From 2f4b1423e640dfda7dc05f895d1d982f2d69f19d Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 28 May 2026 18:39:44 +0300
Subject: [PATCH] Typo and minor code style changes

---
 flix/imu.ino           | 8 ++++++--
 flix/motors.ino        | 3 ++-
 flix/rc.ino            | 1 +
 flix/wifi.ino          | 1 +
 tools/pyflix/README.md | 2 +-
 5 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/flix/imu.ino b/flix/imu.ino
index 136412e..0b0e97f 100644
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -40,10 +40,12 @@ void readIMU() {
 	imu.getGyro(gyro.x, gyro.y, gyro.z);
 	imu.getAccel(acc.x, acc.y, acc.z);
 	calibrateGyroOnce();
-	// apply scale and bias
+
+	// Apply scale and bias
 	acc = (acc - accBias) / accScale;
 	gyro = gyro - gyroBias;
-	// rotate to body frame
+
+	// Rotate to body frame
 	Quaternion rotation = Quaternion::fromEuler(imuRotation);
 	acc = Quaternion::rotateVector(acc, rotation.inversed());
 	gyro = Quaternion::rotateVector(gyro, rotation.inversed());
@@ -52,6 +54,7 @@ void readIMU() {
 void calibrateGyroOnce() {
 	static Delay landedDelay(2);
 	if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary
+
 	gyroBias = gyroBiasFilter.update(gyro);
 }
 
@@ -105,6 +108,7 @@ void calibrateAccelOnce() {
 	if (acc.x < accMin.x) accMin.x = acc.x;
 	if (acc.y < accMin.y) accMin.y = acc.y;
 	if (acc.z < accMin.z) accMin.z = acc.z;
+
 	// Compute scale and bias
 	accScale = (accMax - accMin) / 2 / ONE_G;
 	accBias = (accMax + accMin) / 2;
diff --git a/flix/motors.ino b/flix/motors.ino
index b25e61a..b1a1206 100644
--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -18,7 +18,7 @@ const int MOTOR_REAR_LEFT = 0, MOTOR_REAR_RIGHT = 1, MOTOR_FRONT_RIGHT = 2, MOTO
 
 void setupMotors() {
 	print("Setup Motors\n");
-	// configure pins
+	// Configure pins
 	for (int i = 0; i < 4; i++) {
 		ledcAttach(motorPins[i], pwmFrequency, pwmResolution);
 		pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // when reconfiguring
@@ -35,6 +35,7 @@ void sendMotors() {
 
 int getDutyCycle(float value) {
 	value = constrain(value, 0, 1);
+
 	if (pwmMax >= 0) { // pwm mode
 		float pwm = mapf(value, 0, 1, pwmMin, pwmMax);
 		if (value == 0) pwm = pwmStop;
diff --git a/flix/rc.ino b/flix/rc.ino
index 7433c72..8332e2d 100644
--- a/flix/rc.ino
+++ b/flix/rc.ino
@@ -55,6 +55,7 @@ void calibrateRC() {
 		print("RC_RX_PIN = %d, set the RC pin!\n", rcRxPin);
 		return;
 	}
+
 	uint16_t zero[16]; // for zero positions
 	uint16_t center[16]; // for center positions
 	uint16_t _[16]; // for unused data
diff --git a/flix/wifi.ino b/flix/wifi.ino
index bfd5061..ccdf0fa 100644
--- a/flix/wifi.ino
+++ b/flix/wifi.ino
@@ -56,6 +56,7 @@ void setupWiFi() {
 void sendWiFi(const uint8_t *buf, int len) {
 	if (espnow) {
 		espnow.write(buf, len);
+
 		static Rate discovery(2);
 		if (discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device
 		return;
diff --git a/tools/pyflix/README.md b/tools/pyflix/README.md
index ea79714..138878f 100644
--- a/tools/pyflix/README.md
+++ b/tools/pyflix/README.md
@@ -28,7 +28,7 @@ from pyflix import Flix
 flix = Flix()  # create a Flix object and wait for connection
 ```
 
-If using ESP-NOW connection, specify the proxy's device name in `FLIX_DEVICE` environment variable or pass it to the constructor: `Flix(device='/dev/cu.usbserial-0001')`.
+If using ESP-NOW connection, specify the proxy device name in `FLIX_DEVICE` environment variable or pass it to the constructor: `Flix(device='/dev/cu.usbserial-0001')`.
 
 ### Telemetry