diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 8e8ca4a..2d2923e 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -13,7 +13,7 @@ jobs:
     env:
         ARDUINO_SKETCH_ALWAYS_EXPORT_BINARIES: 1
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Install Arduino CLI
       run: curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh
     - name: Build firmware for ESP32
@@ -33,17 +33,19 @@ jobs:
         arduino-cli core install STMicroelectronics:stm32 --additional-urls https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json
         make BOARD=STMicroelectronics:stm32:GenF4 EXTRA='--build-property compiler.cpp.extra_flags=-DENABLE_HWSERIAL1'
     - name: Upload binaries
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v7
       with:
         name: firmware-binary
         path: flix/build
+    - name: Build espnow-proxy
+      run: arduino-cli compile --fqbn esp32:esp32:esp32 tools/espnow-proxy
     - name: Check c_cpp_properties.json
       run: tools/check_c_cpp_properties.py
 
   build_macos:
     runs-on: macos-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Install Arduino CLI
       run: brew install arduino-cli
     - name: Build firmware
@@ -54,7 +56,7 @@ jobs:
   build_windows:
     runs-on: windows-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Install Arduino CLI
       run: choco install arduino-cli
     - name: Install Make
@@ -75,7 +77,7 @@ jobs:
         DEBIAN_FRONTEND=noninteractive apt-get install -y curl wget build-essential cmake g++ pkg-config gnupg2 lsb-release sudo
     - name: Install Arduino CLI
       run: curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Install Gazebo
       run: |
         sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
@@ -86,7 +88,16 @@ jobs:
       run: sudo apt-get install -y libsdl2-dev
     - name: Build simulator
       run: make build_simulator
-    - uses: actions/upload-artifact@v4
+    - name: Run simulator
+      env:
+        GAZEBO_MODEL_PATH: ${{ github.workspace }}/gazebo/models
+        GAZEBO_PLUGIN_PATH: ${{ github.workspace }}/gazebo/build
+      run: |
+        OUT=$(timeout -k 10s 120s gzserver --verbose gazebo/flix.world 2>&1 | tee /dev/stderr)
+        if echo "$OUT" | grep -Pq "\[Err\](?! \[RenderEngine)"; then
+          exit 1
+        fi
+    - uses: actions/upload-artifact@v7
       with:
         name: gazebo-plugin-binary
         path: gazebo/build/*.so
@@ -98,7 +109,7 @@ jobs:
     steps:
     - name: Install Arduino CLI
       run: brew install arduino-cli
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Clean up python binaries # Workaround for https://github.com/actions/setup-python/issues/577
       run: |
         rm -f /usr/local/bin/2to3*
diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index 5d7fa59..86b7ac7 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -16,7 +16,7 @@ jobs:
   markdownlint:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Install markdownlint
       run: npm install -g markdownlint-cli2
     - name: Run markdownlint
@@ -25,13 +25,16 @@ jobs:
   build_book:
     runs-on: ubuntu-latest
     needs: markdownlint
+    env:
+      BINARIES: ${{ github.event_name == 'push' && (github.ref_name == 'master' || github.ref_name == 'dev') && github.repository == 'okalachev/flix' }}
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Install mdBook
       run: cargo install mdbook --vers 0.4.43 --locked
     - name: Build book
       run: cd docs && mdbook build
     - name: Wait for Build to complete
+      if: ${{ env.BINARIES }}
       uses: lewagon/wait-on-check-action@v1.9.1
       with:
         ref: ${{ github.sha }}
@@ -39,6 +42,7 @@ jobs:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         wait-interval: 30
     - name: Find firmware binaries
+      if: ${{ env.BINARIES }}
       id: build_run
       run: |
         RUN_ID=$(gh api "repos/${{ github.repository }}/actions/workflows/build.yml/runs?head_sha=${{ github.sha }}&per_page=1" --jq '.workflow_runs[0].id')
@@ -46,7 +50,8 @@ jobs:
       env:
         GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
     - name: Download firmware binaries
-      uses: actions/download-artifact@v4
+      if: ${{ env.BINARIES }}
+      uses: actions/download-artifact@v7
       with:
         github-token: ${{ secrets.GITHUB_TOKEN }}
         repository: ${{ github.repository }}
@@ -54,6 +59,7 @@ jobs:
         name: firmware-binary
         path: docs/build
     - name: Create shortcuts for firmware binaries
+      if: ${{ env.BINARIES }}
       working-directory: docs/build
       run: |
         for FQBN in esp32.esp32.*; do
@@ -64,12 +70,12 @@ jobs:
           ln -s "$FQBN/flix.ino.bootloader.bin" "flix.$BOARD.bootloader.bin"
         done
     - name: Upload artifact
-      uses: actions/upload-pages-artifact@v3
+      uses: actions/upload-pages-artifact@v5
       with:
         path: docs/build
 
   deploy:
-    if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
+    if: ${{ github.event_name == 'push' && github.ref_name == 'master' }}
     concurrency:
       group: "pages"
       cancel-in-progress: true
@@ -81,4 +87,4 @@ jobs:
     steps:
       - name: Deploy to GitHub Pages
         id: deployment
-        uses: actions/deploy-pages@v4
+        uses: actions/deploy-pages@v5
diff --git a/.github/workflows/tools.yml b/.github/workflows/tools.yml
index 88d1f25..2adcd6c 100644
--- a/.github/workflows/tools.yml
+++ b/.github/workflows/tools.yml
@@ -10,7 +10,7 @@ jobs:
   csv_to_ulog:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Build csv_to_ulog
       run: cd tools/csv_to_ulog && mkdir build && cd build && cmake .. && make
     - name: Test csv_to_ulog
@@ -22,13 +22,13 @@ jobs:
   pyflix:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Install Python build tools
       run: pip install build
     - name: Build pyflix
       run: python3 -m build tools
     - name: Upload artifacts
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v7
       with:
         name: pyflix
         path: |
@@ -37,7 +37,7 @@ jobs:
   python_tools:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Install Python dependencies
       run: pip install -r tools/requirements.txt
     - name: Test csv_to_mcap tool
@@ -46,3 +46,23 @@ jobs:
         echo -e "t,x,y,z\n0,1,2,3\n1,4,5,6" > log.csv
         ./csv_to_mcap.py log.csv
         test $(stat -c %s log.mcap) -eq 883
+  sloc:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v7
+    - run: sudo apt-get install -y cloc jq
+    - name: Print source lines of code
+      run: cloc --by-file-by-lang flix
+    - name: Checkout previous revision
+      uses: actions/checkout@v7
+      with:
+        ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.base.sha || github.event.before }}
+        path: prev
+    - name: Annotate total source lines
+      run: |
+        SLOC_CURR=$(cloc flix --json | jq -r '.SUM.code')
+        SLOC_PREV=$(cloc prev/flix --json | jq -r '.SUM.code')
+        DIFF=$(printf '%+d' "$((SLOC_CURR - SLOC_PREV))")
+        echo "* Current SLOC: $SLOC_CURR" >> $GITHUB_STEP_SUMMARY
+        echo "* Previous SLOC: $SLOC_PREV" >> $GITHUB_STEP_SUMMARY
+        echo "* Diff: $DIFF" >> $GITHUB_STEP_SUMMARY
diff --git a/Makefile b/Makefile
index 448ba1f..941b530 100644
--- a/Makefile
+++ b/Makefile
@@ -4,10 +4,13 @@ PORT := $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/
 export ARDUINO_NETWORK_CONNECTION_TIMEOUT := 1h
 
 build: .core .libs
-	arduino-cli compile --fqbn $(BOARD) --build-property "build.core_debug_level=1" flix $(EXTRA)
+	arduino-cli compile flix --fqbn $(BOARD) --build-property "build.core_debug_level=1" $(EXTRA)
 
 upload: build
-	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" flix
+	arduino-cli upload flix --fqbn $(BOARD) -p "$(PORT)"
+
+erase:
+	arduino-cli burn-bootloader --fqbn $(BOARD) -p "$(PORT)" -P esptool
 
 erase:
 	arduino-cli burn-bootloader --fqbn $(BOARD) -p "$(PORT)" -P esptool
@@ -27,8 +30,8 @@ libs .libs:
 	touch .libs
 
 upload_proxy: .core .libs
-	arduino-cli compile --fqbn $(BOARD) tools/espnow-proxy
-	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" tools/espnow-proxy
+	arduino-cli compile tools/espnow-proxy --fqbn $(BOARD)
+	arduino-cli upload tools/espnow-proxy --fqbn $(BOARD) -p "$(PORT)"
 
 gazebo/build cmake: gazebo/CMakeLists.txt
 	mkdir -p gazebo/build
diff --git a/flix/cli.ino b/flix/cli.ino
index 518b982..c6fc819 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -6,7 +6,7 @@
 #include "pid.h"
 #include "vector.h"
 #include "util.h"
-#include "lpf.h"
+#include "filter.h"
 
