diff --git a/.gitignore b/.gitignore
index 25b53df9..9e35ce7e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -32,3 +32,6 @@ eeprom.bin
 
 # Mac Files @Georgia
 *.DS_Store
+
+# Mavproxy Files
+*.parm
\ No newline at end of file
diff --git a/pyproject.toml b/pyproject.toml
index c88bdb2c..703c9e96 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -15,8 +15,9 @@ dependencies = [
     'pytest-qt',
     'pytest-xvfb',
     'Pyside2',  # can be removed when ament_pep257 is gone
-    'serial',
-    'TCA9555@git+https://github.com/InvincibleRMC/TCA9555'
+    'TCA9555@git+https://github.com/InvincibleRMC/TCA9555',
+    'pymavlink',
+    'mavproxy'
 ]
 
 [tool]
diff --git a/src/pi/pi_main/README.md b/src/pi/pi_main/README.md
index 7a768189..5b4cf205 100644
--- a/src/pi/pi_main/README.md
+++ b/src/pi/pi_main/README.md
@@ -155,6 +155,18 @@ To get output of task
 sudo journalctl -f -u pi_main.service
 ```
 
+### Slow Boot Times?
+
+This occurs because the below service waits for internet before allowing boot. 
+
+Note `systemctl disable systemd-networkd-wait-online` does not work. The disable option is really more of a suggestion than an actual disable.
+
+[![pensivecowboybread](https://cdn3.emoji.gg/emojis/4111-pensivecowboybread.png)](https://emoji.gg/emoji/4111-pensivecowboybread)
+
+```bash
+systemctl mask systemd-networkd-wait-online
+```
+
 ## Nodes
 
 There are no nodes in this package.
diff --git a/src/pi/pixhawk_communication/README.md b/src/pi/pixhawk_communication/README.md
index c80db3e9..3674697b 100644
--- a/src/pi/pixhawk_communication/README.md
+++ b/src/pi/pixhawk_communication/README.md
@@ -14,6 +14,24 @@ We communicate to the Pixhawk by using [mavros](https://github.com/mavlink/mavro
 
 To set up a Pixhawk USB port use [this](https://docs.px4.io/main/en/companion_computer/pixhawk_companion.html) guide.
 
+To remotely use QGroundControl ssh into the pi and run the following.
+
+```bash
+mavproxy.py --out {Your IP adress}:14550
+```
+
+If you get this error:
+
+```
+LSM303D _read_data_transaction_accel: _reg7_expected unexpected
+```
+
+Try uninstalling and reinstalling the package:
+```bash
+pip uninstall mavproxy
+pip install mavproxy
+```
+
 ## Installation
 
 Install geographiclib dependencies.
diff --git a/src/pi/pixhawk_communication/package.xml b/src/pi/pixhawk_communication/package.xml
index 3347acba..423146b9 100644
--- a/src/pi/pixhawk_communication/package.xml
+++ b/src/pi/pixhawk_communication/package.xml
@@ -15,6 +15,18 @@
 
   <depend>mavros</depend>
 
+  <!-- Dependencies for mavproxy -->
+  <depend>python3</depend>
+  <depend>python3-yaml</depend>
+  <depend>python3-opencv</depend>
+  <depend>python3-pip</depend>
+  <depend>python3-matplotlib</depend>
+  <depend>python3-lxml</depend>
+  <depend>python3-pygame</depend>
+
+  <!-- Dependencies for pymavlink -->
+  <depend>python3-future</depend>
+
   <export>
     <build_type>ament_python</build_type>
   </export>
diff --git a/src/surface/gui/gui/operator_app.py b/src/surface/gui/gui/operator_app.py
index c9f0746b..4ab8bc97 100644
--- a/src/surface/gui/gui/operator_app.py
+++ b/src/surface/gui/gui/operator_app.py
@@ -2,7 +2,6 @@
 from gui.widgets.logger import Logger
 from gui.widgets.tabs.general_debug_tab import GeneralDebugTab
 from gui.widgets.float_comm import FloatComm
-from gui.widgets.task_selector import TaskSelector
 from gui.widgets.timer import InteractiveTimer
 from PyQt6.QtWidgets import QGridLayout, QTabWidget, QWidget, QVBoxLayout
 
@@ -21,8 +20,8 @@ def __init__(self) -> None:
         timer = InteractiveTimer()
         main_layout.addWidget(timer, 0, 1)
 
-        task_selector = TaskSelector()
-        main_layout.addWidget(task_selector, 1, 1)
+        # task_selector = TaskSelector()
+        # main_layout.addWidget(task_selector, 1, 1)
 
         self.float_comm: FloatComm = FloatComm()
         main_layout.addWidget(self.float_comm, 0, 0)
diff --git a/src/surface/ros2_video_streamer b/src/surface/ros2_video_streamer
index 9e66bc9c..e87c5b9a 160000
--- a/src/surface/ros2_video_streamer
+++ b/src/surface/ros2_video_streamer
@@ -1 +1 @@
-Subproject commit 9e66bc9cf0be76e5910a27495422570c4d85ac4f
+Subproject commit e87c5b9afd5b89ac470b5f2e682d195e935447c4
diff --git a/src/surface/transceiver/package.xml b/src/surface/transceiver/package.xml
index 99419c2e..5ed05d3e 100644
--- a/src/surface/transceiver/package.xml
+++ b/src/surface/transceiver/package.xml
@@ -10,7 +10,9 @@
   <depend>rclpy</depend>
   <depend>sensor_msgs</depend>
 
+
   <exec_depend>ros2launch</exec_depend>
+  <exec_depend>python3-serial</exec_depend>
 
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>