diff --git a/README.md b/README.md
index c7da620..28da1b8 100644
--- a/README.md
+++ b/README.md
@@ -73,7 +73,7 @@ Additional articles:
 |-|-|:-:|:-:|
 |Microcontroller board|ESP32 Mini.<br>ESP32-S3/ESP32-C3 boards are also supported.|<img src="docs/img/esp32.jpg" width=100>|1|
 |IMU (and barometer¹) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)<br>ICM20948V2 (ICM‑20948)<br>GY-521 (MPU-6050)|<img src="docs/img/gy-91.jpg" width=90 align=center><br><img src="docs/img/icm-20948.jpg" width=100><br><img src="docs/img/gy-521.jpg" width=100>|1|
-|Boost converter (optional, for more stable power supply)|5V output|<img src="docs/img/buck-boost.jpg" width=100>|1|
+|*Boost converter (optional, for more stable power supply)*|*5V output*|<img src="docs/img/buck-boost.jpg" width=100>|1|
 |Motor|8520 3.7V brushed motor.<br>Motor with exact 3.7V voltage is needed, not ranged working voltage (3.7V — 6V).<br>Make sure the motor shaft diameter and propeller hole diameter match!|<img src="docs/img/motor.jpeg" width=100>|4|
 |Propeller|55 mm or 65 mm|<img src="docs/img/prop.jpg" width=100>|4|
 |MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)|<img src="docs/img/100n03a.jpg" width=100>|4|
diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md
index 8f06718..28af53f 100644
--- a/docs/troubleshooting.md
+++ b/docs/troubleshooting.md
@@ -5,7 +5,7 @@
 Do the following:
 
 * **Check ESP32 core is installed**. Check if the version matches the one used in the [tutorial](usage.md#building-the-firmware).
-* **Check libraries**. Install all the required libraries from the tutorial. Make sure there are no MPU9250 or other peripherals libraries that may conflict with the ones used in the tutorial.
+* **Check libraries**. Install all the required libraries from the tutorial. Make sure there are no MPU-9250 or other peripherals libraries that may conflict with the ones used in the tutorial.
 * **Check the chosen board**. The correct board to choose in Arduino IDE for ESP32 Mini is *WEMOS D1 MINI ESP32*.
 
 ## The drone doesn't fly
diff --git a/docs/usage.md b/docs/usage.md
index 5984a32..16123c8 100644
--- a/docs/usage.md
+++ b/docs/usage.md
@@ -329,7 +329,7 @@ To setup ESP-NOW communication:
    espnow 7a:c8:e3:eb:bf:e9 &PiuSysxP9+$L&5E
    ```
 
-   Run this line as a console command on each drone you want to bind to this proxy board.
+   Run this line as a console command on each drone you want to bind to this proxy board. [The maximum number](https://github.com/espressif/esp-idf/blob/e95cab4be8fd293e3f3323181e7a2280874da6f7/components/esp_wifi/include/esp_now.h#L32-L33) of simultaneously connected drones is 20 (unencrypted) io 6 (encrypted).
 
 3. Set the `WIFI_MODE` parameter to `3` on the drone:
 
diff --git a/flix/mavlink.ino b/flix/mavlink.ino
index 0fae287..a635947 100644
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -241,7 +241,7 @@ void handleMavlink(const void *_msg) {
 		}
 
 		if (m.command == MAV_CMD_COMPONENT_ARM_DISARM) {
-			if (m.param1 && controlThrottle > 0.05) return; // don't arm if throttle is not low
+			if (m.param1 == 1 && controlThrottle > 0.05) return; // don't arm if throttle is not low
 			accepted = true;
 			armed = m.param1 == 1;
 		}
diff --git a/flix/motors.ino b/flix/motors.ino
index 3289755..b25e61a 100644
--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -14,10 +14,7 @@ int pwmStop = 0;
 int pwmMin = 0;
 int pwmMax = -1; // -1 means duty cycle mode
 
-const int MOTOR_REAR_LEFT = 0;
-const int MOTOR_REAR_RIGHT = 1;
-const int MOTOR_FRONT_RIGHT = 2;
-const int MOTOR_FRONT_LEFT = 3;
+const int MOTOR_REAR_LEFT = 0, MOTOR_REAR_RIGHT = 1, MOTOR_FRONT_RIGHT = 2, MOTOR_FRONT_LEFT = 3;
 
 void setupMotors() {
 	print("Setup Motors\n");
diff --git a/flix/parameters.ino b/flix/parameters.ino
index 6533110..f1dd5df 100644
--- a/flix/parameters.ino
+++ b/flix/parameters.ino
@@ -6,13 +6,11 @@
 #include <Preferences.h>
 #include "util.h"
 
-extern int channelZero[16];
-extern int channelMax[16];
+extern int channelZero[16], channelMax[16];
 extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
-extern int rcRxPin;
+extern int rcRxPin, voltagePin;
 extern int wifiMode, wifiLongRange, udpLocalPort, udpRemotePort, espnowChannel;
 extern float rcLossTimeout, descendTime;
-extern int voltagePin;
 extern float voltageScale;
 extern LowPassFilter<float> voltageFilter;
 
diff --git a/flix/wifi.ino b/flix/wifi.ino
index 5c87828..bfd5061 100644
--- a/flix/wifi.ino
+++ b/flix/wifi.ino
@@ -8,7 +8,7 @@
 #include <WiFiUdp.h>
 #include <MacAddress.h>
 #include <ESP32_NOW_Serial.h>
-#include "Preferences.h"
+#include <Preferences.h>
 #include "util.h"
 
 extern Preferences storage; // use the main preferences storage
@@ -33,10 +33,14 @@ void setupWiFi() {
 	if (wifiMode == W_AP) {
 		WiFi.softAP(storage.getString("WIFI_AP_SSID", "flix").c_str(), storage.getString("WIFI_AP_PASS", "flixwifi").c_str());
 		udp.begin(udpLocalPort);
-	} else if (wifiMode == W_STA) {
+	}
+
+	if (wifiMode == W_STA) {
 		WiFi.begin(storage.getString("WIFI_STA_SSID", "").c_str(), storage.getString("WIFI_STA_PASS", "").c_str());
 		udp.begin(udpLocalPort);
-	} else if (wifiMode == W_ESPNOW) {
+	}
+
+	if (wifiMode == W_ESPNOW) {
 		WiFi.mode(WIFI_AP);
 		WiFi.setChannel(espnowChannel);
 		espnow.addr(MacAddress(storage.getString("ESPNOW_PEER_MAC", "FF:FF:FF:FF:FF:FF").c_str()));