diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 28873b19fff..68eefc7b9c2 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -40,12 +40,13 @@ jobs:
           VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
           echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
       - uses: actions/cache@v4
         with:
           path: downloads
           key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}}
       - name: Build targets (${{ matrix.id }})
-        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DMAIN_COMPILE_OPTIONS=-pipe -G Ninja .. && ninja -j4 ci
+        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DMAIN_COMPILE_OPTIONS=-pipe -G Ninja .. && ninja -j${{ env.NUM_CORES }} ci
       - name: Upload artifacts
         uses: actions/upload-artifact@v4
         with:
@@ -74,6 +75,7 @@ jobs:
           VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
           echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
       - name: Download artifacts
         uses: actions/download-artifact@v4
         with:
@@ -116,8 +118,9 @@ jobs:
           VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
           echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
       - name: Build SITL
-        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j4
+        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j${{ env.NUM_CORES }}
       - name: Upload artifacts
         uses: actions/upload-artifact@v4
         with:
@@ -148,11 +151,12 @@ jobs:
           VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
           echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
       - name: Build SITL
         run: |
           mkdir -p build_SITL && cd build_SITL
           cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64" -G Ninja ..
-          ninja -j3
+          ninja -j4
 
       - name: Upload artifacts
         uses: actions/upload-artifact@v4
@@ -187,6 +191,7 @@ jobs:
           VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
           echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          
       - name: Build SITL
         run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j4
       - name: Upload artifacts
diff --git a/.github/workflows/dev-builds.yml b/.github/workflows/dev-builds.yml
index c633ec827b8..abc8a9eff71 100644
--- a/.github/workflows/dev-builds.yml
+++ b/.github/workflows/dev-builds.yml
@@ -42,12 +42,13 @@ jobs:
           VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
           echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo | wc -l)" >> $GITHUB_ENV
       - uses: actions/cache@v4
         with:
           path: downloads
           key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}}
       - name: Build targets (${{ matrix.id }})
-        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DVERSION_TYPE=dev -G Ninja .. && ninja ci
+        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DVERSION_TYPE=dev -G Ninja .. && ninja -j${{ env.NUM_CORES }} ci
       - name: Upload artifacts
         uses: actions/upload-artifact@v4
         with:
@@ -76,8 +77,9 @@ jobs:
           VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }')
           echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo | wc -l)" >> $GITHUB_ENV
       - name: Build SITL
-        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja -DVERSION_TYPE=dev .. && ninja
+        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja -DVERSION_TYPE=dev .. && ninja -j${{ env.NUM_CORES }}
       - name: Upload artifacts
         uses: actions/upload-artifact@v4
         with:
@@ -112,7 +114,7 @@ jobs:
         run: |
           mkdir -p build_SITL && cd build_SITL
           cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64" -DVERSION_TYPE=dev -G Ninja ..
-          ninja
+          ninja -j4
 
       - name: Upload artifacts
         uses: actions/upload-artifact@v4
@@ -150,7 +152,7 @@ jobs:
           #echo "VERSION_TAG=-$(date '+%Y%m%d')" >> $GITHUB_ENV
           echo "version=${VERSION}" >> $GITHUB_OUTPUT
       - name: Build SITL
-        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DVERSION_TYPE=dev -G Ninja .. && ninja
+        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DVERSION_TYPE=dev -G Ninja .. && ninja -j4
       - name: Upload artifacts
         uses: actions/upload-artifact@v4
         with: