diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
index 228839f65a..794b826ed5 100644
--- a/.ci/Jenkinsfile-hardware
+++ b/.ci/Jenkinsfile-hardware
@@ -411,55 +411,9 @@ pipeline {
           }
         }
 
-        stage('px4_fmu-v5_default (pixhawk 4)') {
-          agent {
-            label 'pixhawk_4'
-          }
-          steps {
-            sh 'export'
-            sh 'find /dev/serial'
-            unstash 'px4_fmu-v5_default'
-            // flash board and watch bootup
-            sh './platforms/nuttx/Debug/jlink_gdb_upload.sh  build/px4_fmu-v5_default/px4_fmu-v5_default.elf'
-            sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
-            // configure
-            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 SYS_AUTOSTART 4001"'  // generic multicopter
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
-            // status commands
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "adc test"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "fmu status"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /dev"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /obj"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf latency"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
-            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
-            // run tests
-            sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
-            // 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"'
-          }
-          options {
-            timeout(time: 20, unit: 'MINUTES')
-          }
-        }
-
-        stage('px4_fmu-v5_default (pixhawk 4 mini)') {
+        stage('px4_fmu-v5_default') {
           agent {
-            label 'pixhawk_4_mini'
+            label 'px4_fmu-v5'
           }
           steps {
             sh 'export'
@@ -503,16 +457,16 @@ pipeline {
           }
         }
 
-        stage('px4_fmu-v5_default (CUAV V5 Nano)') {
+        stage('px4_fmu-v5_critmonitor') {
           agent {
-            label 'cuav_v5_nano'
+            label 'px4_fmu-v5'
           }
           steps {
             sh 'export'
             sh 'find /dev/serial'
-            unstash 'px4_fmu-v5_default'
+            unstash 'px4_fmu-v5_critmonitor'
             // flash board and watch bootup
-            sh './platforms/nuttx/Debug/jlink_gdb_upload.sh  build/px4_fmu-v5_default/px4_fmu-v5_default.elf'
+            sh './platforms/nuttx/Debug/jlink_gdb_upload.sh  build/px4_fmu-v5_critmonitor/px4_fmu-v5_critmonitor.elf'
             sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
             // configure
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
@@ -539,8 +493,10 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "critmon_start; sleep 30; critmon_stop"'
             // run tests
             sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "critmon_start; sleep 30; critmon_stop"'
             // 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"'
           }
@@ -549,22 +505,23 @@ pipeline {
           }
         }
 
-        stage('px4_fmu-v5_default (CUAV V5+)') {
+        stage('px4_fmu-v5_irqmonitor') {
           agent {
-            label 'cuav_v5_plus'
+            label 'px4_fmu-v5'
           }
           steps {
             sh 'export'
             sh 'find /dev/serial'
-            unstash 'px4_fmu-v5_default'
+            unstash 'px4_fmu-v5_irqmonitor'
             // flash board and watch bootup
-            sh './platforms/nuttx/Debug/jlink_gdb_upload.sh  build/px4_fmu-v5_default/px4_fmu-v5_default.elf'
+            sh './platforms/nuttx/Debug/jlink_gdb_upload.sh  build/px4_fmu-v5_irqmonitor/px4_fmu-v5_irqmonitor.elf'
             sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
             // configure
             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 SYS_AUTOSTART 4001"'  // generic multicopter
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
             // status commands
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "irqinfo"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "adc test"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
@@ -585,8 +542,10 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "irqinfo"'
             // run tests
             sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "irqinfo"'
             // 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"'
           }
@@ -595,108 +554,6 @@ pipeline {
           }
         }
 
-        stage('px4_fmu-v5_critmonitor') {
-          agent {
-            label 'px4_fmu-v5'
-          }
-          steps {
-            script {
-              try {
-                sh 'export'
-                sh 'find /dev/serial'
-                unstash 'px4_fmu-v5_critmonitor'
-                // flash board and watch bootup
-                sh './platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v5_critmonitor/px4_fmu-v5_critmonitor.elf'
-                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
-                // status commands
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "adc test"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "fmu status"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /dev"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /obj"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf latency"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
-                // run tests
-                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "critmon_start; sleep 30; critmon_stop"'
-                // 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"'
-              } catch (Exception err) {
-                  // always report passed for now
-                  currentBuild.result = 'SUCCESS'
-              }
-            } // script
-          }
-          options {
-            timeout(time: 20, unit: 'MINUTES')
-          }
-        }
-
-        stage('px4_fmu-v5_irqmonitor') {
-          agent {
-            label 'px4_fmu-v5'
-          }
-          steps {
-            script {
-              try {
-                sh 'export'
-                sh 'find /dev/serial'
-                unstash 'px4_fmu-v5_irqmonitor'
-                // flash board and watch bootup
-                sh './platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v5_irqmonitor/px4_fmu-v5_irqmonitor.elf'
-                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
-                // status commands
-		sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "irqinfo"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "adc test"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "fmu status"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /dev"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /obj"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf latency"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "irqinfo"'
-                // run tests
-                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
-		sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "irqinfo"'
-                // 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"'
-              } catch (Exception err) {
-                  // always report passed for now
-                  currentBuild.result = 'SUCCESS'
-              }
-            } // script
-          }
-          options {
-            timeout(time: 20, unit: 'MINUTES')
-          }
-        }
-
         stage('px4_fmu-v5_stackcheck') {
           agent {
             label 'px4_fmu-v5'