Add parameters for mavlink subsystem

System ID, fast telemetry rate, slow telemetry rate.
Remove WIFI_ENABLED ci build
2026-03-30 03:54:20 +00:00 · 2026-01-19 01:28:43 +03:00 · 2026-01-19 01:09:40 +03:00 · 2026-01-19 01:08:29 +03:00 · 2026-01-19 00:53:36 +03:00 · 2026-01-18 21:24:44 +03:00
37 changed files with 184 additions and 241 deletions
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -6,18 +6,19 @@
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
 				"${workspaceFolder}/tools/**",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32",
-				"~/.arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32",
+				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/**",
+				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include",
 				"~/Arduino/libraries/**",
 				"/usr/include/gazebo-11/",
 				"/usr/include/ignition/math6/"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
 				"${workspaceFolder}/flix/estimate.ino",
@@ -30,10 +31,9 @@
 				"${workspaceFolder}/flix/rc.ino",
 				"${workspaceFolder}/flix/time.ino",
 				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino",
-				"${workspaceFolder}/flix/safety.ino"
+				"${workspaceFolder}/flix/parameters.ino"
 			],
-			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++",
+			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [
@@ -53,18 +53,19 @@
 			"name": "Mac",
 			"includePath": [
 				"${workspaceFolder}/flix",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32",
-				"~/Library/Arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32",
+				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/include/**",
+				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include",
 				"~/Documents/Arduino/libraries/**",
 				"/opt/homebrew/include/gazebo-11/",
 				"/opt/homebrew/include/ignition/math6/"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/flix.ino",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
@@ -77,10 +78,9 @@
 				"${workspaceFolder}/flix/rc.ino",
 				"${workspaceFolder}/flix/time.ino",
 				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino",
-				"${workspaceFolder}/flix/safety.ino"
+				"${workspaceFolder}/flix/parameters.ino"
 			],
-			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++",
+			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [
@@ -103,16 +103,17 @@
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
 				"${workspaceFolder}/tools/**",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32",
-				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32",
+				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/**",
+				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include",
 				"~/Documents/Arduino/libraries/**"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
 				"${workspaceFolder}/flix/estimate.ino",
@@ -125,10 +126,9 @@
 				"${workspaceFolder}/flix/rc.ino",
 				"${workspaceFolder}/flix/time.ino",
 				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino",
-				"${workspaceFolder}/flix/safety.ino"
+				"${workspaceFolder}/flix/parameters.ino"
 			],
-			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++.exe",
+			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++.exe",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [
--- a/4
+++ b/4
@@ -13,10 +13,10 @@ monitor:

 dependencies .dependencies:
 	arduino-cli core update-index --config-file arduino-cli.yaml
-	arduino-cli core install esp32:esp32@3.3.6 --config-file arduino-cli.yaml
+	arduino-cli core install esp32:esp32@3.2.0 --config-file arduino-cli.yaml
 	arduino-cli lib update-index
 	arduino-cli lib install "FlixPeriph"
-	arduino-cli lib install "MAVLink"@2.0.25
+	arduino-cli lib install "MAVLink"@2.0.16
 	touch .dependencies

 gazebo/build cmake: gazebo/CMakeLists.txt
--- a/README.md
+++ b/README.md
@@ -138,10 +138,10 @@ You can see a user-contributed [variant of complete circuit diagram](https://mir

  |Motor|Position|Direction|Prop type|Motor wires|GPIO|
  |-|-|-|-|-|-|
-  |Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 *(TDI)*|
-  |Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 *(TCK)*|
-  |Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 *(TMS)*|
-  |Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 *(TD0)*|
+  |Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 (*TDI*)|
+  |Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 (*TCK*)|
+  |Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 (*TMS*)|
+  |Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 (*TD0*)|

  Clockwise motors have blue & red wires and correspond to propeller type A (marked on the propeller).
  Counter-clockwise motors have black & white wires correspond to propeller type B.
--- a/docs/assembly.md
+++ b/docs/assembly.md
@@ -41,10 +41,10 @@ Motors connection table:

 |Motor|Position|Direction|Prop type|Motor wires|GPIO|
 |-|-|-|-|-|-|
-|Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 *(TDI)*|
-|Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 *(TCK)*|
-|Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 *(TMS)*|
-|Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 *(TD0)*|
+|Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 (*TDI*)|
+|Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 (*TCK*)|
+|Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 (*TMS*)|
+|Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 (*TD0*)|

 ## Motors tightening

--- a/docs/book/geometry.md
+++ b/docs/book/geometry.md
@@ -110,7 +110,7 @@ float angle = Vector::angleBetween(a, b); // 1.57 (90 градусов)

 #### Скалярное произведение

-Скалярное произведение векторов *(dot product)* — это произведение длин двух векторов на косинус угла между ними. В математике оно обозначается знаком `·` или слитным написанием векторов. Интуитивно, результат скалярного произведения показывает, насколько два вектора *сонаправлены*.
+Скалярное произведение векторов (*dot product*) — это произведение длин двух векторов на косинус угла между ними. В математике оно обозначается знаком `·` или слитным написанием векторов. Интуитивно, результат скалярного произведения показывает, насколько два вектора *сонаправлены*.

 В Flix используется статический метод `Vector::dot()`:

