void connect() {
        System drone = new System();

        Core.ConnectionState state = drone.getCore().getConnectionState().blockingFirst();
        println("Connected to drone: " + state.getIsConnected());

        println("Getting telemetry: ");
        Telemetry telemetry = drone.getTelemetry();

        Boolean armed = telemetry.getArmed().blockingFirst();
        println("Armed: " + armed);

        Telemetry.FlightMode flightMode = telemetry.getFlightMode().blockingFirst();
        println("FlightMode: " + flightMode);

        Telemetry.Health health = telemetry.getHealth().blockingFirst();
        println("Health: ");
        println("\tIsArmable: " + health.getIsArmable());
        println("\tIsAccelerometerCalibrationOk: " + health.getIsAccelerometerCalibrationOk());
        println("\tIsMagnetometerCalibrationOk: " + health.getIsMagnetometerCalibrationOk());
        println("\tIsGyrometerCalibrationOk: " + health.getIsGyrometerCalibrationOk());
        println("\tIsGlobalPositionOk: " + health.getIsGlobalPositionOk());
        println("\tIsHomePositionOk: " + health.getIsHomePositionOk());

        println("Battery: ");
        telemetry.getBattery().subscribe(b -> {
            String batText = String.format("Bat%d - %4.2f%%, %5.2fV", b.getId(), b.getRemainingPercent() * 100, b.getVoltageV());
            panel.bottomTable.setParameter(1, batText);
        });

        println("Getting allowable flight modes:");
        ActionServer.AllowableFlightModes fModes = drone.getActionServer().getAllowableFlightModes().blockingGet();
        println("\tCan auto: " + fModes.getCanAutoMode());
        println("\tCan guided: " + fModes.getCanGuidedMode());
        println("\tCan stabilized: " + fModes.getCanStabilizeMode());

        telemetry.getPosition().subscribe(p -> {
            String coords = String.format("%9.6f, %9.6f", p.getLatitudeDeg(), p.getLongitudeDeg());
            panel.topTable.setParameter(2, coords);
        });

        telemetry.getGpsInfo().subscribe(gpsInfo -> {
            panel.bottomTable.setParameter(4, "SAT: " + gpsInfo.getNumSatellites());
            panel.bottomTable.setParameter(9, "GPS: " + gpsInfo.getFixType());
        });

        telemetry.getAttitudeEuler().subscribe(ea -> {
            String format = String.format("%5.1f, %5.1f, %5.1f",
                    ea.getPitchDeg(), ea.getYawDeg(), ea.getRollDeg());
            // show pitch
            int pitch = ea.getPitchDeg().intValue();
            panel.centralScale.setPitch(pitch);
            panel.backBurner.setElevation(pitch);
            // show roll
            int roll = ea.getRollDeg().intValue();
            panel.headScale.setDegrees(roll);
            panel.backBurner.setSlant(roll);
            panel.centralScale.setSlant(roll);
            // show yaw
            int yaw = ea.getYawDeg().intValue();
            panel.compass.setDegrees(yaw);
        });
    }

    private void println(String s) {
        java.lang.System.out.println(s);
    }