none-eabi-g++ \
 # Set STM32 toolchain to the PATH
 ENV PATH="/opt/$ARM_ROOT/bin:$PATH"
 
-RUN mkdir -p $HOME/arm-gcc \
+RUN mkdir -p "$HOME"/arm-gcc \
     && ln -s -f /opt/gcc-arm-none-eabi-10/ g++-10.2.1
 
 
@@ -124,3 +135,4 @@ ENV TZ=UTC
 
 ENV PYTHONDONTWRITEBYTECODE=1
 ENV PYTHONUNBUFFERED=1
+ENV PIP_DISABLE_PIP_VERSION_CHECK=on