diff --git a/.env.dev b/.env.dev
index a04b0d1a..baed5be1 100755
--- a/.env.dev
+++ b/.env.dev
@@ -2,3 +2,4 @@ GPS_PORT=/dev/null
 WEBCAM_PORT=/dev/null
 RLSENSE_PORT=/dev/null
 TEENSY_PORT=/dev/null
+FEATHER_PORT=/dev/null
diff --git a/.env.prod b/.env.prod
index bf98acab..ab907a32 100755
--- a/.env.prod
+++ b/.env.prod
@@ -3,3 +3,4 @@ GPS_PORT_AUX=/dev/null
 WEBCAM_PORT=/dev/null
 RLSENSE_PORT=/dev/bus/usb
 TEENSY_PORT=/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_AD01TF04-if00-port0
+FEATHER_PORT=/dev/serial/by-id/usb-Adafruit_Adafruit_Feather_M0_77D70E005154384153202020FF18250B-if00
diff --git a/docker-compose.yml b/docker-compose.yml
index 3eb431cc..24e313f8 100755
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -8,6 +8,7 @@ services:
       - "${TEENSY_PORT:-/dev/null}:/dev/ttyUSB0"
       - "${WEBCAM_PORT:-/dev/null}:/dev/ttyUSB1"
       - "${GPS_PORT:-/dev/null}:/dev/ttyACM0"
+      - "${FEATHER_PORT:-/dev/null}:/dev/ttyACM1"
     stdin_open: true # docker run -i
     tty: true        # docker run -t
     ports:
diff --git a/firmware/lora_rtcm_listen/src/lora_rtcm_listen.cpp b/firmware/lora_rtcm_listen/src/lora_rtcm_listen.cpp
index ccfbc95d..fea716c5 100644
--- a/firmware/lora_rtcm_listen/src/lora_rtcm_listen.cpp
+++ b/firmware/lora_rtcm_listen/src/lora_rtcm_listen.cpp
@@ -27,6 +27,7 @@
 #define LORA_ROS_NODE "rtcm"
 #define LORA_FIXED_FREQ 902.5
 
+#define USE_USBCON
 #define DATA_SERIAL Serial1
 
 #include <Arduino.h>
@@ -106,8 +107,6 @@ void setup() {
   // Set up RS232 data
   DATA_SERIAL.begin(115200);
 
-  delay(1000);
-
   // generate LFSR indexes (psuedorandom non-repeating [0, 63])
   memset(&channel_indices[0], 0, sizeof(channel_indices));
   channel_indices[1] = 29;
diff --git a/rb_ws/src/buggy/INS_params.yml b/rb_ws/src/buggy/INS_params.yml
index 9cb69b9d..786a3742 100644
--- a/rb_ws/src/buggy/INS_params.yml
+++ b/rb_ws/src/buggy/INS_params.yml
@@ -14,7 +14,7 @@
 # port is the main port that the device will communicate over. For all devices except the GQ7, this is the only available port.
 # aux_port is only available for the GQ7 and is only needed when streaming RTCM corrections to the device from ROS, or if you want to publish NMEA sentences from this node
 port        : "/dev/ttyACM0"
-aux_port    : "/dev/ttyACM1"
+aux_port    : "/dev/null"
 baudrate    : 115200
 debug       : False
 diagnostics : False
diff --git a/rb_ws/src/buggy/launch/main.launch b/rb_ws/src/buggy/launch/main.launch
index 304866d2..89553f84 100644
--- a/rb_ws/src/buggy/launch/main.launch
+++ b/rb_ws/src/buggy/launch/main.launch
@@ -20,9 +20,13 @@
             <arg name="tf_prefix" value="d455" />
         </include>
 	<node name="serial_node"        pkg="rosserial_python"      type="serial_node.py">
-            <param name="port"              type="string"               value="/dev/ttyUSB0"/>
-            <param name="baud"              type="int"                  value="1000000"/>
-        </node>
+        <param name="port"              type="string"               value="/dev/ttyUSB0"/>
+        <param name="baud"              type="int"                  value="1000000"/>
+    </node>
+    <node name="serial_node2"        pkg="rosserial_python"      type="serial_node.py">
+        <param name="port"              type="string"               value="/dev/ttyACM1"/>
+        <param name="baud"              type="int"                  value="115200"/>
+    </node>
     </group>
     <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />
     <node name="asset_server" pkg="buggy" type="asset_server.py" args="--directory='/rb_ws/src/buggy/assets'" />