diff --git a/libraries/AP_HAL_QURT/packaging/.gitignore b/libraries/AP_HAL_QURT/packaging/.gitignore
new file mode 100644
index 0000000000..eaa90ca25d
--- /dev/null
+++ b/libraries/AP_HAL_QURT/packaging/.gitignore
@@ -0,0 +1,5 @@
+*.deb
+pkg/DEB
+pkg/data
+pkg/control/control
+
diff --git a/libraries/AP_HAL_QURT/packaging/make_package.sh b/libraries/AP_HAL_QURT/packaging/make_package.sh
new file mode 100755
index 0000000000..839450217c
--- /dev/null
+++ b/libraries/AP_HAL_QURT/packaging/make_package.sh
@@ -0,0 +1,100 @@
+#!/bin/bash
+
+set -e # exit on error to prevent bad ipk from being generated
+
+[ $# -eq 2 ] || {
+    echo "Usage: make_package.sh VEHICLETYPE VEHICLE_BINARY"
+    exit 1
+}
+
+VEHICLETYPE="$1"
+VEHICLE_BINARY="$2"
+
+[ -d $VEHICLETYPE ] || {
+    echo "Vehicle directory $VEHICLETYPE not found"
+    exit 1
+}
+
+# get version numbers
+FW_MAJOR=$(grep FW_MAJOR $VEHICLETYPE/version.h | cut -d' ' -f3)
+FW_MINOR=$(grep FW_MINOR $VEHICLETYPE/version.h | cut -d' ' -f3)
+FW_PATCH=$(grep FW_PATCH $VEHICLETYPE/version.h | cut -d' ' -f3)
+GIT_VERSION=$(git rev-parse HEAD | cut -c1-8)
+
+VERSION="${FW_MAJOR}.${FW_MINOR}.${FW_PATCH}-${GIT_VERSION}"
+
+echo "Package Name: " $PACKAGE
+echo "version Number: " $VERSION
+
+cd libraries/AP_HAL_QURT/packaging
+
+cat pkg/control/control.in | sed "s/FW_VERSION/$VERSION/g" > pkg/control/control
+
+################################################################################
+# variables
+################################################################################
+PACKAGE=$(cat pkg/control/control | grep "Package" | cut -d' ' -f 2)
+
+DATA_DIR=pkg/data
+CONTROL_DIR=pkg/control
+DEB_DIR=pkg/DEB
+
+################################################################################
+# start with a little cleanup to remove old files
+################################################################################
+# remove data directory where 'make install' installed to
+sudo rm -rf $DATA_DIR
+mkdir $DATA_DIR
+
+# remove deb packaging folders
+rm -rf $DEB_DIR
+
+################################################################################
+## install compiled stuff into data directory
+################################################################################
+
+if [ -f ../../../build/QURT/ardupilot ] && \
+   [ -f ../../../build/QURT/bin/$VEHICLE_BINARY ]; then
+
+	# Copy the SLPI DSP AP library
+	sudo mkdir -p $DATA_DIR/usr/lib/rfsa/adsp
+	sudo cp ../../../build/QURT/bin/$VEHICLE_BINARY $DATA_DIR/usr/lib/rfsa/adsp/ArduPilot.so
+
+    # Install executables
+	sudo mkdir -p $DATA_DIR/usr/bin
+	sudo cp ../../../build/QURT/ardupilot $DATA_DIR/usr/bin
+	sudo cp ../ap_host/service/voxl-ardupilot $DATA_DIR/usr/bin
+	sudo chmod a+x $DATA_DIR/usr/bin/ardupilot
+	sudo chmod a+x $DATA_DIR/usr/bin/voxl-ardupilot
+
+    # Create necessary directories for ArduPilot operation
+	sudo mkdir -p $DATA_DIR/data/APM
+
+	# Install default parameter files
+	sudo cp ../../../Tools/Frame_params/ModalAI/*.parm $DATA_DIR/data/APM
+
+	sudo mkdir -p $DATA_DIR/etc/systemd/system/
+	sudo cp ../ap_host/service/voxl-ardupilot.service $DATA_DIR/etc/systemd/system/
+
+else
+	echo "Error: Build artifacts not found"
+	exit 1
+fi
+
+################################################################################
+# make a DEB package
+################################################################################
+
+echo "starting building Debian Package"
+
+## make a folder dedicated to Deb building and copy the requires debian-binary file in
+mkdir $DEB_DIR
+
+## copy the control stuff in
+cp -rf $CONTROL_DIR/ $DEB_DIR/DEBIAN
+cp -rf $DATA_DIR/*   $DEB_DIR
+
+DEB_NAME="${PACKAGE}_${VEHICLETYPE}_${VERSION}_arm64.deb"
+dpkg-deb --build "${DEB_DIR}" "${DEB_NAME}"
+
+echo "DONE"
diff --git a/libraries/AP_HAL_QURT/packaging/pkg/control/control.in b/libraries/AP_HAL_QURT/packaging/pkg/control/control.in
new file mode 100644
index 0000000000..1ad0196bdf
--- /dev/null
+++ b/libraries/AP_HAL_QURT/packaging/pkg/control/control.in
@@ -0,0 +1,8 @@
+Package: voxl-ardupilot
+Version: FW_VERSION
+Section: devel
+Priority: optional
+Architecture: arm64
+Depends: modalai-slpi(>=1.1.19), libslpi-link
+Maintainer: Eric Katzfey <eric.katzfey@modalai.com>
+Description: ModalAI ArduPilot flight controller
diff --git a/libraries/AP_HAL_QURT/packaging/pkg/control/postinst b/libraries/AP_HAL_QURT/packaging/pkg/control/postinst
new file mode 100755
index 0000000000..04f668085e
--- /dev/null
+++ b/libraries/AP_HAL_QURT/packaging/pkg/control/postinst
@@ -0,0 +1,39 @@
+#!/bin/bash
+
+# Create directory for APM use
+cd /data
+mkdir -p APM
+chown system:system APM
+
+# Make sure the run scripts are executable
+cd /usr/bin
+chmod a+x voxl-ardupilot
+
+# Check to see if a DSP test signature exists
+if /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then
+    /bin/echo "Found DSP signature file"
+else
+    /bin/echo "Could not find DSP signature file"
+    # Look for the DSP signature generation script
+    if [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
+        /bin/echo "Attempting to generate the DSP signature file"
+        # Automatically generate the test signature so that px4 can run on SLPI DSP
+        /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh
+    else
+        /bin/echo "Could not find the DSP signature file generation script"
+    fi
+fi
+
+# Always flush all changes to disk
+/bin/sync
+
+cd -
+
+# try to reload services, but don't fail if it can't
+set +e
+if [ -f /bin/systemctl ]; then
+	systemctl daemon-reload
+fi
+
+# exit 0 even if systemctl failed
+exit 0