@@ -124,7 +124,7 @@ float dotProduct = Vector::dot(a, b); // 32

 #### Векторное произведение

-Векторное произведение *(cross product)* позволяет найти вектор, перпендикулярный двум другим векторам. В математике оно обозначается знаком `×`, а в прошивке используется статический метод `Vector::cross()`:
+Векторное произведение (*cross product*) позволяет найти вектор, перпендикулярный двум другим векторам. В математике оно обозначается знаком `×`, а в прошивке используется статический метод `Vector::cross()`:

 ```cpp
 Vector a(1, 2, 3);
@@ -144,9 +144,9 @@ Vector crossProduct = Vector::cross(a, b); // -3, 6, -3

 В прошивке углы Эйлера сохраняются в обычный объект `Vector` (хоть и, строго говоря, не являются вектором):

-* Угол по крену *(roll)* — `vector.x`.
-* Угол по тангажу *(pitch)* — `vector.y`.
-* Угол по рысканию *(yaw)* — `vector.z`.
+* Угол по крену (*roll*) — `vector.x`.
+* Угол по тангажу (*pitch*) — `vector.y`.
+* Угол по рысканию (*yaw*) — `vector.z`.

 Особенности углов Эйлера:

@@ -162,8 +162,8 @@ Vector crossProduct = Vector::cross(a, b); // -3, 6, -3

 Помимо углов Эйлера, любую ориентацию в трехмерном пространстве можно представить в виде вращения вокруг некоторой оси на некоторый угол. В геометрии это доказывается, как **теорема вращения Эйлера**. В таком представлении ориентация задается двумя величинами:

-* **Ось вращения** *(axis)* — единичный вектор, определяющий ось вращения.
-* **Угол поворота** *(angle* или *θ)* — угол, на который нужно повернуть объект вокруг этой оси.
+* **Ось вращения** (*axis*) — единичный вектор, определяющий ось вращения.
+* **Угол поворота** (*angle* или *θ*) — угол, на который нужно повернуть объект вокруг этой оси.

 В Flix ось вращения задается объектом `Vector`, а угол поворота — числом типа `float` в радианах:

@@ -177,7 +177,7 @@ float angle = radians(45);

 ### Вектор вращения

-Если умножить вектор *axis* на угол поворота *θ*, то получится **вектор вращения** *(rotation vector)*. Этот вектор играет важную роль в алгоритмах управления ориентацией летательного аппарата.
+Если умножить вектор *axis* на угол поворота *θ*, то получится **вектор вращения** (*rotation vector*). Этот вектор играет важную роль в алгоритмах управления ориентацией летательного аппарата.

 Вектор вращения обладает замечательным свойством: если угловые скорости объекта (в собственной системе координат) в каждый момент времени совпадают с компонентами этого вектора, то за единичное время объект придет к заданной этим вектором ориентации. Это свойство позволяет использовать вектор вращения для управления ориентацией объекта посредством управления угловыми скоростями.

@@ -198,7 +198,7 @@ Vector rotation = radians(45) * Vector(1, 2, 3);
 	<a href="https://github.com/okalachev/flix/blob/master/flix/quaternion.h"><code>quaternion.h</code></a>.<br>
 </div>

-Вектор вращения удобен, но еще удобнее использовать **кватернион**. В Flix кватернионы задаются объектами `Quaternion` из библиотеки `quaternion.h`. Кватернион состоит из четырех значений: *w*, *x*, *y*, *z* и рассчитывается из вектора оси вращения *(axis)* и угла поворота *(θ)* по формуле:
+Вектор вращения удобен, но еще удобнее использовать **кватернион**. В Flix кватернионы задаются объектами `Quaternion` из библиотеки `quaternion.h`. Кватернион состоит из четырех значений: *w*, *x*, *y*, *z* и рассчитывается из вектора оси вращения (*axis*) и угла поворота (*θ*) по формуле:

 \\[ q = \left( \begin{array}{c} w \\\\ x \\\\ y \\\\ z \end{array} \right) = \left( \begin{array}{c} \cos\left(\frac{\theta}{2}\right) \\\\ axis\_x \cdot \sin\left(\frac{\theta}{2}\right) \\\\ axis\_y \cdot \sin\left(\frac{\theta}{2}\right) \\\\ axis\_z \cdot \sin\left(\frac{\theta}{2}\right) \end{array} \right) \\]

--- a/docs/book/gyro.md
+++ b/docs/book/gyro.md
@@ -177,7 +177,7 @@ imu.setDLPF(imu.DLPF_MAX);

 ## Калибровка гироскопа

-Как и любое измерительное устройство, гироскоп вносит искажения в измерения. Наиболее простая модель этих искажений делит их на статические смещения *(bias)* и случайный шум *(noise)*:
+Как и любое измерительное устройство, гироскоп вносит искажения в измерения. Наиболее простая модель этих искажений делит их на статические смещения (*bias*) и случайный шум (*noise*):

 \\[ gyro_{xyz}=rates_{xyz}+bias_{xyz}+noise \\]

--- a/docs/img/user/arkymatsekh/1.jpg
+++ b/docs/img/user/arkymatsekh/1.jpg
--- a/docs/img/user/arkymatsekh/2.jpg
+++ b/docs/img/user/arkymatsekh/2.jpg
--- a/docs/img/user/arkymatsekh/3.jpg
+++ b/docs/img/user/arkymatsekh/3.jpg
--- a/docs/img/user/arkymatsekh/video.jpg
+++ b/docs/img/user/arkymatsekh/video.jpg
--- a/docs/img/user/fanby0ru/1.jpg
+++ b/docs/img/user/fanby0ru/1.jpg
--- a/docs/img/user/fanby0ru/2.jpg
+++ b/docs/img/user/fanby0ru/2.jpg
--- a/docs/img/user/phalko/1.jpg
+++ b/docs/img/user/phalko/1.jpg
--- a/docs/img/user/phalko/2.jpg
+++ b/docs/img/user/phalko/2.jpg
--- a/docs/img/user/phalko/3.jpg
+++ b/docs/img/user/phalko/3.jpg
--- a/docs/troubleshooting.md
+++ b/docs/troubleshooting.md
@@ -13,10 +13,10 @@ Do the following:
 Do the following:

 * **Check the battery voltage**. Use a multimeter to measure the battery voltage. It should be in range of 3.7-4.2 V.
-* **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button to make sure you see the whole ESP32 startup output.
+* **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button to make sure you see the whole ESP32 output.
 * **Check the baudrate is correct**. If you see garbage characters in the Serial Monitor, make sure the baudrate is set to 115200.
 * **Make sure correct IMU model is chosen**. If using ICM-20948/MPU-6050 board, change `MPU9250` to `ICM20948`/`MPU6050` in the `imu.ino` file.
-* **Check if the console is working**. Perform `help` command in Serial Monitor. You should see the list of available commands. You can also access the console using QGroundControl *(Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console)*.
+* **Check if the CLI is working**. Perform `help` command in Serial Monitor. You should see the list of available commands. You can also access the CLI using QGroundControl (*Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*).
 * **Configure QGroundControl correctly before connecting to the drone** if you use it to control the drone. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
 * **If QGroundControl doesn't connect**, you might need to disable the firewall and/or VPN on your computer.
