diff --git a/.gitignore b/.gitignore
index 0ee1924..f7a56be 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,5 @@
 *.hex
 *.elf
-gazebo/build/
+build/
 tools/log/
 .dependencies
diff --git a/README.md b/README.md
index 27f0045..1318881 100644
--- a/README.md
+++ b/README.md
@@ -57,8 +57,8 @@ You can also check a user contributed [variant of complete circuit diagram](http
 ||~~SBUS inverter~~*|<img src="docs/img/inv.jpg" width=100>|~~1~~|
 |3.7 Li-Po 850 MaH 60C|Battery|||
 ||Battery charger|<img src="docs/img/charger.jpg" width=100>|1|
-||Wires, connectors, tape, ...||
-||3D-printed frame parts||
+||Wires, connectors, tape, ...|||
+||3D-printed frame parts|||
 
 *\* — not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).*
 
diff --git a/flix/control.ino b/flix/control.ino
index dc524bf..2d18175 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -169,6 +169,7 @@ const char* getModeName() {
 		case MANUAL: return "MANUAL";
 		case ACRO: return "ACRO";
 		case STAB: return "STAB";
+		case USER: return "USER";
 		default: return "UNKNOWN";
 	}
 }
diff --git a/flix/quaternion.h b/flix/quaternion.h
index 07d8504..c644156 100644
--- a/flix/quaternion.h
+++ b/flix/quaternion.h
@@ -167,6 +167,7 @@ public:
 		return Vector(res.x, res.y, res.z);
 	}
 
+	// Rotate vector by quaternion
 	inline Vector rotate(const Vector& v) {
 		return conjugateInversed(v);
 	}
diff --git a/gazebo/joystick.h b/gazebo/joystick.h
index 6cf9ce4..5294d77 100644
--- a/gazebo/joystick.h
+++ b/gazebo/joystick.h
@@ -8,8 +8,8 @@
 #include <iostream>
 
 // simulation calibration overrides, NOTE: use `cr` command and replace with the actual values
-const int channelNeutralOverride[] = {-258, -258, -27349, 0, 5417, 0};
-const int channelMaxOverride[] = {27090, 27090, 27090, 27090, 27090, 1};
+const int channelNeutralOverride[] = {-258, -258, -27349, 0, -27349, 0};
+const int channelMaxOverride[] = {27090, 27090, 27090, 27090, -5676, 1};
 
 #define RC_CHANNEL_ROLL 0
 #define RC_CHANNEL_PITCH 1