diff --git a/flix/cli.ino b/flix/cli.ino
index b70ffe8..0143921 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -52,6 +52,22 @@ void print(const char* format, ...) {
 #endif
 }
 
+void pause(float duration) {
+#if ARDUINO
+	double start = t;
+	while (t - start < duration) {
+		step();
+		handleInput();
+#if WIFI_ENABLED
+		processMavlink();
+#endif
+	}
+#else
+	// Code above won't work in the simulation
+	delay(duration * 1000);
+#endif
+}
+
 void doCommand(String str, bool echo = false) {
 	// parse command
 	String command, arg0, arg1;
diff --git a/flix/imu.ino b/flix/imu.ino
index 10e12c0..c738229 100644
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -68,18 +68,23 @@ void calibrateAccel() {
 	print("Calibrating accelerometer\n");
 	IMU.setAccelRange(IMU.ACCEL_RANGE_2G); // the most sensitive mode
 
-	Serial.setTimeout(5000);
-	print("Place level [enter | 5 sec] \n"); Serial.readStringUntil('\n');
+	print("Place level [8 sec]\n");
+	pause(8);
 	calibrateAccelOnce();
-	print("Place nose up [enter | 5 sec] \n"); Serial.readStringUntil('\n');
+	print("Place nose up [8 sec]\n");
+	pause(8);
 	calibrateAccelOnce();
-	print("Place nose down [enter | 5 sec] \n"); Serial.readStringUntil('\n');
+	print("Place nose down [8 sec]\n");
+	pause(8);
 	calibrateAccelOnce();
-	print("Place on right side [enter | 5 sec] \n"); Serial.readStringUntil('\n');
+	print("Place on right side [8 sec]\n");
+	pause(8);
 	calibrateAccelOnce();
-	print("Place on left side [enter | 5 sec] \n"); Serial.readStringUntil('\n');
+	print("Place on left side [8 sec]\n");
+	pause(8);
 	calibrateAccelOnce();
-	print("Place upside down [enter | 5 sec] \n"); Serial.readStringUntil('\n');
+	print("Place upside down [8 sec]\n");
+	pause(8);
 	calibrateAccelOnce();
 
 	printIMUCal();
diff --git a/flix/motors.ino b/flix/motors.ino
index bf792d9..0386552 100644
--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -60,7 +60,7 @@ void testMotor(uint8_t n) {
 	motors[n] = 1;
 	delay(50); // ESP32 may need to wait until the end of the current cycle to change duty https://github.com/espressif/arduino-esp32/issues/5306
 	sendMotors();
-	delay(3000);
+	pause(3);
 	motors[n] = 0;
 	sendMotors();
 	print("Done\n");
diff --git a/flix/rc.ino b/flix/rc.ino
index 1227229..e78cb42 100644
--- a/flix/rc.ino
+++ b/flix/rc.ino
@@ -44,16 +44,16 @@ void normalizeRC() {
 }
 
 void calibrateRC() {
-	print("Calibrate RC: move all sticks to maximum positions in 4 seconds\n");
+	print("Calibrate RC: move all sticks to maximum positions [4 sec]\n");
 	print("··o     ··o\n···     ···\n···     ···\n");
-	delay(4000);
+	pause(4);
 	while (!readRC());
 	for (int i = 0; i < 16; i++) {
 		channelMax[i] = channels[i];
 	}
-	print("Calibrate RC: move all sticks to neutral positions in 4 seconds\n");
+	print("Calibrate RC: move all sticks to neutral positions [4 sec]\n");
 	print("···     ···\n···     ·o·\n·o·     ···\n");
-	delay(4000);
+	pause(4);
 	while (!readRC());
 	for (int i = 0; i < 16; i++) {
 		channelNeutral[i] = channels[i];
diff --git a/gazebo/flix.h b/gazebo/flix.h
index d5b37eb..bcda0c3 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -37,6 +37,7 @@ void sendMotors();
 bool motorsActive();
 void testMotor(uint8_t n);
 void print(const char* format, ...);
+void pause(float duration);
 void doCommand(String str, bool echo);
 void handleInput();
 void calibrateRC();