diff --git a/.github/actions/qt-android/action.yml b/.github/actions/qt-android/action.yml
index c932454e5a7..9bc90bf3325 100644
--- a/.github/actions/qt-android/action.yml
+++ b/.github/actions/qt-android/action.yml
@@ -4,6 +4,9 @@ inputs:
   host:
     description: Host
     required: true
+  arch:
+    description: Arch
+    required: true
   version:
     description: Qt Version
     required: false
@@ -28,10 +31,6 @@ runs:
         packages: 'platform-tools platforms;android-34 build-tools;34.0.0' # ndk;25.1.8937393'
         log-accepted-android-sdk-licenses: false
 
-    - name: Update Android SDK / NDK / Tools
-      run: sdkmanager --update
-      shell: bash
-
     - name: Install Android NDK
       uses: nttld/setup-ndk@v1
       id: setup-ndk
@@ -45,10 +44,15 @@ runs:
         echo "ANDROID_NDK=${{ steps.setup-ndk.outputs.ndk-path }}" >> "$GITHUB_ENV"
       shell: bash
 
+    - name: Update Android SDK / NDK / Tools
+      if: ${{ runner.os != 'Windows' }}
+      run: sdkmanager --update
+      shell: bash
+
     - name: Set Up Cache
       uses: hendrikmuhs/ccache-action@v1.2
       with:
-        create-symlink: true
+        create-symlink: ${{ runner.os != 'Windows' }}
         key: ${{ runner.os }}-Android-${{ matrix.BuildType }}
         restore-keys: ${{ runner.os }}-Android-${{ matrix.BuildType }}
         max-size: 1G
@@ -62,6 +66,7 @@ runs:
         aqtversion: ==3.1.*
         host: ${{ inputs.host }}
         target: desktop
+        arch: ${{ inputs.arch }}
         dir: ${{ runner.temp }}
         modules: qtcharts qtlocation qtpositioning qtspeech qt5compat qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d qtsensors
         cache: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
diff --git a/.github/workflows/android-linux.yml b/.github/workflows/android-linux.yml
index 45779c44b9b..6ee800330fc 100644
--- a/.github/workflows/android-linux.yml
+++ b/.github/workflows/android-linux.yml
@@ -25,7 +25,7 @@ jobs:
 
     strategy:
       matrix:
-        BuildType: [Debug, Release]
+        BuildType: [Release]
 
     defaults:
       run:
@@ -68,6 +68,7 @@ jobs:
         uses: ./.github/actions/qt-android
         with:
           host: linux
+          arch: gcc_64
           version: ${{ env.QT_VERSION }}
           abis: ${{ env.QT_ANDROID_ABIS }}
 
diff --git a/.github/workflows/android-macos.yml b/.github/workflows/android-macos.yml
index 7b2f10998bf..6bccb36f624 100644
--- a/.github/workflows/android-macos.yml
+++ b/.github/workflows/android-macos.yml
@@ -9,7 +9,7 @@ jobs:
 
     strategy:
       matrix:
-        BuildType: [Debug, Release]
+        BuildType: [Release]
 
     defaults:
       run:
@@ -23,7 +23,7 @@ jobs:
       QT_ANDROID_KEYSTORE_ALIAS: QGCAndroidKeyStore
       QT_ANDROID_KEYSTORE_STORE_PASS: ${{ secrets.ANDROID_KEYSTORE_PASSWORD }}
       QT_ANDROID_KEYSTORE_KEY_PASS: ${{ secrets.ANDROID_KEYSTORE_PASSWORD }}
-      QT_ANDROID_ABIS: "armeabi-v7a;arm64-v8a"
+      QT_ANDROID_ABIS: ${{ matrix.BuildType == 'Release' && 'armeabi-v7a;arm64-v8a' || 'arm64-v8a' }}
 
     steps:
       - name: Checkout repo
@@ -44,6 +44,7 @@ jobs:
         uses: ./.github/actions/qt-android
         with:
           host: mac
+          arch: clang_64
           version: ${{ env.QT_VERSION }}
           abis: ${{ env.QT_ANDROID_ABIS }}
 
@@ -55,7 +56,7 @@ jobs:
               -DCMAKE_BUILD_TYPE=${{ matrix.BuildType }}
               -DQT_ANDROID_ABIS="${{ env.QT_ANDROID_ABIS }}"
               -DQT_ANDROID_BUILD_ALL_ABIS=OFF
-              -DQT_HOST_PATH="${{ env.QT_ROOT_DIR }}/../msvc2019_64"
+              -DQT_HOST_PATH="${{ env.QT_ROOT_DIR }}/../macos"
               -DQT_ANDROID_SIGN_APK=${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && 'ON' || 'OFF' }}
               -DQT_DEBUG_FIND_PACKAGE=ON
               -DQGC_STABLE_BUILD=${{ github.ref_type == 'tag' || contains(github.ref, 'Stable') && 'ON' || 'OFF' }}
diff --git a/.github/workflows/android-windows.yml b/.github/workflows/android-windows.yml
index efb48dd49fb..67744452878 100644
--- a/.github/workflows/android-windows.yml
+++ b/.github/workflows/android-windows.yml
@@ -1,7 +1,23 @@
 name: Android-Windows
 
