diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
index f90659ff5d..93d48d8944 100644
--- a/.ci/Jenkinsfile-hardware
+++ b/.ci/Jenkinsfile-hardware
@@ -60,13 +60,9 @@ pipeline {
                     statusFTDI()
                   }
                 }
-                stage("reset device") {
+                stage("reset") {
                   steps {
-                    // ensure buzzer is disabled for the next test
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB_MAXBRT 0"'    // disable rgbled
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB1_MAXBRT 0"'   // disable rgbled_ncp5623c
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 0"'     // no airframe
+                    cleanupFTDI();
                   }
                 }
               }
@@ -138,26 +134,9 @@ pipeline {
                     sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
                   }
                 }
-                stage("stop modules") {
-                  steps {
-                    // manually stop everything
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "fmu stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io stop"'
-                  }
-                }
                 stage("reset") {
                   steps {
-                    // ensure buzzer is disabled for the next test
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB_MAXBRT 0"'    // disable rgbled
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB1_MAXBRT 0"'   // disable rgbled_ncp5623c
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 0"'     // no airframe
+                    cleanupFTDI();
                   }
                 }
               }
@@ -229,25 +208,9 @@ pipeline {
                     sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
                   }
                 }
-                stage("stop modules") {
-                  steps {
-                    // manually stop everything
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "fmu stop"'
-                  }
-                }
                 stage("reset") {
                   steps {
-                    // ensure buzzer is disabled for the next test
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB_MAXBRT 0"'    // disable rgbled
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB1_MAXBRT 0"'   // disable rgbled_ncp5623c
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 0"'     // no airframe
+                    cleanupFTDI();
                   }
                 }
               }
@@ -319,26 +282,9 @@ pipeline {
                     sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
                   }
                 }
-                stage("stop modules") {
-                  steps {
-                    // manually stop everything
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "fmu stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io stop"'
-                  }
-                }
                 stage("reset") {
                   steps {
-                    // ensure buzzer is disabled for the next test
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB_MAXBRT 0"'    // disable rgbled
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB1_MAXBRT 0"'   // disable rgbled_ncp5623c
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 0"'     // no airframe
+                    cleanupFTDI();
                   }
                 }
               }
@@ -410,26 +356,9 @@ pipeline {
                     sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
                   }
                 }
-                stage("stop modules") {
-                  steps {
-                    // manually stop everything
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "fmu stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io stop"'
-                  }
-                }
                 stage("reset") {
                   steps {
-                    // ensure buzzer is disabled for the next test
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB_MAXBRT 0"'    // disable rgbled
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB1_MAXBRT 0"'   // disable rgbled_ncp5623c
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 0"'     // no airframe
+                    cleanupFTDI();
                   }
                 }
               }
@@ -440,97 +369,6 @@ pipeline {
           }
         }
 
-        // stage("px4_fmu-v5x_default") {
-        //   stages {
-        //     stage("build px4_fmu-v5x_default") {
-        //       agent {
-        //         docker {
-        //           image 'px4io/px4-dev-nuttx:2019-10-24'
-        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //         }
-        //       }
-        //       steps {
-        //         sh 'export'
-        //         sh 'make distclean'
-        //         sh 'ccache -s'
-        //         sh 'git fetch --tags'
-        //         sh 'make px4_fmu-v5x_default'
-        //         sh 'make sizes'
-        //         sh 'ccache -s'
-        //         stash includes: 'build/px4_fmu-v5x_default/px4_fmu-v5x_default.elf', name: 'px4_fmu-v5x_default'
-        //       }
-        //       post {
-        //         always {
-        //             sh 'make distclean'
-        //         }
-        //       }
-        //     } // stage build
-        //     stage("test") {
-        //       agent {
-        //         label 'px4_fmu-v5x'
-        //       }
-        //       stages {
-        //         stage("flash") {
-        //           steps {
-        //             sh 'export'
-        //             sh 'find /dev/serial'
-        //             unstash 'px4_fmu-v5x_default'
-        //             // flash board and watch bootup
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5x_default/px4_fmu-v5x_default.elf'
-        //             sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-SEGGER_*` --baudrate 57600'
-        //           }
-        //         }
-        //         stage("configure") {
-        //           steps {
-        //             // configure
-        //             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-        //             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set LED_RGB_MAXBRT 0"'    // disable rgbled
-        //             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set LED_RGB1_MAXBRT 0"'   // disable rgbled_ncp5623c
-        //             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standardulticopter
-        //             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot"'                        // reboot to apply
-        //           }
-        //         }
-        //         stage("status") {
-        //           steps {
-        //             statusSEGGER()
-        //           }
-        //         }
-        //         stage("tests") {
-        //           steps {
-        //             // run tests
-        //             sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-SEGGER_*`'
