TRY stopping your client from QGC Mavlink console and restarting it !
uxrce_dds_client stop
uxrce_dds_client status (Not Running)
uxrce_dds_client start -t serial -d /dev/ttyS1 -b 921600
For Pixhawk 4 - Telem1 = S1. TELEM2=S2
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