Add threshold for rc sticks move for quitting auto mode

docs/usage.md

@@ -76,9 +76,9 @@ See other available Make commands in [Makefile](../Makefile).
 In case if using different IMU model than MPU9250, change `imu` variable declaration in the `imu.ino`:
 
 ```cpp
-ICM20948 imu(SPI);  // For ICM-20948
+ICM20948 imu(SPI);  // For ICM-20948 via SPI
 // or
-MPU6050 imu(Wire);  // For MPU-6050
+MPU6050 imu(Wire);  // For MPU-6050 via I2C
 ```
 
 If using non-default SPI pins, pass SCK, MISO, and MOSI pin numbers to `SPI.begin` call and SS pin to `imu` constructor like that:

flix/safety.ino

@@ -38,7 +38,7 @@ void descend() {
 // Allow pilot to interrupt automatic flight
 void autoFailsafe() {
 	static float roll, pitch, yaw, throttle;
-	if (roll != controlRoll || pitch != controlPitch || yaw != controlYaw || abs(throttle - controlThrottle) > 0.05) {
+	if (abs(roll - controlRoll) > 0.05 || abs(pitch - controlPitch) > 0.05 || abs(yaw - controlYaw) > 0.05 || abs(throttle - controlThrottle) > 0.05) {
 		// controls changed and mode switch is not configured
 		if (mode == AUTO && invalid(controlMode)) mode = STAB; // regain control by the pilot
 	}

flix/wifi.ino

@@ -58,7 +58,7 @@ void sendWiFi(const uint8_t *buf, int len) {
 		espnow.write(buf, len);
 
 		static Rate discovery(2);
-		if (discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device
+		if (espnow.isEncrypted() && discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device
 		return;
 	}