 * **Check the IMU is working**. Perform `imu` command and check its output:
--- a/docs/usage.md
+++ b/docs/usage.md
@@ -20,10 +20,10 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b

 1. Install [Arduino IDE](https://www.arduino.cc/en/software) (version 2 is recommended).
 2. *Windows users might need to install [USB to UART bridge driver from Silicon Labs](https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers).*
-3. Install ESP32 core, version 3.3.6. See the [official Espressif's instructions](https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#installing-using-arduino-ide) on installing ESP32 Core in Arduino IDE.
+3. Install ESP32 core, version 3.2.0. See the [official Espressif's instructions](https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#installing-using-arduino-ide) on installing ESP32 Core in Arduino IDE.
 4. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library):
   * `FlixPeriph`, the latest version.
-   * `MAVLink`, version 2.0.25.
+   * `MAVLink`, version 2.0.16.
 5. Open the `flix/flix.ino` sketch from downloaded firmware sources in Arduino IDE.
 6. Connect your ESP32 board to the computer and choose correct board type in Arduino IDE (*WEMOS D1 MINI ESP32* for ESP32 Mini) and the port.
 7. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
@@ -108,7 +108,7 @@ 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. Parameter names are case-insensitive.
+You can also work with parameters using `p` command in the console.

 ### Define IMU orientation

@@ -134,43 +134,27 @@ Before flight you need to calibrate the accelerometer:
 1. Access the console using QGroundControl (recommended) or Serial Monitor.
 2. Type `ca` command there and follow the instructions.

-### Setup motors
+### Check everything works

-If using non-default motor pins, set the pin numbers using the parameters: `MOTOR_PIN_FL`, `MOTOR_PIN_FR`, `MOTOR_PIN_RL`, `MOTOR_PIN_RR` (front-left, front-right, rear-left, rear-right respectively).
-
-If using brushless motors and ESCs:
-
-1. Set the appropriate PWM using the parameters: `MOT_PWM_STOP`, `MOT_PWM_MIN`, and `MOT_PWM_MAX` (1000, 1000, and 2000 is typical).
-2. Decrease the PWM frequency using the `MOT_PWM_FREQ` parameter (400 is typical).
-
-Reboot the drone to apply the changes.
-
-> [!CAUTION]
-> **Remove the props when configuring the motors!** If improperly configured, you may not be able to stop them.
-
-### Important: check everything works
-
-1. Check the IMU is working: perform `imu` command in the console and check the output:
+1. Check the IMU is working: perform `imu` command and check its output:

   * The `status` field should be `OK`.
   * The `rate` field should be about 1000 (Hz).
   * The `accel` and `gyro` fields should change as you move the drone.
-   * The `accel bias` and `accel scale` fields should contain calibration parameters (not zeros and ones).
-   * The `gyro bias` field should contain estimated gyro bias (not zeros).
   * The `landed` field should be `1` when the drone is still on the ground and `0` when you lift it up.

 2. Check the attitude estimation: connect to the drone using QGroundControl, rotate the drone in different orientations and check if the attitude estimation shown in QGroundControl is correct. Compare your attitude indicator (in the *large vertical* mode) to the video:

    <a href="https://youtu.be/yVRN23-GISU"><img width=300 src="https://i3.ytimg.com/vi/yVRN23-GISU/maxresdefault.jpg"></a>

-3. Perform motor tests. Use the following commands **— remove the propellers before running the tests!**
+3. Perform motor tests in the console. Use the following commands **— remove the propellers before running the tests!**

-   * `mfr` — rotate front right motor (counter-clockwise).
-   * `mfl` — rotate front left motor (clockwise).
-   * `mrl` — rotate rear left motor (counter-clockwise).
-   * `mrr` — rotate rear right motor (clockwise).
+   * `mfr` — should rotate front right motor (counter-clockwise).
+   * `mfl` — should rotate front left motor (clockwise).
+   * `mrl` — should rotate rear left motor (counter-clockwise).
+   * `mrr` — should rotate rear right motor (clockwise).

-   Make sure rotation directions and propeller types match the following diagram:
+   Rotation diagram:

   <img src="img/motors.svg" width=200>

@@ -236,11 +220,11 @@ When finished flying, **disarm** the drone, moving the left stick to the bottom

 ### Flight modes

-Flight mode is changed using mode switch on the remote control (if configured) or using the console commands. The main flight mode is *STAB*.
+Flight mode is changed using mode switch on the remote control or using the command line.

 #### STAB

-In this mode, the drone stabilizes its attitude (orientation). The left stick controls throttle and yaw rate, the right stick controls pitch and roll angles.
+The default mode is *STAB*. In this mode, the drone stabilizes its attitude (orientation). The left stick controls throttle and yaw rate, the right stick controls pitch and roll angles.

 > [!IMPORTANT]
 > The drone doesn't stabilize its position, so slight drift is possible. The pilot should compensate it manually.
@@ -255,7 +239,7 @@ In this mode, the pilot controls the angular rates. This control method is diffi

 #### AUTO

-In this mode, the pilot inputs are ignored (except the mode switch). The drone can be controlled using [pyflix](../tools/pyflix/) Python library, or by modifying the firmware to implement the needed behavior.
+In this mode, the pilot inputs are ignored (except the mode switch, if configured). The drone can be controlled using [pyflix](../tools/pyflix/) Python library, or by modifying the firmware to implement the needed autonomous behavior.

 If the pilot moves the control sticks, the drone will switch back to *STAB* mode.

@@ -266,8 +250,8 @@ You can configure the Wi-Fi using parameters and console commands.
 The Wi-Fi mode is chosen using `WIFI_MODE` parameter in QGroundControl or in the console:

 * `0` — Wi-Fi is disabled.
-* `1` — Access Point mode *(AP)* — the drone creates a Wi-Fi network.
-* `2` — Client mode *(STA)* — the drone connects to an existing Wi-Fi network.
+* `1` — Access Point mode (*AP*) — the drone creates a Wi-Fi network.
+* `2` — Client mode (*STA*) — the drone connects to an existing Wi-Fi network.
 * `3` — *ESP-NOW (not implemented yet)*.

 > [!WARNING]
@@ -287,12 +271,6 @@ ap my-flix-ssid mypassword123
 p WIFI_MODE 1
 ```