 on:
-  workflow_dispatch:
+  push:
+    branches:
+      - master
+      - 'Stable*'
+    tags:
+      - 'v*'
+    paths-ignore:
+      - 'deploy/**'
+      - 'docs/**'
+  pull_request:
+    paths-ignore:
+      - 'deploy/**'
+      - 'docs/**'
+      - '.github/workflows/docs_deploy.yml'
+      - '.github/workflows/linux.yml'
+      - '.github/workflows/macos.yml'
+      - '.github/workflows/windows.yml'
 
 jobs:
   build:
@@ -9,7 +25,7 @@ jobs:
 
     strategy:
       matrix:
-        BuildType: [Debug, Release]
+        BuildType: [Release]
 
     defaults:
       run:
@@ -23,7 +39,7 @@ jobs:
       QT_ANDROID_KEYSTORE_ALIAS: QGCAndroidKeyStore
       QT_ANDROID_KEYSTORE_STORE_PASS: ${{ secrets.ANDROID_KEYSTORE_PASSWORD }}
       QT_ANDROID_KEYSTORE_KEY_PASS: ${{ secrets.ANDROID_KEYSTORE_PASSWORD }}
-      QT_ANDROID_ABIS: "armeabi-v7a;arm64-v8a"
+      QT_ANDROID_ABIS: ${{ matrix.BuildType == 'Release' && 'armeabi-v7a;arm64-v8a' || 'arm64-v8a' }}
 
     steps:
       - name: Checkout repo
@@ -37,7 +53,7 @@ jobs:
 
       - name: Install Dependencies
         run: |
-          choco install --no-progress ninja sscache -y
+          choco install --no-progress ninja pkgconfiglite -y
           choco install --no-progress cmake --installargs 'ADD_CMAKE_TO_PATH=System' --apply-install-arguments-to-dependencies
 
       # - name: Set Up sccache
@@ -47,6 +63,7 @@ jobs:
         uses: ./.github/actions/qt-android
         with:
           host: windows
+          arch: win64_msvc2019_64
           version: ${{ env.QT_VERSION }}
           abis: ${{ env.QT_ANDROID_ABIS }}
 
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index ae416db7b29..011650ebd58 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -1,7 +1,25 @@
 name: Docker
 
 on:
-  workflow_dispatch:
+  push:
+    branches:
+      - master
+      - 'Stable*'
+    tags:
+      - 'v*'
+    paths-ignore:
+      - 'android/**'
+      - 'deploy/**'
+      - 'docs/**'
+  pull_request:
+    paths-ignore:
+      - 'android/**'
+      - 'deploy/**'
+      - 'docs/**'
+      - '.github/workflows/docs_deploy.yml'
+      - '.github/workflows/android.yml'
+      - '.github/workflows/macos.yml'
+      - '.github/workflows/windows.yml'
 
 jobs:
   build:
diff --git a/.github/workflows/ios.yml b/.github/workflows/ios.yml
index c42d6866bce..b0f4f0d7f32 100644
--- a/.github/workflows/ios.yml
+++ b/.github/workflows/ios.yml
@@ -9,7 +9,7 @@ jobs:
 
     strategy:
       matrix:
-        BuildType: [Debug, Release]
+        BuildType: [Release]
 
     defaults:
       run:
@@ -21,6 +21,20 @@ jobs:
       GST_VERSION: 1.22.12
 
     steps:
+      - name: Recover disk space
+        run: |
+          df -h
+          ls /Applications
+          brew uninstall google-chrome
+          sudo rm -rf /Users/runner/Library/Android
+          sudo rm -rf /Applications/Xcode_14*
+          sudo rm -rf /Applications/Xcode_15.0*
+          sudo rm -rf /Applications/Xcode_15.1*
+          sudo rm -rf /Applications/Xcode_15.2*
+          sudo rm -rf /Applications/Xcode_15.3*
+          ls /Applications
+          df -h
+
       - name: Checkout repo
         uses: actions/checkout@v4
         with:
@@ -28,6 +42,11 @@ jobs:
           fetch-tags: true
           fetch-depth: 0
 
+      - name: Setup Xcode
+        uses: maxim-lobanov/setup-xcode@v1
+        with:
+          xcode-version: latest-stable
+
       - uses: seanmiddleditch/gha-setup-ninja@v5
 
