Fix rates, acc and gyro coordinate frame in mavlink

All of them should be in frd. Get rid of fluToFrd function - there is no big need for it.
Minor cli change
2026-01-09 12:36:49 +00:00 · 2025-07-20 07:59:00 +03:00 · 2025-07-15 01:29:25 +03:00 · 2025-07-15 01:25:10 +03:00 · 2025-07-15 01:22:18 +03:00 · 2025-07-10 06:14:22 +03:00
36 changed files with 425 additions and 660 deletions
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -15,6 +15,8 @@ jobs:
      run: curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh
    - name: Build firmware
      run: make
+    - name: Build firmware without Wi-Fi
+      run: sed -i 's/^#define WIFI_ENABLED 1$/#define WIFI_ENABLED 0/' flix/flix.ino && make
    - name: Check c_cpp_properties.json
      run: tools/check_c_cpp_properties.py

@@ -43,7 +45,7 @@ jobs:
      run: python3 tools/check_c_cpp_properties.py

  build_simulator:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
    steps:
    - name: Install Arduino CLI
      uses: arduino/setup-arduino-cli@v1.1.1
@@ -54,7 +56,7 @@ jobs:
      run: sudo apt-get install libsdl2-dev
    - name: Build simulator
      run: make build_simulator
-    - uses: actions/upload-artifact@v3
+    - uses: actions/upload-artifact@v4
      with:
        name: gazebo-plugin-binary
        path: gazebo/build/*.so
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -5,18 +5,18 @@
 			"includePath": [
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.0.7/libraries/**",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32",
-				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/**",
-				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/dio_qspi/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/**"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32/Arduino.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32/pins_arduino.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
 				"${workspaceFolder}/flix/estimate.ino",
@@ -28,10 +28,9 @@
 				"${workspaceFolder}/flix/motors.ino",
 				"${workspaceFolder}/flix/rc.ino",
 				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/util.ino",
 				"${workspaceFolder}/flix/wifi.ino"
 			],
-			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2302/bin/xtensa-esp32-elf-g++",
+			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [
@@ -51,19 +50,19 @@
 			"name": "Mac",
 			"includePath": [
 				"${workspaceFolder}/flix",
-				"${workspaceFolder}/gazebo",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/libraries/**",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32",
-				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/include/**",
-				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/dio_qspi/include",
+				// "${workspaceFolder}/gazebo",
+				"~/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/**"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32/Arduino.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32/pins_arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/flix.ino",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
@@ -75,10 +74,9 @@
 				"${workspaceFolder}/flix/motors.ino",
 				"${workspaceFolder}/flix/rc.ino",
 				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/util.ino",
 				"${workspaceFolder}/flix/wifi.ino"
 			],
-			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2302/bin/xtensa-esp32-elf-g++",
+			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [
@@ -100,17 +98,17 @@
 			"includePath": [
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/libraries/**",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32",
-				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/**",
-				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/dio_qspi/include",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32",
+				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/**",
+				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include",
 				"~/Documents/Arduino/libraries/**"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32/Arduino.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/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",
 				"${workspaceFolder}/flix/estimate.ino",
@@ -122,10 +120,9 @@
 				"${workspaceFolder}/flix/motors.ino",
 				"${workspaceFolder}/flix/rc.ino",
 				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/util.ino",
 				"${workspaceFolder}/flix/wifi.ino"
 			],
-			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2302/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/.vscode/extensions.json
+++ b/.vscode/extensions.json
@@ -2,7 +2,6 @@
 	// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
 	"recommendations": [
 		"ms-vscode.cpptools",
-		"twxs.cmake",
 		"ms-vscode.cmake-tools",
 		"ms-python.python"
 	],
--- 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@3.0.7 --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"@2.0.12
+	arduino-cli lib install "MAVLink"@2.0.16
 	touch .dependencies

 gazebo/build cmake: gazebo/CMakeLists.txt
--- a/README.md
+++ b/README.md
@@ -1,156 +1,7 @@
 # Flix

-**Flix** (*flight + X*) — making an open source ESP32-based quadcopter from scratch.
+Minimal **Flix** quadcopter firmware implementation for the [book](https://quadcopter.dev).

-<table>
-  <tr>
-    <td align=center><strong>Version 1</strong> (3D-printed frame)</td>
-    <td align=center><strong>Version 0</strong></td>
-  </tr>
-  <tr>
-    <td><img src="docs/img/flix1.jpg" width=500 alt="Flix quadcopter"></td>
-    <td><img src="docs/img/flix.jpg" width=500 alt="Flix quadcopter"></td>
-  </tr>
-</table>
+See the full code and documentation in the main branch: https://github.com/okalachev/flix.

-## 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 and videos for students on writing a flight controller¹.*
-* *Position control and autonomous flights using external camera¹*.
-* [Building and running instructions](docs/build.md).
-
-*¹ — planned.*
-
-## It actually flies
-
-See detailed demo video (for version 0): https://youtu.be/8GzzIQ3C6DQ.
-
-<a href="https://youtu.be/8GzzIQ3C6DQ"><img width=500 src="https://i3.ytimg.com/vi/8GzzIQ3C6DQ/maxresdefault.jpg"></a>
-
-Version 1 test flight: https://t.me/opensourcequadcopter/42.
-
-<a href="https://t.me/opensourcequadcopter/42"><img width=500 src="docs/img/flight-video.jpg"></a>
-
-## Simulation
-
-The simulator is implemented using Gazebo and runs the original Arduino code:
-
-<img src="docs/img/simulator.png" width=500 alt="Flix simulator">
-
-See [instructions on running the simulation](docs/build.md).
-
-## Components (version 1)
-
-|Type|Part|Image|Quantity|
-|-|-|:-:|:-:|
-|Microcontroller board|ESP32 Mini|<img src="docs/img/esp32.jpg" width=100>|1|
-|IMU (and barometer²) board|GY‑91 (or other MPU‑9250/MPU‑6500 board), ICM‑20948³|<img src="docs/img/gy-91.jpg" width=90 align=center><img src="docs/img/icm-20948.jpg" width=100>|1|
-|Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)|<img src="docs/img/motor.jpeg" width=100>|4|
-|Propeller|Hubsan 55 mm|<img src="docs/img/prop.jpg" width=100>|4|
-|MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)|<img src="docs/img/100n03a.jpg" width=100>|4|
-|Pull-down resistor|10 kΩ|<img src="docs/img/resistor10k.jpg" width=100>|4|
-|3.7V Li-Po battery|LW 952540 (or any compatible by the size)|<img src="docs/img/battery.jpg" width=100>|1|
-|Li-Po Battery charger|Any|<img src="docs/img/charger.jpg" width=100>|1|
-|Screws for IMU board mounting|M3x5|<img src="docs/img/screw-m3.jpg" width=100>|2|
-|Screws for frame assembly|M1.4x5|<img src="docs/img/screw-m1.4.jpg" height=30 align=center>|4|
-|Frame bottom part|3D printed⁴:<br>[`flix-frame.stl`](docs/assets/flix-frame.stl) [`flix-frame.step`](docs/assets/flix-frame.step)|<img src="docs/img/frame1.jpg" width=100>|1|
-|Frame top part|3D printed:<br>[`esp32-holder.stl`](docs/assets/esp32-holder.stl) [`esp32-holder.step`](docs/assets/esp32-holder.step)|<img src="docs/img/esp32-holder.jpg" width=100>|1|
-|Washer for IMU board mounting|3D printed:<br>[`washer-m3.stl`](docs/assets/washer-m3.stl) [`washer-m3.step`](docs/assets/washer-m3.step)|<img src="docs/img/washer-m3.jpg" width=100>|1|
-|*RC transmitter (optional)*|*KINGKONG TINY X8 or other⁵*|<img src="docs/img/tx.jpg" width=100>|1|
-|*RC receiver (optional)*|*DF500 or other⁵*|<img src="docs/img/rx.jpg" width=100>|1|
-|Wires|28 AWG recommended|<img src="docs/img/wire-28awg.jpg" width=100>||
-|Tape, double-sided tape||||
-
-*² — barometer is not used for now.*<br>
-*³ — change `MPU9250` to `ICM20948` in `imu.ino` file if using ICM-20948 board.*<br>
-*⁴ — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*<br>
-*⁵ — you may use any transmitter-receiver pair with SBUS interface.*
-
-Tools required for assembly:
-
-* 3D printer.
-* Soldering iron.
-* Solder wire (with flux).
-* Screwdrivers.
-* Multimeter.
-
-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)
-
-### Simplified connection diagram
-
-<img src="docs/img/schematics1.svg" width=800 alt="Flix version 1 schematics">
-
-Motor connection scheme:
-
-<img src="docs/img/mosfet-connection.png" height=400 alt="MOSFET connection scheme">
-
-Complete diagram is Work-in-Progress.
-
-### Notes
-
-* Power ESP32 Mini with Li-Po battery using VCC (+) and GND (-) pins.
-* Connect the IMU board to the ESP32 Mini using VSPI, power it using 3.3V and GND pins:
-
-  |IMU pin|ESP32 pin|
-  |-|-|
-  |GND|GND|
-  |3.3V|3.3V|
-  |SCL *(SCK)*|SVP (GPIO18)|
-  |SDA *(MOSI)*|GPIO23|
-  |SAO *(MISO)*|GPIO19|
-  |NCS|GPIO5|
-
-* Solder pull-down resistors to the MOSFETs.
-* Connect the motors to the ESP32 Mini using MOSFETs, by following scheme:
-
-  |Motor|Position|Direction|Wires|GPIO|
-  |-|-|-|-|-|
-  |Motor 0|Rear left|Counter-clockwise|Black & White|GPIO12|
-  |Motor 1|Rear right|Clockwise|Blue & Red|GPIO13|
-  |Motor 2|Front right|Counter-clockwise|Black & White|GPIO14|
-  |Motor 3|Front left|Clockwise|Blue & Red|GPIO15|
-
-  Counter-clockwise motors have black and white wires and clockwise motors have blue and red wires.
-
-* Optionally connect the RC receiver to the ESP32's UART2:
-
-  |Receiver pin|ESP32 pin|
-  |-|-|
-  |GND|GND|
-  |VIN|VC (or 3.3V depending on the receiver)|
-  |Signal|GPIO4⁶|
-
-*⁶ — UART2 RX pin was [changed](https://docs.espressif.com/projects/arduino-esp32/en/latest/migration_guides/2.x_to_3.0.html#id14) to GPIO4 in Arduino ESP32 core 3.0.*
-
-### IMU placement
-
-Default IMU orientation in the code is **LFD** (Left-Forward-Down):
-
-<img src="docs/img/gy91-lfd.svg" width=400 alt="GY-91 axes">
-
-In case of using other IMU orientation, modify the `rotateIMU` function in the `imu.ino` file.
-
-See [FlixPeriph documentation](https://github.com/okalachev/flixperiph?tab=readme-ov-file#imu-axes-orientation) to learn axis orientation of other IMU boards.
-
-## Version 0
-
-See the information on the obsolete version 0 in the [corresponding article](docs/version0.md).
-
-## Materials
-
-Subscribe to the Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter.
-
-Join the official Telegram chat: https://t.me/opensourcequadcopterchat.
-
-Detailed article on Habr.com about the development of the drone (in Russian): https://habr.com/ru/articles/814127/.
+<img src="docs/img/flix1.jpg" width=500 alt="Flix quadcopter">
--- a/docs/build.md
+++ b/docs/build.md
@@ -9,9 +9,9 @@ cd flix

 ## Simulation

-### Ubuntu 20.04
+### Ubuntu

-The latest version of Ubuntu supported by Gazebo 11 simulator is 20.04. If you have a newer version, consider using a virtual machine.
+The latest version of Ubuntu supported by Gazebo 11 simulator is 22.04. If you have a newer version, consider using a virtual machine.