-Disabling Wi-Fi:
-
-```
-p WIFI_MODE 0
-```
-
 ## Flight log

 After the flight, you can download the flight log for analysis wirelessly. Use the following command on your computer for that:
--- a/docs/user.md
+++ b/docs/user.md
@@ -4,33 +4,6 @@ This page contains user-built drones based on the Flix project. Publish your pro

 ---

-Author: [FanBy0ru](https://https://github.com/FanBy0ru).<br>
-Description: custom 3D-printed frame.<br>
-Frame STLs and flight validation: https://cults3d.com/en/3d-model/gadget/armature-pour-flix-drone.
-
-<img src="img/user/fanby0ru/1.jpg" height=200> <img src="img/user/fanby0ru/2.jpg" height=200>
-
---
-
-Author: Ivan44 Phalko.<br>
-Description: custom PCB, cusom test bench.<br>
-[Flight validation](https://drive.google.com/file/d/17DNDJ1gPmCmDRAwjedCbJ9RXAyqMqqcX/view?usp=sharing).
-
-<img src="img/user/phalko/1.jpg" height=200> <img src="img/user/phalko/2.jpg" height=200> <img src="img/user/phalko/3.jpg" height=200>
-
---
-
-Author: **Arkadiy "Arky" Matsekh**, Foucault Dynamics, Gold Coast, Australia.<br>
-The drone was built for the University of Queensland industry-led Master's capstone project.
-
-**Flight video:**
-
-<a href="https://drive.google.com/file/d/1NNYSVXBY-w0JjCo07D8-PgnVq3ca9plj/view?usp=sharing"><img height=300 src="img/user/arkymatsekh/video.jpg"></a>
-
-<img src="img/user/arkymatsekh/1.jpg" height=150> <img src="img/user/arkymatsekh/2.jpg" height=150> <img src="img/user/arkymatsekh/3.jpg" height=150>
-
---
-
 Author: [goldarte](https://t.me/goldarte).<br>

 <img src="img/user/goldarte/1.jpg" height=150> <img src="img/user/goldarte/2.jpg" height=150>
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -6,7 +6,6 @@
 #include "pid.h"
 #include "vector.h"
 #include "util.h"
-#include "lpf.h"

 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
 extern const int RAW, ACRO, STAB, AUTO;
@@ -15,7 +14,6 @@ extern uint16_t channels[16];
 extern float controlTime;
 extern int mode;
 extern bool armed;
-extern LowPassFilter<Vector> gyroBiasFilter;

 const char* motd =
 "\nWelcome to\n"
@@ -94,7 +92,7 @@ void doCommand(String str, bool echo = false) {
 	} else if (command == "p") {
 		bool success = setParameter(arg0.c_str(), arg1.toFloat());
 		if (success) {
-			print("%s = %g\n", arg0.c_str(), getParameter(arg0.c_str()));
+			print("%s = %g\n", arg0.c_str(), arg1.toFloat());
 		} else {
 			print("Parameter not found: %s\n", arg0.c_str());
 		}
@@ -180,7 +178,6 @@ void doCommand(String str, bool echo = false) {
 #endif
 	} else if (command == "reset") {
 		attitude = Quaternion();
-		gyroBiasFilter.reset();
 	} else if (command == "reboot") {
 		ESP.restart();
 	} else {
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -52,7 +52,6 @@ PID pitchPID(PITCH_P, PITCH_I, PITCH_D);
 PID yawPID(YAW_P, 0, 0);
 Vector maxRate(ROLLRATE_MAX, PITCHRATE_MAX, YAWRATE_MAX);
 float tiltMax = TILT_MAX;
-int flightModes[] = {STAB, STAB, STAB}; // map for rc mode switch

 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
 extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
@@ -66,9 +65,9 @@ void control() {
 }

 void interpretControls() {
-	if (controlMode < 0.25) mode = flightModes[0];
-	else if (controlMode < 0.75) mode = flightModes[1];
-	else if (controlMode > 0.75) mode = flightModes[2];
+	if (controlMode < 0.25) mode = STAB;
+	if (controlMode < 0.75) mode = STAB;
+	if (controlMode > 0.75) mode = STAB;

 	if (mode == AUTO) return; // pilot is not effective in AUTO mode

--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -1,7 +1,7 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix

-// Attitude estimation using gyro and accelerometer
+// Attitude estimation from gyro and accelerometer

 #include "quaternion.h"
 #include "vector.h"
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -7,6 +7,7 @@
 #include "quaternion.h"
 #include "util.h"

+
 extern float t, dt;
 extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
 extern Vector gyro, acc;
@@ -21,8 +22,8 @@ void setup() {
 	disableBrownOut();
 	setupParameters();
 	setupLED();
-	setLED(true);
 	setupMotors();
+	setLED(true);
 	setupWiFi();
 	setupIMU();
 	setupRC();
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -19,8 +19,6 @@ Vector acc; // accelerometer output, m/s/s
 Vector accBias;
 Vector accScale(1, 1, 1);

-LowPassFilter<Vector> gyroBiasFilter(0.001);
-
 void setupIMU() {
 	print("Setup IMU\n");
 	imu.begin();
@@ -52,6 +50,8 @@ void readIMU() {
 void calibrateGyroOnce() {
 	static Delay landedDelay(2);
 	if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary
+
+	static LowPassFilter<Vector> gyroBiasFilter(0.001);
 	gyroBias = gyroBiasFilter.update(gyro);
 }

--- a/flix/lpf.h
+++ b/flix/lpf.h
@@ -14,6 +14,15 @@ public:
 	LowPassFilter(float alpha): alpha(alpha) {};