       - name: Install Dependencies
@@ -38,8 +57,8 @@ jobs:
       - name: Set Up Cache
         uses: hendrikmuhs/ccache-action@v1.2
         with:
-          key: ${{ runner.os }}-${{ matrix.BuildType }}
-          restore-keys: ${{ runner.os }}-${{ matrix.BuildType }}
+          key: ${{ runner.os }}-iOS-${{ matrix.BuildType }}
+          restore-keys: ${{ runner.os }}-iOS-${{ matrix.BuildType }}
           max-size: 1G
           append-timestamp: false
           save: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
@@ -51,6 +70,7 @@ jobs:
           aqtversion: ==3.1.*
           host: mac
           target: desktop
+          arch: clang_64
           dir: ${{ runner.temp }}
           modules: qtcharts qtlocation qtpositioning qtspeech qt5compat qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d qtsensors
           cache: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
@@ -62,12 +82,13 @@ jobs:
           aqtversion: ==3.1.*
           host: mac
           target: ios
+          arch: ios
           dir: ${{ runner.temp }}
           extra: --autodesktop
           modules: qtcharts qtlocation qtpositioning qtspeech qt5compat qtmultimedia qtimageformats qtshadertools qtconnectivity qtquick3d qtsensors
           cache: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
 
-      - run:  mkdir ${{ runner.temp }}/shadow_build_dir
+      - run: mkdir ${{ runner.temp }}/shadow_build_dir
 
       - name: Configure
         working-directory: ${{ runner.temp }}/shadow_build_dir
diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
index 2ccaeec3684..21406644a03 100644
--- a/.github/workflows/linux.yml
+++ b/.github/workflows/linux.yml
@@ -29,15 +29,15 @@ jobs:
       matrix:
         BuildType: [Debug, Release]
 
+    defaults:
+      run:
+        shell: bash
+
     env:
       ARTIFACT: QGroundControl-x86_64.AppImage
       QT_VERSION: 6.6.3
       # GST_VERSION: 1.22.12
 
-    defaults:
-      run:
-        shell: bash
-
     steps:
       - name: Free Disk Space (Ubuntu)
         uses: jlumbroso/free-disk-space@main
@@ -98,6 +98,7 @@ jobs:
           aqtversion: ==3.1.*
           host: linux
           target: desktop
+          arch: gcc_64
           dir: ${{ runner.temp }}
           modules: qtcharts qtlocation qtpositioning qtspeech qt5compat qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d qtsensors
           cache: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index d71900e6134..380e460ff0a 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -27,17 +27,17 @@ jobs:
 
     strategy:
       matrix:
-        BuildType: [Debug, Release]
+        BuildType: [Release]
+
+    defaults:
+      run:
+        shell: bash
 
     env:
       ARTIFACT: QGroundControl.dmg
       QT_VERSION: 6.6.3
       GST_VERSION: 1.22.12
 
-    defaults:
-      run:
-        shell: bash
-
     steps:
       - name: Checkout repo
         uses: actions/checkout@v4
@@ -46,6 +46,11 @@ jobs:
           fetch-tags: true
           fetch-depth: 0
 
+      - name: Setup Xcode
+        uses: maxim-lobanov/setup-xcode@v1
+        with:
+          xcode-version: latest-stable
+
       - uses: seanmiddleditch/gha-setup-ninja@v5
 
       - name: Install Dependencies
@@ -78,6 +83,7 @@ jobs:
           aqtversion: ==3.1.*
           host: mac
           target: desktop
+          arch: clang_64
           dir: ${{ runner.temp }}
           modules: qtcharts qtlocation qtpositioning qtspeech qt5compat qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d qtsensors
           cache: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index 8daac794f85..9bb21ce684c 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -27,7 +27,7 @@ jobs:
 
     strategy:
       matrix:
-        BuildType: [Debug, Release]
+        BuildType: [Release]
         Arch: [x64] # Arm64
 
     defaults:
@@ -52,7 +52,7 @@ jobs:
 
       - name: Install Dependencies
         run: |
-          choco install --no-progress ninja sccache -y
+          choco install --no-progress ninja pkgconfiglite -y
           choco install --no-progress cmake --installargs 'ADD_CMAKE_TO_PATH=System' --apply-install-arguments-to-dependencies
 
       - name: Install Vulkan
@@ -105,7 +105,7 @@ jobs:
           aqtversion: ==3.1.*
           host: windows
           target: desktop
-          arch: win64_msvc2019_64
+          arch: win64_msvc2019_arm64
           dir: ${{ runner.temp }}
           extra: --autodesktop
           modules: qtcharts qtlocation qtpositioning qtspeech qt5compat qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d qtsensors
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 491fb33a9b3..7f494abef95 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -58,6 +58,8 @@ set(CMAKE_AUTOUIC ON)
 set(CMAKE_AUTORCC ON)
 