 1. Install Arduino CLI:

@@ -106,13 +106,15 @@ The latest version of Ubuntu supported by Gazebo 11 simulator is 20.04. If you h
 ### Arduino IDE (Windows, Linux, macOS)

 1. Install [Arduino IDE](https://www.arduino.cc/en/software) (version 2 is recommended).
-2. Install ESP32 core, version 3.0.7 (version 2.x is not supported). 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 the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library):
+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 3.2.0. 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 2.0.12.
-4. Clone the project using git or [download the source code as a ZIP archive](https://codeload.github.com/okalachev/flix/zip/refs/heads/master).
-5. Open the downloaded Arduino sketch `flix/flix.ino` in Arduino IDE.
-6. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
+   * `MAVLink`, version 2.0.16.
+5. Clone the project using git or [download the source code as a ZIP archive](https://codeload.github.com/okalachev/flix/zip/refs/heads/master).
+6. Open the downloaded Arduino sketch `flix/flix.ino` in Arduino IDE.
+7. 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.
+8. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.

 ### Command line (Windows, Linux, macOS)

--- a/docs/firmware.md
+++ b/docs/firmware.md
@@ -12,8 +12,8 @@ The main loop is running at 1000 Hz. All the dataflow is happening through globa
 * `acc` *(Vector)* — acceleration data from the accelerometer, *m/s<sup>2</sup>*.
 * `rates` *(Vector)* — filtered angular rates, *rad/s*.
 * `attitude` *(Quaternion)* — estimated attitude (orientation) of drone.
-* `controls` *(float[])* — user control inputs from the RC, normalized to [-1, 1] range.
-* `motors` *(float[])* — motor outputs, normalized to [-1, 1] range; reverse rotation is possible.
+* `controlRoll`, `controlPitch`, ... *(float[])* — pilot's control inputs, range [-1, 1].
+* `motors` *(float[])* — motor outputs, normalized to [0, 1] range; reverse rotation is possible.

 ## Source files

--- a/docs/img/mx.png
+++ b/docs/img/mx.png
--- a/docs/troubleshooting.md
+++ b/docs/troubleshooting.md
@@ -1,33 +0,0 @@
-# Troubleshooting
-
-## The sketch doesn't compile
-
-Do the following:
-
-* **Check ESP32 core is installed**. Check if the version matches the one used in the [tutorial](build.md#firmware).
-* **Check libraries**. Install all the required libraries from the tutorial. Make sure there are no MPU9250 or other peripherals libraries that may conflict with the ones used in the tutorial.
-
-## The drone doesn't fly
-
-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 output.
-* **Make sure correct IMU model is chosen**. If using ICM-20948 board, change `MPU9250` to `ICM20948` everywhere in the `imu.ino` file.
-* **Check if the CLI is working**. Perform `help` command in Serial Monitor. You should see the list of available commands.
-* **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**.
-* **Make sure you're not moving the drone several seconds after the power on**. The drone calibrates its gyroscope on the start so it should stay still for a while.
-* **Check the IMU sample rate**. Perform `imu` command. The `rate` field should be about 1000 (Hz).
-* **Check the IMU data**. Perform `imu` command, check raw accelerometer and gyro output. The output should change as you move the drone.
-* **Calibrate the accelerometer.** if is wasn't done before. Perform `ca` command and put the results to `imu.ino` file.
-* **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.
-* **Check the IMU orientation is set correctly**. If the attitude estimation is rotated, make sure `rotateIMU` function is defined correctly in `imu.ino` file.
-* **Check the motors**. Perform the following commands using Serial Monitor:
-  * `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).
-* **Calibrate the RC** if you use it. Perform `rc` command and put the results to `rc.ino` file.
-* **Check the RC data** if you use it. Use `rc` command, `Control` should show correct values between -1 and 1, and between 0 and 1 for the throttle.
-* **Check the IMU output using QGroundControl**. Connect to the drone using QGroundControl on your computer. Go to the *Analyze* tab, *MAVLINK Inspector*. Plot the data from the `SCALED_IMU` message. The gyroscope and accelerometer data should change according to the drone movement.
-* **Check the gyroscope only attitude estimation**. Comment out `applyAcc();` line in `estimate.ino` and check if the attitude estimation in QGroundControl. It should be stable, but only drift very slowly.
--- a/docs/version0.md
+++ b/docs/version0.md
@@ -1,30 +0,0 @@
-# Flix version 0
-
-Flix version 0 (obsolete):
-
-<img src="img/flix.jpg" width=500 alt="Flix quadcopter">
-
-## Components list
-
-|Type|Part|Image|Quantity|
-|-|-|-|-|
-|Microcontroller board|ESP32 Mini|<img src="img/esp32.jpg" width=100>|1|
-|IMU and barometer² board|GY-91 (or other MPU-9250 board)|<img src="img/gy-91.jpg" width=100>|1|
-|Quadcopter frame|K100|<img src="img/frame.jpg" width=100>|1|
-|Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)|<img src="img/motor.jpeg" width=100>|4|
-|Propeller|Hubsan 55 mm|<img src="img/prop.jpg" width=100>|4|
-|Motor ESC|2.7A 1S Dual Way Micro Brush ESC|<img src="img/esc.jpg" width=100>|4|
-|RC transmitter|KINGKONG TINY X8|<img src="img/tx.jpg" width=100>|1|
-|RC receiver|DF500 (SBUS)|<img src="img/rx.jpg" width=100>|1|
-|~~SBUS inverter~~*||<img src="img/inv.jpg" width=100>|~~1~~|
-|Battery|3.7 Li-Po 850 MaH 60C|||
-|Battery charger||<img src="img/charger.jpg" width=100>|1|
-|Wires, connectors, tape, ...|||
-
-*\* — not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).*
-
-## Schematics
-
-<img src="img/schematics.svg" width=800 alt="Flix schematics">
-
-You can also check a user contributed [variant of complete circuit diagram](https://miro.com/app/board/uXjVN-dTjoo=/) of the drone.
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -6,8 +6,9 @@
 #include "pid.h"
 #include "vector.h"

-extern PID rollRatePID, pitchRatePID, yawRatePID, rollPID, pitchPID;
-extern LowPassFilter<Vector> ratesFilter;
+extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
+extern float loopRate;
+extern uint16_t channels[16];

 const char* motd =
 "\nWelcome to\n"
@@ -19,52 +20,23 @@ const char* motd =
 "|__|     |_______||__| /__/ \\__\\\n\n"
 "Commands:\n\n"
 "help - show help\n"
-"show - show all parameters\n"
-"<name> <value> - set parameter\n"
 "ps - show pitch/roll/yaw\n"
 "psq - show attitude quaternion\n"
 "imu - show IMU data\n"
 "rc - show RC data\n"
-"mot - show motor data\n"
+"mot - show motor output\n"
 "log - dump in-RAM log\n"
 "cr - calibrate RC\n"
 "cg - calibrate gyro\n"
 "ca - calibrate accel\n"
-"mfr, mfl, mrr, mrl - test motor\n"
+"mfr, mfl, mrr, mrl - test motor (remove props)\n"
 "reset - reset drone's state\n";

-const struct Param {
-	const char* name;
-	float* value;
-	float* value2;
-} params[] = {
-	{"rp", &rollRatePID.p, &pitchRatePID.p},
-	{"ri", &rollRatePID.i, &pitchRatePID.i},
-	{"rd", &rollRatePID.d, &pitchRatePID.d},
-
-	{"ap", &rollPID.p, &pitchPID.p},
-	{"ai", &rollPID.i, &pitchPID.i},
-	{"ad", &rollPID.d, &pitchPID.d},
-
-	{"yp", &yawRatePID.p, nullptr},
-	{"yi", &yawRatePID.i, nullptr},
-	{"yd", &yawRatePID.d, nullptr},
-
-	{"lpr", &ratesFilter.alpha, nullptr},
-	{"lpd", &rollRatePID.lpf.alpha, &pitchRatePID.lpf.alpha},
-
-	{"ss", &loopRate, nullptr},
-	{"dt", &dt, nullptr},
-	{"t", &t, nullptr},
-};
-
-void doCommand(String& command, String& value) {
+void doCommand(const String& command) {
 	if (command == "help" || command == "motd") {
 		Serial.println(motd);
-	} else if (command == "show") {
-		showTable();
 	} else if (command == "ps") {
-		Vector a = attitude.toEulerZYX();
+		Vector a = attitude.toEuler();
 		Serial.printf("roll: %f pitch: %f yaw: %f\n", a.x * RAD_TO_DEG, a.y * RAD_TO_DEG, a.z * RAD_TO_DEG);
 	} else if (command == "psq") {
 		Serial.printf("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w);
@@ -72,18 +44,18 @@ void doCommand(String& command, String& value) {
 		printIMUInfo();
 		Serial.printf("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
 		Serial.printf("acc: %f %f %f\n", acc.x, acc.y, acc.z);
-		printIMUCal();
+		printIMUCalibration();
 		Serial.printf("rate: %f\n", loopRate);
 	} else if (command == "rc") {
-		Serial.printf("Raw: throttle %d yaw %d pitch %d roll %d armed %d mode %d\n",
-			channels[RC_CHANNEL_THROTTLE], channels[RC_CHANNEL_YAW], channels[RC_CHANNEL_PITCH],
-			channels[RC_CHANNEL_ROLL], channels[RC_CHANNEL_ARMED], channels[RC_CHANNEL_MODE]);
-		Serial.printf("Control: throttle %f yaw %f pitch %f roll %f armed %f mode %f\n",
-			controls[RC_CHANNEL_THROTTLE], controls[RC_CHANNEL_YAW], controls[RC_CHANNEL_PITCH],
-			controls[RC_CHANNEL_ROLL], controls[RC_CHANNEL_ARMED], controls[RC_CHANNEL_MODE]);
-		Serial.printf("Mode: %s\n", getModeName());
+		Serial.printf("channels: ");
+		for (int i = 0; i < 16; i++) {
+			Serial.printf("%u ", channels[i]);
+		}
+		Serial.printf("\nroll: %g pitch: %g yaw: %g throttle: %g armed: %g mode: %g\n",
+			controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode);
+		Serial.printf("mode: %s\n", getModeName());
 	} else if (command == "mot") {
-		Serial.printf("MOTOR front-right %f front-left %f rear-right %f rear-left %f\n",
+		Serial.printf("front-right %f front-left %f rear-right %f rear-left %f\n",
 			motors[MOTOR_FRONT_RIGHT], motors[MOTOR_FRONT_LEFT], motors[MOTOR_REAR_RIGHT], motors[MOTOR_REAR_LEFT]);
 	} else if (command == "log") {
 		dumpLog();
@@ -94,76 +66,38 @@ void doCommand(String& command, String& value) {
 	} else if (command == "ca") {
 		calibrateAccel();
 	} else if (command == "mfr") {
-		cliTestMotor(MOTOR_FRONT_RIGHT);
+		testMotor(MOTOR_FRONT_RIGHT);
 	} else if (command == "mfl") {
-		cliTestMotor(MOTOR_FRONT_LEFT);
+		testMotor(MOTOR_FRONT_LEFT);
 	} else if (command == "mrr") {
-		cliTestMotor(MOTOR_REAR_RIGHT);
+		testMotor(MOTOR_REAR_RIGHT);
 	} else if (command == "mrl") {
-		cliTestMotor(MOTOR_REAR_LEFT);
+		testMotor(MOTOR_REAR_LEFT);
 	} else if (command == "reset") {
 		attitude = Quaternion();
+	} else if (command == "") {
+		// do nothing
 	} else {
-		float val = value.toFloat();
-		// TODO: on error returns 0, check invalid value
-
-		for (uint8_t i = 0; i < sizeof(params) / sizeof(params[0]); i++) {
-			if (command == params[i].name) {
-				*params[i].value = val;
-				if (params[i].value2 != nullptr) *params[i].value2 = val;
-				Serial.print(command);
-				Serial.print(" = ");
-				Serial.println(val, 4);
-				return;
-			}
-		}
 		Serial.println("Invalid command: " + command);
 	}
 }

