diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile
index c70d5197c8..8c19b2832b 100644
--- a/.ci/Jenkinsfile-compile
+++ b/.ci/Jenkinsfile-compile
@@ -9,10 +9,10 @@ pipeline {
         script {
           def build_nodes = [:]
           def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-05-04",
-            arm64: "px4io/px4-dev-aarch64:2021-05-04",
-            base: "px4io/px4-dev-base-bionic:2021-05-04",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-05-04",
+            armhf: "px4io/px4-dev-armhf:2021-09-08",
+            arm64: "px4io/px4-dev-aarch64:2021-09-08",
+            base: "px4io/px4-dev-base-bionic:2021-09-08",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
           ]
 
           def armhf_builds = [
@@ -127,7 +127,7 @@ pipeline {
     // TODO: actually upload artifacts to S3
     // stage('S3 Upload') {
     //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
     //   }
     //   options {
     //         skipDefaultCheckout()
diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
index 6cd7430787..2b10591cf1 100644
--- a/.ci/Jenkinsfile-hardware
+++ b/.ci/Jenkinsfile-hardware
@@ -12,7 +12,7 @@ pipeline {
             stage("build cubepilot_cubeorange_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -86,7 +86,7 @@ pipeline {
             stage("build cuav_x7pro_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -158,7 +158,7 @@ pipeline {
             stage("build px4_fmu-v3_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -230,7 +230,7 @@ pipeline {
             stage("build px4_fmu-v4_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -301,7 +301,7 @@ pipeline {
             stage("build px4_fmu-v4pro_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -373,7 +373,7 @@ pipeline {
             stage("build px4_fmu-v5_debug") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -455,7 +455,7 @@ pipeline {
             stage("build px4_fmu-v5_optimized") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -527,7 +527,7 @@ pipeline {
             stage("build px4_fmu-v5_stackcheck") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -609,7 +609,7 @@ pipeline {
             stage("build px4_fmu-v5_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -681,7 +681,7 @@ pipeline {
         //     stage("build modalai_fc-v1_test") {
         //       agent {
         //         docker {
-        //           image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+        //           image 'px4io/px4-dev-nuttx-focal:2021-09-08'
         //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
         //         }
         //       }
@@ -748,7 +748,7 @@ pipeline {
             stage("build nxp_fmuk66-v3_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 20c69f1386..b0914106ed 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-05-04",
+	"image": "px4io/px4-dev-nuttx-focal:2021-09-08",
 
