Another minor fixes

By default the WiFi channel is used

.github/workflows/build.yml

@@ -27,8 +27,6 @@ jobs:
       run: make BOARD=esp32:esp32:esp32c3
     - name: Build firmware for ESP32-S3
       run: make BOARD=esp32:esp32:esp32s3
-    - name: Build espnow-proxy
-      run: arduino-cli compile --fqbn esp32:esp32:esp32 tools/espnow-proxy
     - name: Check c_cpp_properties.json
       run: tools/check_c_cpp_properties.py
 

.gitignore

@@ -4,10 +4,9 @@ build/
 tools/log/
 tools/dist/
 *.egg-info/
-.core
-.libs
+.dependencies
 .vscode/*
-!.vscode/settings.default.json
+!.vscode/settings.json
 !.vscode/c_cpp_properties.json
 !.vscode/tasks.json
 !.vscode/launch.json

.vscode/c_cpp_properties.json

@@ -6,18 +6,18 @@
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
 				"${workspaceFolder}/tools/**",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32",
-				"~/.arduino15/packages/esp32/tools/esp32-libs/3.3.10/include/**",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32",
+				"~/.arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**",
 				"~/Arduino/libraries/**",
 				"/usr/include/gazebo-11/",
 				"/usr/include/ignition/math6/"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.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",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
 				"${workspaceFolder}/flix/estimate.ino",
@@ -33,7 +33,7 @@
 				"${workspaceFolder}/flix/parameters.ino",
 				"${workspaceFolder}/flix/safety.ino"
 			],
-			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2601/bin/xtensa-esp32-elf-g++",
+			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [
@@ -53,18 +53,18 @@
 			"name": "Mac",
 			"includePath": [
 				"${workspaceFolder}/flix",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32",
-				"~/Library/Arduino15/packages/esp32/tools/esp32-libs/3.3.10/include/**",
+				"~/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/**",
 				"~/Documents/Arduino/libraries/**",
 				"/opt/homebrew/include/gazebo-11/",
 				"/opt/homebrew/include/ignition/math6/"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/flix.ino",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
@@ -80,7 +80,7 @@
 				"${workspaceFolder}/flix/parameters.ino",
 				"${workspaceFolder}/flix/safety.ino"
 			],
-			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2601/bin/xtensa-esp32-elf-g++",
+			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [
@@ -103,16 +103,16 @@
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
 				"${workspaceFolder}/tools/**",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32",
-				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-libs/3.3.10/include/**",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32",
+				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**",
 				"~/Documents/Arduino/libraries/**"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.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",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
 				"${workspaceFolder}/flix/estimate.ino",
@@ -128,7 +128,7 @@
 				"${workspaceFolder}/flix/parameters.ino",
 				"${workspaceFolder}/flix/safety.ino"
 			],
-			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2601/bin/xtensa-esp32-elf-g++.exe",
+			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++.exe",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [

.vscode/extensions.json

@@ -1,7 +1,6 @@
 {
 	// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
 	"recommendations": [
-		"dangmai.workspace-default-settings",
 		"ms-vscode.cpptools",
 		"ms-vscode.cmake-tools",
 		"ms-python.python"

Makefile

@@ -1,32 +1,24 @@
 BOARD = esp32:esp32:d1_mini32
 PORT := $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-* /dev/cu.usbmodem*))
 
-export ARDUINO_NETWORK_CONNECTION_TIMEOUT := 1h
-
-build: .core .libs
-	arduino-cli compile --fqbn $(BOARD) --build-property "build.core_debug_level=1" flix
+build: .dependencies
+	arduino-cli compile --fqbn $(BOARD) flix
 
 upload: build
 	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" flix
 
-erase:
-	arduino-cli burn-bootloader --fqbn $(BOARD) -p "$(PORT)" -P esptool
-
 monitor:
 	arduino-cli monitor -p "$(PORT)" -c baudrate=115200
 
-core .core:
-	arduino-cli core update-index --additional-urls https://espressif.github.io/arduino-esp32/package_esp32_index.json
-	arduino-cli core install esp32:esp32@3.3.10 --additional-urls https://espressif.github.io/arduino-esp32/package_esp32_index.json
-	touch .core
-
-libs .libs:
+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 lib update-index
 	arduino-cli lib install "FlixPeriph"
 	arduino-cli lib install "MAVLink"@2.0.25
-	touch .libs
+	touch .dependencies
 
-upload_proxy: .core .libs
+upload_proxy: .dependencies
 	arduino-cli compile --fqbn $(BOARD) tools/espnow-proxy
 	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" tools/espnow-proxy
 
@@ -34,7 +26,7 @@ gazebo/build cmake: gazebo/CMakeLists.txt
 	mkdir -p gazebo/build
 	cd gazebo/build && cmake ..
 