-void showTable() {
-	for (uint8_t i = 0; i < sizeof(params) / sizeof(params[0]); i++) {
-		Serial.print(params[i].name);
-		Serial.print(" ");
-		Serial.println(*params[i].value, 5);
-	}
-}
-
-void cliTestMotor(uint8_t n) {
-	Serial.printf("Testing motor %d\n", n);
-	motors[n] = 1;
-	delay(50); // ESP32 may need to wait until the end of the current cycle to change duty https://github.com/espressif/arduino-esp32/issues/5306
-	sendMotors();
-	delay(3000);
-	motors[n] = 0;
-	sendMotors();
-	Serial.println("Done");
-}
-
-void parseInput() {
+void handleInput() {
 	static bool showMotd = true;
-	static String command;
-	static String value;
-	static bool parsingCommand = true;
+	static String input;

 	if (showMotd) {
-		Serial.println(motd);
+		Serial.printf("%s\n", motd);
 		showMotd = false;
 	}

 	while (Serial.available()) {
 		char c = Serial.read();
 		if (c == '\n') {
-			parsingCommand = true;
-			if (!command.isEmpty()) {
-				doCommand(command, value);
-			}
-			command.clear();
-			value.clear();
-		} else if (c == ' ') {
-			parsingCommand = false;
+			doCommand(input);
+			input.clear();
 		} else {
-			(parsingCommand ? command : value) += c;
+			input += c;
 		}
 	}
 }
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -7,6 +7,7 @@
 #include "quaternion.h"
 #include "pid.h"
 #include "lpf.h"
+#include "util.h"

 #define PITCHRATE_P 0.05
 #define PITCHRATE_I 0.2
@@ -29,8 +30,8 @@
 #define YAW_P 3
 #define PITCHRATE_MAX radians(360)
 #define ROLLRATE_MAX radians(360)
-#define YAWRATE_MAX radians(360)
-#define MAX_TILT radians(30)
+#define YAWRATE_MAX radians(300)
+#define TILT_MAX radians(30)

 #define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz

@@ -50,6 +51,8 @@ Vector ratesTarget;
 Vector torqueTarget;
 float thrustTarget;

+extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
+
 void control() {
 	interpretRC();
 	failsafe();
@@ -66,38 +69,39 @@ void control() {
 }

 void interpretRC() {
-	armed = controls[RC_CHANNEL_THROTTLE] >= 0.05 && controls[RC_CHANNEL_ARMED] >= 0.5;
+	armed = controlThrottle >= 0.05 && controlArmed >= 0.5;
+

 	// NOTE: put ACRO or MANUAL modes there if you want to use them
-	if (controls[RC_CHANNEL_MODE] < 0.25) {
+	if (controlMode < 0.25) {
 		mode = STAB;
-	} else if (controls[RC_CHANNEL_MODE] < 0.75) {
+	} else if (controlMode < 0.75) {
 		mode = STAB;
 	} else {
 		mode = STAB;
 	}

-	thrustTarget = controls[RC_CHANNEL_THROTTLE];
+	thrustTarget = controlThrottle;

 	if (mode == ACRO) {
 		yawMode = YAW_RATE;
-		ratesTarget.x = controls[RC_CHANNEL_ROLL] * ROLLRATE_MAX;
-		ratesTarget.y = controls[RC_CHANNEL_PITCH] * PITCHRATE_MAX;
-		ratesTarget.z = -controls[RC_CHANNEL_YAW] * YAWRATE_MAX; // positive yaw stick means clockwise rotation in FLU
+		ratesTarget.x = controlRoll * ROLLRATE_MAX;
+		ratesTarget.y = controlPitch * PITCHRATE_MAX;
+		ratesTarget.z = -controlYaw * YAWRATE_MAX; // positive yaw stick means clockwise rotation in FLU

 	} else if (mode == STAB) {
-		yawMode = controls[RC_CHANNEL_YAW] == 0 ? YAW : YAW_RATE;
+		yawMode = controlYaw == 0 ? YAW : YAW_RATE;

-		attitudeTarget = Quaternion::fromEulerZYX(Vector(
-			controls[RC_CHANNEL_ROLL] * MAX_TILT,
-			controls[RC_CHANNEL_PITCH] * MAX_TILT,
+		attitudeTarget = Quaternion::fromEuler(Vector(
+			controlRoll * TILT_MAX,
+			controlPitch * TILT_MAX,
 			attitudeTarget.getYaw()));
-		ratesTarget.z = -controls[RC_CHANNEL_YAW] * YAWRATE_MAX; // positive yaw stick means clockwise rotation in FLU
+		ratesTarget.z = -controlYaw * YAWRATE_MAX; // positive yaw stick means clockwise rotation in FLU

 	} else if (mode == MANUAL) {
 		// passthrough mode
 		yawMode = YAW_RATE;
-		torqueTarget = Vector(controls[RC_CHANNEL_ROLL], controls[RC_CHANNEL_PITCH], -controls[RC_CHANNEL_YAW]) * 0.01;
+		torqueTarget = Vector(controlRoll, controlPitch, -controlYaw) * 0.01;
 	}

 	if (yawMode == YAW_RATE || !motorsActive()) {
@@ -115,10 +119,10 @@ void controlAttitude() {
 	}

 	const Vector up(0, 0, 1);
-	Vector upActual = attitude.rotate(up);
-	Vector upTarget = attitudeTarget.rotate(up);
+	Vector upActual = Quaternion::rotateVector(up, attitude);
+	Vector upTarget = Quaternion::rotateVector(up, attitudeTarget);

-	Vector error = Vector::angularRatesBetweenVectors(upTarget, upActual);
+	Vector error = Vector::rotationVectorBetween(upTarget, upActual);

 	ratesTarget.x = rollPID.update(error.x, dt);
 	ratesTarget.y = pitchPID.update(error.y, dt);
@@ -162,10 +166,6 @@ void controlTorque() {
 	motors[3] = constrain(motors[3], 0, 1);
 }

-bool motorsActive() {
-	return motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0;
-}
-
 const char* getModeName() {
 	switch (mode) {
 		case MANUAL: return "MANUAL";
--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -6,9 +6,9 @@
 #include "quaternion.h"
 #include "vector.h"
 #include "lpf.h"
+#include "util.h"

-#define ONE_G 9.807f
-#define WEIGHT_ACC 0.5f
+#define WEIGHT_ACC 0.003
 #define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz

 LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
@@ -23,8 +23,7 @@ void applyGyro() {
 	rates = ratesFilter.update(gyro);

 	// apply rates to attitude
-	attitude *= Quaternion::fromAngularRates(rates * dt);
-	attitude.normalize();
+	attitude = Quaternion::rotate(attitude, Quaternion::fromRotationVector(rates * dt));
 }

 void applyAcc() {
@@ -35,10 +34,9 @@ void applyAcc() {
 	if (!landed) return;

 	// calculate accelerometer correction
-	Vector up = attitude.rotate(Vector(0, 0, 1));
-	Vector correction = Vector::angularRatesBetweenVectors(acc, up) * dt * WEIGHT_ACC;
+	Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude);
+	Vector correction = Vector::rotationVectorBetween(acc, up) * WEIGHT_ACC;

 	// apply correction
-	attitude *= Quaternion::fromAngularRates(correction);
-	attitude.normalize();
+	attitude = Quaternion::rotate(attitude, Quaternion::fromRotationVector(correction));
 }
--- a/flix/failsafe.ino
+++ b/flix/failsafe.ino
@@ -6,17 +6,21 @@
 #define RC_LOSS_TIMEOUT 0.2
 #define DESCEND_TIME 3.0 // time to descend from full throttle to zero

+extern float controlTime;
+
+// RC loss failsafe
 void failsafe() {
-	if (t - controlsTime > RC_LOSS_TIMEOUT) {
+	if (t - controlTime > RC_LOSS_TIMEOUT) {
 		descend();
 	}
 }

+// Smooth descend on RC lost
 void descend() {
-	// Smooth descend on RC lost
 	mode = STAB;
-	controls[RC_CHANNEL_ROLL] = 0;
-	controls[RC_CHANNEL_PITCH] = 0;
-	controls[RC_CHANNEL_YAW] = 0;
-	controls[RC_CHANNEL_THROTTLE] -= dt / DESCEND_TIME;
+	controlRoll = 0;
+	controlPitch = 0;
+	controlYaw = 0;
+	controlThrottle -= dt / DESCEND_TIME;
+	if (controlThrottle < 0) controlThrottle = 0;
 }
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -5,51 +5,34 @@