 set(CMAKE_INCLUDE_CURRENT_DIR OFF)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release")
 if(NOT CMAKE_BUILD_TYPE)
@@ -361,9 +363,27 @@ elseif(MACOS)
     )
 elseif(IOS)
     enable_language(OBJC)
+
+    set(CMAKE_OSX_ARCHITECTURES "arm64")
+    set(CMAKE_OSX_SYSROOT "iphoneos")
+    set(CMAKE_OSX_DEPLOYMENT_TARGET "14.0")
+    set(CMAKE_XCODE_ATTRIBUTE_IPHONEOS_DEPLOYMENT_TARGET "14.0")
+    set(CMAKE_XCODE_ATTRIBUTE_TARGETED_DEVICE_FAMILY "1,2") # iPhone,iPad
+    set(CMAKE_XCODE_ATTRIBUTE_INFOPLIST_FILE "${CMAKE_CURRENT_SOURCE_DIR}/deploy/ios/iOS-Info.plist")
+
     set_target_properties(${PROJECT_NAME}
         PROPERTIES
             QT_IOS_LAUNCH_SCREEN ${CMAKE_SOURCE_DIR}/deploy/ios/QGCLaunchScreen.xib
+            XCODE_ATTRIBUTE_PRODUCT_BUNDLE_IDENTIFIER "org.mavlink.qgroundcontrol"
+            XCODE_ATTRIBUTE_PRODUCT_NAME ${CMAKE_PROJECT_NAME}
+            XCODE_ATTRIBUTE_CURRENT_PROJECT_VERSION ${CMAKE_PROJECT_VERSION}
+            XCODE_ATTRIBUTE_MARKETING_VERSION ${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}
+            XCODE_ATTRIBUTE_ASSETCATALOG_COMPILER_APPICON_NAME "AppIcon"
+            XCODE_ATTRIBUTE_IPHONEOS_DEPLOYMENT_TARGET "14.0"
+            XCODE_ATTRIBUTE_TARGETED_DEVICE_FAMILY "1,2" # iPhone,iPad
+            XCODE_ATTRIBUTE_INFOPLIST_KEY_CFBundleDisplayName ${CMAKE_PROJECT_NAME}
+            XCODE_ATTRIBUTE_INFOPLIST_KEY_LSApplicationCategoryType "public.app-category.mycategory"
+            XCODE_ATTRIBUTE_GCC_GENERATE_DEBUGGING_SYMBOLS "YES"
     )
 elseif(ANDROID)
     FetchContent_Declare(android_openssl
diff --git a/cmake/FindFFMPEG.cmake b/cmake/FindFFMPEG.cmake
new file mode 100644
index 00000000000..f727ef2dddf
--- /dev/null
+++ b/cmake/FindFFMPEG.cmake
@@ -0,0 +1,195 @@
+#[==[
+Provides the following variables:
+
+  * `FFMPEG_INCLUDE_DIRS`: Include directories necessary to use FFMPEG.
+  * `FFMPEG_LIBRARIES`: Libraries necessary to use FFMPEG. Note that this only
+    includes libraries for the components requested.
+  * `FFMPEG_VERSION`: The version of FFMPEG found.
+
+The following components are supported:
+
+  * `avcodec`
+  * `avdevice`
+  * `avfilter`
+  * `avformat`
+  * `avresample`
+  * `avutil`
+  * `swresample`
+  * `swscale`
+
+For each component, the following are provided:
+
+  * `FFMPEG_<component>_FOUND`: Libraries for the component.
+  * `FFMPEG_<component>_INCLUDE_DIRS`: Include directories for
+    the component.
+  * `FFMPEG_<component>_LIBRARIES`: Libraries for the component.
+  * `FFMPEG::<component>`: A target to use with `target_link_libraries`.
+
+Note that only components requested with `COMPONENTS` or `OPTIONAL_COMPONENTS`
+are guaranteed to set these variables or provide targets.
+#]==]
+
+function (_ffmpeg_find component headername)
+  find_path("FFMPEG_${component}_INCLUDE_DIR"
+    NAMES
+      "lib${component}/${headername}"
+    PATHS
+      "${FFMPEG_ROOT}/include"
+      ~/Library/Frameworks
+      /Library/Frameworks
+      /usr/local/include
+      /usr/include
+      /sw/include # Fink
+      /opt/local/include # DarwinPorts
+      /opt/csw/include # Blastwave
+      /opt/include
+      /usr/freeware/include
+    PATH_SUFFIXES
+      ffmpeg
+    DOC "FFMPEG's ${component} include directory")
+  mark_as_advanced("FFMPEG_${component}_INCLUDE_DIR")
+
+  # On Windows, static FFMPEG is sometimes built as `lib<name>.a`.
+  if (WIN32)
+    list(APPEND CMAKE_FIND_LIBRARY_SUFFIXES ".a" ".lib")
+    list(APPEND CMAKE_FIND_LIBRARY_PREFIXES "" "lib")
+  endif ()
+
+  find_library("FFMPEG_${component}_LIBRARY"
+    NAMES
+      "${component}"
+    PATHS
+      "${FFMPEG_ROOT}/lib"
+      ~/Library/Frameworks
+      /Library/Frameworks
+      /usr/local/lib
+      /usr/local/lib64
+      /usr/lib
+      /usr/lib64
+      /sw/lib
+      /opt/local/lib
+      /opt/csw/lib
+      /opt/lib
+      /usr/freeware/lib64
+      "${FFMPEG_ROOT}/bin"
+    DOC "FFMPEG's ${component} library")
+  mark_as_advanced("FFMPEG_${component}_LIBRARY")
+
+  if (FFMPEG_${component}_LIBRARY AND FFMPEG_${component}_INCLUDE_DIR)
+    set(_deps_found TRUE)
+    set(_deps_link)
+    foreach (_ffmpeg_dep IN LISTS ARGN)
+      if (TARGET "FFMPEG::${_ffmpeg_dep}")
+        list(APPEND _deps_link "FFMPEG::${_ffmpeg_dep}")
+      else ()
+        set(_deps_found FALSE)
+      endif ()
+    endforeach ()
+    if (_deps_found)
+      if (NOT TARGET "FFMPEG::${component}")
+        add_library("FFMPEG::${component}" UNKNOWN IMPORTED)
+        set_target_properties("FFMPEG::${component}" PROPERTIES
+          IMPORTED_LOCATION "${FFMPEG_${component}_LIBRARY}"
+          INTERFACE_INCLUDE_DIRECTORIES "${FFMPEG_${component}_INCLUDE_DIR}"
+          IMPORTED_LINK_INTERFACE_LIBRARIES "${_deps_link}")
+      endif ()
+      set("FFMPEG_${component}_FOUND" 1
+        PARENT_SCOPE)
+
+      set(version_header_path "${FFMPEG_${component}_INCLUDE_DIR}/lib${component}/version.h")