 	T update(const T input) {
+		if (alpha == 1) { // filter disabled
+			return input;
+		}
+
+		if (!initialized) {
+			output = input;
+			initialized = true;
+		}
+
 		return output += alpha * (input - output);
 	}

@@ -22,6 +31,9 @@ public:
 	}

 	void reset() {
-		output = T(); // set to zero
+		initialized = false;
 	}
+
+private:
+	bool initialized = false;
 };
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -8,13 +8,12 @@

 extern float controlTime;

+bool mavlinkConnected = false;
+String mavlinkPrintBuffer;
 int mavlinkSysId = 1;
 Rate telemetryFast(10);
 Rate telemetrySlow(2);

-bool mavlinkConnected = false;
-String mavlinkPrintBuffer;
-
 void processMavlink() {
 	sendMavlink();
 	receiveMavlink();
@@ -42,9 +41,9 @@ void sendMavlink() {
 	}

 	if (telemetryFast && mavlinkConnected) {
-		const float offset[] = {0, 0, 0, 0};
+		const float zeroQuat[] = {0, 0, 0, 0};
 		mavlink_msg_attitude_quaternion_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
-			time, attitude.w, attitude.x, -attitude.y, -attitude.z, rates.x, -rates.y, -rates.z, offset); // convert to frd
+			time, attitude.w, attitude.x, -attitude.y, -attitude.z, rates.x, -rates.y, -rates.z, zeroQuat); // convert to frd
 		sendMessage(&msg);

 		mavlink_msg_rc_channels_raw_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0,
@@ -143,7 +142,7 @@ void handleMavlink(const void *_msg) {
 		// send ack
 		mavlink_message_t msg;
 		mavlink_msg_param_value_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
-			m.param_id, getParameter(name), MAV_PARAM_TYPE_REAL32, parametersCount(), 0); // index is unknown
+			m.param_id, m.param_value, MAV_PARAM_TYPE_REAL32, parametersCount(), 0); // index is unknown
 		sendMessage(&msg);
 	}

--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -1,18 +1,23 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix

-// PWM control for motors
+// Motors output control using MOSFETs
+// In case of using ESCs, change PWM_STOP, PWM_MIN and PWM_MAX to appropriate values in μs, decrease PWM_FREQUENCY (to 400)

 #include "util.h"

-float motors[4]; // normalized motor thrusts in range [0..1]
+#define MOTOR_0_PIN 12 // rear left
+#define MOTOR_1_PIN 13 // rear right
+#define MOTOR_2_PIN 14 // front right
+#define MOTOR_3_PIN 15 // front left

-int motorPins[4] = {12, 13, 14, 15}; // default pin numbers
-int pwmFrequency = 78000;
-int pwmResolution = 10;
-int pwmStop = 0;
-int pwmMin = 0;
-int pwmMax = -1; // -1 means duty cycle mode
+#define PWM_FREQUENCY 78000
+#define PWM_RESOLUTION 10
+#define PWM_STOP 0
+#define PWM_MIN 0
+#define PWM_MAX 1000000 / PWM_FREQUENCY
+
+float motors[4]; // normalized motor thrusts in range [0..1]

 const int MOTOR_REAR_LEFT = 0;
 const int MOTOR_REAR_RIGHT = 1;
@@ -21,31 +26,30 @@ const int MOTOR_FRONT_LEFT = 3;

 void setupMotors() {
 	print("Setup Motors\n");
+
 	// configure pins
-	for (int i = 0; i < 4; i++) {
-		ledcAttach(motorPins[i], pwmFrequency, pwmResolution);
-		pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // when reconfiguring
-	}
+	ledcAttach(MOTOR_0_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
+	ledcAttach(MOTOR_1_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
+	ledcAttach(MOTOR_2_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
+	ledcAttach(MOTOR_3_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
+
 	sendMotors();
 	print("Motors initialized\n");
 }

-void sendMotors() {
-	for (int i = 0; i < 4; i++) {
-		ledcWrite(motorPins[i], getDutyCycle(motors[i]));
-	}
-}
-
 int getDutyCycle(float value) {
 	value = constrain(value, 0, 1);
-	if (pwmMax >= 0) { // pwm mode
-		float pwm = mapf(value, 0, 1, pwmMin, pwmMax);
-		if (value == 0) pwm = pwmStop;
-		float duty = mapf(pwm, 0, 1000000 / pwmFrequency, 0, (1 << pwmResolution) - 1);
+	float pwm = mapf(value, 0, 1, PWM_MIN, PWM_MAX);
+	if (value == 0) pwm = PWM_STOP;
+	float duty = mapf(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1);
 	return round(duty);
-	} else { // duty cycle mode
-		return round(value * ((1 << pwmResolution) - 1));
 }
+
+void sendMotors() {
+	ledcWrite(MOTOR_0_PIN, getDutyCycle(motors[0]));
+	ledcWrite(MOTOR_1_PIN, getDutyCycle(motors[1]));
+	ledcWrite(MOTOR_2_PIN, getDutyCycle(motors[2]));
+	ledcWrite(MOTOR_3_PIN, getDutyCycle(motors[3]));
 }

 bool motorsActive() {
--- a/flix/parameters.ino
+++ b/flix/parameters.ino
@@ -6,22 +6,20 @@
 #include <Preferences.h>
 #include "util.h"

-extern int channelZero[16];
-extern int channelMax[16];
-extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
+extern float channelZero[16];
+extern float channelMax[16];
+extern float rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
 extern int wifiMode, udpLocalPort, udpRemotePort;
-extern float rcLossTimeout, descendTime;

