diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index f7f8f1b..e6d604f 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -21,13 +21,13 @@ jobs:
     - name: Build firmware for ESP32-C3
       run: make BOARD=esp32:esp32:esp32c3
     - name: Build firmware for ESP32-S3
-      run: make BOARD=esp32:esp32:esp32s3:CDCOnBoot=cdc
+      run: make BOARD=esp32:esp32:esp32s3
     - name: Build firmware for ESP32-S3 with QSPI PSRAM
-      run: make BOARD=esp32:esp32:esp32s3:CDCOnBoot=cdc,PSRAM=enabled EXTRA=--output-dir=flix/build/esp32.esp32.esp32s3.qspi
+      run: make BOARD=esp32:esp32:esp32s3:PSRAM=enabled EXTRA=--output-dir=flix/build/esp32.esp32.esp32s3.qspi
     - name: Build firmware for ESP32-S3 with OPI PSRAM
-      run: make BOARD=esp32:esp32:esp32s3:CDCOnBoot=cdc,PSRAM=opi EXTRA=--output-dir=flix/build/esp32.esp32.esp32s3.opi
+      run: make BOARD=esp32:esp32:esp32s3:PSRAM=opi EXTRA=--output-dir=flix/build/esp32.esp32.esp32s3.opi
     - name: Build firmware for Flix2
-      run: make BOARD=esp32:esp32:esp32s3:FlashSize=4M,CDCOnBoot=cdc,PSRAM=opi FLAGS=-DFLIX2 EXTRA=--output-dir=flix/build/esp32.esp32.flix2
+      run: make BOARD=esp32:esp32:esp32s3:PSRAM=opi FLAGS=-DFLIX2 EXTRA=--output-dir=flix/build/esp32.esp32.flix2
     - name: Upload binaries
       uses: actions/upload-artifact@v7
       with:
diff --git a/docs/usage.md b/docs/usage.md
index e7fbc50..fee4381 100644
--- a/docs/usage.md
+++ b/docs/usage.md
@@ -54,7 +54,7 @@ Beginners can [download the sources as a ZIP archive](https://github.com/okalach
    * `MAVLink`, version 2.0.25.
 5. Open the `flix/flix.ino` sketch from downloaded firmware sources in Arduino IDE.
 6. Connect your ESP32 board to the computer and choose correct board type in Arduino IDE (*WEMOS D1 MINI ESP32* for ESP32 Mini, *ESP32S3 Dev Module* for ESP32-S3 Super Mini) and the port.
-7. Set *Tools* ⇒ *Core Debug Level* to *Error* to see the errors in the serial console. Set *Tools* ⇒ *USB CDC on Boot* to *Enabled* for ESP32-S3/ESP32-C3 boards.
+7. Set *Tools* ⇒ *Core Debug Level* to *Error* to see the errors in the serial console.
 8. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
 
 #### Command line (Windows, Linux, macOS)
@@ -89,7 +89,7 @@ Beginners can [download the sources as a ZIP archive](https://github.com/okalach
    For ESP32-S3/ESP32-C3 boards, set the appropriate [FQBN](https://docs.arduino.cc/arduino-cli/FAQ/#whats-the-fqbn-string) using `BOARD` parameter:
 
    ```bash
-   make BOARD=esp32:esp32:esp32s3:FlashSize=4M,CDCOnBoot=cdc upload
+   make BOARD=esp32:esp32:esp32s3 upload
    ```
 
 See other available Make commands in [Makefile](../Makefile).
diff --git a/flix/cli.ino b/flix/cli.ino
index f580dab..8551538 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -62,6 +62,19 @@ const char* motd =
 "reset - reset drone's state\n"
 "reboot - reboot the drone\n";
 
+// Always redirect Serial to USB on ESP32-S3/ESP32-C3
+#if SOC_USB_SERIAL_JTAG_SUPPORTED && ARDUINO_USB_MODE
+#if !ARDUINO_USB_CDC_ON_BOOT
+HWCDC HWCDCSerial;
+#endif
+#undef Serial
+#define Serial HWCDCSerial
+#endif
+
+void setupConsole() {
+	Serial.begin(115200);
+}
+
 void print(const char* format, ...) {
 	char buf[3000];
 	va_list args;
diff --git a/flix/flix.ino b/flix/flix.ino
index e91be12..ac0b037 100644
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -16,7 +16,7 @@ extern bool landed;
 extern float motors[4];
 
 void setup() {
-	Serial.begin(115200);
+	setupConsole();
 	print("Initializing Flix\n");
 	setupParameters();
 	setupPower();