diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 9d72e5a..08a76c6 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -82,15 +82,15 @@ jobs:
       run: sudo apt-get install -y libsdl2-dev
     - name: Build simulator
       run: make build_simulator
+    - name: Install pyflix requirements
+      run: sudo apt install -y python3-pip && pip3 install -r tools/requirements.txt
     - name: Run simulator
       env:
         GAZEBO_MODEL_PATH: ${{ github.workspace }}/gazebo/models
         GAZEBO_PLUGIN_PATH: ${{ github.workspace }}/gazebo/build
       run: |
-        OUT=$(timeout -k 10s 120s gzserver --verbose gazebo/flix.world 2>&1 | tee /dev/stderr)
-        if echo "$OUT" | grep -Pq "\[Err\](?! \[RenderEngine)"; then
-          exit 1
-        fi
+        gzserver --verbose gazebo/flix.world &
+        timeout -k 10s 120s tools/example.py
     - uses: actions/upload-artifact@v7
       with:
         name: gazebo-plugin-binary
diff --git a/gazebo/Arduino.h b/gazebo/Arduino.h
index 1d960a7..b3c66e9 100644
--- a/gazebo/Arduino.h
+++ b/gazebo/Arduino.h
@@ -138,6 +138,7 @@ public:
 
 	int available() {
 		// to implement for Windows, see https://stackoverflow.com/a/71992965/6850197
+		if (!isatty(STDIN_FILENO)) return 0;
 		struct pollfd pfd = { .fd = STDIN_FILENO, .events = POLLIN };
 		return poll(&pfd, 1, 0) > 0;
 	}
diff --git a/tools/requirements.txt b/tools/requirements.txt
index 6b3338b..adff73d 100644
--- a/tools/requirements.txt
+++ b/tools/requirements.txt
@@ -1,3 +1,4 @@
+pymavlink
 docopt
 matplotlib
 mcap