+      if (EXISTS "${version_header_path}")
+        string(TOUPPER "${component}" component_upper)
+        file(STRINGS "${version_header_path}" version
+          REGEX "#define  *LIB${component_upper}_VERSION_(MAJOR|MINOR|MICRO) ")
+        string(REGEX REPLACE ".*_MAJOR *\([0-9]*\).*" "\\1" major "${version}")
+        string(REGEX REPLACE ".*_MINOR *\([0-9]*\).*" "\\1" minor "${version}")
+        string(REGEX REPLACE ".*_MICRO *\([0-9]*\).*" "\\1" micro "${version}")
+        if (NOT major STREQUAL "" AND
+            NOT minor STREQUAL "" AND
+            NOT micro STREQUAL "")
+          set("FFMPEG_${component}_VERSION" "${major}.${minor}.${micro}"
+            PARENT_SCOPE)
+        endif ()
+      endif ()
+    else ()
+      set("FFMPEG_${component}_FOUND" 0
+        PARENT_SCOPE)
+      set(what)
+      if (NOT FFMPEG_${component}_LIBRARY)
+        set(what "library")
+      endif ()
+      if (NOT FFMPEG_${component}_INCLUDE_DIR)
+        if (what)
+          string(APPEND what " or headers")
+        else ()
+          set(what "headers")
+        endif ()
+      endif ()
+      set("FFMPEG_${component}_NOT_FOUND_MESSAGE"
+        "Could not find the ${what} for ${component}."
+        PARENT_SCOPE)
+    endif ()
+  endif ()
+endfunction ()
+
+_ffmpeg_find(avutil     avutil.h)
+_ffmpeg_find(avresample avresample.h
+  avutil)
+_ffmpeg_find(swresample swresample.h
+  avutil)
+_ffmpeg_find(swscale    swscale.h
+  avutil)
+_ffmpeg_find(avcodec    avcodec.h
+  avutil)
+_ffmpeg_find(avformat   avformat.h
+  avcodec avutil)
+_ffmpeg_find(avfilter   avfilter.h
+  avutil)
+_ffmpeg_find(avdevice   avdevice.h
+  avformat avutil)
+
+if (TARGET FFMPEG::avutil)
+  set(_ffmpeg_version_header_path "${FFMPEG_avutil_INCLUDE_DIR}/libavutil/ffversion.h")
+  if (EXISTS "${_ffmpeg_version_header_path}")
+    file(STRINGS "${_ffmpeg_version_header_path}" _ffmpeg_version
+      REGEX "FFMPEG_VERSION")
+    string(REGEX REPLACE ".*\"n?\(.*\)\"" "\\1" FFMPEG_VERSION "${_ffmpeg_version}")
+    unset(_ffmpeg_version)
+  else ()
+    set(FFMPEG_VERSION FFMPEG_VERSION-NOTFOUND)
+  endif ()
+  unset(_ffmpeg_version_header_path)
+endif ()
+
+set(FFMPEG_INCLUDE_DIRS)
+set(FFMPEG_LIBRARIES)
+set(_ffmpeg_required_vars)
+foreach (_ffmpeg_component IN LISTS FFMPEG_FIND_COMPONENTS)
+  if (TARGET "FFMPEG::${_ffmpeg_component}")
+    set(FFMPEG_${_ffmpeg_component}_INCLUDE_DIRS
+      "${FFMPEG_${_ffmpeg_component}_INCLUDE_DIR}")
+    set(FFMPEG_${_ffmpeg_component}_LIBRARIES
+      "${FFMPEG_${_ffmpeg_component}_LIBRARY}")
+    list(APPEND FFMPEG_INCLUDE_DIRS
+      "${FFMPEG_${_ffmpeg_component}_INCLUDE_DIRS}")
+    list(APPEND FFMPEG_LIBRARIES
+      "${FFMPEG_${_ffmpeg_component}_LIBRARIES}")
+    if (FFMEG_FIND_REQUIRED_${_ffmpeg_component})
+      list(APPEND _ffmpeg_required_vars
+        "FFMPEG_${_ffmpeg_required_vars}_INCLUDE_DIRS"
+        "FFMPEG_${_ffmpeg_required_vars}_LIBRARIES")
+    endif ()
+  endif ()
+endforeach ()
+unset(_ffmpeg_component)
+
+if (FFMPEG_INCLUDE_DIRS)
+  list(REMOVE_DUPLICATES FFMPEG_INCLUDE_DIRS)
+endif ()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(FFMPEG
+  REQUIRED_VARS FFMPEG_INCLUDE_DIRS FFMPEG_LIBRARIES ${_ffmpeg_required_vars}
+  VERSION_VAR FFMPEG_VERSION
+  HANDLE_COMPONENTS)
+unset(_ffmpeg_required_vars)
diff --git a/cmake/FindGStreamer.cmake b/cmake/FindGStreamer.cmake
index 5d761571265..958a4fa7786 100644
--- a/cmake/FindGStreamer.cmake
+++ b/cmake/FindGStreamer.cmake
@@ -108,7 +108,6 @@ elseif(ANDROID)
     set(ENV{PKG_CONFIG_LIBDIR} "${GSTREAMER_PREFIX}/lib/pkgconfig:${GSTREAMER_PREFIX}/lib/gstreamer-1.0/pkgconfig")
     # set(ENV{PKG_CONFIG_SYSROOT_DIR} "${GSTREAMER_PREFIX}")
     message(STATUS "PKG_CONFIG_PATH $ENV{PKG_CONFIG_PATH}")
-    message(STATUS "PKG_CONFIG_LIBDIR $ENV{PKG_CONFIG_LIBDIR}")
     # message(STATUS "PKG_CONFIG_SYSROOT_DIR $ENV{PKG_CONFIG_SYSROOT_DIR}")
     list(APPEND PKG_CONFIG_ARGN
         --dont-define-prefix
@@ -162,11 +161,9 @@ endif()
 function(find_gstreamer_component component prefix header library)
     if(NOT TARGET GStreamer::${component})
         string(TOUPPER ${component} upper)
-        # if(ANDROID)
-            # pkg_check_modules(PC_GSTREAMER_${upper} ${prefix} IMPORTED_TARGET NO_CMAKE_ENVIRONMENT_PATH)
-        # else()
+        if(PkgConfig_FOUND)
             pkg_check_modules(PC_GSTREAMER_${upper} ${prefix} IMPORTED_TARGET)
-        # endif()
+        endif()
         if(TARGET PkgConfig::PC_GSTREAMER_${upper})
             add_library(GStreamer::${component} INTERFACE IMPORTED)
             target_link_libraries(GStreamer::${component} INTERFACE PkgConfig::PC_GSTREAMER_${upper})
diff --git a/src/Comms/LinkManager.cc b/src/Comms/LinkManager.cc
index 85b8533fc1a..6fd410bfd42 100644
--- a/src/Comms/LinkManager.cc
+++ b/src/Comms/LinkManager.cc
@@ -71,7 +71,9 @@ LinkManager::LinkManager(QGCApplication* app, QGCToolbox* toolbox)
 
