From 9c8c0e2578bdabdd5befd25bc0d47e88a43170ed Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 15 May 2025 09:22:17 +0300
Subject: [PATCH] Minor code updates

---
 docs/firmware.md | 2 +-
 flix/flix.ino    | 2 +-
 flix/imu.ino     | 2 +-
 flix/motors.ino  | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/docs/firmware.md b/docs/firmware.md
index 3871009..89bab48 100644
--- a/docs/firmware.md
+++ b/docs/firmware.md
@@ -15,7 +15,7 @@ The main loop is running at 1000 Hz. All the dataflow is happening through globa
 * `rates` *(Vector)* — filtered angular rates, *rad/s*.
 * `attitude` *(Quaternion)* — estimated attitude (orientation) of drone.
 * `controls` *(float[])* — user control inputs from the RC, normalized to [-1, 1] range.
-* `motors` *(float[])* — motor outputs, normalized to [-1, 1] range; reverse rotation is possible.
+* `motors` *(float[])* — motor outputs, normalized to [0, 1] range; reverse rotation is possible.
 
 ## Source files
 
diff --git a/flix/flix.ino b/flix/flix.ino
index 0c7ea7b..ea89c1c 100644
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -19,7 +19,7 @@ Vector acc; // accelerometer data, m/s/s
 Vector rates; // filtered angular rates, rad/s
 Quaternion attitude; // estimated attitude
 bool landed; // are we landed and stationary
-float motors[4]; // normalized motors thrust in range [-1..1]
+float motors[4]; // normalized motors thrust in range [0..1]
 
 void setup() {
 	Serial.begin(SERIAL_BAUDRATE);
diff --git a/flix/imu.ino b/flix/imu.ino
index 0cf6139..42b3793 100644
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -11,8 +11,8 @@
 MPU9250 IMU(SPI);
 
 Vector accBias;
-Vector gyroBias;
 Vector accScale(1, 1, 1);
+Vector gyroBias;
 
 void setupIMU() {
 	print("Setup IMU\n");
diff --git a/flix/motors.ino b/flix/motors.ino
index 0386552..f15fd46 100644
--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -55,7 +55,7 @@ bool motorsActive() {
 	return motors[0] != 0 || motors[1] != 0 || motors[2] != 0 || motors[3] != 0;
 }
 
-void testMotor(uint8_t n) {
+void testMotor(int n) {
 	print("Testing motor %d\n", 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