@Jetson-Nano For the VOXL ESC part, now that you have the driver in your build you need to start the driver. For testing you can just go to the Nuttx shell and run voxl_esc start -d <uart-port>. This will show you if it is starting correctly. Once it is working correctly you should see the VOXL_ESC_XXX parameters and then you need to add the device start into your Orange Cube start scripts.