diff --git a/.github/workflows/docker-build-base.yaml b/.github/workflows/docker-build-base.yaml
index 0ff51e27..9916153f 100644
--- a/.github/workflows/docker-build-base.yaml
+++ b/.github/workflows/docker-build-base.yaml
@@ -1,10 +1,9 @@
 name: docker-build-base
 
-# Only build base when any of the files in the base directory are modified
 on:
   push:
     paths:
-    - 'autonomy_core/base/**'
+      - 'autonomy_core/base/**'
     branches: [master]
   workflow_dispatch:
   schedule:
@@ -12,30 +11,31 @@ on:
 
 jobs:
   main:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
 
     steps:
-      -
-        name: Set up QEMU
-        uses: docker/setup-qemu-action@v1
-      -
-        name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v1
-      -
-        name: Login to DockerHub
-        uses: docker/login-action@v1
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        if: github.repository == 'kumarrobotics/kr_autonomous_flight'
+        uses: docker/setup-qemu-action@v3
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to DockerHub
+        if: github.repository == 'kumarrobotics/kr_autonomous_flight'
+        uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      -
-        name: Build and push
-        id: docker_build
-        uses: docker/build-push-action@v2
+
+      - name: Build base image (push only on upstream)
+        uses: docker/build-push-action@v5
         with:
-          push: true
-          tags: kumarrobotics/autonomy:base
+          context: .
           file: ./autonomy_core/base/Dockerfile
-          platforms: linux/amd64,linux/arm64
-      -
-        name: Image digest
-        run: echo ${{ steps.docker_build.outputs.digest }}
+          platforms: ${{ github.repository == 'kumarrobotics/kr_autonomous_flight' && 'linux/amd64,linux/arm64' || 'linux/amd64' }}
+          push: ${{ github.repository == 'kumarrobotics/kr_autonomous_flight' }}
+          tags: kumarrobotics/autonomy:base
diff --git a/.github/workflows/docker-build-control.yaml b/.github/workflows/docker-build-control.yaml
index 1e0775dc..fdf47bf0 100644
--- a/.github/workflows/docker-build-control.yaml
+++ b/.github/workflows/docker-build-control.yaml
@@ -11,42 +11,41 @@ on:
   workflow_dispatch:
   push:
     paths:
-    - 'autonomy_core/control/**'
+      - 'autonomy_core/control/**'
     branches: [master]
   # DO NOT add a schedule. This build will be triggered by base schedule.
 
 jobs:
   main:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
 
     steps:
-      -
-        # This action is now required because we are building with context,
-        # required to clone a third party repo
-        name: Checkout
-        uses: actions/checkout@v2
-      -
-        name: Set up QEMU
-        uses: docker/setup-qemu-action@v1
-      -
-        name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v1
-      -
-        name: Login to DockerHub
-        uses: docker/login-action@v1
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        if: github.repository == 'kumarrobotics/kr_autonomous_flight'
+        uses: docker/setup-qemu-action@v3
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to DockerHub
+        if: github.repository == 'kumarrobotics/kr_autonomous_flight'
+        uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      -
-        name: Build and push
+
+      - name: Build and push
         id: docker_build
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v5
         with:
           context: .
-          push: true
-          tags: kumarrobotics/autonomy:control
           file: ./autonomy_core/control/Dockerfile
-          platforms: linux/amd64,linux/arm64
-      -
-        name: Image digest
+          platforms: ${{ github.repository == 'kumarrobotics/kr_autonomous_flight' && 'linux/amd64,linux/arm64' || 'linux/amd64' }}
+          push: ${{ github.repository == 'kumarrobotics/kr_autonomous_flight' }}
+          tags: kumarrobotics/autonomy:control
+
+      - name: Image digest
         run: echo ${{ steps.docker_build.outputs.digest }}
diff --git a/autonomy_core/control/Dockerfile b/autonomy_core/control/Dockerfile
index 2497da1b..d18885ff 100644
--- a/autonomy_core/control/Dockerfile
+++ b/autonomy_core/control/Dockerfile
@@ -1,10 +1,21 @@
 FROM kumarrobotics/autonomy:base
 
+# Fix ROS apt repo key (prevents EXPKEYSIG / 404 failures)
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    curl gnupg2 ca-certificates lsb-release \
+ && rm -rf /var/lib/apt/lists/*
+
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc \
+    | gpg --dearmor -o /usr/share/keyrings/ros-archive-keyring.gpg \
+ && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
+    > /etc/apt/sources.list.d/ros1-latest.list
+
 RUN apt-get update \
     && apt-get install -y \
     ros-noetic-mavros \
     ros-noetic-mavros-msgs \
-    ros-noetic-mavros-extras
+    ros-noetic-mavros-extras \
+    && rm -rf /var/lib/apt/lists/*
 
 RUN mkdir -p /root/control_ws/src
 WORKDIR /root/control_ws
@@ -15,4 +26,3 @@ RUN catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release
 
 COPY autonomy_core/control/docker/entrypoint.sh /entrypoint.sh
 ENTRYPOINT ["/entrypoint.sh"]
-