 #include "vector.h"
 #include "quaternion.h"
+#include "util.h"

 #define SERIAL_BAUDRATE 115200
-
 #define WIFI_ENABLED 1

-#define RC_CHANNELS 16
-#define RC_CHANNEL_ROLL 0
-#define RC_CHANNEL_PITCH 1
-#define RC_CHANNEL_THROTTLE 2
-#define RC_CHANNEL_YAW 3
-#define RC_CHANNEL_ARMED 4
-#define RC_CHANNEL_MODE 5
-
-#define MOTOR_REAR_LEFT 0
-#define MOTOR_REAR_RIGHT 1
-#define MOTOR_FRONT_RIGHT 2
-#define MOTOR_FRONT_LEFT 3
-
 float t = NAN; // current step time, s
 float dt; // time delta from previous step, s
-float loopRate; // loop rate, Hz
-int16_t channels[RC_CHANNELS]; // raw rc channels
-float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
-float controlsTime; // time of the last controls update
+float controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode; // pilot's inputs, range [-1, 1]
 Vector gyro; // gyroscope data
 Vector acc; // accelerometer data, m/s/s
 Vector rates; // filtered angular rates, rad/s
 Quaternion attitude; // estimated attitude
-float motors[4]; // normalized motors thrust in range [-1..1]
+float motors[4]; // normalized motors thrust in range [0..1]

 void setup() {
 	Serial.begin(SERIAL_BAUDRATE);
-	Serial.println("Initializing flix");
+	Serial.println("Initializing flix\n");
 	disableBrownOut();
 	setupLED();
 	setupMotors();
 	setLED(true);
-#if WIFI_ENABLED == 1
+#if WIFI_ENABLED
 	setupWiFi();
 #endif
 	setupIMU();
 	setupRC();
-
 	setLED(false);
-	Serial.println("Initializing complete");
+	Serial.println("Initializing complete\n");
 }

 void loop() {
@@ -59,8 +42,8 @@ void loop() {
 	estimate();
 	control();
 	sendMotors();
-	parseInput();
-#if WIFI_ENABLED == 1
+	handleInput();
+#if WIFI_ENABLED
 	processMavlink();
 #endif
 	logData();
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -5,14 +5,13 @@

 #include <SPI.h>
 #include <MPU9250.h>
-
-#define ONE_G 9.80665
-
-// NOTE: use 'ca' command to calibrate the accelerometer and put the values here
-Vector accBias(0, 0, 0);
-Vector accScale(1, 1, 1);
+#include "util.h"

 MPU9250 IMU(SPI);
+
+// NOTE: use 'ca' command to calibrate the accelerometer and put the values here
+Vector accBias;
+Vector accScale(1, 1, 1);
 Vector gyroBias;

 void setupIMU() {
@@ -67,7 +66,7 @@ void calibrateGyro() {
 	}
 	gyroBias = gyroBias / samples;

-	printIMUCal();
+	printIMUCalibration();
 	configureIMU();
 }

@@ -76,20 +75,27 @@ void calibrateAccel() {
 	IMU.setAccelRange(IMU.ACCEL_RANGE_2G); // the most sensitive mode

 	Serial.setTimeout(60000);
-	Serial.print("Place level [enter] "); Serial.readStringUntil('\n');
+	Serial.print("1/6 Place level [enter] ");
+	Serial.readStringUntil('\n');
 	calibrateAccelOnce();
-	Serial.print("Place nose up [enter] "); Serial.readStringUntil('\n');
+	Serial.print("2/6 Place nose up [enter] ");
+	Serial.readStringUntil('\n');
 	calibrateAccelOnce();
-	Serial.print("Place nose down [enter] "); Serial.readStringUntil('\n');
+	Serial.print("3/6 Place nose down [enter] ");
+	Serial.readStringUntil('\n');
 	calibrateAccelOnce();
-	Serial.print("Place on right side [enter] "); Serial.readStringUntil('\n');
+	Serial.print("4/6 Place on right side [enter] ");
+	Serial.readStringUntil('\n');
 	calibrateAccelOnce();
-	Serial.print("Place on left side [enter] "); Serial.readStringUntil('\n');
+	Serial.print("5/6 Place on left side [enter] ");
+	Serial.readStringUntil('\n');
 	calibrateAccelOnce();
-	Serial.print("Place upside down [enter] "); Serial.readStringUntil('\n');
+	Serial.print("6/6 Place upside down [enter] ");
+	Serial.readStringUntil('\n');
 	calibrateAccelOnce();

-	printIMUCal();
+	printIMUCalibration();
+	Serial.print("✓ Calibration done!\n");
 	configureIMU();
 }

@@ -115,18 +121,15 @@ void calibrateAccelOnce() {
 	if (acc.x < accMin.x) accMin.x = acc.x;
 	if (acc.y < accMin.y) accMin.y = acc.y;
 	if (acc.z < accMin.z) accMin.z = acc.z;
-	Serial.printf("acc %f %f %f\n", acc.x, acc.y, acc.z);
-	Serial.printf("max %f %f %f\n", accMax.x, accMax.y, accMax.z);
-	Serial.printf("min %f %f %f\n", accMin.x, accMin.y, accMin.z);
 	// Compute scale and bias
 	accScale = (accMax - accMin) / 2 / ONE_G;
 	accBias = (accMax + accMin) / 2;
 }

-void printIMUCal() {
-	Serial.printf("gyro bias: %f, %f, %f\n", gyroBias.x, gyroBias.y, gyroBias.z);
-	Serial.printf("accel bias: %f, %f, %f\n", accBias.x, accBias.y, accBias.z);
-	Serial.printf("accel scale: %f, %f, %f\n", accScale.x, accScale.y, accScale.z);
+void printIMUCalibration() {
+	Serial.printf("gyro bias: %f %f %f\n", gyroBias.x, gyroBias.y, gyroBias.z);
+	Serial.printf("accel bias: %f %f %f\n", accBias.x, accBias.y, accBias.z);
+	Serial.printf("accel scale: %f %f %f\n", accScale.x, accScale.y, accScale.z);
 }

 void printIMUInfo() {
--- a/flix/led.ino
+++ b/flix/led.ino
@@ -21,7 +21,3 @@ void setLED(bool on) {
 	digitalWrite(LED_BUILTIN, on ? HIGH : LOW);
 	state = on;
 }
-
-void blinkLED() {
-	setLED(micros() / BLINK_PERIOD % 2);
-}
--- a/flix/log.ino
+++ b/flix/log.ino
@@ -26,12 +26,12 @@ void logData() {
 	logBuffer[logPointer][4] = ratesTarget.x;
 	logBuffer[logPointer][5] = ratesTarget.y;
 	logBuffer[logPointer][6] = ratesTarget.z;
-	logBuffer[logPointer][7] = attitude.toEulerZYX().x;
-	logBuffer[logPointer][8] = attitude.toEulerZYX().y;
-	logBuffer[logPointer][9] = attitude.toEulerZYX().z;
-	logBuffer[logPointer][10] = attitudeTarget.toEulerZYX().x;
-	logBuffer[logPointer][11] = attitudeTarget.toEulerZYX().y;
-	logBuffer[logPointer][12] = attitudeTarget.toEulerZYX().z;
+	logBuffer[logPointer][7] = attitude.toEuler().x;
+	logBuffer[logPointer][8] = attitude.toEuler().y;
+	logBuffer[logPointer][9] = attitude.toEuler().z;
+	logBuffer[logPointer][10] = attitudeTarget.toEuler().x;
+	logBuffer[logPointer][11] = attitudeTarget.toEuler().y;
+	logBuffer[logPointer][12] = attitudeTarget.toEuler().z;
 	logBuffer[logPointer][13] = thrustTarget;

 	logPointer++;
--- a/flix/lpf.h
+++ b/flix/lpf.h
@@ -22,7 +22,8 @@ public:
 			output = input;
 			initialized = true;
 		}
-		return output = output * (1 - alpha) + input * alpha;
+
+		return output += alpha * (input - output);
 	}

 	void setCutOffFrequency(float cutOffFreq, float dt) {
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -3,7 +3,7 @@

 // MAVLink communication

-#if WIFI_ENABLED == 1
+#if WIFI_ENABLED

 #include <MAVLink.h>

@@ -13,6 +13,8 @@
 #define MAVLINK_CONTROL_SCALE 0.7f
 #define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f

+extern float controlTime;
+
 void processMavlink() {
 	sendMavlink();
 	receiveMavlink();
@@ -28,8 +30,8 @@ void sendMavlink() {
 	if (t - lastSlow >= PERIOD_SLOW) {
 		lastSlow = t;

-		mavlink_msg_heartbeat_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_TYPE_QUADROTOR,
-			MAV_AUTOPILOT_GENERIC, MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (armed ? MAV_MODE_FLAG_SAFETY_ARMED : 0),
+		mavlink_msg_heartbeat_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_GENERIC,
+			MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (armed * MAV_MODE_FLAG_SAFETY_ARMED) | ((mode == STAB) * MAV_MODE_FLAG_STABILIZE_ENABLED),
 			0, MAV_STATE_STANDBY);
 		sendMessage(&msg);
 	}
@@ -38,15 +40,12 @@ void sendMavlink() {
 		lastFast = t;

 		const float zeroQuat[] = {0, 0, 0, 0};
-		Quaternion attitudeFRD = FLU2FRD(attitude); // MAVLink uses FRD coordinate system
 		mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
-			time, attitudeFRD.w, attitudeFRD.x, attitudeFRD.y, attitudeFRD.z, rates.x, rates.y, rates.z, zeroQuat);
+			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_scaled_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time, 0,
-			controls[0] * 10000, controls[1] * 10000, controls[2] * 10000,
-			controls[3] * 10000, controls[4] * 10000, controls[5] * 10000,
-			INT16_MAX, INT16_MAX, UINT8_MAX);
+		mavlink_msg_rc_channels_raw_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0,
+			channels[0], channels[1], channels[2], channels[3], channels[4], channels[5], channels[6], channels[7], UINT8_MAX);
 		sendMessage(&msg);

 		float actuator[32];
@@ -55,8 +54,8 @@ void sendMavlink() {
 		sendMessage(&msg);

 		mavlink_msg_scaled_imu_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time,
-			acc.x * 1000, acc.y * 1000, acc.z * 1000,
-			gyro.x * 1000, gyro.y * 1000, gyro.z * 1000,
+			acc.x * 1000, -acc.y * 1000, -acc.z * 1000, // convert to frd
+			gyro.x * 1000, -gyro.y * 1000, -gyro.z * 1000,
 			0, 0, 0, 0);
 		sendMessage(&msg);
 	}
@@ -83,25 +82,21 @@ void receiveMavlink() {
 }

 void handleMavlink(const void *_msg) {
-	mavlink_message_t *msg = (mavlink_message_t *)_msg;
-	if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
-		mavlink_manual_control_t manualControl;
-		mavlink_msg_manual_control_decode(msg, &manualControl);
-		controls[RC_CHANNEL_THROTTLE] = manualControl.z / 1000.0f;
-		controls[RC_CHANNEL_PITCH] = manualControl.x / 1000.0f * MAVLINK_CONTROL_SCALE;
-		controls[RC_CHANNEL_ROLL] = manualControl.y / 1000.0f * MAVLINK_CONTROL_SCALE;
-		controls[RC_CHANNEL_YAW] = manualControl.r / 1000.0f * MAVLINK_CONTROL_SCALE;
-		controls[RC_CHANNEL_MODE] = 1; // STAB mode
-		controls[RC_CHANNEL_ARMED] = 1; // armed
-		controlsTime = t;
+	const mavlink_message_t& msg = *(mavlink_message_t *)_msg;

