diff --git a/flix/estimate.ino b/flix/estimate.ino
index a873b9a..e07bd07 100644
--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -1,7 +1,7 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
-// Attitude estimation from gyro and accelerometer
+// Attitude estimation using gyro and accelerometer
 
 #include "quaternion.h"
 #include "vector.h"
diff --git a/flix/flix.ino b/flix/flix.ino
index 5d5ee43..422b818 100644
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -21,8 +21,8 @@ void setup() {
 	disableBrownOut();
 	setupParameters();
 	setupLED();
-	setupMotors();
 	setLED(true);
+	setupMotors();
 	setupWiFi();
 	setupIMU();
 	setupRC();
diff --git a/flix/mavlink.ino b/flix/mavlink.ino
index c7b3785..2df74d6 100644
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -8,12 +8,13 @@
 
 extern float controlTime;
 
-bool mavlinkConnected = false;
-String mavlinkPrintBuffer;
 int mavlinkSysId = 1;
 Rate telemetryFast(10);
 Rate telemetrySlow(2);
 
+bool mavlinkConnected = false;
+String mavlinkPrintBuffer;
+
 void processMavlink() {
 	sendMavlink();
 	receiveMavlink();
@@ -41,9 +42,9 @@ void sendMavlink() {
 	}
 
 	if (telemetryFast && mavlinkConnected) {
-		const float zeroQuat[] = {0, 0, 0, 0};
+		const float offset[] = {0, 0, 0, 0};
 		mavlink_msg_attitude_quaternion_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
-			time, attitude.w, attitude.x, -attitude.y, -attitude.z, rates.x, -rates.y, -rates.z, zeroQuat); // convert to frd
+			time, attitude.w, attitude.x, -attitude.y, -attitude.z, rates.x, -rates.y, -rates.z, offset); // convert to frd
 		sendMessage(&msg);
 
 		mavlink_msg_rc_channels_raw_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0,
diff --git a/flix/parameters.ino b/flix/parameters.ino
index a8a83f9..dc924a4 100644
--- a/flix/parameters.ino
+++ b/flix/parameters.ino
@@ -15,9 +15,9 @@ extern float rcLossTimeout, descendTime;
 Preferences storage;
 
 struct Parameter {
-	const char *name; // max length is 15 (Preferences key limit)
+	const char *name; // max length is 15
 	bool integer;
-	union { float *f; int *i; }; // pointer to variable
+	union { float *f; int *i; }; // pointer to the variable
 	float cache; // what's stored in flash
 	Parameter(const char *name, float *variable) : name(name), integer(false), f(variable) {};
 	Parameter(const char *name, int *variable) : name(name), integer(true), i(variable) {};
@@ -112,6 +112,7 @@ Parameter parameters[] = {
 };
 
 void setupParameters() {
+	print("Setup parameters\n");
 	storage.begin("flix", false);
 	// Read parameters from storage
 	for (auto &parameter : parameters) {