diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile
index 0461bef123..03bd7c7570 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:2021-04-29",
-            arm64: "px4io/px4-dev-aarch64:2021-04-29",
-            base: "px4io/px4-dev-base-bionic:2021-04-29",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
+            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",
             snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
           ]
 
@@ -133,7 +133,7 @@ pipeline {
     // TODO: actually upload artifacts to S3
     // stage('S3 Upload') {
     //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
     //   }
     //   options {
     //         skipDefaultCheckout()
diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
index 4ae8c92aae..b96eaba368 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:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   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:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -159,7 +159,7 @@ pipeline {
             stage("build px4_fmu-v3_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -232,7 +232,7 @@ pipeline {
             stage("build px4_fmu-v4_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -305,7 +305,7 @@ pipeline {
             stage("build px4_fmu-v4pro_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -378,7 +378,7 @@ pipeline {
             stage("build px4_fmu-v5_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -451,7 +451,7 @@ pipeline {
             stage("build px4_fmu-v5_debug") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -528,7 +528,7 @@ pipeline {
             stage("build px4_fmu-v5_optimized") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -601,7 +601,7 @@ pipeline {
             stage("build px4_fmu-v5_stackcheck") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -678,7 +678,7 @@ pipeline {
             stage("build modalai_fc-v1_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -751,7 +751,7 @@ pipeline {
             stage("build holybro_durandal-v1_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -825,7 +825,7 @@ pipeline {
             stage("build nxp_fmuk66-v3_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 9348ae934e..20c69f1386 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:2021-04-29",
+	"image": "px4io/px4-dev-nuttx-focal:2021-05-04",
 
 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
 
diff --git a/.github/workflows/checks.yml b/.github/workflows/checks.yml
index 2388713e34..cf2721be33 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:2021-04-29
+      image: px4io/px4-dev-nuttx-focal:2021-05-04
       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 b705b44ccf..7cbc5c0d02 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:2021-04-29
+    container: px4io/px4-dev-clang:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:
diff --git a/.github/workflows/compile_linux.yml b/.github/workflows/compile_linux.yml
index b503963325..5c0d442a32 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:2021-04-29
+    container: px4io/px4-dev-armhf:2021-05-04
     strategy:
       matrix:
         config: [
diff --git a/.github/workflows/compile_linux_arm64.yml b/.github/workflows/compile_linux_arm64.yml
index 211e65a0e8..f5f0e423d3 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-aarch64:2021-04-29
+    container: px4io/px4-dev-aarch64:2021-05-04
     strategy:
       matrix:
         config: [
diff --git a/.github/workflows/compile_nuttx.yml b/.github/workflows/compile_nuttx.yml
index 394a981a32..0f1d125ef7 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:2021-04-29
+    container: px4io/px4-dev-nuttx-focal:2021-05-04
     strategy:
       matrix:
         config: [
diff --git a/.github/workflows/compile_nuttx_cannode.yml b/.github/workflows/compile_nuttx_cannode.yml
index 59163d33a8..670ce15618 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:2021-04-29
+    container: px4io/px4-dev-nuttx-focal:2021-05-04
     strategy:
       matrix:
         config: [
diff --git a/.github/workflows/deploy_all.yml b/.github/workflows/deploy_all.yml
index 1142d2ea3f..3e29334497 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 }}:2021-04-29
+    container: px4io/px4-dev-${{ matrix.container }}:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:
diff --git a/.github/workflows/mavros_mission_tests.yml b/.github/workflows/mavros_mission_tests.yml
index a94e7fc20c..4d50c45f27 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:2021-04-29
+      image: px4io/px4-dev-ros-melodic:2021-05-04
       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 208ca3ef16..94aaee1718 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:2021-04-29
+      image: px4io/px4-dev-ros-melodic:2021-05-04
       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 37e023d148..d934f60e65 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:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -37,7 +37,7 @@ jobs:
 
   module:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -52,7 +52,7 @@ jobs:
 
   parameter:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -103,7 +103,7 @@ jobs:
 
   uorb_graph:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-04-29
+    container: px4io/px4-dev-nuttx-focal:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -118,7 +118,7 @@ jobs:
 
   micrortps_agent:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -132,7 +132,7 @@ jobs:
 
   ROS_msgs:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -145,7 +145,7 @@ jobs:
 
   ROS2_bridge:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:
diff --git a/.github/workflows/sitl_tests.yml b/.github/workflows/sitl_tests.yml
index 63181ef511..7709a1525e 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:2021-04-29
+      image: px4io/px4-dev-simulation-focal:2021-05-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
diff --git a/Jenkinsfile b/Jenkinsfile
index 77d945643a..df10e02a7a 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -15,7 +15,7 @@ pipeline {
         // stage('Catkin build on ROS workspace') {
         //   agent {
         //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-04-29'
+        //       image 'px4io/px4-dev-ros-melodic:2021-05-04'
         //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
         //     }
         //   }
@@ -56,7 +56,7 @@ pipeline {
         stage('Colcon build on ROS2 workspace') {
           agent {
             docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-04-29'
+              image 'px4io/px4-dev-ros2-foxy:2021-05-04'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
             }
           }
@@ -85,7 +85,7 @@ pipeline {
 
         stage('Airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh 'make distclean'
@@ -105,7 +105,7 @@ pipeline {
 
         stage('Parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh 'make distclean'
@@ -125,7 +125,7 @@ pipeline {
 
         stage('Module') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh 'make distclean'
@@ -146,7 +146,7 @@ pipeline {
         stage('uORB graphs') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+              image 'px4io/px4-dev-nuttx-focal:2021-05-04'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -176,7 +176,7 @@ pipeline {
 
         stage('Userguide') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh('export')
@@ -206,7 +206,7 @@ pipeline {
 
         stage('QGroundControl') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh('export')
@@ -234,7 +234,7 @@ pipeline {
 
         stage('microRTPS agent') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh('export')
@@ -264,7 +264,7 @@ pipeline {
 
         stage('PX4 ROS msgs') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh('export')
@@ -293,7 +293,7 @@ pipeline {
 
         stage('PX4 ROS2 bridge') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh('export')
@@ -336,7 +336,7 @@ pipeline {
 
         stage('S3') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh('export')
diff --git a/Tools/docker_run.sh b/Tools/docker_run.sh
index 53e681b10d..9340b3a36b 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:2021-04-29"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
 	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:2021-02-04"
@@ -30,7 +30,7 @@ fi
 
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
 fi
 
 # docker hygiene