diff --git a/Makefile b/Makefile
index 45a1edf..c88cd4c 100644
--- a/Makefile
+++ b/Makefile
@@ -13,7 +13,7 @@ monitor:
 
 dependencies .dependencies:
 	arduino-cli core update-index --config-file arduino-cli.yaml
-	arduino-cli core install esp32:esp32@2.0.11 --config-file arduino-cli.yaml
+	arduino-cli core install esp32:esp32@3.0.3 --config-file arduino-cli.yaml
 	arduino-cli lib update-index
 	arduino-cli lib install "FlixPeriph"
 	arduino-cli lib install "MAVLink"@2.0.1
diff --git a/flix/motors.ino b/flix/motors.ino
index 9d35445..27897c4 100644
--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -20,17 +20,11 @@
 void setupMotors() {
 	Serial.println("Setup Motors");
 
-	// configure PWM channels
-	ledcSetup(0, PWM_FREQUENCY, PWM_RESOLUTION);
-	ledcSetup(1, PWM_FREQUENCY, PWM_RESOLUTION);
-	ledcSetup(2, PWM_FREQUENCY, PWM_RESOLUTION);
-	ledcSetup(3, PWM_FREQUENCY, PWM_RESOLUTION);
-
-	// attach channels to motor pins
-	ledcAttachPin(MOTOR_0_PIN, 0);
-	ledcAttachPin(MOTOR_1_PIN, 1);
-	ledcAttachPin(MOTOR_2_PIN, 2);
-	ledcAttachPin(MOTOR_3_PIN, 3);
+	// configure pins
+	ledcAttach(MOTOR_0_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
+	ledcAttach(MOTOR_1_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
+	ledcAttach(MOTOR_2_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
+	ledcAttach(MOTOR_3_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
 
 	sendMotors();
 	Serial.println("Motors initialized");
@@ -51,10 +45,10 @@ uint8_t pwmToDutyCycle(uint16_t pwm) {
 }
 
 void sendMotors() {
-	ledcWrite(0, pwmToDutyCycle(getPWM(motors[0], 0)));
-	ledcWrite(1, pwmToDutyCycle(getPWM(motors[1], 1)));
-	ledcWrite(2, pwmToDutyCycle(getPWM(motors[2], 2)));
-	ledcWrite(3, pwmToDutyCycle(getPWM(motors[3], 3)));
+	ledcWrite(MOTOR_0_PIN, pwmToDutyCycle(getPWM(motors[0], 0)));
+	ledcWrite(MOTOR_1_PIN, pwmToDutyCycle(getPWM(motors[1], 1)));
+	ledcWrite(MOTOR_2_PIN, pwmToDutyCycle(getPWM(motors[2], 2)));
+	ledcWrite(MOTOR_3_PIN, pwmToDutyCycle(getPWM(motors[3], 3)));
 }
 
 void fullMotorTest(int n, bool reverse) {
diff --git a/flix/rc.ino b/flix/rc.ino
index 69f7574..4d846de 100644
--- a/flix/rc.ino
+++ b/flix/rc.ino
@@ -9,7 +9,7 @@
 int channelNeutral[] = {995, 883, 200, 972, 512, 512};
 int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472};
 
-SBUS RC(Serial2);
+SBUS RC(Serial2, 16, 17); // NOTE: remove pin numbers (16, 17) if you use the new default pins for Serial2 (4, 25)
 
 void setupRC() {
 	Serial.println("Setup RC");
diff --git a/gazebo/SBUS.h b/gazebo/SBUS.h
index 8d56d45..f97fa12 100644
--- a/gazebo/SBUS.h
+++ b/gazebo/SBUS.h
@@ -12,6 +12,7 @@ struct SBUSData {
 class SBUS {
 public:
 	SBUS(HardwareSerial& bus, const bool inv = true) {};
+	SBUS(HardwareSerial& bus, const int8_t rxpin, const int8_t txpin, const bool inv = true) {};
 	void begin() {};
 	bool read() { return joystickGet(); };
 	SBUSData data() {