From 3cba73fadad2e02e797943bac2d627ef7835ef33 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 27 Aug 2026 13:44:19 +0300
Subject: [PATCH 01/10] Use new autopilot value for heartbeats -
 MAV_AUTOPILOT_FLIX

MAVLink-Arduino@2.0.33
https://github.com/mavlink/mavlink/pull/2580
---
 Makefile         | 2 +-
 docs/usage.md    | 2 +-
 flix/mavlink.ino | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Makefile b/Makefile
index 814e8fd..1ab02cf 100644
--- a/Makefile
+++ b/Makefile
@@ -23,7 +23,7 @@ core .core:
 libs .libs:
 	arduino-cli lib update-index
 	arduino-cli lib install "FlixPeriph"
-	arduino-cli lib install "MAVLink"@2.0.25
+	arduino-cli lib install "MAVLink"@2.0.33
 	touch .libs
 
 upload_proxy: .core .libs
diff --git a/docs/usage.md b/docs/usage.md
index fee4381..c7ab7eb 100644
--- a/docs/usage.md
+++ b/docs/usage.md
@@ -51,7 +51,7 @@ Beginners can [download the sources as a ZIP archive](https://github.com/okalach
 3. Install ESP32 core, version 3.3.10. See the [official Espressif's instructions](https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#installing-using-arduino-ide) on installing ESP32 Core in Arduino IDE.
 4. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library):
    * `FlixPeriph`, the latest version.
-   * `MAVLink`, version 2.0.25.
+   * `MAVLink`, version 2.0.33.
 5. Open the `flix/flix.ino` sketch from downloaded firmware sources in Arduino IDE.
 6. Connect your ESP32 board to the computer and choose correct board type in Arduino IDE (*WEMOS D1 MINI ESP32* for ESP32 Mini, *ESP32S3 Dev Module* for ESP32-S3 Super Mini) and the port.
 7. Set *Tools* ⇒ *Core Debug Level* to *Error* to see the errors in the serial console.
diff --git a/flix/mavlink.ino b/flix/mavlink.ino
index 51dd0a4..be90f9a 100644
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -32,7 +32,7 @@ void sendMavlink() {
 	uint32_t time = t * 1000;
 
 	if (telemetrySlow) {
-		mavlink_msg_heartbeat_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_GENERIC,
+		mavlink_msg_heartbeat_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_FLIX,
 			(armed ? MAV_MODE_FLAG_SAFETY_ARMED : 0) |
 			((mode == STAB) ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0) |
 			((mode == AUTO) ? MAV_MODE_FLAG_AUTO_ENABLED : MAV_MODE_FLAG_MANUAL_INPUT_ENABLED),

From dd2d185bc74c9199f2e5687e317fe923dd84f960 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 28 Aug 2026 16:55:17 +0300
Subject: [PATCH 02/10] Fix pyflix examples reflecting control parameters
 rename

---
 tools/example.py       | 6 +++---
 tools/pyflix/README.md | 4 ++--
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/tools/example.py b/tools/example.py
index 0738bda..0cb71be 100755
--- a/tools/example.py
+++ b/tools/example.py
@@ -24,11 +24,11 @@ print('> imu')
 print(flix.cli('imu'))
 
 print('=== Get parameter...')
-pitch_p = flix.get_param('CTL_P_P')
-print('CTL_P_P = ', pitch_p)
+pitch_p = flix.get_param('CTL_ATT_P_P')
+print('CTL_ATT_P_P = ', pitch_p)
 
 print('=== Set parameter...')
-flix.set_param('CTL_P_P', pitch_p)
+flix.set_param('CTL_ATT_P_P', pitch_p)
 
 print('=== Wait for gyro update...')
 print('Gyro: ', flix.wait('gyro'))
diff --git a/tools/pyflix/README.md b/tools/pyflix/README.md
index b5b61d8..963adad 100644
--- a/tools/pyflix/README.md
+++ b/tools/pyflix/README.md
@@ -121,8 +121,8 @@ Full list of events:
 Get and set firmware parameters using `get_param` and `set_param` methods:
 
 ```python
-pitch_p = flix.get_param('CTL_P_P')  # get parameter value
-flix.set_param('CTL_P_P', 5)         # set parameter value
+pitch_p = flix.get_param('CTL_ATT_P_P')  # get parameter value
+flix.set_param('CTL_ATT_P_P', 5)         # set parameter value
 ```
 
 Execute console commands using `cli` method. This method returns the command response:

From a77f21353845c3a1483700ccddbaf6d8104d62f7 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 28 Aug 2026 19:26:35 +0300
Subject: [PATCH 03/10] Add timeout parameter for pyflix constructor

---
 tools/pyflix/flix.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/pyflix/flix.py b/tools/pyflix/flix.py
index b03bbcf..c9b3b1d 100644
--- a/tools/pyflix/flix.py
+++ b/tools/pyflix/flix.py
@@ -44,7 +44,7 @@ class Flix:
     _print_buffer: str = ''
     _modes = ['RAW', 'ACRO', 'STAB', 'AUTO']
 
-    def __init__(self, system_id: int=1, wait_connection: bool=True, device=os.getenv('FLIX_DEVICE')):
+    def __init__(self, system_id: int=1, wait_connection: bool=True, timeout: Optional[float]=None, device=os.getenv('FLIX_DEVICE')):
         if not (0 <= system_id < 256):
             raise ValueError('system_id must be in range [0, 255]')
         self._setup_mavlink()
@@ -74,7 +74,7 @@ class Flix:
         self._heartbeat_thread = Thread(target=self._send_heartbeat, daemon=True)
         self._heartbeat_thread.start()
         if wait_connection:
-            self.wait('mavlink.HEARTBEAT')
+            self.wait('mavlink.HEARTBEAT', timeout=timeout)
             time.sleep(0.6) # give some time to receive initial state
 
     def _init_state(self):

From 68eb523bebdedff12a2c694a18d3dcd74a19f026 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 28 Aug 2026 19:29:40 +0300
Subject: [PATCH 04/10] Add tests to ci Test pyflix and simulation using
 pytest. Fix running the sim in non-tty environment. Test presence of some
 essential files in the docs.