-		if (abs(controls[RC_CHANNEL_YAW]) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controls[RC_CHANNEL_YAW] = 0;
+	if (msg.msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
+		mavlink_manual_control_t m;
+		mavlink_msg_manual_control_decode(&msg, &m);
+		controlThrottle = m.z / 1000.0f;
+		controlPitch = m.x / 1000.0f * MAVLINK_CONTROL_SCALE;
+		controlRoll = m.y / 1000.0f * MAVLINK_CONTROL_SCALE;
+		controlYaw = m.r / 1000.0f * MAVLINK_CONTROL_SCALE;
+		controlMode = 1; // STAB mode
+		controlArmed = 1; // armed
+		controlTime = t;
+
+		if (abs(controlYaw) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controlYaw = 0;
 	}
 }

-// Convert Forward-Left-Up to Forward-Right-Down quaternion
-inline Quaternion FLU2FRD(const Quaternion &q) {
-	return Quaternion(q.w, q.x, -q.y, -q.z);
-}
-
 #endif
--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -2,16 +2,22 @@
 // Repository: https://github.com/okalachev/flix

 // Motors output control using MOSFETs
-// In case of using ESC, use this version of the code: https://gist.github.com/okalachev/8871d3a94b6b6c0a298f41a4edd34c61.
-// Motor: 8520 3.7V
+
+#include "util.h"

 #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

-#define PWM_FREQUENCY 200
-#define PWM_RESOLUTION 8
+#define PWM_FREQUENCY 78000
+#define PWM_RESOLUTION 10
+
+// Motors array indexes:
+const int MOTOR_REAR_LEFT = 0;
+const int MOTOR_REAR_RIGHT = 1;
+const int MOTOR_FRONT_RIGHT = 2;
+const int MOTOR_FRONT_LEFT = 3;

 void setupMotors() {
 	Serial.println("Setup Motors");
@@ -26,14 +32,30 @@ void setupMotors() {
 	Serial.println("Motors initialized");
 }

-uint8_t signalToDutyCycle(float control) {
-	float duty = mapff(control, 0, 1, 0, (1 << PWM_RESOLUTION) - 1);
-	return round(constrain(duty, 0, (1 << PWM_RESOLUTION) - 1));
+int getDutyCycle(float value) {
+	value = constrain(value, 0, 1);
+	float duty = mapff(value, 0, 1, 0, (1 << PWM_RESOLUTION) - 1);
+	return round(duty);
 }

 void sendMotors() {
-	ledcWrite(MOTOR_0_PIN, signalToDutyCycle(motors[0]));
-	ledcWrite(MOTOR_1_PIN, signalToDutyCycle(motors[1]));
-	ledcWrite(MOTOR_2_PIN, signalToDutyCycle(motors[2]));
-	ledcWrite(MOTOR_3_PIN, signalToDutyCycle(motors[3]));
+	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() {
+	return motors[0] != 0 || motors[1] != 0 || motors[2] != 0 || motors[3] != 0;
+}
+
+void testMotor(int n) {
+	Serial.printf("Testing motor %d\n", n);
+	motors[n] = 1;
+	delay(50); // ESP32 may need to wait until the end of the current cycle to change duty https://github.com/espressif/arduino-esp32/issues/5306
+	sendMotors();
+	delay(3000);
+	motors[n] = 0;
+	sendMotors();
+	Serial.printf("Done\n");
 }
--- a/flix/quaternion.h
+++ b/flix/quaternion.h
@@ -15,22 +15,22 @@ public:

 	Quaternion(float w, float x, float y, float z): w(w), x(x), y(y), z(z) {};

-	static Quaternion fromAxisAngle(float a, float b, float c, float angle) {
+	static Quaternion fromAxisAngle(const Vector& axis, float angle) {
 		float halfAngle = angle * 0.5;
 		float sin2 = sin(halfAngle);
 		float cos2 = cos(halfAngle);
-		float sinNorm = sin2 / sqrt(a * a + b * b + c * c);
-		return Quaternion(cos2, a * sinNorm, b * sinNorm, c * sinNorm);
+		float sinNorm = sin2 / axis.norm();
+		return Quaternion(cos2, axis.x * sinNorm, axis.y * sinNorm, axis.z * sinNorm);
 	}

-	static Quaternion fromAngularRates(const Vector& rates) {
-		if (rates.zero()) {
+	static Quaternion fromRotationVector(const Vector& rotation) {
+		if (rotation.zero()) {
 			return Quaternion();
 		}
-		return Quaternion::fromAxisAngle(rates.x, rates.y, rates.z, rates.norm());
+		return Quaternion::fromAxisAngle(rotation, rotation.norm());
 	}

-	static Quaternion fromEulerZYX(const Vector& euler) {
+	static Quaternion fromEuler(const Vector& euler) {
 		float cx = cos(euler.x / 2);
 		float cy = cos(euler.y / 2);
 		float cz = cos(euler.z / 2);
@@ -60,14 +60,38 @@ public:
 		return ret;
 	}

-	void toAxisAngle(float& a, float& b, float& c, float& angle) {
-		angle = acos(w) * 2;
-		a = x / sin(angle / 2);
-		b = y / sin(angle / 2);
-		c = z / sin(angle / 2);
+	bool finite() const {
+		return isfinite(w) && isfinite(x) && isfinite(y) && isfinite(z);
 	}

-	Vector toEulerZYX() const {
+	float norm() const {
+		return sqrt(w * w + x * x + y * y + z * z);
+	}
+
+	void normalize() {
+		float n = norm();
+		w /= n;
+		x /= n;
+		y /= n;
+		z /= n;
+	}
+
+	void toAxisAngle(Vector& axis, float& angle) const {
+		angle = acos(w) * 2;
+		axis.x = x / sin(angle / 2);
+		axis.y = y / sin(angle / 2);
+		axis.z = z / sin(angle / 2);
+	}
+
+	Vector toRotationVector() const {
+		if (w == 1 && x == 0 && y == 0 && z == 0) return Vector(0, 0, 0); // neutral quaternion
+		float angle;
+		Vector axis;
+		toAxisAngle(axis, angle);
+		return angle * axis;
+	}
+
+	Vector toEuler() const {
 		// https://github.com/ros/geometry2/blob/589caf083cae9d8fae7effdb910454b4681b9ec1/tf2/include/tf2/impl/utils.h#L87
 		Vector euler;
 		float sqx = x * x;
@@ -112,21 +136,12 @@ public:

 	void setYaw(float yaw) {
 		// TODO: optimize?
-		Vector euler = toEulerZYX();
+		Vector euler = toEuler();
 		euler.z = yaw;
-		(*this) = Quaternion::fromEulerZYX(euler);
+		(*this) = Quaternion::fromEuler(euler);
 	}

-	Quaternion& operator *= (const Quaternion& q) {
-		Quaternion ret(
-			w * q.w - x * q.x - y * q.y - z * q.z,
-			w * q.x + x * q.w + y * q.z - z * q.y,
-			w * q.y + y * q.w + z * q.x - x * q.z,
-			w * q.z + z * q.w + x * q.y - y * q.x);
-		return (*this = ret);
-	}
-
-	Quaternion operator * (const Quaternion& q) {
+	Quaternion operator * (const Quaternion& q) const {
 		return Quaternion(
 			w * q.w - x * q.x - y * q.y - z * q.z,
 			w * q.x + x * q.w + y * q.z - z * q.y,
@@ -134,6 +149,14 @@ public:
 			w * q.z + z * q.w + x * q.y - y * q.x);
 	}

+	bool operator == (const Quaternion& q) const {
+		return w == q.w && x == q.x && y == q.y && z == q.z;
+	}
+
+	bool operator != (const Quaternion& q) const {
+		return !(*this == q);
+	}
+
 	Quaternion inversed() const {
 		float normSqInv = 1 / (w * w + x * x + y * y + z * z);
 		return Quaternion(
@@ -143,37 +166,39 @@ public:
 			-z * normSqInv);
 	}

-	float norm() const {
-		return sqrt(w * w + x * x + y * y + z * z);
-	}
-
-	void normalize() {
-		float n = norm();
-		w /= n;
-		x /= n;
-		y /= n;
-		z /= n;
-	}
-
-	Vector conjugate(const Vector& v) {
+	Vector conjugate(const Vector& v) const {
 		Quaternion qv(0, v.x, v.y, v.z);
 		Quaternion res = (*this) * qv * inversed();
 		return Vector(res.x, res.y, res.z);
 	}

-	Vector conjugateInversed(const Vector& v) {
+	Vector conjugateInversed(const Vector& v) const {
 		Quaternion qv(0, v.x, v.y, v.z);
 		Quaternion res = inversed() * qv * (*this);
 		return Vector(res.x, res.y, res.z);
 	}

-	// Rotate vector by quaternion
-	inline Vector rotate(const Vector& v) {
-		return conjugateInversed(v);
+	// Rotate quaternion by quaternion
+	static Quaternion rotate(const Quaternion& a, const Quaternion& b, const bool normalize = true) {
+		Quaternion rotated = a * b;
+		if (normalize) {
+			rotated.normalize();
+		}
+		return rotated;
 	}

-	inline bool finite() const {
-		return isfinite(w) && isfinite(x) && isfinite(y) && isfinite(z);
+	// Rotate vector by quaternion
+	static Vector rotateVector(const Vector& v, const Quaternion& q) {
+		return q.conjugateInversed(v);
+	}
+
+	// Quaternion between two quaternions a and b
+	static Quaternion between(const Quaternion& a, const Quaternion& b, const bool normalize = true) {
+		Quaternion q = a * b.inversed();
+		if (normalize) {
+			q.normalize();
+		}
+		return q;
 	}

 	size_t printTo(Print& p) const {
--- a/flix/rc.ino
+++ b/flix/rc.ino
@@ -4,52 +4,77 @@
 // Work with the RC receiver

