Enable motor pins only for classic esp32 by default

Also simplify flix2 config code.

docs/book/firmware.md

@@ -31,7 +31,7 @@
 
 * [`vector.h`](https://github.com/okalachev/flix/blob/master/flix/vector.h), [`quaternion.h`](https://github.com/okalachev/flix/blob/master/flix/quaternion.h) — библиотеки векторов и кватернионов.
 * [`pid.h`](https://github.com/okalachev/flix/blob/master/flix/pid.h) — ПИД-регулятор.
-* [`lpf.h`](https://github.com/okalachev/flix/blob/master/flix/lpf.h) — фильтр нижних частот.
+* [`filter.h`](https://github.com/okalachev/flix/blob/master/flix/filter.h) — фильтр нижних частот.
 
 ### Подсистема управления
 

docs/firmware.md

@@ -34,7 +34,7 @@ Utility files:
 
 * [`vector.h`](../flix/vector.h), [`quaternion.h`](../flix/quaternion.h) — vector and quaternion libraries.
 * [`pid.h`](../flix/pid.h) — generic PID controller.
-* [`lpf.h`](../flix/lpf.h) — generic low-pass filter.
+* [`filter.h`](../flix/filter.h) — generic low-pass filter.
 
 ### Control subsystem
 

flix/config.h

@@ -12,16 +12,22 @@ void setDefaults() {
 		pwmFrequency = 38000;
 	#endif
 
+	#ifdef CONFIG_IDF_TARGET_ESP32
+		// classic esp32 configuration
+		motorPins[0] = 12;
+		motorPins[1] = 13;
+		motorPins[2] = 14;
+		motorPins[3] = 15;
+	#endif
+
 	#ifdef FLIX2
 		imuModel = 4; // ICM-40609-D
 		imuIntPin = 10;
 		imuCsPin = 14;
-
-		motorPins[MOTOR_REAR_LEFT] = 41;
-		motorPins[MOTOR_REAR_RIGHT] = 7;
-		motorPins[MOTOR_FRONT_RIGHT] = 18;
-		motorPins[MOTOR_FRONT_LEFT] = 38;
-
 		voltagePin = 3;
+		motorPins[0] = 41;
+		motorPins[1] = 7;
+		motorPins[2] = 18;
+		motorPins[3] = 38;
 	#endif
 }

flix/motors.ino

@@ -7,7 +7,7 @@
 
 float motors[4]; // normalized motor thrusts in range [0..1]
 
-int motorPins[4] = {12, 13, 14, 15}; // default pin numbers
+int motorPins[4] = {-1, -1, -1, -1}; // default pin numbers
 int pwmFrequency = 78000;
 int pwmResolution = 10;
 int pwmStop = 0;