---
 .github/workflows/build.yml | 11 +++++----
 .github/workflows/docs.yml  |  5 ++++
 gazebo/Arduino.h            |  3 ++-
 tools/requirements.txt      |  1 +
 tools/test.py               | 47 +++++++++++++++++++++++++++++++++++++
 5 files changed, 61 insertions(+), 6 deletions(-)
 create mode 100755 tools/test.py

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 743662c..0618eca 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -84,15 +84,16 @@ jobs:
       run: sudo apt-get install -y libsdl2-dev
     - name: Build simulator
       run: make build_simulator
-    - name: Run simulator
+    - name: Install Python requirements
+      run: sudo apt install -y python3-pip && pip3 install -r tools/requirements.txt && pip3 install pytest
+    - name: Run simulator and tests
       env:
         GAZEBO_MODEL_PATH: ${{ github.workspace }}/gazebo/models
         GAZEBO_PLUGIN_PATH: ${{ github.workspace }}/gazebo/build
+        GAZEBO_MODEL_DATABASE_URI: '' # disable downloading models
       run: |
-        OUT=$(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
+        gzserver --verbose gazebo/flix.world &
+        pytest --capture=no --verbose tools/test.py
     - uses: actions/upload-artifact@v7
       with:
         name: gazebo-plugin-binary
diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index 67dcbfa..4e3178d 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -83,6 +83,11 @@ jobs:
           ln -s "$FQBN/flix.ino.bin" "flix.$BOARD.bin"
           ln -s "$FQBN/flix.ino.bootloader.bin" "flix.$BOARD.bootloader.bin"
         done
+    - name: Test build artifacts
+      working-directory: docs/build
+      run: |
+        ls; ls index.html gyro.html geometry.html firmware.html flix.esp32.merged.bin flix.esp32c3.merged.bin \
+        flix.esp32s3.merged.bin flix.esp32s3.opi.merged.bin flix.esp32s3.qspi.merged.bin flix.flix2.merged.bin
     - name: Upload artifact
       uses: actions/upload-pages-artifact@v5
       with:
diff --git a/gazebo/Arduino.h b/gazebo/Arduino.h
index 6122225..862d243 100644
--- a/gazebo/Arduino.h
+++ b/gazebo/Arduino.h
@@ -134,8 +134,9 @@ public:
 
 	int available() {
 		// to implement for Windows, see https://stackoverflow.com/a/71992965/6850197
+		if (!isatty(STDIN_FILENO)) return 0;
 		struct pollfd pfd = { .fd = STDIN_FILENO, .events = POLLIN };
-		return poll(&pfd, 1, 0) > 0;
+		return poll(&pfd, 1, 0) > 0 && (pfd.revents & POLLIN);
 	}
 
 	int read() {
diff --git a/tools/requirements.txt b/tools/requirements.txt
index 6b3338b..adff73d 100644
--- a/tools/requirements.txt
+++ b/tools/requirements.txt
@@ -1,3 +1,4 @@
+pymavlink
 docopt
 matplotlib
 mcap
diff --git a/tools/test.py b/tools/test.py
new file mode 100755
index 0000000..c23e4c4
--- /dev/null
+++ b/tools/test.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+
+# Script for testing pyflix and the simulation.
+
+from pytest import approx
+from math import isnan, isfinite
+import time
+from pyflix import Flix
+
+def test():
+    print('=== Connect...')
+    flix = Flix(timeout=20)
+
+    print('=== Check initial state')
+    time.sleep(1)  # give more time for initial state
+    assert flix.connected
+    assert flix.mode == 'STAB'
+    assert not flix.armed
+    assert flix.landed
+    assert isnan(flix.voltage) or flix.voltage == approx(4.2)
+    assert flix.rates == approx((0, 0, 0), abs=0.01)
+    assert flix.attitude == approx((1, 0, 0, 0), abs=0.01)
+    assert flix.attitude_euler == approx((0, 0, 0), abs=0.01)
+    assert all(m == 0 for m in flix.motors)
+    assert flix.acc == approx((0, 0, 9.81), abs=0.1)
+    assert flix.gyro == approx((0, 0, 0), abs=0.01)
+    assert all(ch == 0 for ch in flix.channels)
+
+    print('=== Check console commands')
+    assert 'Time: ' in flix.cli('time')
+    assert 'landed: 1' in flix.cli('imu')
+
+    print('=== Check parameters')
+    assert isfinite(flix.get_param('CTL_ATT_P_P'))
+    flix.set_param('CTL_ATT_P_P', 10.0)
+
+    print('=== Additional checks')
+    assert flix.wait('gyro') == approx((0, 0, 0), abs=0.01)
+    flix.wait('armed', False)
+    flix.wait('mode', 'STAB')
+    flix.wait('motors', lambda motors: not any(motors))
+    flix.set_armed(True)
+    flix.wait('armed', True)
+    flix.set_mode('ACRO')
+    flix.wait('mode', 'ACRO')
+    flix.set_mode('AUTO')
+    flix.wait('mode', 'AUTO')

From 2964e8fef7ba6c4f5a423bbc285090a79436ead3 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 28 Aug 2026 19:35:44 +0300
Subject: [PATCH 05/10] Simplify makefile

There is no reason to use :=
---
 Makefile | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Makefile b/Makefile
index 1ab02cf..c137498 100644
--- a/Makefile
+++ b/Makefile
@@ -1,7 +1,7 @@
 BOARD = esp32:esp32:esp32
-PORT := $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-* /dev/cu.usbmodem*))
+PORT = $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-* /dev/cu.usbmodem*))
 
-export ARDUINO_NETWORK_CONNECTION_TIMEOUT := 1h
+export ARDUINO_NETWORK_CONNECTION_TIMEOUT = 1h
 
 build: .core .libs
 	arduino-cli compile flix --fqbn $(BOARD) --build-property "build.core_debug_level=1" $(EXTRA)

