diff --git a/.github/workflows/spinal_build.yml b/.github/workflows/spinal_build.yml
index a0c43eb2d..31b364523 100644
--- a/.github/workflows/spinal_build.yml
+++ b/.github/workflows/spinal_build.yml
@@ -1,5 +1,5 @@
 name: Build Spinal Firmware
-on: [push, pull_request, workflow_dispatch]
+on : [push, pull_request, workflow_dispatch]
 
 jobs:
   build:
@@ -13,7 +13,7 @@ jobs:
         with:
           # submodules too
           submodules: recursive
-
+          
       - name: Install ROS packages with rosdep # Setup Github ws as a catkin ws
         run: |
           source /opt/ros/noetic/setup.bash
@@ -25,105 +25,75 @@ jobs:
           cd ~/catkin_ws
           rosdep install -y -r --from-paths src --ignore-src --rosdistro noetic
         shell: bash
+        
+      - name: Build Spinal as ROS Package # Build Spinal to generate ROS libraries
+        run: |
+          source /opt/ros/noetic/setup.bash
+          cd ~/catkin_ws
+          catkin config --cmake-args -Dcatkin_DIR=/opt/ros/noetic/share/catkin/cmake
+          catkin build spinal
+          source devel/setup.bash
+        shell: bash
 
-      # =========================
-      # Repeat ROS Build and H7 Build 5 times
-      # =========================
-      - name: Build Spinal as ROS + H7 (up to 5 times)
+      - name: Build Spinal H7 as STM32CubeIDE project # Build Spinal H7 firmware with STM32CubeIDE
         run: |
+          # build firmware five times and it's determined as successful if just one of five was succeeded.
           for i in {1..5}; do
-            echo "======================================="
-            echo "=== [Attempt $i/5] Build Spinal as ROS Package ==="
-            (
-              # --- Build Spinal as ROS Package ---
-              source /opt/ros/noetic/setup.bash
-              cd ~/catkin_ws
-              catkin config --cmake-args -Dcatkin_DIR=/opt/ros/noetic/share/catkin/cmake
-              catkin build spinal
-              source devel/setup.bash
-            ) || {
-              echo "Build Spinal as ROS Package failed on attempt #$i."
-              echo "Cleaning up STM32CubeIDE workspace..."
-              rm -rf ~/STM32CubeIDE/workspace_1.8.0/.metadata
-              continue
-            }
-
-            echo "=== [Attempt $i/5] Build Spinal H7 as STM32CubeIDE project ==="
-            # --- Build Spinal H7 as STM32CubeIDE project ---
+            echo "=== Attempt #$i for H7 Build ==="
             /opt/st/stm32cubeide_1.8.0/stm32cubeide -nosplash \
               -application org.eclipse.cdt.managedbuilder.core.headlessbuild \
               -data ~/STM32CubeIDE/workspace_1.8.0/ \
               -import aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/ \
               -cleanBuild spinal/Debug \
               -vmargs -Dorg.eclipse.cdt.core.build.parallel=true \
-                      -Dorg.eclipse.cdt.core.build.parallel.threads=12 || {
+              -Dorg.eclipse.cdt.core.build.parallel.threads=12
+            
+            if [ $? -eq 0 ]; then
+              echo "Build Spinal H7 succeeded on attempt #$i."
+              exit 0
+            else
               echo "Build Spinal H7 failed on attempt #$i."
-              echo "Cleaning up STM32CubeIDE workspace..."
-              rm -rf ~/STM32CubeIDE/workspace_1.8.0/.metadata
-              continue
-            }
-
-            echo "All builds (ROS + H7) succeeded on attempt #$i."
-            exit 0
+            fi
+            
           done
-
-          echo "All 5 attempts (ROS + H7) have failed. Exiting with error."
+          
+          echo "All 5 attempts for Spinal H7 have failed."
           exit 1
 
-      - name: Upload H7 artifacts
-        if: success()
-        uses: actions/upload-artifact@v4
-        with:
-          name: SpinalH7.artifacts
-          path: aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/Debug/spinal.*
+      - name: Clean up STM32CubeIDE # Clean up STM32CubeIDE WS to build same name project
+        run: |
+          rm -rf ~/STM32CubeIDE/workspace_1.8.0/.metadata
 
-      # =========================
-      # Repeat ROS Build and F7 Build 5 times
-      # =========================
-      - name: Build Spinal as ROS + F7 (up to 5 times)
-        if: success() 
+      - name: Build Spinal F7 as STM32CubeIDE project # Build Spinal F7 firmware with STM32CubeIDE
         run: |
           for i in {1..5}; do
-            echo "======================================="
-            echo "=== [Attempt $i/5] Build Spinal as ROS Package ==="
-            (
-              # --- Build Spinal as ROS Package ---
-              source /opt/ros/noetic/setup.bash
-              cd ~/catkin_ws
-              catkin config --cmake-args -Dcatkin_DIR=/opt/ros/noetic/share/catkin/cmake
-              catkin build spinal
-              source devel/setup.bash
-            ) || {
-              echo "Build Spinal as ROS Package failed on attempt #$i."
-              echo "Cleaning up STM32CubeIDE workspace..."
-              rm -rf ~/STM32CubeIDE/workspace_1.8.0/.metadata
-              continue
-            }
-
-            echo "=== [Attempt $i/5] Build Spinal F7 as STM32CubeIDE project ==="
-            # --- Build Spinal F7 as STM32CubeIDE project ---
+            echo "=== Attempt #$i for F7 Build ==="
             /opt/st/stm32cubeide_1.8.0/stm32cubeide -nosplash \
               -application org.eclipse.cdt.managedbuilder.core.headlessbuild \
               -data ~/STM32CubeIDE/workspace_1.8.0/ \
               -import aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/STM32CubeIDE/ \
               -cleanBuild spinal/Debug \
               -vmargs -Dorg.eclipse.cdt.core.build.parallel=true \
-                      -Dorg.eclipse.cdt.core.build.parallel.threads=12 || {
-              echo "Build Spinal F7 failed on attempt #$i."
-              echo "Cleaning up STM32CubeIDE workspace..."
-              rm -rf ~/STM32CubeIDE/workspace_1.8.0/.metadata
-              continue
-            }
+              -Dorg.eclipse.cdt.core.build.parallel.threads=12
 
-            echo "All builds (ROS + F7) succeeded on attempt #$i."
-            exit 0
+            if [ $? -eq 0 ]; then
+              echo "Build Spinal F7 succeeded on attempt #$i."
+              exit 0
+            else
+              echo "Build Spinal F7 failed on attempt #$i."
+            fi
           done
-
-          echo "All 5 attempts (ROS + F7) have failed. Exiting with error."
+          
+          echo "All 5 attempts for Spinal F7 have failed."
           exit 1
 
-      - name: Upload F7 artifacts
-        if: success()
+      - name: Upload H7 artifacts # Upload required H7 files for flash.
+        uses: actions/upload-artifact@v4
+        with:
+          name: SpinalH7.artifacts
+          path: aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/Debug/spinal.*
+
+      - name: Upload F7 artifacts # Upload required F7 files for flash.
         uses: actions/upload-artifact@v4
         with:
           name: SpinalF7.artifacts