diff --git a/flix/motors.ino b/flix/motors.ino
index 84aa599..d0c2cd6 100644
--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -88,45 +88,3 @@ void sendMotors()
 	ledcWrite(2, pwmToDutyCycle(getPWM(motors[2], 2)));
 	ledcWrite(3, pwmToDutyCycle(getPWM(motors[3], 3)));
 }
-
-// =====================
-
-const uint32_t REVERSE_PAUSE = 0.1 * 1000000;
-
-static uint8_t lastMotorDirection[4];
-static uint32_t lastDirectionChange[4];
-
-static void handleReversePause()
-{
-	for (int i = 0; i < 4; i++) {
-		if (abs(sign(motors[i]) - lastMotorDirection[i]) > 1) { // 0 => 1 is not direction change, -1 => 1 is
-			lastDirectionChange[i] = stepTime;
-		}
-		if (stepTime - lastDirectionChange[i] < REVERSE_PAUSE) {
-			// wait before changing direction
-			motors[i] = 0;
-		}
-		lastMotorDirection[i] = sign(motors[i]);
-	}
-}
-
-// =====================
-
-#define ARRAY_SIZE(a) (sizeof(a) / sizeof(a[0]))
-
-float motorThrust[1][10] = {
-	{0,0.5513626834,0.5387840671,0.6498951782,0.7023060797,0.7610062893,0.8679245283,1,0.9937106918,0.9916142558}
-};
-uint16_t minPwm = 1500;
-uint16_t pwmStep = 100;
-
-static float thrustToMotorInput(uint8_t n, float thrust)
-{
-	for (int i = 0; i < ARRAY_SIZE(motorThrust[n]); i++) {
-		if (thrust <= motorThrust[n][i]) {
-			// TODO: pwm
-			return mapff(thrust, 0, 1, motorThrust[n][i-1], motorThrust[n][i]);
-		}
-	}
-	return 1;
-}
diff --git a/gazebo/Arduino.h b/gazebo/Arduino.h
index 30f576e..6e29617 100644
--- a/gazebo/Arduino.h
+++ b/gazebo/Arduino.h
@@ -7,14 +7,12 @@
 
 #pragma once
 
-#include <iostream>
 #include <cmath>
 #include <string>
 #include <stdio.h>
 #include <unistd.h>
 #include <sys/poll.h>
 
-using std::cout;
 using std::max;
 using std::min;
 using std::isfinite;
diff --git a/gazebo/flix.h b/gazebo/flix.h
index 496c233..dce7089 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -34,8 +34,6 @@ static void controlManual();
 static void controlRate();
 void desaturate(float& a, float& b, float& c, float& d);
 static void indicateSaturation();
-
-// cli
 static void showTable();
 static void cliTestMotor(uint8_t n);
 
@@ -45,4 +43,4 @@ void calibrateGyro() { printf("Skip gyro calibrating\n"); };
 void calibrateAccel() { printf("Skip accel calibrating\n"); };
 void fullMotorTest(int n) {};
 void sendMotors() {};
-void printIMUCal() { Serial.print("cal: N/A\n"); };
+void printIMUCal() { printf("cal: N/A\n"); };