From 9465c94d66b175f48a215cd4c4412f8c95c8916e Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 28 Aug 2026 19:36:57 +0300
Subject: [PATCH 06/10] Add some missing emulated Arduino methods for future
 use

* String::toUpperCase()
* Serial.read(*buf, len)
* Serial.write()
---
 gazebo/Arduino.h | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/gazebo/Arduino.h b/gazebo/Arduino.h
index 862d243..813f735 100644
--- a/gazebo/Arduino.h
+++ b/gazebo/Arduino.h
@@ -60,6 +60,10 @@ public:
 		std::transform(this->begin(), this->end(), this->begin(),
 			[](unsigned char c) { return std::tolower(c); });
 	}
+	void toUpperCase() {
+		std::transform(this->begin(), this->end(), this->begin(),
+			[](unsigned char c) { return std::toupper(c); });
+	}
 };
 
 class Print;
@@ -149,6 +153,17 @@ public:
 		return -1;
 	}
 
+	int read(uint8_t *buf, int len) {
+		if (available()) {
+			return ::read(STDIN_FILENO, buf, len);
+		}
+		return 0;
+	}
+
+	int write(const uint8_t *data, int len) {
+		return ::write(STDOUT_FILENO, data, len);
+	}
+
 	void setRxInvert(bool invert) {};
 };
 

From 5d670dcc69c162ba5155e0d3b3ec0dbbe60706b4 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sat, 29 Aug 2026 17:50:29 +0300
Subject: [PATCH 07/10] Move mavlink commands handlers to a separated function

It's more convenient to handle error that way.
---
 flix/mavlink.ino         | 52 +++++++++++++++++++++-------------------
 gazebo/flix.h            |  1 +
 tools/pyflix/__init__.py |  2 +-
 tools/pyflix/flix.py     |  4 +++-
 tools/test.py            |  7 ++++--
 5 files changed, 38 insertions(+), 28 deletions(-)

diff --git a/flix/mavlink.ino b/flix/mavlink.ino
index be90f9a..6c15f1f 100644
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -245,40 +245,44 @@ void handleMavlink(const void *_msg) {
 		}
 	}
 
-	// Handle commands
 	if (msg.msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
 		mavlink_command_long_t m;
 		mavlink_msg_command_long_decode(&msg, &m);
 		if (m.target_system && m.target_system != mavlinkSysId) return;
-		mavlink_message_t response;
-		bool accepted = false;
 
-		if (m.command == MAV_CMD_REQUEST_MESSAGE && m.param1 == MAVLINK_MSG_ID_AUTOPILOT_VERSION) {
-			accepted = true;
-			mavlink_msg_autopilot_version_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &response,
-				MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | MAV_PROTOCOL_CAPABILITY_MAVLINK2, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0);
-			sendMessage(&response);
-		}
-
-		if (m.command == MAV_CMD_COMPONENT_ARM_DISARM) {
-			if (m.param1 == 1 && controlThrottle > 0.05) return; // don't arm if throttle is not low
-			accepted = true;
-			armed = m.param1 == 1;
-		}
-
-		if (m.command == MAV_CMD_DO_SET_MODE) {
-			if (m.param2 < 0 || m.param2 > AUTO) return; // incorrect mode
-			accepted = true;
-			mode = m.param2;
-		}
-
-		// send command ack
+		int result = handleMavlinkCommand(&m);
 		mavlink_message_t ack;
-		mavlink_msg_command_ack_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, accepted ? MAV_RESULT_ACCEPTED : MAV_RESULT_UNSUPPORTED, UINT8_MAX, 0, msg.sysid, msg.compid);
+		mavlink_msg_command_ack_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, result, UINT8_MAX, 0, msg.sysid, msg.compid);
 		sendMessage(&ack);
 	}
 }
 
+int handleMavlinkCommand(const void *_m) {
+	const mavlink_command_long_t& m = *(mavlink_command_long_t *)_m;
+
+	if (m.command == MAV_CMD_REQUEST_MESSAGE && m.param1 == MAVLINK_MSG_ID_AUTOPILOT_VERSION) {
+		mavlink_message_t response;
+		mavlink_msg_autopilot_version_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &response,
+			MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | MAV_PROTOCOL_CAPABILITY_MAVLINK2, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0);
+		sendMessage(&response);
+		return MAV_RESULT_ACCEPTED;
+	}
+
+	if (m.command == MAV_CMD_COMPONENT_ARM_DISARM) {
+		if (m.param1 == 1 && controlThrottle > 0.05) return MAV_RESULT_DENIED; // don't arm if throttle is not low
+		armed = m.param1 == 1;
+		return MAV_RESULT_ACCEPTED;
+	}
+
+	if (m.command == MAV_CMD_DO_SET_MODE) {
+		if (m.param2 < 0 || m.param2 > AUTO) return MAV_RESULT_DENIED; // incorrect mode
+		mode = m.param2;
+		return MAV_RESULT_ACCEPTED;
+	}
+
+	return MAV_RESULT_UNSUPPORTED;
+}
+
 // Send shell output to GCS
 void mavlinkPrint(const char* str) {
 	mavlinkPrintBuffer += str;
diff --git a/gazebo/flix.h b/gazebo/flix.h
index 351d371..d3034d2 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -58,6 +58,7 @@ void sendMavlink();
 void sendMessage(const void *msg);
 void receiveMavlink();
 void handleMavlink(const void *_msg);
+int handleMavlinkCommand(const void *_m);
 void mavlinkPrint(const char* str);
 void sendMavlinkPrint();
 inline Quaternion fluToFrd(const Quaternion &q);
diff --git a/tools/pyflix/__init__.py b/tools/pyflix/__init__.py
index 67ad6a7..411ab97 100644
--- a/tools/pyflix/__init__.py
+++ b/tools/pyflix/__init__.py
@@ -1 +1 @@
-from .flix import Flix
+from .flix import Flix, mavlink
diff --git a/tools/pyflix/flix.py b/tools/pyflix/flix.py
index c9b3b1d..8321d67 100644
--- a/tools/pyflix/flix.py
+++ b/tools/pyflix/flix.py
@@ -262,7 +262,9 @@ class Flix:
             try:
                 logger.debug(f'Send command {command} with params {params} (attempt #{attempt + 1})')
                 self.mavlink.command_long_send(self.system_id, 0, command, 0, *params)  # type: ignore
-                self.wait('mavlink.COMMAND_ACK', value=lambda msg: msg.command == command and msg.result == mavlink.MAV_RESULT_ACCEPTED, timeout=0.1)
+                ack = self.wait('mavlink.COMMAND_ACK', value=lambda msg: msg.command == command, timeout=0.1)
+                if ack.result != mavlink.MAV_RESULT_ACCEPTED:
+                    raise RuntimeError(f'Command {command} failed with result {ack.result}')
                 return
             except TimeoutError:
                 continue
diff --git a/tools/test.py b/tools/test.py
index c23e4c4..dca8046 100755
--- a/tools/test.py
+++ b/tools/test.py
@@ -2,10 +2,10 @@
 
