@adrianpang With regards to ArduPilot, VOXL2 is currently only able to run a version of PX4 on target. If you need ArduPilot you will have to use an external flight controller and connect it to VOXL2 with UART. We hope to have an implementation of ArduPilot that runs directly on VOXL2 in the future but there is no firm date on when this would be available.