 Preferences storage;

 struct Parameter {
-	const char *name; // max length is 15
+	const char *name; // max length is 15 (Preferences key limit)
 	bool integer;
-	union { float *f; int *i; }; // pointer to the variable
+	union { float *f; int *i; }; // pointer to variable
 	float cache; // what's stored in flash
-	void (*callback)(); // called after parameter change
-	Parameter(const char *name, float *variable, void (*callback)() = nullptr) : name(name), integer(false), f(variable), callback(callback) {};
-	Parameter(const char *name, int *variable, void (*callback)() = nullptr) : name(name), integer(true), i(variable), callback(callback) {};
+	Parameter(const char *name, float *variable) : name(name), integer(false), f(variable) {};
+	Parameter(const char *name, int *variable) : name(name), integer(true), i(variable) {};
 	float getValue() const { return integer ? *i : *f; };
 	void setValue(const float value) { if (integer) *i = value; else *f = value; };
 };
@@ -50,9 +48,6 @@ Parameter parameters[] = {
 	{"CTL_R_RATE_MAX", &maxRate.x},
 	{"CTL_Y_RATE_MAX", &maxRate.z},
 	{"CTL_TILT_MAX", &tiltMax},
-	{"CTL_FLT_MODE_0", &flightModes[0]},
-	{"CTL_FLT_MODE_1", &flightModes[1]},
-	{"CTL_FLT_MODE_2", &flightModes[2]},
 	// imu
 	{"IMU_ROT_ROLL", &imuRotation.x},
 	{"IMU_ROT_PITCH", &imuRotation.y},
@@ -63,20 +58,9 @@ Parameter parameters[] = {
 	{"IMU_ACC_SCALE_X", &accScale.x},
 	{"IMU_ACC_SCALE_Y", &accScale.y},
 	{"IMU_ACC_SCALE_Z", &accScale.z},
-	{"IMU_GYRO_BIAS_A", &gyroBiasFilter.alpha},
 	// estimate
 	{"EST_ACC_WEIGHT", &accWeight},
 	{"EST_RATES_LPF_A", &ratesFilter.alpha},
-	// motors
-	{"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT], setupMotors},
-	{"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT], setupMotors},
-	{"MOT_PIN_RL", &motorPins[MOTOR_REAR_LEFT], setupMotors},
-	{"MOT_PIN_RR", &motorPins[MOTOR_REAR_RIGHT], setupMotors},
-	{"MOT_PWM_FREQ", &pwmFrequency, setupMotors},
-	{"MOT_PWM_RES", &pwmResolution, setupMotors},
-	{"MOT_PWM_STOP", &pwmStop},
-	{"MOT_PWM_MIN", &pwmMin},
-	{"MOT_PWM_MAX", &pwmMax},
 	// rc
 	{"RC_ZERO_0", &channelZero[0]},
 	{"RC_ZERO_1", &channelZero[1]},
@@ -107,14 +91,10 @@ Parameter parameters[] = {
 	{"MAV_SYS_ID", &mavlinkSysId},
 	{"MAV_RATE_SLOW", &telemetrySlow.rate},
 	{"MAV_RATE_FAST", &telemetryFast.rate},
-	// safety
-	{"SF_RC_LOSS_TIME", &rcLossTimeout},
-	{"SF_DESCEND_TIME", &descendTime},
 };

 void setupParameters() {
-	print("Setup parameters\n");
-	storage.begin("flix");
+	storage.begin("flix", false);
 	// Read parameters from storage
 	for (auto &parameter : parameters) {
 		if (!storage.isKey(parameter.name)) {
@@ -141,7 +121,7 @@ float getParameter(int index) {

 float getParameter(const char *name) {
 	for (auto &parameter : parameters) {
-		if (strcasecmp(parameter.name, name) == 0) {
+		if (strcmp(parameter.name, name) == 0) {
 			return parameter.getValue();
 		}
 	}
@@ -150,10 +130,9 @@ float getParameter(const char *name) {

 bool setParameter(const char *name, const float value) {
 	for (auto &parameter : parameters) {
-		if (strcasecmp(parameter.name, name) == 0) {
+		if (strcmp(parameter.name, name) == 0) {
 			if (parameter.integer && !isfinite(value)) return false; // can't set integer to NaN or Inf
 			parameter.setValue(value);
-			if (parameter.callback) parameter.callback();
 			return true;
 		}
 	}
@@ -167,7 +146,8 @@ void syncParameters() {

 	for (auto &parameter : parameters) {
 		if (parameter.getValue() == parameter.cache) continue; // no change
-		if (isnan(parameter.getValue()) && isnan(parameter.cache)) continue; // both are NAN
+		if (isnan(parameter.getValue()) && isnan(parameter.cache)) continue; // both are NaN
+		if (isinf(parameter.getValue()) && isinf(parameter.cache)) continue; // both are Inf

 		storage.putFloat(parameter.name, parameter.getValue());
 		parameter.cache = parameter.getValue(); // update cache
--- a/flix/rc.ino
+++ b/flix/rc.ino
@@ -9,14 +9,15 @@
 SBUS rc(Serial2);

 uint16_t channels[16]; // raw rc channels
-int channelZero[16]; // calibration zero values
-int channelMax[16]; // calibration max values
+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 = NAN; // time of the last controls update
+float controlMode = NAN; //
+float controlTime; // time of the last controls update (0 when no RC)

-int rollChannel = -1, pitchChannel = -1, throttleChannel = -1, yawChannel = -1, modeChannel = -1; // channel mapping
+// Channels mapping (using float to store in parameters):
+float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, modeChannel = NAN;

 void setupRC() {
 	print("Setup RC\n");
@@ -40,11 +41,11 @@ void normalizeRC() {
 		controls[i] = mapf(channels[i], channelZero[i], channelMax[i], 0, 1);
 	}
 	// Update control values
-	controlRoll = rollChannel < 0 ? 0 : controls[rollChannel];
-	controlPitch = pitchChannel < 0 ? 0 : controls[pitchChannel];
-	controlYaw = yawChannel < 0 ? 0 : controls[yawChannel];
-	controlThrottle = throttleChannel < 0 ? 0 : controls[throttleChannel];
-	controlMode = modeChannel < 0 ? NAN : controls[modeChannel]; // mode control is ineffective if not mapped
+	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() {
@@ -63,7 +64,7 @@ void calibrateRC() {
 	printRCCalibration();
 }