 # Script for testing pyflix and the simulation.
 
-from pytest import approx
+from pytest import approx, raises
 from math import isnan, isfinite
 import time
-from pyflix import Flix
+from pyflix import Flix, mavlink
 
 def test():
     print('=== Connect...')
@@ -45,3 +45,6 @@ def test():
     flix.wait('mode', 'ACRO')
     flix.set_mode('AUTO')
     flix.wait('mode', 'AUTO')
+
+    raises(RuntimeError, lambda: flix._command_send(mavlink.MAV_CMD_DO_SET_MODE, [0, 99, 0, 0, 0, 0, 0]))  # invalid mode
+    raises(RuntimeError, lambda: flix._command_send(mavlink.MAV_CMD_DO_PARACHUTE, [0, 0, 0, 0, 0, 0, 0]))  # unsupported command

From a2dd70654c54f612e17905fd7aa9714473f648ac Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sat, 29 Aug 2026 17:52:14 +0300
Subject: [PATCH 08/10] Changes to method for sending mavlink commands in
 pymavlink Make the exception names more verbose. Make it public.

---
 tools/pyflix/flix.py | 36 +++++++++++++++++++-----------------
 tools/test.py        |  7 +++++--
 2 files changed, 24 insertions(+), 19 deletions(-)

diff --git a/tools/pyflix/flix.py b/tools/pyflix/flix.py
index 8321d67..6241ab3 100644
--- a/tools/pyflix/flix.py
+++ b/tools/pyflix/flix.py
@@ -255,21 +255,6 @@ class Flix:
     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:
-            raise ValueError('Command must have 7 parameters')
-        for attempt in range(3):
-            try:
-                logger.debug(f'Send command {command} with params {params} (attempt #{attempt + 1})')
-                self.mavlink.command_long_send(self.system_id, 0, command, 0, *params)  # type: ignore
-                ack = self.wait('mavlink.COMMAND_ACK', value=lambda msg: msg.command == command, timeout=0.1)
-                if ack.result != mavlink.MAV_RESULT_ACCEPTED:
-                    raise RuntimeError(f'Command {command} failed with result {ack.result}')
-                return
-            except TimeoutError:
-                continue
-        raise RuntimeError(f'Failed to send command {command} after 3 attempts')
-
     def _connected(self):
         # Reset disconnection timer
         self._disconnected_timer.cancel()
@@ -286,6 +271,23 @@ class Flix:
         self.connected = False
         self._trigger('disconnected')
 
+    def send_command(self, command: int, params: Sequence[float]):
+        if len(params) != 7:
+            raise ValueError('Command must have 7 parameters')
+        for attempt in range(3):
+            try:
+                logger.debug(f'Send command {command} with params {params} (attempt #{attempt + 1})')
+                self.mavlink.command_long_send(self.system_id, 0, command, 0, *params)  # type: ignore
+                ack: mavlink.MAVLink_command_ack_message = self.wait('mavlink.COMMAND_ACK', value=lambda msg: msg.command == command, timeout=0.1)
+                if ack.result != mavlink.MAV_RESULT_ACCEPTED:
+                    name = getattr(mavlink.enums['MAV_CMD'].get(command, {}), 'name', f'UNKNOWN({command})')
+                    result = getattr(mavlink.enums['MAV_RESULT'].get(ack.result, {}), 'name', f'UNKNOWN({ack.result})')
+                    raise RuntimeError(f'Command {name} failed with result {result}')
+                return
+            except TimeoutError:
+                continue
+        raise RuntimeError(f'Failed to send command {command} after 3 attempts')
+
     def get_param(self, name: str) -> float:
         if len(name.encode('ascii')) > 16:
             raise ValueError('Parameter name must be 16 characters or less')
@@ -317,10 +319,10 @@ class Flix:
     def set_mode(self, mode: Union[str, int]):
         if isinstance(mode, str):
             mode = self._modes.index(mode.upper())
-        self._command_send(mavlink.MAV_CMD_DO_SET_MODE, (0, mode, 0, 0, 0, 0, 0))
+        self.send_command(mavlink.MAV_CMD_DO_SET_MODE, (0, mode, 0, 0, 0, 0, 0))
 
     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))
+        self.send_command(mavlink.MAV_CMD_COMPONENT_ARM_DISARM, (1 if armed else 0, 0, 0, 0, 0, 0, 0))
 
     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')
diff --git a/tools/test.py b/tools/test.py
index dca8046..582d92d 100755
--- a/tools/test.py
+++ b/tools/test.py
@@ -46,5 +46,8 @@ def test():
     flix.set_mode('AUTO')
     flix.wait('mode', 'AUTO')
 