 #include <SBUS.h>
-
-// NOTE: use 'cr' command to calibrate the RC and put the values here
-int channelNeutral[] = {995, 883, 200, 972, 512, 512, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+#include "util.h"

 SBUS RC(Serial2); // NOTE: Use RC(Serial2, 16, 17) if you use the old UART2 pins

+uint16_t channels[16]; // raw rc channels
+float controlTime; // time of the last controls update
+
+
+// NOTE: use 'cr' command to calibrate the RC and put the values here
+int channelZero[] = {992, 992, 172, 992, 172, 172, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+int channelMax[] = {1811, 1811, 1811, 1811, 1811, 1811, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+
+// Channels mapping:
+int rollChannel = 0;
+int pitchChannel = 1;
+int throttleChannel = 2;
+int yawChannel = 3;
+int armedChannel = 4;
+int modeChannel = 5;
+
 void setupRC() {
 	Serial.println("Setup RC");
 	RC.begin();
 }

-void readRC() {
+bool readRC() {
 	if (RC.read()) {
 		SBUSData data = RC.data();
-		memcpy(channels, data.ch, sizeof(channels)); // copy channels data
+		for (int i = 0; i < 16; i++) channels[i] = data.ch[i]; // copy channels data
 		normalizeRC();
-		controlsTime = t;
+		controlTime = t;
+		return true;
 	}
+	return false;
 }

 void normalizeRC() {
-	for (uint8_t i = 0; i < RC_CHANNELS; i++) {
-		controls[i] = mapf(channels[i], channelNeutral[i], channelMax[i], 0, 1);
+	float controls[16];
+	for (int i = 0; i < 16; i++) {
+		controls[i] = mapf(channels[i], channelZero[i], channelMax[i], 0, 1);
 	}
+	// Update control values
+	controlRoll = controls[rollChannel];
+	controlPitch = controls[pitchChannel];
+	controlYaw = controls[yawChannel];
+	controlThrottle = controls[throttleChannel];
+	controlArmed = controls[armedChannel];
+	controlMode = controls[modeChannel];
 }

 void calibrateRC() {
-	Serial.println("Calibrate RC: move all sticks to maximum positions within 4 seconds");
+	Serial.println("Calibrate RC: move all sticks to maximum positions [4 sec]");
 	Serial.println("··o     ··o\n···     ···\n···     ···");
 	delay(4000);
-	for (int i = 0; i < 30; i++) readRC(); // ensure the values are updated
-	for (int i = 0; i < RC_CHANNELS; i++) {
+	while (!readRC());
+	for (int i = 0; i < 16; i++) {
 		channelMax[i] = channels[i];
 	}
-	Serial.println("Calibrate RC: move all sticks to neutral positions within 4 seconds");
+	Serial.println("Calibrate RC: move all sticks to neutral positions [4 sec]");
 	Serial.println("···     ···\n···     ·o·\n·o·     ···");
 	delay(4000);
-	for (int i = 0; i < 30; i++) readRC(); // ensure the values are updated
-	for (int i = 0; i < RC_CHANNELS; i++) {
-		channelNeutral[i] = channels[i];
+	while (!readRC());
+	for (int i = 0; i < 16; i++) {
+		channelZero[i] = channels[i];
 	}
-	printRCCal();
+	printRCCalibration();
 }

-void printRCCal() {
-	printArray(channelNeutral, RC_CHANNELS);
-	printArray(channelMax, RC_CHANNELS);
+void printRCCalibration() {
+	for (int i = 0; i < sizeof(channelZero) / sizeof(channelZero[0]); i++) Serial.printf("%d ", channelZero[i]);
+	Serial.printf("\n");
+	for (int i = 0; i < sizeof(channelMax) / sizeof(channelMax[0]); i++) Serial.printf("%d ", channelMax[i]);
+	Serial.printf("\n");
 }
--- a/flix/time.ino
+++ b/flix/time.ino
@@ -3,6 +3,8 @@

 // Time related functions

+float loopRate; // Hz
+
 void step() {
 	float now = micros() / 1000000.0;
 	dt = now - t;
--- a/flix/util.ino
+++ b/flix/util.ino
@@ -3,10 +3,14 @@

 // Utility functions

+#pragma once
+
 #include <math.h>
 #include <soc/soc.h>
 #include <soc/rtc_cntl_reg.h>

+const float ONE_G = 9.80665;
+
 float mapf(long x, long in_min, long in_max, float out_min, float out_max) {
 	return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
 }
@@ -26,17 +30,7 @@ float wrapAngle(float angle) {
 	return angle;
 }

-template <typename T>
-void printArray(T arr[], int size) {
-	Serial.print("{");
-	for (uint8_t i = 0; i < size; i++) {
-		Serial.print(arr[i]);
-		if (i < size - 1) Serial.print(", ");
-	}
-	Serial.println("}");
-}
-
 // Disable reset on low voltage
 void disableBrownOut() {
-	WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0);
+	REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA);
 }
--- a/flix/vector.h
+++ b/flix/vector.h
@@ -13,14 +13,18 @@ public:

 	Vector(float x, float y, float z): x(x), y(y), z(z) {};

-	float norm() const {
-		return sqrt(x * x + y * y + z * z);
-	}
-
 	bool zero() const {
 		return x == 0 && y == 0 && z == 0;
 	}

+	bool finite() const {
+		return isfinite(x) && isfinite(y) && isfinite(z);
+	}
+
+	float norm() const {
+		return sqrt(x * x + y * y + z * z);
+	}
+
 	void normalize() {
 		float n = norm();
 		x /= n;
@@ -28,6 +32,10 @@ public:
 		z /= n;
 	}

+	Vector operator + (const float b) const {
+		return Vector(x + b, y + b, z + b);
+	}
+
 	Vector operator * (const float b) const {
 		return Vector(x * b, y * b, z * b);
 	}
@@ -44,6 +52,14 @@ public:
 		return Vector(x - b.x, y - b.y, z - b.z);
 	}

+	Vector& operator += (const Vector& b) {
+		return *this = *this + b;
+	}
+
+	Vector& operator -= (const Vector& b) {
+		return *this = *this - b;
+	}
+
 	// Element-wise multiplication
 	Vector operator * (const Vector& b) const {
 		return Vector(x * b.x, y * b.y, z * b.z);
@@ -54,18 +70,14 @@ public:
 		return Vector(x / b.x, y / b.y, z / b.z);
 	}

-	inline bool operator == (const Vector& b) const {
+	bool operator == (const Vector& b) const {
 		return x == b.x && y == b.y && z == b.z;
 	}

-	inline bool operator != (const Vector& b) const {
+	bool operator != (const Vector& b) const {
 		return !(*this == b);
 	}

-	inline bool finite() const {
-		return isfinite(x) && isfinite(y) && isfinite(z);
-	}
-
 	static float dot(const Vector& a, const Vector& b) {
 		return a.x * b.x + a.y * b.y + a.z * b.z;
 	}
@@ -74,18 +86,18 @@ public:
 		return Vector(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x);
 	}

-	static float angleBetweenVectors(const Vector& a, const Vector& b) {
+	static float angleBetween(const Vector& a, const Vector& b) {
 		return acos(constrain(dot(a, b) / (a.norm() * b.norm()), -1, 1));
 	}

-	static Vector angularRatesBetweenVectors(const Vector& a, const Vector& b) {
+	static Vector rotationVectorBetween(const Vector& a, const Vector& b) {
 		Vector direction = cross(a, b);
 		if (direction.zero()) {
 			// vectors are opposite, return any perpendicular vector
 			return cross(a, Vector(1, 0, 0));
 		}
 		direction.normalize();
-		float angle = angleBetweenVectors(a, b);
+		float angle = angleBetween(a, b);
 		return direction * angle;
 	}

@@ -96,3 +108,6 @@ public:
 			p.print(z, 15);
 	}
 };
+
+Vector operator * (const float a, const Vector& b) { return b * a; }
+Vector operator + (const float a, const Vector& b) { return b + a; }
--- a/flix/wifi.ino
+++ b/flix/wifi.ino
@@ -3,7 +3,7 @@

 // Wi-Fi support

-#if WIFI_ENABLED == 1
+#if WIFI_ENABLED

 #include <WiFi.h>
 #include <WiFiAP.h>
@@ -11,20 +11,19 @@

 #define WIFI_SSID "flix"
 #define WIFI_PASSWORD "flixwifi"
-#define WIFI_UDP_IP "255.255.255.255"
 #define WIFI_UDP_PORT 14550
+#define WIFI_UDP_REMOTE_PORT 14550

 WiFiUDP udp;

 void setupWiFi() {
 	Serial.println("Setup Wi-Fi");
 	WiFi.softAP(WIFI_SSID, WIFI_PASSWORD);
-	IPAddress myIP = WiFi.softAPIP();
 	udp.begin(WIFI_UDP_PORT);
 }

 void sendWiFi(const uint8_t *buf, int len) {
-	udp.beginPacket(WIFI_UDP_IP, WIFI_UDP_PORT);
+	udp.beginPacket(WiFi.softAPBroadcastIP(), WIFI_UDP_REMOTE_PORT);
 	udp.write(buf, len);
 	udp.endPacket();
 }
--- a/gazebo/Arduino.h
+++ b/gazebo/Arduino.h
@@ -99,7 +99,7 @@ public:
 class HardwareSerial: public Print {
 public:
 	void begin(unsigned long baud) {
-		// server is running in background by default, so doesn't have access to stdin
+		// server is running in background by default, so it doesn't have access to stdin
 		// https://github.com/gazebosim/gazebo-classic/blob/d45feeb51f773e63960616880b0544770b8d1ad7/gazebo/gazebo_main.cc#L216
 		// set foreground process group to current process group to allow reading from stdin
 		// https://stackoverflow.com/questions/58918188/why-is-stdin-not-propagated-to-child-process-of-different-process-group
@@ -133,6 +133,9 @@ void delay(uint32_t ms) {
 	std::this_thread::sleep_for(std::chrono::milliseconds(ms));
 }

+bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; }
+bool ledcWrite(uint8_t pin, uint32_t duty) { return true; }
+
 unsigned long __micros;
 unsigned long __resetTime = 0;

--- a/gazebo/SBUS.h
+++ b/gazebo/SBUS.h
@@ -14,11 +14,12 @@ public:
 	SBUS(HardwareSerial& bus, const bool inv = true) {};
 	SBUS(HardwareSerial& bus, const int8_t rxpin, const int8_t txpin, const bool inv = true) {};
 	void begin() {};
-	bool read() { return joystickGet(); };
+	bool read() { return joystickInit(); };
 	SBUSData data() {
 		SBUSData data;
-		for (uint8_t i = 0; i < 16; i++) {
-			data.ch[i] = channels[i];
+		joystickGet(data.ch);
+		for (int i = 0; i < 16; i++) {
+			data.ch[i] = map(data.ch[i], -32768, 32767, 1000, 2000); // convert to pulse width style
 		}
 		return data;
 	};
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -10,22 +10,12 @@
 #include "Arduino.h"
 #include "wifi.h"