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
 extern const int RAW, ACRO, STAB, AUTO;
diff --git a/flix/control.ino b/flix/control.ino
index dfa3661..43a2a4a 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -6,7 +6,7 @@
 #include "vector.h"
 #include "quaternion.h"
 #include "pid.h"
-#include "lpf.h"
+#include "filter.h"
 #include "util.h"
 
 const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes
diff --git a/flix/estimate.ino b/flix/estimate.ino
index 75c2ec6..0e52114 100644
--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -5,7 +5,7 @@
 
 #include "quaternion.h"
 #include "vector.h"
-#include "lpf.h"
+#include "filter.h"
 #include "util.h"
 
 Vector rates; // estimated angular rates, rad/s
diff --git a/flix/lpf.h b/flix/filter.h
similarity index 100%
rename from flix/lpf.h
rename to flix/filter.h
diff --git a/flix/imu.ino b/flix/imu.ino
index 7b02191..b1850a8 100644
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -7,7 +7,7 @@
 #include <Wire.h>
 #include <FlixPeriph.h>
 #include "vector.h"
-#include "lpf.h"
+#include "filter.h"
 #include "util.h"
 
 IMU *imu;
diff --git a/flix/parameters.ino b/flix/parameters.ino
index 1372217..17c793b 100644
--- a/flix/parameters.ino
+++ b/flix/parameters.ino
@@ -22,7 +22,7 @@ struct Parameter {
 	const char *name; // max length is 15
 	bool integer;
 	union { float *f; int *i; }; // pointer to the variable
-	float inital; // default value
+	float initial; // default value
 	float cache; // what's stored in flash
 	void (*callback)(); // called after parameter change
 	Parameter(const char *name, float *variable, void (*callback)() = nullptr) : name(name), integer(false), f(variable), callback(callback) {};
@@ -150,7 +150,7 @@ void setupParameters() {
 	storage.begin("flix");
 	// Read parameters from storage
 	for (auto &parameter : parameters) {
-		parameter.inital = parameter.getValue();
+		parameter.initial = parameter.getValue();
 		if (storage.isKey(parameter.name)) {
 			parameter.setValue(storage.getFloat(parameter.name));
 		}
@@ -211,10 +211,10 @@ void printParameters(const char *filter) {
 	for (auto &parameter : parameters) {
 		if (strncasecmp(parameter.name, filter, strlen(filter))) continue;
 
-		if (floatEquals(parameter.getValue(), parameter.inital)) { // parameter changed
+		if (floatEquals(parameter.getValue(), parameter.initial)) { // parameter changed
 			print("%-15s  %-13g\n", parameter.name, parameter.getValue());
 		} else {
-			print("%-15s  %-13g  [%g]\n", parameter.name, parameter.getValue(), parameter.inital);
+			print("%-15s  %-13g  [%g]\n", parameter.name, parameter.getValue(), parameter.initial);
 		}
 	}
 }
diff --git a/flix/pid.h b/flix/pid.h
index c82e009..071d274 100644
--- a/flix/pid.h
+++ b/flix/pid.h
@@ -5,7 +5,7 @@
 
 #pragma once
 
-#include "lpf.h"
+#include "filter.h"
 
 class PID {
 public:
@@ -18,7 +18,7 @@ public:
 
 	LowPassFilter<float> lpf; // low pass filter for derivative term
 
-	PID(float p, float i = 0, float d = 0, float windup = 0, float dAlpha = 1, float dtMax = 0.1) :
+	PID(float p, float i = 0, float d = 0, float windup = INFINITY, float dAlpha = 1, float dtMax = 0.1) :
 		p(p), i(i), d(d), windup(windup), lpf(dAlpha), dtMax(dtMax) {}
 
 	float update(float error) {
diff --git a/flix/power.ino b/flix/power.ino
index d41ecd0..184c88e 100644
--- a/flix/power.ino
+++ b/flix/power.ino
@@ -8,6 +8,7 @@
 #include <soc/rtc_cntl_reg.h>
 #endif
 #include "lpf.h"
+#include "filter.h"
 #include "util.h"
 
 float voltage = NAN;
diff --git a/flix/wifi.ino b/flix/wifi.ino
index fec6d48..ffb4d47 100644
--- a/flix/wifi.ino
+++ b/flix/wifi.ino
@@ -27,6 +27,10 @@ int udpRemotePort = 14550;
 // ESPNOWSerial espnowBroadcast(ESP_NOW.BROADCAST_ADDR, 0, WIFI_IF_AP);
 int espnowChannel = 6;
 