-void calibrateRCChannel(int *channel, uint16_t in[16], uint16_t out[16], const char *str) {
+void calibrateRCChannel(float *channel, uint16_t in[16], uint16_t out[16], const char *str) {
 	print("%s", str);
 	pause(3);
 	for (int i = 0; i < 30; i++) readRC(); // try update 30 times max
@@ -84,15 +85,15 @@ void calibrateRCChannel(int *channel, uint16_t in[16], uint16_t out[16], const c
 		channelZero[ch] = in[ch];
 		channelMax[ch] = out[ch];
 	} else {
-		*channel = -1;
+		*channel = NAN;
 	}
 }

 void printRCCalibration() {
 	print("Control   Ch     Zero   Max\n");
-	print("Roll      %-7d%-7d%-7d\n", rollChannel, rollChannel < 0 ? 0 : channelZero[rollChannel], rollChannel < 0 ? 0 : channelMax[rollChannel]);
-	print("Pitch     %-7d%-7d%-7d\n", pitchChannel, pitchChannel < 0 ? 0 : channelZero[pitchChannel], pitchChannel < 0 ? 0 : channelMax[pitchChannel]);
-	print("Yaw       %-7d%-7d%-7d\n", yawChannel, yawChannel < 0 ? 0 : channelZero[yawChannel], yawChannel < 0 ? 0 : channelMax[yawChannel]);
-	print("Throttle  %-7d%-7d%-7d\n", throttleChannel, throttleChannel < 0 ? 0 : channelZero[throttleChannel], throttleChannel < 0 ? 0 : channelMax[throttleChannel]);
-	print("Mode      %-7d%-7d%-7d\n", modeChannel, modeChannel < 0 ? 0 : channelZero[modeChannel], modeChannel < 0 ? 0 : channelMax[modeChannel]);
+	print("Roll      %-7g%-7g%-7g\n", rollChannel, rollChannel >= 0 ? channelZero[(int)rollChannel] : NAN, rollChannel >= 0 ? channelMax[(int)rollChannel] : NAN);
+	print("Pitch     %-7g%-7g%-7g\n", pitchChannel, pitchChannel >= 0 ? channelZero[(int)pitchChannel] : NAN, pitchChannel >= 0 ? channelMax[(int)pitchChannel] : NAN);
+	print("Yaw       %-7g%-7g%-7g\n", yawChannel, yawChannel >= 0 ? channelZero[(int)yawChannel] : NAN, yawChannel >= 0 ? channelMax[(int)yawChannel] : NAN);
+	print("Throttle  %-7g%-7g%-7g\n", throttleChannel, throttleChannel >= 0 ? channelZero[(int)throttleChannel] : NAN, throttleChannel >= 0 ? channelMax[(int)throttleChannel] : NAN);
+	print("Mode      %-7g%-7g%-7g\n", modeChannel, modeChannel >= 0 ? channelZero[(int)modeChannel] : NAN, modeChannel >= 0 ? channelMax[(int)modeChannel] : NAN);
 }
--- a/flix/safety.ino
+++ b/flix/safety.ino
@@ -3,12 +3,12 @@

 // Fail-safe functions

+#define RC_LOSS_TIMEOUT 1
+#define DESCEND_TIME 10
+
 extern float controlTime;
 extern float controlRoll, controlPitch, controlThrottle, controlYaw;

-float rcLossTimeout = 1;
-float descendTime = 10;
-
 void failsafe() {
 	rcLossFailsafe();
 	autoFailsafe();
@@ -16,8 +16,9 @@ void failsafe() {

 // RC loss failsafe
 void rcLossFailsafe() {
+	if (controlTime == 0) return; // no RC at all
 	if (!armed) return;
-	if (t - controlTime > rcLossTimeout) {
+	if (t - controlTime > RC_LOSS_TIMEOUT) {
 		descend();
 	}
 }
@@ -26,7 +27,7 @@ void rcLossFailsafe() {
 void descend() {
 	mode = AUTO;
 	attitudeTarget = Quaternion();
-	thrustTarget -= dt / descendTime;
+	thrustTarget -= dt / DESCEND_TIME;
 	if (thrustTarget < 0) {
 		thrustTarget = 0;
 		armed = false;
--- a/flix/wifi.ino
+++ b/flix/wifi.ino
@@ -1,7 +1,7 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix

-// Wi-Fi communication
+// Wi-Fi connectivity

 #include <WiFi.h>
 #include <WiFiAP.h>
--- a/gazebo/Arduino.h
+++ b/gazebo/Arduino.h
@@ -165,7 +165,6 @@ void delay(uint32_t ms) {

 bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; }
 bool ledcWrite(uint8_t pin, uint32_t duty) { return true; }
-uint32_t ledcChangeFrequency(uint8_t pin, uint32_t freq, uint8_t resolution) { return freq; }

 unsigned long __micros;
 unsigned long __resetTime = 0;
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -9,7 +9,6 @@
 #include "quaternion.h"
 #include "Arduino.h"
 #include "wifi.h"
-#include "lpf.h"

 extern float t, dt;
 extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
@@ -20,7 +19,6 @@ extern float motors[4];

 Vector gyro, acc, imuRotation;
 Vector accBias, gyroBias, accScale(1, 1, 1);
-LowPassFilter<Vector> gyroBiasFilter(0);

 // declarations
 void step();
@@ -34,7 +32,6 @@ void controlRates();
 void controlTorque();
 const char* getModeName();
 void sendMotors();
-int getDutyCycle(float value);
 bool motorsActive();
 void testMotor(int n);
 void print(const char* format, ...);
@@ -43,7 +40,7 @@ void doCommand(String str, bool echo);
 void handleInput();
 void normalizeRC();
 void calibrateRC();
-void calibrateRCChannel(int *channel, uint16_t zero[16], uint16_t max[16], const char *str);
+void calibrateRCChannel(float *channel, uint16_t zero[16], uint16_t max[16], const char *str);
 void printRCCalibration();
 void printLogHeader();
 void printLogData();
--- a/gazebo/wifi.h
+++ b/gazebo/wifi.h
@@ -11,10 +11,9 @@
 #include <sys/poll.h>
 #include <gazebo/gazebo.hh>

