I’m creating secure firmware for my drone. I achieved the signing of the firmware. I was wondering does Ardupilot do the checking of the checksum of the firmware file? For example, the checksum of the correct firmware file could be stored on the flight module. Each time the drone boots up, similar to the checking of the public and private keys, it also check the checksum of the current firmware and the checksum value stored in the flight module. This way you ensure you have the firmware file from the authentic source without any parameters being changed. So is this a thing in ardupilot or how would you implement automatic checksum checking?