-#define RC_CHANNELS 16
-
-#define MOTOR_REAR_LEFT 0
-#define MOTOR_FRONT_LEFT 3
-#define MOTOR_FRONT_RIGHT 2
-#define MOTOR_REAR_RIGHT 1
-
 #define WIFI_ENABLED 1

 float t = NAN;
 float dt;
-float loopRate;
 float motors[4];
-int16_t channels[16]; // raw rc channels
-float controls[RC_CHANNELS];
-float controlsTime;
+float controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode;
 Vector acc;
 Vector gyro;
 Vector rates;
@@ -41,9 +31,11 @@ void controlAttitude();
 void controlRate();
 void controlTorque();
 void showTable();
+void sendMotors();
 bool motorsActive();
-void cliTestMotor(uint8_t n);
-void printRCCal();
+void doCommand(const String& command);
+void normalizeRC();
+void printRCCalibration();
 void processMavlink();
 void sendMavlink();
 void sendMessage(const void *msg);
@@ -51,12 +43,11 @@ void receiveMavlink();
 void handleMavlink(const void *_msg);
 void failsafe();
 void descend();
-inline Quaternion FLU2FRD(const Quaternion &q);
+inline Quaternion fluToFrd(const Quaternion &q);

 // mocks
 void setLED(bool on) {};
 void calibrateGyro() { printf("Skip gyro calibrating\n"); };
 void calibrateAccel() { printf("Skip accel calibrating\n"); };
-void sendMotors() {};
-void printIMUCal() { printf("cal: N/A\n"); };
+void printIMUCalibration() { printf("cal: N/A\n"); };
 void printIMUInfo() {};
--- a/gazebo/joystick.h
+++ b/gazebo/joystick.h
@@ -8,22 +8,26 @@
 #include <iostream>

 // simulation calibration overrides, NOTE: use `cr` command and replace with the actual values
-const int channelNeutralOverride[] = {-258, -258, -27349, 0, -27349, 0};
-const int channelMaxOverride[] = {27090, 27090, 27090, 27090, -5676, 1};
+const int channelZeroOverride[] = {1500, 0, 1000, 1500, 1500, 1000};
+const int channelMaxOverride[] = {2000, 2000, 2000, 2000, 2000, 2000};

-#define RC_CHANNEL_ROLL 0
-#define RC_CHANNEL_PITCH 1
-#define RC_CHANNEL_THROTTLE 2
-#define RC_CHANNEL_YAW 3
-#define RC_CHANNEL_ARMED 5
-#define RC_CHANNEL_MODE 4
+// channels mapping overrides
+const int rollChannelOverride = 3;
+const int pitchChannelOverride = 4;
+const int throttleChannelOverride = 5;
+const int yawChannelOverride = 0;
+const int armedChannelOverride = 2;
+const int modeChannelOverride = 1;

 SDL_Joystick *joystick;
-bool joystickInitialized = false, warnShown = false;

 void normalizeRC();

-void joystickInit() {
+bool joystickInit() {
+	static bool joystickInitialized = false;
+	static bool warnShown = false;
+	if (joystickInitialized) return true;
+
 	SDL_Init(SDL_INIT_JOYSTICK);
 	joystick = SDL_JoystickOpen(0);
 	if (joystick != NULL) {
@@ -34,23 +38,28 @@ void joystickInit() {
 		warnShown = true;
 	}

-	// apply calibration overrides
-	extern int channelNeutral[RC_CHANNELS];
-	extern int channelMax[RC_CHANNELS];
-	memcpy(channelNeutral, channelNeutralOverride, sizeof(channelNeutralOverride));
+	// apply overrides
+	extern int channelZero[16];
+	extern int channelMax[16];
+	memcpy(channelZero, channelZeroOverride, sizeof(channelZeroOverride));
 	memcpy(channelMax, channelMaxOverride, sizeof(channelMaxOverride));
+
+	extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
+	rollChannel = rollChannelOverride;
+	pitchChannel = pitchChannelOverride;
+	throttleChannel = throttleChannelOverride;
+	yawChannel = yawChannelOverride;
+	armedChannel = armedChannelOverride;
+	modeChannel = modeChannelOverride;
+
+	return joystickInitialized;
 }

-bool joystickGet() {
-	if (!joystickInitialized) {
-		joystickInit();
-		return false;
-	}
-
+bool joystickGet(int16_t ch[16]) {
 	SDL_JoystickUpdate();

-	for (uint8_t i = 0; i < 8; i++) {
-		channels[i] = SDL_JoystickGetAxis(joystick, i);
+	for (uint8_t i = 0; i < 16; i++) {
+		ch[i] = SDL_JoystickGetAxis(joystick, i);
 	}
 	return true;
 }
--- a/gazebo/models/flix/flix.sdf
+++ b/gazebo/models/flix/flix.sdf
@@ -1,6 +1,7 @@
 <?xml version="1.0"?>
 <sdf version="1.5">
 	<model name="flix">
+		<plugin name="flix" filename="libflix.so"/>
 		<link name="body">
 			<inertial>
 				<mass>0.065</mass>
@@ -23,38 +24,14 @@
 				<update_rate>1000</update_rate>
 				<imu>
 					<angular_velocity>
-						<x>
-							<noise type="gaussian">
-								<stddev>0.00174533</stddev><!-- 0.1 degrees per second -->
-							</noise>
-						</x>
-						<y>
-							<noise type="gaussian">
-								<stddev>0.00174533</stddev>
-							</noise>
-						</y>
-						<z>
-							<noise type="gaussian">
-								<stddev>0.00174533</stddev>
-							</noise>
-						</z>
+						<x><noise type="gaussian"><stddev>0.00174533</stddev></noise></x><!-- 0.1 degrees per second -->
+						<y><noise type="gaussian"><stddev>0.00174533</stddev></noise></y>
+						<z><noise type="gaussian"><stddev>0.00174533</stddev></noise></z>
 					</angular_velocity>
 					<linear_acceleration>
-						<x>
-							<noise type="gaussian">
-								<stddev>0.0784</stddev><!-- 8 mg -->
-							</noise>
-						</x>
-						<y>
-							<noise type="gaussian">
-								<stddev>0.0784</stddev>
-							</noise>
-						</y>
-						<z>
-							<noise type="gaussian">
-								<stddev>0.0784</stddev>
-							</noise>
-						</z>
+						<x><noise type="gaussian"><stddev>0.0784</stddev></noise></x><!-- 8 mg -->
+						<y><noise type="gaussian"><stddev>0.0784</stddev></noise></y>
+						<z><noise type="gaussian"><stddev>0.0784</stddev></noise></z>
 					</linear_acceleration>
 				</imu>
 			</sensor>
@@ -90,6 +67,5 @@
 				<material><ambient>1 1 1 0.5</ambient><diffuse>1 1 1 0.5</diffuse></material>
 			</visual>
 		</link>
-		<plugin name="flix" filename="libflix.so"/>
 	</model>
 </sdf>
--- a/gazebo/simulator.cpp
+++ b/gazebo/simulator.cpp
@@ -17,9 +17,9 @@

 #include "Arduino.h"
 #include "flix.h"
-#include "util.ino"
 #include "rc.ino"
 #include "time.ino"
+#include "motors.ino"
 #include "estimate.ino"
 #include "control.ino"
 #include "log.ino"
@@ -70,8 +70,8 @@ public:

 		// read rc
 		readRC();
-		controls[RC_CHANNEL_MODE] = 1; // 0 acro, 1 stab
-		controls[RC_CHANNEL_ARMED] = 1; // armed
+		controlMode = 1; // 0 acro, 1 stab
+		controlArmed = 1; // armed

 		estimate();

@@ -79,7 +79,7 @@ public:
 		attitude.setYaw(this->model->WorldPose().Yaw());

 		control();
-		parseInput();
+		handleInput();
 		processMavlink();

 		applyMotorForces();
--- a/gazebo/soc/rtc_cntl_reg.h
+++ b/gazebo/soc/rtc_cntl_reg.h
@@ -1 +1 @@
-// Dummy file to make it possible to compile simulator with util.ino
+// Dummy file to make it possible to compile simulator with Flix' util.h
--- a/gazebo/soc/soc.h
+++ b/gazebo/soc/soc.h
@@ -1,3 +1,4 @@
-// Dummy file to make it possible to compile simulator with util.ino
+// Dummy file to make it possible to compile simulator with Flix' util.h

 #define WRITE_PERI_REG(addr, val) {}
+#define REG_CLR_BIT(_r, _b) {}
--- a/gazebo/wifi.h
+++ b/gazebo/wifi.h
@@ -11,8 +11,8 @@
 #include <sys/poll.h>
 #include <gazebo/gazebo.hh>

-#define WIFI_UDP_PORT_LOCAL 14580
-#define WIFI_UDP_PORT_REMOTE 14550
+#define WIFI_UDP_PORT 14580
+#define WIFI_UDP_REMOTE_PORT 14550

 int wifiSocket;