-    raises(RuntimeError, lambda: flix._command_send(mavlink.MAV_CMD_DO_SET_MODE, [0, 99, 0, 0, 0, 0, 0]))  # invalid mode
-    raises(RuntimeError, lambda: flix._command_send(mavlink.MAV_CMD_DO_PARACHUTE, [0, 0, 0, 0, 0, 0, 0]))  # unsupported command
+    print("=== Check command errors")
+    with raises(RuntimeError, match='MAV_RESULT_DENIED'):
+        flix.send_command(mavlink.MAV_CMD_DO_SET_MODE, [0, 99, 0, 0, 0, 0, 0])  # invalid mode
+    with raises(RuntimeError, match='MAV_RESULT_UNSUPPORTED'):
+        flix.send_command(mavlink.MAV_CMD_DO_PARACHUTE, [0, 0, 0, 0, 0, 0, 0])  # unsupported command

From eb0018a3268409c15cb0e31759fcfd4e0b210738 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sun, 30 Aug 2026 21:32:30 +0300
Subject: [PATCH 09/10] Always disable blocking in the console output

On USB connection, Serial.print may block the main loop if the USB is connected but isn't read, breaking the firmware logic.
---
 flix/console.ino | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/flix/console.ino b/flix/console.ino
index c69a950..4a0e539 100644
--- a/flix/console.ino
+++ b/flix/console.ino
@@ -67,6 +67,9 @@ HWCDC HWCDCSerial;
 
 void setupConsole() {
 	Serial.begin(115200);
+#if SOC_USB_SERIAL_JTAG_SUPPORTED
+	Serial.setTxTimeoutMs(0); // never block on usb write
+#endif
 }
 
 void print(const char* format, ...) {

From 756a400ce5133094aedfa87a5936c5d1447b7b0e Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 1 Sep 2026 13:02:28 +0300
Subject: [PATCH 10/10] Add parameters metadata for qgc

Handle COMPONENT_METADATA requests from gcs, providing a manually written (for now) static metadata urls.
---
 .github/workflows/tools.yml |   6 ++
 flix/mavlink.ino            |   9 ++
 tools/general.json          |  10 ++
 tools/metadata.py           |  79 +++++++++++++++
 tools/parameters.json       | 192 ++++++++++++++++++++++++++++++++++++
 5 files changed, 296 insertions(+)
 create mode 100644 tools/general.json
 create mode 100755 tools/metadata.py
 create mode 100644 tools/parameters.json

diff --git a/.github/workflows/tools.yml b/.github/workflows/tools.yml
index 2adcd6c..e0c60dc 100644
--- a/.github/workflows/tools.yml
+++ b/.github/workflows/tools.yml
@@ -7,6 +7,12 @@ on:
     branches: [ master ]
 
 jobs:
+  metadata:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v7
+    - name: Check metadata
+      run: tools/metadata.py
   csv_to_ulog:
     runs-on: ubuntu-latest
     steps:
diff --git a/flix/mavlink.ino b/flix/mavlink.ino
index 6c15f1f..fd80fae 100644
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -268,6 +268,15 @@ int handleMavlinkCommand(const void *_m) {
 		return MAV_RESULT_ACCEPTED;
 	}
 
