diff --git a/README.md b/README.md
index b4108f8..2937b8f 100644
--- a/README.md
+++ b/README.md
@@ -15,18 +15,15 @@
## Features
-* Simple and clean Arduino based source code.
-* Acro and Stabilized flight using remote control.
-* Precise simulation using Gazebo.
-* [In-RAM logging](docs/log.md).
-* Command line interface through USB port.
-* Wi-Fi support.
-* MAVLink support.
-* Control using mobile phone (with QGroundControl app).
-* Completely 3D-printed frame.
-* Textbook for students on writing a flight controller ([in development](https://quadcopter.dev)).
-* *Position control and autonomous flights using external camera¹*.
-* [Building and running instructions](docs/build.md).
+* Dedicated for education and research.
+* Made from general-purpose components.
+* Simple and clean source code in Arduino.
+* Control using remote control or smartphone.
+* Precise simulation with Gazebo.
+* Wi-Fi and MAVLink support.
+* Wireless command line interface and analyzing.
+* Textbook on flight control theory and practice ([in development](https://quadcopter.dev)).
+* *Position control (using external camera) and autonomous flights¹*.
*¹ — planned.*
@@ -42,7 +39,7 @@ Version 0 demo video: https://youtu.be/8GzzIQ3C6DQ.
See the [user builds gallery](docs/user.md).
-
+
## Simulation
@@ -50,14 +47,22 @@ The simulator is implemented using Gazebo and runs the original Arduino code:
-See [instructions on running the simulation](docs/build.md).
+## Articles
-## Components (version 1)
+* [Assembly instructions](docs/assembly.md).
+* [Building and running the code](docs/build.md).
+* [Troubleshooting](docs/troubleshooting.md).
+* [Firmware architecture overview](docs/firmware.md).
+* [Log analysis](docs/log.md).
+* [User builds gallery](docs/user.md).
+
+## Components
|Type|Part|Image|Quantity|
|-|-|:-:|:-:|
|Microcontroller board|ESP32 Mini|
|1|
|IMU (and barometer²) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board), ICM‑20948³|
|1|
+|(Recommended) Buck-boost converter|To be determined, output 5V or 3.3V, see [user-contributed schematics](https://miro.com/app/board/uXjVN-dTjoo=/?moveToWidget=3458764612179508274&cot=14)|
|1|
|Motor|8520 3.7V brushed motor (shaft 0.8mm).
Motor with exact 3.7V voltage is needed, not ranged working voltage (3.7V — 6V).|
|4|
|Propeller|Hubsan 55 mm|
|4|
|MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)|
|4|
@@ -90,7 +95,7 @@ Tools required for assembly:
Feel free to modify the design and or code, and create your own improved versions of Flix! Send your results to the [official Telegram chat](https://t.me/opensourcequadcopterchat), or directly to the author ([E-mail](mailto:okalachev@gmail.com), [Telegram](https://t.me/okalachev)).
-## Schematics (version 1)
+## Schematics
### Simplified connection diagram
diff --git a/docs/firmware.md b/docs/firmware.md
index 3b9b45a..3871009 100644
--- a/docs/firmware.md
+++ b/docs/firmware.md
@@ -1,5 +1,7 @@
# Firmware overview
+The firmware is a regular Arduino sketch, and follows the classic Arduino one-threaded design. The initialization code is in the `setup()` function, and the main loop is in the `loop()` function. The sketch includes multiple files, each responsible for a specific part of the system.
+
## Dataflow
diff --git a/docs/img/buck-boost.jpg b/docs/img/buck-boost.jpg
new file mode 100644
index 0000000..5188517
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