@@ -21,11 +21,11 @@ void setupWiFi() {
 	sockaddr_in addr; // local address
 	addr.sin_family = AF_INET;
 	addr.sin_addr.s_addr = INADDR_ANY;
-	addr.sin_port = htons(WIFI_UDP_PORT_LOCAL);
+	addr.sin_port = htons(WIFI_UDP_PORT);
 	bind(wifiSocket, (sockaddr *)&addr, sizeof(addr));
 	int broadcast = 1;
 	setsockopt(wifiSocket, SOL_SOCKET, SO_BROADCAST, &broadcast, sizeof(broadcast)); // enable broadcast
-	gzmsg << "WiFi UDP socket initialized on port " << WIFI_UDP_PORT_LOCAL << " (remote port " << WIFI_UDP_PORT_REMOTE << ")" << 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) {
@@ -33,7 +33,7 @@ void sendWiFi(const uint8_t *buf, int len) {
 	sockaddr_in addr; // remote address
 	addr.sin_family = AF_INET;
 	addr.sin_addr.s_addr = INADDR_BROADCAST; // send UDP broadcast
-	addr.sin_port = htons(WIFI_UDP_PORT_REMOTE);
+	addr.sin_port = htons(WIFI_UDP_REMOTE_PORT);
 	sendto(wifiSocket, buf, len, 0, (sockaddr *)&addr, sizeof(addr));
 }
Author	SHA1	Message	Date
Oleg Kalachev	a5504cc550	Fix rates, acc and gyro coordinate frame in mavlink All of them should be in frd. Get rid of fluToFrd function - there is no big need for it.	2025-07-20 07:59:00 +03:00
Oleg Kalachev	cfb0f17a9a	Minor cli change	2025-07-15 01:29:25 +03:00
Oleg Kalachev	d61948ec9c	Rename printIMUCal to printIMUCalibration for consistency with rc	2025-07-15 01:25:10 +03:00
Oleg Kalachev	0c87d4d634	Port changes from commit `52819e4`	2025-07-15 01:22:18 +03:00
Oleg Kalachev	4d1f9de872	Remove unnecessary documentation files	2025-07-10 06:14:22 +03:00
Oleg Kalachev	cf3d4d7ced	Increase motors pwm frequency to 78Khz 1000 Hz is too low frequency considering the update loop for motors signal is also 1000 Hz. Decrease resolution as it's required to set larger pwm frequencies. This change should vastly improve control jitter and remove audible motors noise.	2025-07-10 06:08:37 +03:00
Oleg Kalachev	443e5213f0	Return zero rotation vector when converting neutral quaternion Previously it would return nans	2025-07-10 06:07:16 +03:00
Oleg Kalachev	f24db96b50	Add missing equals and non-equals operators for quaternion lib	2025-07-10 06:07:08 +03:00
Oleg Kalachev	86305a08f8	Add missing newlines to initialization prints	2025-07-10 06:06:46 +03:00
Oleg Kalachev	21dcb39b7e	Improve vector and quaternion libraries Make the order or basic methods consistent between Vector and Quaternion. Remove `ZYX` from Euler method names as this is standard for robotics. Rename angular rates to rotation vector, which is more correct. Make rotation methods static, to keep the arguments order consistent. Make `Quaternion::fromAxisAngle` accept Vector for axis. Minor fixes.	2025-07-10 06:02:38 +03:00
Oleg Kalachev	c08c89f667	Minor code updates	2025-07-10 05:58:50 +03:00
Oleg Kalachev	114d2305de	Make wi-fi code more consistent between the firmware and simulation	2025-07-10 05:54:52 +03:00
Oleg Kalachev	a93e046117	Make sending udp packets much faster Turns out parsing IP address string is very slow	2025-05-07 17:43:43 +03:00
Oleg Kalachev	e6e4db0c4f	Update ESP32-Core to 3.2.0	2025-05-07 17:41:48 +03:00
Oleg Kalachev	d8fbc193c1	Make accelerometer calibration more verbose Print the number of each calibration step	2025-05-07 17:40:31 +03:00
Oleg Kalachev	dcd95176b4	Make low pass filter formula more straightforward	2025-04-30 00:16:16 +03:00
Oleg Kalachev	b7cebbb3d6	Add some missing operator for vector library	2025-04-30 00:16:02 +03:00
Oleg Kalachev	a6ccd236de	Fix simulation build in Actions Switched runner to Ubuntu 22.04 since Gazebo 11 now has binaries for 22.04 (amd64 only). Changed the building tutorial to reflect that.	2025-04-29 23:02:56 +03:00
Oleg Kalachev	e7a06b9413	Minor code simplifications	2025-04-29 23:01:59 +03:00
Oleg Kalachev	678bc7238e	Update MAVLink-Arduino to 2.0.16	2025-04-29 23:01:46 +03:00
Oleg Kalachev	6670b4f358	Simplify and improve acc calibration command output	2025-04-29 23:01:09 +03:00
Oleg Kalachev	7f80a8a58d	Remove twxs.cmake from the list of recommended extensions	2025-04-29 22:59:32 +03:00
Oleg Kalachev	2bd74e7f6f	Minor code style fix	2025-04-29 22:59:09 +03:00
Oleg Kalachev	d378d01dbc	Encode if the mode in stabilized in heartbeat message	2025-04-29 22:58:54 +03:00
Oleg Kalachev	e8341976f6	Cleanup	2025-03-01 00:02:44 +03:00
Oleg Kalachev	f2aae92f1e	Cleanups and updates	2025-02-28 23:58:31 +03:00
Oleg Kalachev	0a7ed1039f	Rename flu to frd function to match the code style	2025-02-28 23:39:03 +03:00
Oleg Kalachev	d4d1797ffc	Update main readme for the minimal version	2025-02-28 23:22:03 +03:00
Oleg Kalachev	209986b9cd	Change accel calibration code style a bit	2025-02-28 23:15:02 +03:00
Oleg Kalachev	32cdbba2a1	Remove dt multiplier from acc correction and increase acc weight More classical complementary filter implementation Increase effective accelerometer weight for faster convergence	2025-02-28 23:13:44 +03:00
Oleg Kalachev	dd1ea4f604	Cleanup mavlink subsystem code	2025-02-28 23:12:57 +03:00
Oleg Kalachev	5fc30dbd8a	Put last control time in RC control mavlink message instead of send time	2025-02-28 23:08:40 +03:00
Oleg Kalachev	51fa5a6cac	Simplify and fix code	2025-02-28 23:07:37 +03:00
Oleg Kalachev	75127eb6f8	Remove non-nessesary printArray function	2025-02-28 23:06:12 +03:00
Oleg Kalachev	89c1ada005	Remove command parsing to simplify the code	2025-02-28 23:02:02 +03:00
Oleg Kalachev	6058e8ecab	Refactor CLI submodule Move command parsing to doCommand Parse command with splitString instead of stringToken Trim commands Move cliTestMotor to the bottom Rename parseInput to handleInput, which is more clear Move motor test function to motors.ino Remove parameters table functionality to simplify the code	2025-02-28 22:49:37 +03:00
Oleg Kalachev	67e4a95697	Minor fix in joystick support for simulation Don't use channels variable as it breaks code isolation	2025-02-28 22:30:29 +03:00
Oleg Kalachev	fafe630e4c	Improve RC reading in calibration process	2025-02-28 22:29:36 +03:00
Oleg Kalachev	5ff44db8dd	Simplify WIFI_ENABLED macro test	2025-02-28 22:28:44 +03:00
Zatupitel	2b15812483	Fix working on ESP32-S3 (#8 ) Disable brown-out detector in a more correct way: clear only enable bit instead of clearing the whole register. --------- Co-authored-by: Oleg Kalachev <okalachev@gmail.com>	2025-02-28 22:28:10 +03:00
Oleg Kalachev	dbfbe11478	Add test on building the firmware without Wi-Fi to Actions	2025-02-28 22:26:05 +03:00
Oleg Kalachev	41b5932a5d	Move SBUS RC declaration to the top	2025-02-28 22:25:27 +03:00
Oleg Kalachev	add03482aa	Minor cleanups and fixes	2025-02-28 22:24:15 +03:00
Oleg Kalachev	32c4875ca1	Increase pwm frequency and resolution	2025-02-28 22:22:39 +03:00
Oleg Kalachev	07c5ae19dd	Update upload-artifact action to fix build	2025-02-28 22:21:53 +03:00
Oleg Kalachev	d60968ea25	Remove RC_CHANNELS macro	2025-02-28 22:19:52 +03:00
Oleg Kalachev	03c6576b72	Move controlsTime variable to rc.ino	2025-01-11 01:17:11 +03:00
Oleg Kalachev	59a8a80cce	Minor cleanup	2025-01-10 07:15:38 +03:00
Oleg Kalachev	5530ad2981	Move loopRate to time.ino	2025-01-10 07:15:15 +03:00
Oleg Kalachev	f9e1802bc0	Make util module header instead of .ino-file	2025-01-10 07:02:00 +03:00
Oleg Kalachev	ddc46c049f	Make ONE_G definition const and move to utils.ino	2025-01-09 11:31:33 +03:00
Oleg Kalachev	8c9bff0813	Make motor indexes definition const int and move them to motors.ino Remove motor indexes definitions from flix.ino Add motors.ino to simulation code and implement required mocks	2025-01-09 11:17:44 +03:00
Oleg Kalachev	e3873c99c5	Fix getDutyCycle return type to make it possible to increase resolution	2025-01-09 11:02:57 +03:00
Oleg Kalachev	fd437b96d3	Add missing const qualifiers to some quaternion methods	2025-01-09 10:03:08 +03:00
Oleg Kalachev	9a977e85c8	Implement `rotate` method for quaternions as replace for multiplication Vector rotating method is renamed from `rotate` to `rotateVector` to avoid inconsistent object and argument order in different `rotate` methods	2025-01-09 10:00:16 +03:00
Oleg Kalachev	e66cadbb57	Some fixes and updates to readme and other articles	2025-01-09 10:00:05 +03:00
Oleg Kalachev	abfb3fea05	Update ESP32-core to 3.1.0	2025-01-09 09:59:51 +03:00
Oleg Kalachev	672149bd34	Use ubuntu-20.04 runner to build simulator in CI The latest Ubuntu Gazebo 11 officially supports is Ubuntu 20.04	2025-01-09 09:59:40 +03:00
Oleg Kalachev	6c76d339e0	Add battery connector cable to components list	2025-01-09 09:59:31 +03:00
Oleg Kalachev	a76f5a2299	Remove redundant inline specifiers In-class defined methods are specified as inline by default	2025-01-09 09:59:10 +03:00
Oleg Kalachev	8e8c8d05bb	Some minor cleanups and fixes	2025-01-09 09:58:56 +03:00
Oleg Kalachev	1582238abc	Various minor fixes	2024-12-27 21:53:23 +03:00
Oleg Kalachev	f7434921e5	Fix joystick work in simulation Logic was broken as joystickGet never got called	2024-12-27 15:38:44 +03:00
Oleg Kalachev	3c28d0e950	Minor fix	2024-12-25 02:21:40 +03:00
Oleg Kalachev	77c621100f	Increase motors output frequency	2024-12-25 02:19:06 +03:00
Oleg Kalachev	1ef1ed5fc4	Simplify motors duty cycle computation	2024-12-25 02:19:00 +03:00
Oleg Kalachev	ce67baae89	Minor fixes	2024-12-25 02:18:52 +03:00
Oleg Kalachev	ad9259810f	Fix SBUS simulation logic Don't consider zero values from not connected joystick	2024-12-25 02:17:58 +03:00
Oleg Kalachev	c43624734d	Move ONE_G definition to flix.ino	2024-12-25 02:17:50 +03:00
Oleg Kalachev	292b10197f	Improve logic of passing channels data in simulated SBUS Return the data the same way as on the real drone without touching channels global vairable	2024-12-25 02:17:43 +03:00
Oleg Kalachev	16c9d8fe8a	Minor change	2024-12-25 02:17:28 +03:00
Oleg Kalachev	931f46b92d	Don't let throttle be less than 0 in failsafe	2024-12-25 02:17:16 +03:00
Oleg Kalachev	441f82af95	Add notice on removing props in motor test commands in help	2024-12-25 02:16:34 +03:00