+	if (m.command == MAV_CMD_REQUEST_MESSAGE && m.param1 == MAVLINK_MSG_ID_COMPONENT_METADATA) {
+		mavlink_message_t response;
+		mavlink_msg_component_metadata_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &response, t * 1000,
+		2566517357, // crc
+		"https://quadcopter.dev/meta/2566517357/general.json");
+		sendMessage(&response);
+		return MAV_RESULT_ACCEPTED;
+	}
+
 	if (m.command == MAV_CMD_COMPONENT_ARM_DISARM) {
 		if (m.param1 == 1 && controlThrottle > 0.05) return MAV_RESULT_DENIED; // don't arm if throttle is not low
 		armed = m.param1 == 1;
diff --git a/tools/general.json b/tools/general.json
new file mode 100644
index 0000000..eb21de3
--- /dev/null
+++ b/tools/general.json
@@ -0,0 +1,10 @@
+{
+	"version": 1,
+	"metadataTypes": [
+		{
+			"type": 1,
+			"uri": "https://quadcopter.dev/meta/3307474483/parameters.json",
+			"fileCrc": 3307474483
+		}
+	]
+}
diff --git a/tools/metadata.py b/tools/metadata.py
new file mode 100755
index 0000000..03172b2
--- /dev/null
+++ b/tools/metadata.py
@@ -0,0 +1,79 @@
+#!/usr/bin/env python3
+
+# Script for checking the metadata files
+
+import sys
+import re
+from pathlib import Path
+import json
+import zlib
+import requests
+
+
+def mavlink_crc323(data: bytes) -> int:
+    return (zlib.crc32(data, 0xFFFFFFFF) ^ 0xFFFFFFFF) & 0xFFFFFFFF
+
+
+parameter_regexp = re.compile(r'^\s+\{"(?P<name>[^"]+)",\s*&(?P<variable>[^,]+)(.*)\},?$', re.MULTILINE)
+
+parameters_source_file = Path(__file__).parent.parent / 'flix' / 'parameters.ino'
+parameters_code = parameters_source_file.read_text()
+parameters_meta_file = Path(__file__).parent / 'parameters.json'
+parameters_meta = json.loads(parameters_meta_file.read_text())
+assert parameters_meta['version'] == 1
+
+parameters = parameter_regexp.finditer(parameters_code)
+
+for parameter in parameters:
+    name = parameter.group('name')
+    variable = parameter.group('variable')
+
+    for meta in parameters_meta['parameters']:
+        name_meta = meta['name']
+        regex = re.sub(r'\{[^\}]+\}', r'.*', name_meta) # handle {n} wildcards
+        if re.fullmatch(regex, name):
+            break
+    else:
+        raise RuntimeError(f'Parameter {name} is missing in parameters.json')
+
+general_meta_file = Path(__file__).parent / 'general.json'
+general_crc = mavlink_crc323(general_meta_file.read_bytes())
+general_data = json.loads(general_meta_file.read_text())
+
+parameters_crc = mavlink_crc323(parameters_meta_file.read_bytes())
+
+general_url = f'https://quadcopter.dev/meta/{general_crc}/general.json'
+parameters_url = f'https://quadcopter.dev/meta/{parameters_crc}/parameters.json'
+
+print(f'General CRC: {general_crc}')
+print(f'Parameters CRC: {mavlink_crc323(parameters_meta_file.read_bytes())}')
+print(f'General URL: {general_url}')
+print(f'Parameters URL: {parameters_url}')
+
+code = 0
+
+assert general_data['version'] == 1
+for meta in general_data['metadataTypes']:
+    if meta['type'] == 1:
+        if meta['uri'] != parameters_url:
+            print(f'ERROR: Parameters URI should be {parameters_url}')
+            code = 1
+        if meta['fileCrc'] != parameters_crc:
+            print(f'ERROR: Parameters CRC shoule be {parameters_crc}')
+            code = 1
+    break
+else:
+    print('ERROR: Parameters metadata not found in general.json')
+    code = 1
+
+resp = requests.get(general_url, allow_redirects=True)
+resp.raise_for_status()
+assert resp.json() == general_data
+
+resp = requests.get(parameters_url, allow_redirects=True)
+resp.raise_for_status()
+assert resp.json() == parameters_meta
+
+if code == 0:
+    print('Everything is good')
+sys.exit(code)
diff --git a/tools/parameters.json b/tools/parameters.json
new file mode 100644
index 0000000..6c796a2
--- /dev/null
+++ b/tools/parameters.json
@@ -0,0 +1,192 @@
+{
+	"version": 1,
+	"parameters": [
+		{ "name": "CTL_RATE_R_P", "type": "Float", "group": "Control", "shortDesc": "Proportional gain for roll rate" },
+		{ "name": "CTL_RATE_R_I", "type": "Float", "group": "Control", "shortDesc": "Integral gain for roll rate" },
+		{ "name": "CTL_RATE_R_D", "type": "Float", "group": "Control", "shortDesc": "Derivative gain for roll rate" },
+		{ "name": "CTL_RATE_R_WU", "type": "Float", "group": "Control", "shortDesc": "Integral windup limit for roll rate" },
+		{ "name": "CTL_RATE_R_D_A", "type": "Float", "group": "Control", "shortDesc": "Low-pass filter alpha for roll rate" },
+		{ "name": "CTL_RATE_P_P", "type": "Float", "group": "Control", "shortDesc": "Proportional gain for pitch rate" },
+		{ "name": "CTL_RATE_P_I", "type": "Float", "group": "Control", "shortDesc": "Integral gain for pitch rate" },
+		{ "name": "CTL_RATE_P_D", "type": "Float", "group": "Control", "shortDesc": "Derivative gain for pitch rate" },
+		{ "name": "CTL_RATE_P_WU", "type": "Float", "group": "Control", "shortDesc": "Integral windup limit for pitch rate" },
+		{ "name": "CTL_RATE_P_D_A", "type": "Float", "group": "Control", "shortDesc": "Low-pass filter alpha for pitch rate" },
+		{ "name": "CTL_RATE_Y_P", "type": "Float", "group": "Control", "shortDesc": "Proportional gain for yaw rate" },
+		{ "name": "CTL_RATE_Y_I", "type": "Float", "group": "Control", "shortDesc": "Integral gain for yaw rate" },
+		{ "name": "CTL_RATE_Y_D", "type": "Float", "group": "Control", "shortDesc": "Derivative gain for yaw rate" },
+		{ "name": "CTL_RATE_Y_WU", "type": "Float", "group": "Control", "shortDesc": "Integral windup limit for yaw rate" },
+		{ "name": "CTL_RATE_Y_D_A", "type": "Float", "group": "Control", "shortDesc": "Low-pass filter alpha for yaw rate" },
+
+		{ "name": "CTL_RATE_P_MAX", "type": "Float", "group": "Control", "units": "rad/s", "shortDesc": "Maximum pitch rate for ACRO mode" },
+		{ "name": "CTL_RATE_R_MAX", "type": "Float", "group": "Control", "units": "rad/s", "shortDesc": "Maximum roll rate for ACRO mode" },
