diff --git a/flix/cli.ino b/flix/cli.ino
index 513ad2e..510ccf2 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -53,7 +53,7 @@ static const struct Param {
 	{"yi", &yawRatePID.i, nullptr},
 	{"yd", &yawRatePID.d, nullptr},
 
-	{"ss", &stepsPerSecond, nullptr},
+	{"ss", &loopFreq, nullptr},
 	// {"m", &mode, nullptr},
 };
 
diff --git a/flix/flix.ino b/flix/flix.ino
index 13bd19f..9828941 100644
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -21,10 +21,9 @@
 #define MOTOR_FRONT_RIGHT 2
 #define MOTOR_REAR_RIGHT 1
 
-uint32_t stepTime; // current step time
-uint32_t steps; // total steps count
-float stepsPerSecond; // steps per last second
-float dt; // time delta from previous step
+float t = NAN; // current step time, s
+float dt; // time delta from previous step, s
+float loopFreq; // loop frequency, Hz
 uint16_t channels[16]; // raw rc channels
 float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
 uint32_t rcFailSafe, rcLostFrame;
diff --git a/flix/log.ino b/flix/log.ino
index 90b1c7e..834ca00 100644
--- a/flix/log.ino
+++ b/flix/log.ino
@@ -5,21 +5,22 @@
 
 const int LOG_RATE = 100;
 const int LOG_DURATION = 10;
-const int LOG_PERIOD = 1000000 / LOG_RATE;
+const float LOG_PERIOD = 1 / LOG_RATE;
 const int LOG_SIZE = LOG_DURATION * LOG_RATE;
 const int LOG_COLUMNS = 14;
 
 static float logBuffer[LOG_SIZE][LOG_COLUMNS]; // * 4 (float)
 static int logPointer = 0;
-static uint32_t lastLog = 0;
 
 void logData()
 {
 	if (!armed) return;
-	if (stepTime - lastLog < LOG_PERIOD) return;
-	lastLog = stepTime;
 
-	logBuffer[logPointer][0] = stepTime;
+	static float logTime = 0;
+	if (t - logTime < LOG_PERIOD) return;
+	logTime = t;
+
+	logBuffer[logPointer][0] = t;
 	logBuffer[logPointer][1] = rates.x;
 	logBuffer[logPointer][2] = rates.y;
 	logBuffer[logPointer][3] = rates.z;
diff --git a/flix/time.ino b/flix/time.ino
index b15a8fd..c2e93c8 100644
--- a/flix/time.ino
+++ b/flix/time.ino
@@ -1,28 +1,25 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
-const uint32_t MS = 1000;
-const uint32_t S = 1000000;
+#define FREQ_WINDOW 1
 
-static uint32_t stepsPerSecondCurrent;
-static uint32_t stepsPerSecondCurrentLast;
+void step()
+{
+	float now = micros() / 1000000.0;
+	dt = now - t; // dt is NAN on first step
+	t = now;
 
-void step() {
-	steps++;
-	auto time = micros();
+	computeLoopFreq();
+}
 
-	if (stepTime == 0) { // first step
-		stepTime = time;
-	}
-
-	dt = (time - stepTime) / 1000000.0;
-	stepTime = time;
-
-	// compute steps per seconds
-	stepsPerSecondCurrent++;
-	if (time - stepsPerSecondCurrentLast >= 1000000) {
-		stepsPerSecond = stepsPerSecondCurrent;
-		stepsPerSecondCurrent = 0;
-		stepsPerSecondCurrentLast = time;
+void computeLoopFreq()
+{
+	static float windowStart = 0;
+	static uint32_t freq = 0;
+	freq++;
+	if (t - windowStart >= FREQ_WINDOW) {
+		loopFreq = freq;
+		windowStart = t;
+		freq = 0;
 	}
 }
diff --git a/gazebo/flix.h b/gazebo/flix.h
index 83d59b5..496c233 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -15,11 +15,9 @@
 #define MOTOR_FRONT_RIGHT 2
 #define MOTOR_REAR_RIGHT 1
 
-uint32_t startTime;
-uint32_t stepTime;
-uint32_t steps;
-float stepsPerSecond;
+float t;
 float dt;
+float loopFreq;
 float motors[4];
 int16_t channels[16]; // raw rc channels WARNING: unsigned on hardware
 float controls[RC_CHANNELS];
@@ -27,7 +25,8 @@ Vector acc;
 Vector rates;
 Quaternion attitude;
 
-// control
+// declarations
+void computeLoopFreq();
 void control();
 void interpretRC();
 static void controlAttitude();