-build_simulator: .libs gazebo/build
+build_simulator: .dependencies gazebo/build
 	make -C gazebo/build
 
 simulator: build_simulator
@@ -49,6 +41,6 @@ plot:
 	plotjuggler -d $(shell ls -t tools/log/*.csv | head -n1)
 
 clean:
-	rm -rf gazebo/build flix/build flix/cache .core .libs
+	rm -rf gazebo/build flix/build flix/cache .dependencies
 
-.PHONY: build upload monitor core libs cmake build_simulator simulator log clean
+.PHONY: build upload monitor dependencies cmake build_simulator simulator log clean

README.md

@@ -47,14 +47,6 @@ See the [user builds gallery](docs/user.md):
 
 <a href="docs/user.md"><img src="docs/img/user/user.jpg" width=500></a>
 
-### PCB
-
-The official PCB *(Flix2)* is in development now. Follow the [project's channel](https://t.me/opensourcequadcopter) to track the progress.
-
-Outdoor flights demo video of the current prototype:
-
-<a href="https://youtu.be/KXlNmvUTi4g"><img width=300 src="https://i3.ytimg.com/vi/KXlNmvUTi4g/maxresdefault.jpg"></a>
-
 ## Simulation
 
 The simulator is implemented using Gazebo and runs the original Arduino code:
@@ -81,7 +73,7 @@ Additional articles:
 |-|-|:-:|:-:|
 |Microcontroller board|ESP32 Mini.<br>ESP32-S3/ESP32-C3 boards are also supported.|<img src="docs/img/esp32.jpg" width=100>|1|
 |IMU (and barometer¹) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)<br>ICM20948V2 (ICM‑20948)<br>GY-521 (MPU-6050)|<img src="docs/img/gy-91.jpg" width=90 align=center><br><img src="docs/img/icm-20948.jpg" width=100><br><img src="docs/img/gy-521.jpg" width=100>|1|
-|*Boost converter (optional, for more stable power supply)*|*5V output*|<img src="docs/img/buck-boost.jpg" width=100>|1|
+|Boost converter (optional, for more stable power supply)|5V output|<img src="docs/img/buck-boost.jpg" width=100>|1|
 |Motor|8520 3.7V brushed motor.<br>Motor with exact 3.7V voltage is needed, not ranged working voltage (3.7V — 6V).<br>Make sure the motor shaft diameter and propeller hole diameter match!|<img src="docs/img/motor.jpeg" width=100>|4|
 |Propeller|55 mm or 65 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|

arduino-cli.yaml

@@ -0,0 +1,5 @@
+board_manager:
+  additional_urls:
+    - https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
+network:
+  connection_timeout: 1h

docs/firmware.md

@@ -79,9 +79,6 @@ To add a new parameter:
 
 See examples of adding new parameters in commits: [c434107](https://github.com/okalachev/flix/commit/c434107), [a687303](https://github.com/okalachev/flix/commit/a687303).
 
-> [!NOTE]
-> Since all the parameters are internally stored and passed as floats, the safe range for `int` parameters is -16777216 to 16777215.
-
 ## Adding a subsystem
 
 To add a new subsystem:

docs/troubleshooting.md

@@ -5,7 +5,7 @@
 Do the following:
 
 * **Check ESP32 core is installed**. Check if the version matches the one used in the [tutorial](usage.md#building-the-firmware).
-* **Check libraries**. Install all the required libraries from the tutorial. Make sure there are no MPU-9250 or other peripherals libraries that may conflict with the ones used in the tutorial.
+* **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.
 * **Check the chosen board**. The correct board to choose in Arduino IDE for ESP32 Mini is *WEMOS D1 MINI ESP32*.
 