+ESPNOWSerial espnow(NULL, 0, WIFI_IF_AP);
+ESPNOWSerial espnowBroadcast(ESP_NOW.BROADCAST_ADDR, 0, WIFI_IF_AP);
+int espnowChannel = 6;
+
 void setupWiFi() {
 	// print("Setup Wi-Fi\n");
 	// WiFi.enableLongRange(wifiLongRange);
diff --git a/gazebo/flix.h b/gazebo/flix.h
index 62593e7..d9a33fc 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -9,7 +9,7 @@
 #include "quaternion.h"
 #include "Arduino.h"
 #include "wifi.h"
-#include "lpf.h"
+#include "filter.h"
 
 extern float t, dt;
 extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
diff --git a/gazebo/simulator.cpp b/gazebo/simulator.cpp
index 60bf190..63bcec7 100644
--- a/gazebo/simulator.cpp
+++ b/gazebo/simulator.cpp
@@ -23,7 +23,7 @@
 #include "estimate.ino"
 #include "safety.ino"
 #include "log.ino"
-#include "lpf.h"
+#include "filter.h"
 #include "mavlink.ino"
 #include "motors.ino"
 #include "parameters.ino"
diff --git a/gazebo/wifi.h b/gazebo/wifi.h
index b01bac0..1ec8b23 100644
--- a/gazebo/wifi.h
+++ b/gazebo/wifi.h
@@ -14,6 +14,7 @@
 // Mocks
 int wifiMode = 1;
 int wifiLongRange = 0;
+int wifiBroadcast = 0;
 int espnowChannel = 6;
 const int W_DISABLED = 0, W_AP = 1, W_STA = 2, W_ESPNOW = 3;
 
diff --git a/tools/pyflix/flix.py b/tools/pyflix/flix.py
index b7166f1..00de7d6 100644
--- a/tools/pyflix/flix.py
+++ b/tools/pyflix/flix.py
@@ -243,7 +243,7 @@ class Flix:
             time.sleep(1)
 
     @staticmethod
-    def _mavlink_to_flu(v: List[float]) -> List[float]:
+    def _mavlink_to_flu(v: Sequence[float]) -> List[float]:
         if len(v) == 3:  # vector
             return [v[0], -v[1], -v[2]]
         elif len(v) == 4:  # quaternion
@@ -252,8 +252,8 @@ class Flix:
             raise ValueError(f'List must have 3 (vector) or 4 (quaternion) elements')
 
     @staticmethod
-    def _flu_to_mavlink(v: List[float]) -> List[float]:
-        return Flix._mavlink_to_flu(v)
+    def _flu_to_mavlink(v: Sequence[float]) -> List[float]:
+        return Flix._mavlink_to_flu(v)  # flu to mavlink is the same as mavlink to flu
 
     def _command_send(self, command: int, params: Sequence[float]):
         if len(params) != 7:
@@ -320,13 +320,13 @@ class Flix:
     def set_armed(self, armed: bool):
         self._command_send(mavlink.MAV_CMD_COMPONENT_ARM_DISARM, (1 if armed else 0, 0, 0, 0, 0, 0, 0))
 
-    def set_position(self, position: List[float], yaw: Optional[float] = None, wait: bool = False, tolerance: float = 0.1):
+    def set_position(self, position: Sequence[float], yaw: Optional[float] = None, wait: bool = False, tolerance: float = 0.1):
         raise NotImplementedError('Position control is not implemented yet')
 
-    def set_velocity(self, velocity: List[float], yaw: Optional[float] = None):
+    def set_velocity(self, velocity: Sequence[float], yaw: Optional[float] = None):
         raise NotImplementedError('Velocity control is not implemented yet')
 
-    def set_attitude(self, attitude: List[float], thrust: float):
+    def set_attitude(self, attitude: Sequence[float], thrust: float):
         if len(attitude) == 3:
             attitude = Quaternion([attitude[0], attitude[1], attitude[2]]).q  # type: ignore
         elif len(attitude) != 4:
@@ -339,7 +339,7 @@ class Flix:
                 [attitude[0], attitude[1], attitude[2], attitude[3]],
                 0, 0, 0, thrust)
 
-    def set_rates(self, rates: List[float], thrust: float):
+    def set_rates(self, rates: Sequence[float], thrust: float):
         if len(rates) != 3:
             raise ValueError('Rates must be [roll_rate, pitch_rate, yaw_rate]')
         if not (0 <= thrust <= 1):
@@ -351,7 +351,7 @@ class Flix:
                 [1, 0, 0, 0],
                 rates[0], rates[1], rates[2], thrust)
 
-    def set_motors(self, motors: List[float]):
+    def set_motors(self, motors: Sequence[float]):
         if len(motors) != 4:
             raise ValueError('motors must have 4 values')
         if not all(0 <= m <= 1 for m in motors):