+		{ "name": "CTL_RATE_Y_MAX", "type": "Float", "group": "Control", "units": "rad/s", "shortDesc": "Maximum yaw rate for ACRO mode" },
+
+		{ "name": "CTL_ATT_R_P", "type": "Float", "group": "Control", "shortDesc": "Proportional gain for roll angle" },
+		{ "name": "CTL_ATT_P_P", "type": "Float", "group": "Control", "shortDesc": "Proportional gain for pitch angle" },
+		{ "name": "CTL_ATT_Y_P", "type": "Float", "group": "Control", "shortDesc": "Proportional gain for yaw angle" },
+		{ "name": "CTL_ATT_MAX", "type": "Float", "group": "Control", "units": "radians", "shortDesc": "Maximum tilt angle for STAB mode" },
+
+		{
+			"name": "CTL_FLT_MODE_{n}",
+			"type": "Float",
+			"group": "Control",
+			"shortDesc": "Flight mode for switch position {n}",
+			"values": [{ "value": 0, "description": "RAW" }, { "value": 1, "description": "ACRO" }, { "value": 2, "description": "STAB" }, { "value": 3, "description": "AUTO" }, { "value": 4, "description": "POS" }]
+		},
+
+		{
+			"name": "IMU_MODEL",
+			"type": "Float",
+			"shortDesc": "IMU sensor model",
+			"group": "IMU",
+			"increment": 1,
+			"decimalPlaces": 0,
+			"values": [{ "value": -1, "description": "Disabled"}, { "value": 1, "description": "MPU-9250"}, { "value": 2, "description": "ICM-20948"}, { "value": 3, "description": "MPU-6050"}, { "value": 4, "description": "ICM-40609-D"}],
+			"rebootRequired": true
+		},
+		{
+			"name": "IMU_BUS",
+			"type": "Float",
+			"shortDesc": "IMU bus type",
+			"group": "IMU",
+			"values": [
+				{ "value": 0, "description": "SPI" },
+				{ "value": 1, "description": "I2C" }
+			],
+			"rebootRequired": true
+		},
+		{ "name": "IMU_PIN_SCK", "type": "Float", "group": "IMU", "shortDesc": "IMU SPI SCK pin", "min": 1, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "IMU_PIN_MISO", "type": "Float", "group": "IMU", "shortDesc": "IMU SPI MISO pin", "min": 1, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "IMU_PIN_MOSI", "type": "Float", "group": "IMU", "shortDesc": "IMU SPI MOSI pin", "min": 1, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "IMU_PIN_CS", "type": "Float", "group": "IMU", "shortDesc": "IMU SPI CS pin", "min": 1, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "IMU_PIN_SDA", "type": "Float", "group": "IMU", "shortDesc": "IMU I2C SDA pin", "min": 1, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "IMU_PIN_SCL", "type": "Float", "group": "IMU", "shortDesc": "IMU I2C SCL pin", "min": 1, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "IMU_PIN_INT", "type": "Float", "group": "IMU", "shortDesc": "IMU interrupt pin (-1 for using timer)", "min": -1, "increment": 1, "decimalPlaces": 0 },
+
+		{ "name": "IMU_ROT_ROLL", "type": "Float", "group": "IMU", "units": "radians", "shortDesc": "IMU roll rotation" },
+		{ "name": "IMU_ROT_PITCH", "type": "Float", "group": "IMU", "units": "radians", "shortDesc": "IMU pitch rotation" },
+		{ "name": "IMU_ROT_YAW", "type": "Float", "group": "IMU", "units": "radians", "shortDesc": "IMU yaw rotation" },
+
+		{ "name": "IMU_ACC_BIAS_X", "type": "Float", "group": "IMU (Calibration)", "units": "m/s^2", "shortDesc": "Accelerometer bias X", "volatile": true },
+		{ "name": "IMU_ACC_BIAS_Y", "type": "Float", "group": "IMU (Calibration)", "units": "m/s^2", "shortDesc": "Accelerometer bias Y", "volatile": true },
+		{ "name": "IMU_ACC_BIAS_Z", "type": "Float", "group": "IMU (Calibration)", "units": "m/s^2", "shortDesc": "Accelerometer bias Z", "volatile": true },
+
+		{ "name": "IMU_ACC_SCALE_X", "type": "Float", "group": "IMU (Calibration)", "shortDesc": "Accelerometer scale X", "volatile": true },
+		{ "name": "IMU_ACC_SCALE_Y", "type": "Float", "group": "IMU (Calibration)", "shortDesc": "Accelerometer scale Y", "volatile": true },
+		{ "name": "IMU_ACC_SCALE_Z", "type": "Float", "group": "IMU (Calibration)", "shortDesc": "Accelerometer scale Z", "volatile": true },
+
+		{ "name": "IMU_GYRO_BIAS_A", "type": "Float", "group": "IMU", "shortDesc": "Alpha for gyroscope bias estimation" },
+
+		{ "name": "EST_ACC_WEIGHT", "type": "Float", "group": "Estimation", "shortDesc": "Accelerometer weight" },
+		{ "name": "EST_LVL_WEIGHT", "type": "Float", "group": "Estimation", "shortDesc": "Level weight", "decimalPlaces": 5 },
+		{ "name": "EST_RATES_LPF_A", "type": "Float", "group": "Estimation", "shortDesc": "Low-pass filter alpha for rates" },
+		{ "name": "EST_RATES_NO_F", "type": "Float", "group": "Estimation", "units": "Hz", "shortDesc": "Notch filter center frequency for rates", "min": 0, "decimalPlaces": 0 },
+		{ "name": "EST_RATES_NO_BW", "type": "Float", "group": "Estimation", "units": "Hz", "shortDesc": "Notch filter bandwidth for rates", "min": 0, "decimalPlaces": 0 },
+
+		{ "name": "MOT_PIN_FL", "type": "Float", "group": "Motors", "shortDesc": "Front-left motor pin (-1 to disabled)", "min": -1, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "MOT_PIN_FR", "type": "Float", "group": "Motors", "shortDesc": "Front-right motor pin (-1 to disabled)", "min": -1, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "MOT_PIN_RL", "type": "Float", "group": "Motors", "shortDesc": "Rear-left motor pin (-1 to disabled)", "min": -1, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "MOT_PIN_RR", "type": "Float", "group": "Motors", "shortDesc": "Rear-right motor pin (-1 to disabled)", "min": -1, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "MOT_PWM_FREQ", "type": "Float", "group": "Motors", "units": "Hz", "shortDesc": "PWM frequency", "min": 0, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "MOT_PWM_RES", "type": "Float", "group": "Motors", "units": "bits", "shortDesc": "PWM resolution", "min": 1, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "MOT_PWM_STOP", "type": "Float", "group": "Motors", "units": "μs", "shortDesc": "PWM for stopping the motors (brushless motors)", "min": 0, "decimalPlaces": 0 },