 ## The drone doesn't fly

docs/usage.md

@@ -20,14 +20,13 @@ 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 3.3.10. 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 3.3.6. 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.
 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.
 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. Set *Tools* ⇒ *Core Debug Level* to *Error* to see the errors in the serial console. Set *Tools* ⇒ *USB CDC on Boot* to *Enabled* for ESP32-S3/ESP32-C3 boards.
-8. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
+7. [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)
 
@@ -58,12 +57,6 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b
    make upload monitor
    ```
 
-   For ESP32-S3/ESP32-C3 boards, set the appropriate [FQBN](https://docs.arduino.cc/arduino-cli/FAQ/#whats-the-fqbn-string) using `BOARD` parameter:
-
-   ```bash
-   make BOARD=esp32:esp32:esp32s3:FlashSize=4M,CDCOnBoot=cdc upload
-   ```
-
 See other available Make commands in [Makefile](../Makefile).
 
 > [!TIP]
@@ -71,6 +64,15 @@ See other available Make commands in [Makefile](../Makefile).
 
 ## Before first flight
 
+### Choose the IMU model
+
+In case if using different IMU model than MPU9250, change `imu` variable declaration in the `imu.ino`:
+
+```cpp
+ICM20948 imu(SPI);  // For ICM-20948
+MPU6050 imu(Wire);  // For MPU-6050
+```
+
 ### Connect using QGroundControl
 
 QGroundControl is a ground control station software that can be used to monitor and control the drone.
@@ -80,9 +82,6 @@ QGroundControl is a ground control station software that can be used to monitor
 3. Connect your computer or smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`).
 4. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
 
-> [!TIP]
-> If QGroundControl doesn't connect, try to disable the firewall and/or VPN on your computer, as they may block the connection.
-
 ### Access console
 
 The console is a command line interface (CLI) that allows to interact with the drone, change parameters, and perform various actions. There are two ways of accessing the console: using **serial port** or using **QGroundControl (wirelessly)**.
@@ -111,19 +110,6 @@ The drone is configured using parameters. To access and modify them, go to the Q
 
 You can also work with parameters using `p` command in the console. Parameter names are case-insensitive.
 
-### Configure the IMU
-
-1. Configure the following parameters for the used IMU:
-   * `IMU_MODEL` — IMU model (0 for disabled, 1 for MPU-9250/MPU-6500¹, 2 for ICM-20948, 3 for MPU-6050, 4 for ICM-40609-D).
-   * `IMU_BUS` — communication bus (0 for SPI, 1 for I²C).
-   * `IMU_PIN_SCK`, `IMU_PIN_MISO`, `IMU_PIN_MOSI`, `IMU_PIN_CS` — SPI pin numbers.
-   * `IMU_PIN_SCL`, `IMU_PIN_SDA` — I²C pin numbers.
-   * `IMU_PIN_INT` — IMU data ready pin number (-1 if not used).
-2. Reboot the drone.
-3. Check the IMU is working using `imu` command in the console (see details below).
-
-¹ — not to be confused with MPU-6050.
-
 ### Define IMU orientation
 
 The IMU orientation (relative to the drone's axes) is defined using the parameters: `IMU_ROT_ROLL`, `IMU_ROT_PITCH`, and `IMU_ROT_YAW`.
@@ -202,7 +188,7 @@ After this setup, you should see the battery voltage in QGroundControl top panel
 
 ## Setup remote control
 
-There are several ways to control the drone's flight: using **smartphone** (Wi-Fi), using **SBUS remote control**, or using **USB remote control** (Wi-Fi/ESP-NOW).
+There are several ways to control the drone's flight: using **smartphone** (Wi-Fi), using **SBUS remote control**, or using **USB remote control** (Wi-Fi).
 
 ### Control with a smartphone
 
@@ -247,7 +233,7 @@ If your drone doesn't have RC receiver installed, you can use USB remote control
 3. Power up the drone.
 4. Connect your computer to the appeared `flix` Wi-Fi network (password: `flixwifi`).
 5. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
-6. Go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate your USB remote control there.
+6. Go the the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate you USB remote control there.
 7. Use the USB remote control to fly the drone!
 
 ## Flight
@@ -343,7 +329,7 @@ To setup ESP-NOW communication:
    espnow 7a:c8:e3:eb:bf:e9 &PiuSysxP9+$L&5E
    ```
 
-   Run this line as a console command on each drone you want to bind to this proxy board. [The maximum number](https://github.com/espressif/esp-idf/blob/e95cab4be8fd293e3f3323181e7a2280874da6f7/components/esp_wifi/include/esp_now.h#L32-L33) of simultaneously connected drones is 20 (unencrypted) or 6 (encrypted).
+   Run this line as a console command on each drone you want to bind to this proxy board.
 
