@adiprin1 On Ardupilot there is currently no way to use apps side UARTs (Some day we will add a method to use them). So, you would have to use one of the 3 UARTs attached to the DSP. If you removed the RC or the GPS and used that port then, theoretically, it could work. However, we have not tried that so can't make any guarantees. Also on PX4 you can use an apps side UART if there is one available on an add-on board. And, as you mention, you could use an SBUS RC on the VOXL 2 IO board and free up the standard RC UART.