+		{ "name": "MOT_PWM_MIN", "type": "Float", "group": "Motors", "units": "μs", "shortDesc": "PWM for minimum throttle (brushless motors)", "min": 0, "decimalPlaces": 0 },
+		{ "name": "MOT_PWM_MAX", "type": "Float", "group": "Motors", "units": "μs", "shortDesc": "PWM for maximum throttle (-1 for brushed motors)", "min": -1, "decimalPlaces": 0 },
+
+		{ "name": "RC_RX_PIN", "type": "Float", "group": "RC", "shortDesc": "RC receiver RX pin (-1 for disabled)", "min": -1, "increment": 1, "decimalPlaces": 0 },
+		{
+			"name": "RC_ZERO_{n}",
+			"type": "Float",
+			"group": "RC (Calibration)",
+			"shortDesc": "RC channel {n} zero PWM",
+			"units": "μs",
+			"min": 0,
+			"decimalPlaces": 0
+		},
+		{
+			"name": "RC_MAX_{n}",
+			"type": "Float",
+			"group": "RC (Calibration)",
+			"shortDesc": "RC channel {n} maximum PWM",
+			"units": "μs",
+			"min": 0,
+			"decimalPlaces": 0
+		},
+
+		{ "name": "RC_ROLL", "type": "Float", "group": "RC (Calibration)", "shortDesc": "RC roll channel", "min": 0, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "RC_PITCH", "type": "Float", "group": "RC (Calibration)", "shortDesc": "RC pitch channel", "min": 0, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "RC_THROTTLE", "type": "Float", "group": "RC (Calibration)", "shortDesc": "RC throttle channel", "min": 0, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "RC_YAW", "type": "Float", "group": "RC (Calibration)", "shortDesc": "RC yaw channel", "min": 0, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "RC_MODE", "type": "Float", "group": "RC (Calibration)", "shortDesc": "RC mode switch channel", "min": 0, "increment": 1, "decimalPlaces": 0 },
+
+		{
+			"name": "WIFI_MODE",
+			"type": "Float",
+			"group": "Wi-Fi",
+			"shortDesc": "Wi-Fi mode",
+			"values": [
+				{ "value": 0, "description": "Disabled" },
+				{ "value": 1, "description": "Access point (AP)" },
+				{ "value": 2, "description": "Client (STA)" },
+				{ "value": 3, "description": "ESP-NOW" }
+			]
+		},
+		{ "name": "WIFI_PORT_LOC", "type": "Float", "group": "Wi-Fi", "shortDesc": "Local UDP port", "min": 0, "max": 65535, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "WIFI_PORT_REM", "type": "Float", "group": "Wi-Fi", "shortDesc": "Remote UDP port", "min": 0, "max": 65535, "increment": 1, "decimalPlaces": 0 },
+		{
+			"name": "WIFI_LONG_RANGE",
+			"type": "Float",
+			"group": "Wi-Fi",
+			"shortDesc": "Long-range WiFi mode",
+			"values": [
+				{ "value": 0, "description": "Off" },
+				{ "value": 1, "description": "On" }
+			]
+		},
+		{
+			"name": "WIFI_BROADCAST",
+			"type": "Float",
+			"group": "Wi-Fi",
+			"shortDesc": "Always broadcast UDP",
+			"values": [
+				{ "value": 0, "description": "Off" },
+				{ "value": 1, "description": "On" }
+			]
+		},
+
+		{ "name": "ESPNOW_CHANNEL", "type": "Float", "group": "ESP-NOW", "shortDesc": "ESP-NOW channel", "min": 1, "max": 13, "increment": 1, "decimalPlaces": 0 },
+
+		{ "name": "MAV_SYS_ID", "type": "Float", "group": "MAVLink", "shortDesc": "MAVLink system ID", "min": 1, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "MAV_RATE_SLOW", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for heartbeats and battery state", "min": 0, "decimalPlaces": 0 },
+		{ "name": "MAV_RATE_FAST", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for attitude, RC channels and motors state", "min": 0, "decimalPlaces": 0 },
+		{ "name": "MAV_RATE_EXTRA", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for IMU data and exposed log topic", "min": 0, "decimalPlaces": 0 },
+		{ "name": "MAV_RATE_ATT", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for attitude", "min": 0, "decimalPlaces": 0 },
+		{ "name": "MAV_RATE_ATT_TG", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for attitude target", "min": 0, "decimalPlaces": 0 },
+		{ "name": "MAV_RATE_RC", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for RC channels", "min": 0, "decimalPlaces": 0 },
+		{ "name": "MAV_RATE_MOT", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for motors state", "min": 0, "decimalPlaces": 0 },
+		{ "name": "MAV_RATE_IMU", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for IMU data", "min": 0, "decimalPlaces": 0 },
+		{ "name": "MAV_RATE_TOPIC", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for exposed log topic", "min": 0, "decimalPlaces": 0 },
+
+		{
+			"name": "LOG_MEMORY",
+			"type": "Float",
+			"group": "Log",
+			"shortDesc": "Memory type for logging",
+			"values": [
+				{ "value": -1, "description": "Disabled" },
+				{ "value": 0, "description": "RAM" },
+				{ "value": 1, "description": "PSRAM" }
+			]
+		},
+		{ "name": "LOG_USAGE", "type": "Float", "group": "Log", "units": "norm", "shortDesc": "Percentage of memory to use for logging" },
+		{ "name": "LOG_RATE_{n}", "type": "Float", "group": "Log", "units": "Hz", "shortDesc": "Log topic {n} rate", "min": 0, "decimalPlaces": 0 },
+
+		{ "name": "PWR_VOLT_PIN", "type": "Float", "group": "Power", "shortDesc": "Voltage ADC input pin (-1 for disabled)", "min": -1, "increment": 1, "decimalPlaces": 0 },
+		{ "name": "PWR_VOLT_SCALE", "type": "Float", "group": "Power", "shortDesc": "Voltage divider scale factor" },
+		{ "name": "PWR_VOLT_LPF_A", "type": "Float", "group": "Power", "shortDesc": "Low-pass filter alpha for battery voltage" },
+
+		{ "name": "SF_RC_LOSS_TIME", "type": "Float", "group": "Safety", "units": "s", "shortDesc": "RC signal loss timeout in seconds", "min": 0, "decimalPlaces": 1 },
+		{ "name": "SF_DESCEND_TIME", "type": "Float", "group": "Safety", "units": "s", "shortDesc": "Automatic descent timeout in seconds", "min": 0, "decimalPlaces": 1 },
+		{ "name": "SF_DISARM_TILT", "type": "Float", "group": "Safety", "units": "radians", "shortDesc": "Tilt angle above which auto-disarm triggers" }
+	]
+}