-int wifiMode = 1; // mock
-int udpLocalPort = 14580;
-int udpRemotePort = 14550;
-const char *udpRemoteIP = "255.255.255.255";
+#define WIFI_UDP_PORT 14580
+#define WIFI_UDP_REMOTE_PORT 14550
+#define WIFI_UDP_REMOTE_ADDR "255.255.255.255"

 int wifiSocket;

@@ -23,22 +22,22 @@ void setupWiFi() {
 	sockaddr_in addr; // local address
 	addr.sin_family = AF_INET;
 	addr.sin_addr.s_addr = INADDR_ANY;
-	addr.sin_port = htons(udpLocalPort);
+	addr.sin_port = htons(WIFI_UDP_PORT);
 	if (bind(wifiSocket, (sockaddr *)&addr, sizeof(addr))) {
-		gzerr << "Failed to bind WiFi UDP socket on port " << udpLocalPort << std::endl;
+		gzerr << "Failed to bind WiFi UDP socket on port " << WIFI_UDP_PORT << std::endl;
 		return;
 	}
 	int broadcast = 1;
 	setsockopt(wifiSocket, SOL_SOCKET, SO_BROADCAST, &broadcast, sizeof(broadcast)); // enable broadcast
-	gzmsg << "WiFi UDP socket initialized on port " << udpLocalPort << " (remote port " << udpRemotePort << ")" << std::endl;
+	gzmsg << "WiFi UDP socket initialized on port " << WIFI_UDP_PORT << " (remote port " << WIFI_UDP_REMOTE_PORT << ")" << std::endl;
 }

 void sendWiFi(const uint8_t *buf, int len) {
 	if (wifiSocket == 0) setupWiFi();
 	sockaddr_in addr; // remote address
 	addr.sin_family = AF_INET;
-	addr.sin_addr.s_addr = inet_addr(udpRemoteIP);
-	addr.sin_port = htons(udpRemotePort);
+	addr.sin_addr.s_addr = inet_addr(WIFI_UDP_REMOTE_ADDR);
+	addr.sin_port = htons(WIFI_UDP_REMOTE_PORT);
 	sendto(wifiSocket, buf, len, 0, (sockaddr *)&addr, sizeof(addr));
 }

--- a/tools/grab_log.py
+++ b/tools/grab_log.py
@@ -13,7 +13,7 @@ lines = []

 print('Downloading log...')
 count = 0
-dev.write('log dump\n'.encode())
+dev.write('log\n'.encode())
 while True:
    line = dev.readline()
    if not line:
--- a/tools/log.py
+++ b/tools/log.py
@@ -43,7 +43,6 @@ records = [record for record in records if record[0] != 0]

 print(f'Received records: {len(records)}')

-os.makedirs(f'{DIR}/log', exist_ok=True)
 log = open(f'{DIR}/log/{datetime.datetime.now().isoformat()}.csv', 'wb')
 log.write(header.encode() + b'\n')
 for record in records:
--- a/tools/pyflix/README.md
+++ b/tools/pyflix/README.md
@@ -92,17 +92,17 @@ Full list of events:
 |-----|-----------|----------------|
 |`connected`|Connected to the drone||
 |`disconnected`|Connection is lost||
-|`armed`|Armed state update|Armed state *(bool)*|
-|`mode`|Flight mode update|Flight mode *(str)*|
-|`landed`|Landed state update|Landed state *(bool)*|
+|`armed`|Armed state update|Armed state (*bool*)|
+|`mode`|Flight mode update|Flight mode (*str*)|
+|`landed`|Landed state update|Landed state (*bool*)|
 |`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)*|
-|`channels`|Raw RC channels update|Raw RC channels *(list)*|
-|`motors`|Motor outputs update|Motor outputs *(list)*|
-|`acc`|Accelerometer update|Accelerometer output *(list)*|
-|`gyro`|Gyroscope update|Gyroscope output *(list)*|
+|`attitude`|Attitude update|Attitude quaternion (*list*)|
+|`attitude_euler`|Attitude update|Euler angles (*list*)|
+|`rates`|Angular rates update|Angular rates (*list*)|
+|`channels`|Raw RC channels update|Raw RC channels (*list*)|
+|`motors`|Motor outputs update|Motor outputs (*list*)|
+|`acc`|Accelerometer update|Accelerometer output (*list*)|
+|`gyro`|Gyroscope update|Gyroscope output (*list*)|
 |`mavlink`|Received MAVLink message|Message object|
 |`mavlink.<message_name>`|Received specific MAVLink message|Message object|
 |`mavlink.<message_id>`|Received specific MAVLink message|Message object|
@@ -277,3 +277,7 @@ logger = logging.getLogger('flix')
 logger.setLevel(logging.DEBUG)  # be more verbose
 logger.setLevel(logging.WARNING)  # be less verbose
 ```
+
+## Stability
+
+The library is in development stage. The API is not stable.
--- a/tools/pyflix/flix.py
+++ b/tools/pyflix/flix.py
@@ -138,7 +138,7 @@ class Flix:
        while True:
            try:
                msg: Optional[mavlink.MAVLink_message] = self.connection.recv_match(blocking=True)
-                if msg is None or msg.get_srcSystem() != self.system_id:
+                if msg is None:
                    continue
                self._connected()
                msg_dict = msg.to_dict()
Author	SHA1	Message	Date
Oleg Kalachev	8a12d1fa70	Add parameters for mavlink subsystem System ID, fast telemetry rate, slow telemetry rate.	2026-01-19 01:28:43 +03:00
Oleg Kalachev	a7cd6473fd	Remove WIFI_ENABLED ci build	2026-01-19 01:09:40 +03:00
Oleg Kalachev	5960e85a74	Don't send param_ack if parameter is not set	2026-01-19 01:08:29 +03:00
Oleg Kalachev	cef1834ea3	Implement wi-fi configuration Add console commands to setup wi-fi Add parameter for choosing between STA and AP mode. Add parameter for udp ports. Remove WIFI_ENABLED macro.	2026-01-19 00:53:36 +03:00
Oleg Kalachev	6548ae5708	Add possibility to use int variables as parameters In addition to floats.	2026-01-18 21:24:44 +03:00