     qRegisterMetaType<QAbstractSocket::SocketError>();
     qRegisterMetaType<LinkInterface*>("LinkInterface*");
+#ifndef NO_SERIAL_LINK
     qRegisterMetaType<QGCSerialPortInfo>("QGCSerialPortInfo");
+#endif
 }
 
 LinkManager::~LinkManager()
diff --git a/src/Joystick/JoystickManager.cc b/src/Joystick/JoystickManager.cc
index 717ae4e93f8..fa942a98ec2 100644
--- a/src/Joystick/JoystickManager.cc
+++ b/src/Joystick/JoystickManager.cc
@@ -11,9 +11,8 @@
 #include "JoystickManager.h"
 #include "MultiVehicleManager.h"
 #include "Joystick.h"
-#if !defined(__mobile__) || defined(QGC_SDL_JOYSTICK)
+#if defined(QGC_SDL_JOYSTICK)
     #include "JoystickSDL.h"
-    #define __sdljoystick__
 #elif defined(Q_OS_ANDROID)
     #include "JoystickAndroid.h"
 #endif
@@ -57,7 +56,7 @@ void JoystickManager::setToolbox(QGCToolbox *toolbox)
 }
 
 void JoystickManager::init() {
-#ifdef __sdljoystick__
+#ifdef QGC_SDL_JOYSTICK
     if (!JoystickSDL::init()) {
         return;
     }
@@ -77,7 +76,7 @@ void JoystickManager::_setActiveJoystickFromSettings(void)
 {
     QMap<QString,Joystick*> newMap;
 