 3. Set the `WIFI_MODE` parameter to `3` on the drone:
 
@@ -360,7 +346,7 @@ To setup ESP-NOW communication:
 
 ## Flight log
 
-After the flight, you can download the flight log wirelessly for analysis. Use the following command on your computer for that:
+After the flight, you can download the flight log for analysis wirelessly. Use the following command on your computer for that:
 
 ```bash
 make log

docs/user.md

@@ -4,37 +4,6 @@ This page contains user-built drones based on the Flix project. Publish your pro
 
 ---
 
-Author: [Неруш Михаил](https://t.me/NerushMV).<br>
-Description: custom frame made of 4 mm plywood, 8520 brushed motors, 75 mm propellers, MPU-6500. FlySky FS-i6X with ESP32-based adapter for ESP-NOW communication (using PPM output).<br>
-Sources and materials: [link](https://drive.google.com/drive/folders/1uWiDcuorLrtVs_IIR7Y13omij-7Q1nx8).
-
-<img src="img/user/nerush/1.jpg" height=200> <img src="img/user/nerush/2.jpg" height=200>
-
-[Flight video](https://drive.google.com/file/d/1jRXeGx34lJpUfw0GKLQeIzkWZvooQJSE/view?usp=sharing).
-
----
-
-Author: [Konstantinos Paraskevas](https://github.com/Frapais).<br>
-Description: drone with a custom single-boarded airframe, extending the [Sprig-C3 module](https://github.com/Frapais/Sprig-C3).
-ESP32-C3 microcontroller, ICM-20948 IMU, on-board fuel-gauge, status LED indicator.<br>
-Repository with all the code and PCB sources: https://github.com/Frapais/Sprig-Drone.
-
-<img src="img/user/kostas/1.jpg" height=150> <img src="img/user/kostas/2.jpg" height=150>
-
-Detailed video about making the drone:
-
-<a href="https://youtu.be/82Q-uBq6s48"><img width=400 src="https://i3.ytimg.com/vi/82Q-uBq6s48/maxresdefault.jpg"></a>
-
----
-
-Author: [Awab Anas](http://t.me/AW_VENOM).<br>
-Description: ESP32 D1 Mini, MPU-6050, 8520 3.7V brushed motors, 55 mm propellers, battery li-po 1200 mAh, controlling via [Mavlink Joystick app](https://github.com/goldarte/mavlink-joystick/releases/latest).<br>
-[Flight validation](https://drive.google.com/file/d/12z0jfctZDBA6b5UKCG0Uje5rAxj6DhF-/view?usp=sharing).
-
-<img src="img/user/aw_venom/1.jpg" height=200>
-
----
-
 Author: [Ina Tix](https://t.me/ina_tix).<br>
 Description: XR2981 based DC-DC converter, ELRS MINI 2.4GHz RX SX1280 receiver (SBUS interface), Radiomaster TX12 remote control.<br>
 [Flight validation](https://drive.google.com/file/d/1yqkKNuz4R_yxGqUNQxVpixJbXqEEcUSj/view?usp=share_link).
@@ -88,17 +57,6 @@ Author: [goldarte](https://t.me/goldarte).<br>
 
 ---
 
-Author: [malagis](https://oshwhub.com/malagis).<br>
-
-A Chinese custom PCB version of Flix with a big community of users, lots of materials and modifications.
-
-Main project's page: https://oshwhub.com/malagis/esp32-mini-plane.<br>
-Video about the project: https://www.bilibili.com/video/BV14vyqBFEJn/.
-
-<img src="img/user/malagis/1.jpg" height=200> <img src="img/user/malagis/2.jpg" height=200> <img src="img/user/malagis/3.jpg" height=200>
-
----
-
 ## School 548 course
 
 Special course on quadcopter design and engineering took place in october-november 2025 in School 548, Moscow. The course included UAV control theory, electronics, drone assembly and setup practice, using the Flix project.

flix/cli.ino

@@ -6,7 +6,7 @@
 #include "pid.h"
 #include "vector.h"
 #include "util.h"
-#include "filter.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;
@@ -31,39 +31,33 @@ const char* motd =
 "Commands:\n\n"
 "help - show help\n"
 "p - show all parameters\n"