 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
 
diff --git a/.github/workflows/checks.yml b/.github/workflows/checks.yml
index cf2721be33..40e22ecc2e 100644
--- a/.github/workflows/checks.yml
+++ b/.github/workflows/checks.yml
@@ -29,7 +29,7 @@ jobs:
           "parameters_metadata",
         ]
     container:
-      image: px4io/px4-dev-nuttx-focal:2021-05-04
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
diff --git a/.github/workflows/clang-tidy.yml b/.github/workflows/clang-tidy.yml
index 7cbc5c0d02..ebc5fe34b3 100644
--- a/.github/workflows/clang-tidy.yml
+++ b/.github/workflows/clang-tidy.yml
@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-05-04
+    container: px4io/px4-dev-clang:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
diff --git a/.github/workflows/compile_linux.yml b/.github/workflows/compile_linux.yml
index 5c0d442a32..720f60c2f6 100644
--- a/.github/workflows/compile_linux.yml
+++ b/.github/workflows/compile_linux.yml
@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-05-04
+    container: px4io/px4-dev-armhf:2021-09-08
     strategy:
       matrix:
         config: [
diff --git a/.github/workflows/compile_linux_arm64.yml b/.github/workflows/compile_linux_arm64.yml
index f5f0e423d3..f00b36dc29 100644
--- a/.github/workflows/compile_linux_arm64.yml
+++ b/.github/workflows/compile_linux_arm64.yml
@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-05-04
+    container: px4io/px4-dev-aarch64:2021-09-08
     strategy:
       matrix:
         config: [
diff --git a/.github/workflows/compile_nuttx.yml b/.github/workflows/compile_nuttx.yml
index 2780853c06..58bb43fa20 100644
--- a/.github/workflows/compile_nuttx.yml
+++ b/.github/workflows/compile_nuttx.yml
@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
     strategy:
       matrix:
         config: [
diff --git a/.github/workflows/compile_nuttx_cannode.yml b/.github/workflows/compile_nuttx_cannode.yml
index 5574776f5c..fc5d99458e 100644
--- a/.github/workflows/compile_nuttx_cannode.yml
+++ b/.github/workflows/compile_nuttx_cannode.yml
@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
     strategy:
       matrix:
         config: [
diff --git a/.github/workflows/deploy_all.yml b/.github/workflows/deploy_all.yml
index ee69800d70..68ce75c120 100644
--- a/.github/workflows/deploy_all.yml
+++ b/.github/workflows/deploy_all.yml
@@ -23,7 +23,7 @@ jobs:
     needs: enumerate_targets
     strategy:
       matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-05-04
+    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
diff --git a/.github/workflows/ekf_functional_change_indicator.yml b/.github/workflows/ekf_functional_change_indicator.yml
index 6c5225df5b..a5fa9db599 100644
--- a/.github/workflows/ekf_functional_change_indicator.yml
+++ b/.github/workflows/ekf_functional_change_indicator.yml
@@ -5,7 +5,7 @@ on: pull_request
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v2.3.1
       with:
diff --git a/.github/workflows/ekf_update_change_indicator.yml b/.github/workflows/ekf_update_change_indicator.yml
index 8c3e55d6af..7de35207f0 100644
--- a/.github/workflows/ekf_update_change_indicator.yml
+++ b/.github/workflows/ekf_update_change_indicator.yml
@@ -5,7 +5,7 @@ on: push
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
     env:
       GIT_COMMITTER_EMAIL: bot@px4.io
       GIT_COMMITTER_NAME: PX4BuildBot
diff --git a/.github/workflows/mavros_mission_tests.yml b/.github/workflows/mavros_mission_tests.yml
index 4d50c45f27..e8dc6ba771 100644
--- a/.github/workflows/mavros_mission_tests.yml
+++ b/.github/workflows/mavros_mission_tests.yml
@@ -25,7 +25,7 @@ jobs:
           #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2021-05-04
+      image: px4io/px4-dev-ros-melodic:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
diff --git a/.github/workflows/mavros_offboard_tests.yml b/.github/workflows/mavros_offboard_tests.yml
index 94aaee1718..c494639b11 100644
--- a/.github/workflows/mavros_offboard_tests.yml
+++ b/.github/workflows/mavros_offboard_tests.yml
@@ -20,7 +20,7 @@ jobs:
           #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2021-05-04
+      image: px4io/px4-dev-ros-melodic:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
diff --git a/.github/workflows/metadata.yml b/.github/workflows/metadata.yml
index 6987549440..3adb3e565e 100644
--- a/.github/workflows/metadata.yml
+++ b/.github/workflows/metadata.yml
@@ -11,7 +11,7 @@ jobs:
 
   airframe:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -37,7 +37,7 @@ jobs:
 
   module:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -52,7 +52,7 @@ jobs:
 
   parameter:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -76,7 +76,7 @@ jobs:
 
   events:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -103,7 +103,7 @@ jobs:
 
   uorb_graph:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -118,7 +118,7 @@ jobs:
 
   micrortps_agent:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -132,7 +132,7 @@ jobs:
 
   ROS_msgs:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -145,7 +145,7 @@ jobs:
 
   ROS2_bridge:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
diff --git a/.github/workflows/sitl_tests.yml b/.github/workflows/sitl_tests.yml
index 7709a1525e..87c17344c6 100644
--- a/.github/workflows/sitl_tests.yml
+++ b/.github/workflows/sitl_tests.yml
@@ -21,7 +21,7 @@ jobs:
           - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",         model: "standard_vtol" } # Zurich
 
     container:
-      image: px4io/px4-dev-simulation-focal:2021-05-04
+      image: px4io/px4-dev-simulation-focal:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
diff --git a/Tools/docker_run.sh b/Tools/docker_run.sh
index e4a0d30999..d0a1d94562 100755
--- a/Tools/docker_run.sh
+++ b/Tools/docker_run.sh
@@ -4,7 +4,7 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
@@ -27,7 +27,7 @@ fi
 
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
 fi
 
 # docker hygiene