-#ifdef __sdljoystick__
+#ifdef QGC_SDL_JOYSTICK
     // Get the latest joystick mapping
     newMap = JoystickSDL::discover(_multiVehicleManager);
 #elif defined(Q_OS_ANDROID)
@@ -194,7 +193,7 @@ bool JoystickManager::setActiveJoystickName(const QString& name)
  */
 void JoystickManager::_updateAvailableJoysticks()
 {
-#ifdef __sdljoystick__
+#ifdef QGC_SDL_JOYSTICK
     SDL_Event event;
     while (SDL_PollEvent(&event)) {
         switch(event.type) {
diff --git a/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/CMakeLists.txt b/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/CMakeLists.txt
index 21b678266d5..2575c7e95d3 100644
--- a/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/CMakeLists.txt
+++ b/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/CMakeLists.txt
@@ -1,7 +1,6 @@
-find_package(GStreamer REQUIRED COMPONENTS OPTIONAL_COMPONENTS X11 EGL Wayland)
+find_package(GStreamer REQUIRED COMPONENTS Codecparsers Controller Mpegts Net Pbutils Riff Rtp Rtsp OPTIONAL_COMPONENTS Photography X11 EGL Wayland)
 
 # Use Latest Revisions for each minor version: 1.16.3, 1.18.6, 1.20.7, 1.22.12, 1.24.7
-
 string(REPLACE "." ";" GST_VERSION_LIST ${GStreamer_VERSION})
 list(GET GST_VERSION_LIST 0 GST_VERSION_MAJOR)
 list(GET GST_VERSION_LIST 1 GST_VERSION_MINOR)
@@ -64,8 +63,21 @@ target_link_libraries(gstqml6gl
         Qt6::Qml
         Qt6::Quick
         GStreamer::GStreamer
+        GStreamer::Codecparsers
+        GStreamer::Controller
+        GStreamer::Mpegts
+        GStreamer::Net
+        GStreamer::Pbutils
+        GStreamer::Riff
+        GStreamer::Rtp
+        GStreamer::Rtsp
 )
 
+# Photography not found on ubuntu 20.04?
+if(GStreamer_Photography_FOUND)
+    target_link_libraries(gstqml6gl PUBLIC GStreamer::Photography)
+endif()
+
 target_include_directories(gstqml6gl PUBLIC ${QGC_GST_QT6_PLUGIN_PATH})
 
 if(GStreamer_X11_FOUND)
@@ -218,6 +230,49 @@ if(NOT GST_PLUGINS_FOUND)
             endif()
         endif()
     endforeach()
+
+    if(ANDROID)
+        target_include_directories(gstqml6gl
+            PUBLIC
+                ${GSTREAMER_PREFIX}/include/gstreamer-1.0
+                ${GSTREAMER_PREFIX}/include/glib-2.0
+                ${GSTREAMER_PREFIX}/lib/glib-2.0/include
+                ${GSTREAMER_PREFIX}/lib/gstreamer-1.0/include
+                ${GSTREAMER_PREFIX}/include
+        )
+
+        find_package(FFMPEG REQUIRED COMPONENTS avcodec avfilter avformat avutil swresample)
+        if(FFMPEG_FOUND)
+            target_link_libraries(gstqml6gl PUBLIC ${FFMPEG_LIBRARIES})
+            target_include_directories(gstqml6gl PUBLIC ${FFMPEG_INCLUDE_DIRS})
+        endif()
+
+        find_package(BZip2)
+        if(BZIP2_FOUND)
+            target_link_libraries(gstqml6gl PUBLIC BZip2::BZip2)
+        endif()
+
+        find_library(graphene_LIBRARY graphene-1.0)
+        if(graphene_LIBRARY)
+            target_link_libraries(gstqml6gl PUBLIC ${graphene_LIBRARY})
+        endif()
+
+        find_library(x264_LIBRARY x264)
+        if(x264_LIBRARY)
+            target_link_libraries(gstqml6gl PUBLIC ${x264_LIBRARY})
+        endif()
+
+        find_package(JPEG)
+        if(JPEG_FOUND)
+            target_link_libraries(gstqml6gl PUBLIC JPEG::JPEG)
+        endif()
+
+        find_package(PNG)
+        if(PNG_FOUND)
+            target_link_libraries(gstqml6gl PUBLIC PNG::PNG)
+        endif()
+
+    endif()
 endif()
 
