diff --git a/flix/cli.ino b/flix/cli.ino
index b92f56d..145b80e 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -11,7 +11,7 @@ extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRO
 extern const int RAW, ACRO, STAB, AUTO;
 extern float t, dt, loopRate;
 extern uint16_t channels[16];
-extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
+extern float controlTime;
 extern int mode;
 extern bool armed;
 
@@ -132,6 +132,7 @@ void doCommand(String str, bool echo = false) {
 		}
 		print("\nroll: %g pitch: %g yaw: %g throttle: %g mode: %g\n",
 			controlRoll, controlPitch, controlYaw, controlThrottle, controlMode);
+		print("time: %.1f\n", controlTime);
 		print("mode: %s\n", getModeName());
 		print("armed: %d\n", armed);
 	} else if (command == "wifi") {
diff --git a/flix/estimate.ino b/flix/estimate.ino
index cd8dcb9..a873b9a 100644
--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -8,6 +8,10 @@
 #include "lpf.h"
 #include "util.h"
 
+Vector rates; // estimated angular rates, rad/s
+Quaternion attitude; // estimated attitude
+bool landed;
+
 float accWeight = 0.003;
 LowPassFilter<Vector> ratesFilter(0.2); // cutoff frequency ~ 40 Hz
 
diff --git a/flix/flix.ino b/flix/flix.ino
index 8c0f260..8036b60 100644
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -9,16 +9,13 @@
 
 #define WIFI_ENABLED 1
 
-float t = NAN; // current step time, s
-float dt; // time delta from previous step, s
-float controlRoll, controlPitch, controlYaw, controlThrottle; // pilot's inputs, range [-1, 1]
-float controlMode = NAN;
-Vector gyro; // gyroscope data
-Vector acc; // accelerometer data, m/s/s
-Vector rates; // filtered angular rates, rad/s
-Quaternion attitude; // estimated attitude
-bool landed; // are we landed and stationary
-float motors[4]; // normalized motors thrust in range [0..1]
+extern float t, dt;
+extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
+extern Vector gyro, acc;
+extern Vector rates;
+extern Quaternion attitude;
+extern bool landed;
+extern float motors[4];
 
 void setup() {
 	Serial.begin(115200);
diff --git a/flix/imu.ino b/flix/imu.ino
index 7c482f1..22cf3e3 100644
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -12,9 +12,12 @@
 MPU9250 imu(SPI);
 Vector imuRotation(0, 0, -PI / 2); // imu orientation as Euler angles
 
+Vector gyro; // gyroscope output, rad/s
+Vector gyroBias;
+
+Vector acc; // accelerometer output, m/s/s
 Vector accBias;
 Vector accScale(1, 1, 1);
-Vector gyroBias;
 
 void setupIMU() {
 	print("Setup IMU\n");
diff --git a/flix/mavlink.ino b/flix/mavlink.ino
index 4436c92..cb122fc 100644
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -12,12 +12,11 @@
 #define MAVLINK_RATE_SLOW 1
 #define MAVLINK_RATE_FAST 10
 
+extern float controlTime;
+
 bool mavlinkConnected = false;
 String mavlinkPrintBuffer;
 
-extern float controlTime;
-extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
-
 void processMavlink() {
 	sendMavlink();
 	receiveMavlink();
diff --git a/flix/motors.ino b/flix/motors.ino
index 6b2af65..3dde15c 100644
--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -17,7 +17,8 @@
 #define PWM_MIN 0
 #define PWM_MAX 1000000 / PWM_FREQUENCY
 
-// Motors array indexes:
+float motors[4]; // normalized motor thrusts in range [0..1]
+
 const int MOTOR_REAR_LEFT = 0;
 const int MOTOR_REAR_RIGHT = 1;
 const int MOTOR_FRONT_RIGHT = 2;
diff --git a/flix/rc.ino b/flix/rc.ino
index 21c03ae..5702316 100644
--- a/flix/rc.ino
+++ b/flix/rc.ino
@@ -6,13 +6,16 @@
 #include <SBUS.h>
 #include "util.h"
 
-SBUS rc(Serial2); // NOTE: Use RC(Serial2, 16, 17) if you use the old UART2 pins
+SBUS rc(Serial2);
 
 uint16_t channels[16]; // raw rc channels
-float controlTime; // time of the last controls update
 float channelZero[16]; // calibration zero values
 float channelMax[16]; // calibration max values
 
+float controlRoll, controlPitch, controlYaw, controlThrottle; // pilot's inputs, range [-1, 1]
+float controlMode = NAN; //
+float controlTime; // time of the last controls update (0 when no RC)
+
 // Channels mapping (using float to store in parameters):
 float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, modeChannel = NAN;
 
@@ -38,11 +41,11 @@ void normalizeRC() {
 		controls[i] = mapf(channels[i], channelZero[i], channelMax[i], 0, 1);
 	}
 	// Update control values
-	controlRoll = rollChannel >= 0 ? controls[(int)rollChannel] : NAN;
-	controlPitch = pitchChannel >= 0 ? controls[(int)pitchChannel] : NAN;
-	controlYaw = yawChannel >= 0 ? controls[(int)yawChannel] : NAN;
-	controlThrottle = throttleChannel >= 0 ? controls[(int)throttleChannel] : NAN;
-	controlMode = modeChannel >= 0 ? controls[(int)modeChannel] : NAN;
+	controlRoll = rollChannel >= 0 ? controls[(int)rollChannel] : 0;
+	controlPitch = pitchChannel >= 0 ? controls[(int)pitchChannel] : 0;
+	controlYaw = yawChannel >= 0 ? controls[(int)yawChannel] : 0;
+	controlThrottle = throttleChannel >= 0 ? controls[(int)throttleChannel] : 0;
+	controlMode = modeChannel >= 0 ? controls[(int)modeChannel] : NAN; // mode switch should not have affect if not set
 }
 
 void calibrateRC() {
diff --git a/flix/time.ino b/flix/time.ino
index b57b5bc..f3ba3d1 100644
--- a/flix/time.ino
+++ b/flix/time.ino
@@ -3,6 +3,8 @@
 
 // Time related functions
 
+float t = NAN; // current time, s
+float dt; // time delta with the previous step, s
 float loopRate; // Hz
 
 void step() {
diff --git a/flix/vector.h b/flix/vector.h
index 272e1db..efc3be0 100644
--- a/flix/vector.h
+++ b/flix/vector.h
@@ -35,7 +35,6 @@ public:
 		z = NAN;
 	}
 
-
 	float norm() const {
 		return sqrt(x * x + y * y + z * z);
 	}
diff --git a/gazebo/flix.h b/gazebo/flix.h
index e7d3a2c..91d72c4 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -12,17 +12,15 @@
 
 #define WIFI_ENABLED 1
 
-float t = NAN;
-float dt;
-float motors[4];
-float controlRoll, controlPitch, controlYaw, controlThrottle = NAN;
-float controlMode = NAN;
-Vector acc;
-Vector gyro;
-Vector rates;
-Quaternion attitude;
-bool landed;
-Vector imuRotation;
+extern float t, dt;
+extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
+extern Vector rates;
+extern Quaternion attitude;
+extern bool landed;
+extern float motors[4];
+
+Vector gyro, acc, imuRotation;
+Vector accBias, gyroBias, accScale(1, 1, 1);
 
 // declarations
 void step();
@@ -75,4 +73,3 @@ 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);