-        //           }
-        //         }
-        //         stage("stop modules") {
-        //           steps {
-        //             // manually stop everything
-        //             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander stop"'
-        //             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink stop-all"'
-        //             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ekf2 stop"'
-        //             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "navigator stop"'
-        //             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman stop"'
-        //             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger stop"'
-        //             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "fmu stop"'
-        //             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "px4io stop"'
-        //           }
-        //         }
-        //         stage("reset") {
-        //           steps {
-        //             // ensure buzzer is disabled for the next test
-        //             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-        //             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set LED_RGB_MAXBRT 0"'    // disable rgbled
-        //             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set LED_RGB1_MAXBRT 0"'   // disable rgbled_ncp5623c
-        //             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 0"'     // no airframe
-        //           }
-        //         }
-        //       }
-        //       options {
-        //         timeout(time: 60, unit: 'MINUTES')
-        //       }
-        //     } // stage test
-        //   }
-        // }
-
         stage("modalai_fc-v1_default") {
           stages {
             stage("build modalai_fc-v1_default") {
@@ -592,25 +430,9 @@ pipeline {
                     sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-SEGGER_*`'
                   }
                 }
-                stage("stop modules") {
-                  steps {
-                    // manually stop everything
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink stop-all"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ekf2 stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "navigator stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "fmu stop"'
-                  }
-                }
                 stage("reset") {
                   steps {
-                    // ensure buzzer is disabled for the next test
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set LED_RGB_MAXBRT 0"'    // disable rgbled
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set LED_RGB1_MAXBRT 0"'   // disable rgbled_ncp5623c
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 0"'     // no airframe
+                    cleanupSEGGER()
                   }
                 }
               }
@@ -683,26 +505,9 @@ pipeline {
                     sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
                   }
                 }
-                stage("stop modules") {
-                  steps {
-                    // manually stop everything
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "fmu stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io stop"'
-                  }
-                }
                 stage("reset") {
                   steps {
-                    // ensure buzzer is disabled for the next test
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB_MAXBRT 0"'    // disable rgbled
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB1_MAXBRT 0"'   // disable rgbled_ncp5623c
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 0"'     // no airframe
+                    cleanupFTDI();
                   }
                 }
               }
@@ -788,11 +593,7 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    // ensure buzzer is disabled for the next test
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB_MAXBRT 0"'    // disable rgbled
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB1_MAXBRT 0"'   // disable rgbled_ncp5623c
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 0"'     // no airframe
+                    cleanupFTDI();
                   }
                 }
               }
@@ -864,25 +665,9 @@ pipeline {
                     sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
                   }
                 }
-                stage("stop modules") {
-                  steps {
-                    // manually stop everything
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "fmu stop"'
-                  }
-                }
                 stage("reset") {
                   steps {
-                    // ensure buzzer is disabled for the next test
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB_MAXBRT 0"'    // disable rgbled
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB1_MAXBRT 0"'   // disable rgbled_ncp5623c
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 0"'     // no airframe
+                    cleanupFTDI();
                   }
                 }
               }
@@ -983,3 +768,49 @@ void statusSEGGER() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ver all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
 }
+
+void cleanupFTDI() {
+  // wipe sdcard
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman stop"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger off"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "umount /fs/microsd"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mkfatfs /dev/mmcsd0"'
+
+  // wipe parameters
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd erase"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param reset"'
+
+  // reset safe defaults
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB_MAXBRT 0"'    // disable rgbled
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set LED_RGB1_MAXBRT 0"'   // disable rgbled_ncp5623c
+
+  // reboot
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'
+}
+
+void cleanupSEGGER() {
+  // wipe sdcard
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander stop"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink stop-all"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "navigator stop"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman stop"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger off"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "umount /fs/microsd"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mkfatfs /dev/mmcsd0"'
+
+  // wipe parameters
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd erase"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param reset"'
+
+  // reset safe defaults
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set LED_RGB_MAXBRT 0"'    // disable rgbled
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set LED_RGB1_MAXBRT 0"'   // disable rgbled_ncp5623c
+
+  // reboot
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot"'
+}