 if(ANDROID)
@@ -267,3 +322,184 @@ endif()
     #     DESTINATION ${CMAKE_SOURCE_DIR}/android/src/org/freedesktop/gstreamer/androidmedia/GStreamer.java
     # )
 # endif()
+
+# set(GST_PLUGINS
+#         gstadaptivedemux2
+#         gstadder
+#         gstadpcmdec
+#         gstadpcmenc
+#         gstalaw
+#         gstandroidmedia
+#         gstapetag
+#         gstapp
+#         gstassrender
+#         gstaudioconvert
+#         gstaudiomixer
+#         gstaudioparsers
+#         gstaudiorate
+#         gstaudioresample
+#         gstauparse
+#         gstautodetect
+#         gstavi
+#         gstbz2
+#         gstcairo
+#         gstcodecalpha
+#         gstcodectimestamper
+#         gstcompositor
+#         gstcoreelements
+#         gstcoretracers
+#         gstdash
+#         gstdv
+#         gstflac
+#         gstflv
+#         gstflxdec
+#         gstgdp
+#         gstgio
+#         gsthls
+#         gstid3demux
+#         gstid3tag
+#         gsticydemux
+#         gstinterlace
+#         gstdeinterlace
+#         gstipcpipeline
+#         gstisomp4
+#         gstivorbisdec
+#         gstjpeg
+#         gstjpegformat
+#         gstkate
+#         gstlame
+#         gstmatroska
+#         gstmidi
+#         gstmpg123
+#         gstmulaw
+#         gstmultipart
+#         gstmxf
+#         gstogg
+#         gstopengl
+#         gstopenh264
+#         gstopenjpeg
+#         gstopensles
+#         gstopus
+#         gstopusparse
+#         gstpcapparse
+#         gstplayback
+#         gstpng
+#         gstpnm
+#         gstrawparse
+#         gstrfbsrc
+#         gstrsvg
+#         gstsiren
+#         gstspandsp
+#         gstsbc
+#         gstspeex
+#         gstsubenc
+#         gstsubparse
+#         gsttaglib
+#         gsttheora
+#         gsttypefindfunctions
+#         gstvideoconvertscale
+#         gstvideofilter
+#         gstvideofiltersbad
+#         gstvideoparsersbad
+#         gstvideorate
+#         gstvolume
+#         gstvorbis
+#         gstvpx
+#         gstwavenc
+#         gstwavpack
+#         gstwavparse
+#         gstxingmux
+#         gsty4mdec
+#         gsty4menc
+#     CACHE STRING
+#         "GStreamer plugins to use"
+# )
+
+# set(GST_PlUGIN_LIBS
+#         orc-0.4
+#         gstvideo-1.0
+#         gstallocators-1.0
+#         gstadaptivedemux-1.0
+#         gsturidownloader-1.0
+#         gstgl-1.0
+#         graphene-1.0
+#         vpx
+#         gstapp-1.0
+#         gstaudio-1.0
+#         gstnet-1.0
+#         gsttag-1.0
+#         gstpbutils-1.0
+#         gstriff-1.0
+#         gstrtp-1.0
+#         gstsdp-1.0
+#         gstrtsp-1.0
+#         gstphotography-1.0
+#         gstcontroller-1.0
+#         gstcodecparsers-1.0
+#         gstplay-1.0
+#         avutil
+#         swresample
+#         avfilter
+#         avcodec
+#         avformat
+#         FLAC
+#         ogg
+#         vorbis
+#         vorbisidec
+#         vorbisenc
+#         kate
+#         mp3lame
+#         mpg123
+#         openh264
+#         openjp2
+#         opus
+#         pango-1.0
+#         pangocairo-1.0
+#         pangoft2-1.0
+#         rsvg-2
+#         gstsdp-1.0
+#         spandsp
+#         croco-0.6
+#         sbc
+#         speex
+#         tag
+#         theora
+#         wavpack
+#         zbar
+#     CACHE STRING
+#         "Libs for GStreamer plugins"
+# )
+
+# set(GST_LIBS
+#         pcre2-8
+#         iconv
+#         ffi
+#         png16
+#         jpeg
+#         tiff
+#         glib-2.0
+#         gobject-2.0
+#         gmodule-2.0
+#         gio-2.0
+#         gstreamer-1.0
+#         gstbase-1.0
+#         intl
+#         bz2
+#         z
+#         dv
+#         xml2
+#         ssl
+#         crypto
+#         expat
+#         fontconfig
+#         harfbuzz
+#         fribidi
+#         freetype
+#         ass
+#         pixman-1
+#         gdk_pixbuf-2.0
+#         cairo
+#         stdc++
+#     CACHE STRING
+#         "GStreamer main libs"
+# )
diff --git a/tools/setup/install-dependencies-debian.sh b/tools/setup/install-dependencies-debian.sh
index d1a1f4e75b7..aebffb128fc 100755
--- a/tools/setup/install-dependencies-debian.sh
+++ b/tools/setup/install-dependencies-debian.sh
@@ -63,9 +63,9 @@ DEBIAN_FRONTEND=noninteractive apt -y --quiet install \
 # GStreamer
 DEBIAN_FRONTEND=noninteractive apt -y --quiet install \
     libgstreamer1.0-dev \
-    libgstreamer-plugins-bad1.0-0 \
+    libgstreamer-plugins-bad1.0-dev \
     libgstreamer-plugins-base1.0-dev \
-    libgstreamer-plugins-good1.0-0 \
+    libgstreamer-plugins-good1.0-dev \
     libgstreamer-gl1.0-0 \
     gstreamer1.0-plugins-bad \
     gstreamer1.0-plugins-base \