Some updates to the docs

docs/book/firmware.md

@@ -35,7 +35,7 @@
 
 ### Подсистема управления
 
-Состояние органов управления обрабатывается в функции `interpretControls()` и преобразуется в *команду управления*, которая включает следующее:
+Состояние органов управления обрабатывается в функции `interpretControls()` и преобразуется в **команду управления**, которая включает следующее:
 
 * `attitudeTarget` *(Quaternion)* — целевая ориентация дрона.
 * `ratesTarget` *(Vector)* — целевые угловые скорости, *рад/с*.

docs/firmware.md

@@ -38,13 +38,13 @@ Utility files:
 
 ### Control subsystem
 
-Pilot inputs are interpreted in `interpretControls()`, and then converted to the *control command*, which consists of the following:
+Pilot inputs are interpreted in `interpretControls()`, and then converted to the **control command**, which consists of the following:
 
 * `attitudeTarget` *(Quaternion)* — target attitude of the drone.
 * `ratesTarget` *(Vector)* — target angular rates, *rad/s*.
 * `ratesExtra` *(Vector)* — additional (feed-forward) angular rates , used for yaw rate control in STAB mode, *rad/s*.
 * `torqueTarget` *(Vector)* — target torque, range [-1, 1].
-* `thrustTarget` *(float)* — collective thrust target, range [0, 1].
+* `thrustTarget` *(float)* — collective motor thrust target, range [0, 1].
 
 Control command is handled in `controlAttitude()`, `controlRates()`, `controlTorque()` functions. Each function may be skipped if the corresponding control target is set to `NAN`.
 
@@ -62,6 +62,11 @@ print("Test value: %.2f\n", testValue);
 
 In order to add a console command, modify the `doCommand()` function in `cli.ino` file.
 
+> [!IMPORTANT]
+> Avoid using delays in in-flight commands, it will **crash** the drone! (The design is one-threaded.)
+>
+> For on-the-ground commands, use `pause()` function, instead of `delay()`. This function allows to pause in a way that MAVLink connection will continue working.
+
 ## Building the firmware
 
 See build instructions in [usage.md](usage.md).

docs/usage.md

@@ -108,6 +108,8 @@ The drone is configured using parameters. To access and modify them, go to the Q
 
 <img src="img/parameters.png" width="400">
 
+You can also work with parameters using `p` command in the console.
+
 ### Define IMU orientation
 
 Use parameters, to define the IMU board axes orientation relative to the drone's axes: `IMU_ROT_ROLL`, `IMU_ROT_PITCH`, and `IMU_ROT_YAW`.
@@ -163,7 +165,7 @@ Before flight you need to calibrate the accelerometer:
 
 There are several ways to control the drone's flight: using **smartphone** (Wi-Fi), using **SBUS remote control**, or using **USB remote control** (Wi-Fi).
 
-### Control with smartphone
+### Control with a smartphone
 
 1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone.
 2. Power the drone using the battery.
@@ -175,7 +177,7 @@ There are several ways to control the drone's flight: using **smartphone** (Wi-F
 > [!TIP]
 > Decrease `CTL_TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive.
 
-### Control with remote control
+### Control with a remote control
 
 Before using remote SBUS-connected remote control, you need to calibrate it:
 
@@ -183,7 +185,7 @@ Before using remote SBUS-connected remote control, you need to calibrate it:
 2. Type `cr` command and follow the instructions.
 3. Use the remote control to fly the drone!
 
-### Control with USB remote control
+### Control with a USB remote control
 
 If your drone doesn't have RC receiver installed, you can use USB remote control and QGroundControl app to fly it.
 

docs/user.md

@@ -16,7 +16,7 @@ Author: [goldarte](https://t.me/goldarte).<br>
 
 ## School 548 course
 
-Special quadcopter design and engineering course took place in october-november 2025 in School 548, Moscow. Course included UAV control theory, electronics, and practical drone assembly and setup using the Flix project.
+Special course on quadcopter design and engineering took place in october-november 2025 in School 548, Moscow. The course included UAV control theory, electronics, drone assembly and setup practice, using the Flix project.
 
 <img height=200 src="img/user/school548/1.jpg"> <img height=200 src="img/user/school548/2.jpg"> <img height=200 src="img/user/school548/3.jpg">
 
@@ -25,7 +25,7 @@ STL files and other materials: see [here](https://drive.google.com/drive/folders
 ### Selected works
 
 Author: [KiraFlux](https://t.me/@kiraflux_0XC0000005).<br>
-Description: **custom ESPNOW remote control** is implemented, firmware modified to support ESPNOW protocol.<br>
+Description: **custom ESPNOW remote control** was implemented, modified firmware to support ESPNOW protocol.<br>
 Telegram posts: [1](https://t.me/opensourcequadcopter/106), [2](https://t.me/opensourcequadcopter/114).<br>
 Modified Flix firmware: https://github.com/KiraFlux/flix/tree/klyax.<br>
 Remote control project: https://github.com/KiraFlux/ESP32-DJC.<br>

tools/pyflix/README.md

@@ -95,7 +95,7 @@ Full list of events:
 |`armed`|Armed state update|Armed state (*bool*)|
 |`mode`|Flight mode update|Flight mode (*str*)|
 |`landed`|Landed state update|Landed state (*bool*)|
-|`print`|The drone sends text to the console|Text|
+|`print`|The drone prints text to the console|Text|
 |`attitude`|Attitude update|Attitude quaternion (*list*)|
 |`attitude_euler`|Attitude update|Euler angles (*list*)|
 |`rates`|Angular rates update|Angular rates (*list*)|
@@ -112,7 +112,7 @@ Full list of events:
 > [!NOTE]
 > Update events trigger on every new piece of data from the drone, and do not mean the value has changed.
 
-### Common methods
+### Basic methods
 
 Get and set firmware parameters using `get_param` and `set_param` methods: