From a090e3543c9a4d3bd6568adbfa51300696eedd18 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 29 Jul 2025 18:08:57 +0300
Subject: [PATCH] Add WIFI_UDP_ALWAYS_BROADCAST define

---
 flix/cli.ino  |  3 +++
 flix/wifi.ino | 14 +++++++++++++-
 gazebo/flix.h |  1 +
 3 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/flix/cli.ino b/flix/cli.ino
index 5e99b09..73fdb51 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -40,6 +40,7 @@ const char* motd =
 "cr - calibrate RC\n"
 "ca - calibrate accel\n"
 "mfr, mfl, mrr, mrl - test motor (remove props)\n"
+"wifi - show Wi-Fi info\n"
 "sys - show system info\n"
 "reset - reset drone's state\n"
 "reboot - reboot the drone\n";
@@ -141,6 +142,8 @@ void doCommand(String str, bool echo = false) {
 		testMotor(MOTOR_REAR_RIGHT);
 	} else if (command == "mrl") {
 		testMotor(MOTOR_REAR_LEFT);
+	} else if (command == "wifi") {
+		printWiFiInfo();
 	} else if (command == "sys") {
 #ifdef ESP32
 		print("Chip: %s\n", ESP.getChipModel());
diff --git a/flix/wifi.ino b/flix/wifi.ino
index e0d2957..9f6bc21 100644
--- a/flix/wifi.ino
+++ b/flix/wifi.ino
@@ -13,6 +13,7 @@
 #define WIFI_PASSWORD "flixwifi"
 #define WIFI_UDP_PORT 14550
 #define WIFI_UDP_REMOTE_PORT 14550
+#define WIFI_UDP_ALWAYS_BROADCAST 1
 
 WiFiUDP udp;
 
@@ -24,7 +25,9 @@ void setupWiFi() {
 
 void sendWiFi(const uint8_t *buf, int len) {
 	if (WiFi.softAPIP() == IPAddress(0, 0, 0, 0) && WiFi.status() != WL_CONNECTED) return;
-	udp.beginPacket(WiFi.softAPBroadcastIP(), WIFI_UDP_REMOTE_PORT);
+	IPAddress remote = WiFi.softAPBroadcastIP();
+	if (!WIFI_UDP_ALWAYS_BROADCAST && udp.remoteIP()) remote = udp.remoteIP();
+	udp.beginPacket(remote, WIFI_UDP_REMOTE_PORT);
 	udp.write(buf, len);
 	udp.endPacket();
 }
@@ -34,4 +37,13 @@ int receiveWiFi(uint8_t *buf, int len) {
 	return udp.read(buf, len);
 }
 
+void printWiFiInfo() {
+	print("SSID: %s\n", WiFi.softAPSSID().c_str());
+	print("Clients: %d\n", WiFi.softAPgetStationNum());
+	print("Status: %d\n", WiFi.status());
+	print("IP: %s\n", WiFi.softAPIP().toString().c_str());
+	print("Remote IP: %s\n", udp.remoteIP().toString().c_str());
+	print("Broadcast IP: %s\n", WiFi.softAPBroadcastIP().toString().c_str());
+}
+
 #endif
diff --git a/gazebo/flix.h b/gazebo/flix.h
index 9dbfa2b..ce82c38 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -72,4 +72,5 @@ void calibrateGyro() { print("Skip gyro calibrating\n"); };
 void calibrateAccel() { print("Skip accel calibrating\n"); };
 void printIMUCalibration() { print("cal: N/A\n"); };
 void printIMUInfo() {};
+void printWiFiInfo() {};
 Vector accBias, gyroBias, accScale(1, 1, 1);