-"p <str> - show parameters starting with str\n"
+"p <name> - show parameter\n"
 "p <name> <value> - set parameter\n"
 "preset - reset parameters\n"
 "time - show time info\n"
+"ps - show pitch/roll/yaw\n"
+"psq - show attitude quaternion\n"
 "imu - show IMU data\n"
-"ca - calibrate accel\n"
-"st - show state estimation\n"
 "arm - arm the drone\n"
 "disarm - disarm the drone\n"
 "raw/stab/acro/auto - set mode\n"
 "rc - show RC data\n"
-"cr - calibrate RC\n"
 "pw - show power info\n"
 "wifi - show Wi-Fi info\n"
-"wifi ap/sta/espnow/off - set Wi-Fi mode\n"
-"ap <ssid> <password> - configure Wi-Fi access point\n"
-"sta <ssid> <password> - configure Wi-Fi client mode\n"
-"espnow <mac> [<key>] - configure ESP-NOW peer\n"
+"ap <ssid> <password> - setup Wi-Fi access point\n"
+"sta <ssid> <password> - setup Wi-Fi client mode\n"
+"espnow <mac> [<key>] - setup ESP-NOW peer\n"
 "mot - show motor output\n"
 "log [dump] - print log header [and data]\n"
+"cr - calibrate RC\n"
+"ca - calibrate accel\n"
 "mfr, mfl, mrr, mrl - test motor (remove props)\n"
-"log - show log info\n"
-"log header - show log header\n"
-"log reset - reset log\n"
-"log <name> <rate> - setup log topic rate\n"
-"l <str> - show log values starting with str\n"
-"l expose <name> - expose log value to telemetry\n"
 "sys - show system info\n"
 "reset - reset drone's state\n"
 "reboot - reboot the drone\n";
 
 void print(const char* format, ...) {
-	char buf[3000];
+	char buf[1000];
 	va_list args;
 	va_start(args, format);
 	vsnprintf(buf, sizeof(buf), format, args);
@@ -98,8 +92,10 @@ void doCommand(String str, bool echo = false) {
 	// execute command
 	if (command == "help" || command == "motd") {
 		print("%s\n", motd);
-	} else if (command == "p" && arg1 == "") {
-		printParameters(arg0.c_str());
+	} else if (command == "p" && arg0 == "") {
+		printParameters();
+	} else if (command == "p" && arg0 != "" && arg1 == "") {
+		print("%s = %g\n", arg0.c_str(), getParameter(arg0.c_str()));
 	} else if (command == "p") {
 		bool success = setParameter(arg0.c_str(), arg1.toFloat());
 		if (success) {
@@ -113,15 +109,15 @@ void doCommand(String str, bool echo = false) {
 		print("Time: %f\n", t);
 		print("Loop rate: %.0f\n", loopRate);
 		print("dt: %f\n", dt);
+	} else if (command == "ps") {
+		Vector a = attitude.toEuler();
+		print("roll: %f pitch: %f yaw: %f\n", degrees(a.x), degrees(a.y), degrees(a.z));
+	} else if (command == "psq") {
+		print("qw: %f qx: %f qy: %f qz: %f\n", attitude.w, attitude.x, attitude.y, attitude.z);
 	} else if (command == "imu") {
 		printIMUInfo();
 		printIMUCalibration();
 		print("landed: %d\n", landed);
-	} else if (command == "st") {
-		print("rates: %g %g %g\n", rates.x, rates.y, rates.z);
-		print("attitude: %g %g %g %g\n", attitude.w, attitude.x, attitude.y, attitude.z);
-		print("roll: %g° pitch: %g° yaw: %g°\n", degrees(attitude.getRoll()), degrees(attitude.getPitch()), degrees(attitude.getYaw()));
-		print("landed: %d\n", landed);
 	} else if (command == "arm") {
 		armed = true;
 	} else if (command == "disarm") {
@@ -146,10 +142,8 @@ void doCommand(String str, bool echo = false) {
 		print("armed: %d\n", armed);
 	} else if (command == "pw") {
 		print("Voltage: %.1f V\n", voltage);
-	} else if (command == "wifi" && arg0 == "") {
-		printWiFiInfo();
 	} else if (command == "wifi") {
-		setWiFiMode(arg0);
+		printWiFiInfo();
 	} else if (command == "ap") {
 		configWiFi(W_AP, arg0.c_str(), arg1.c_str());
 	} else if (command == "sta") {
@@ -159,18 +153,9 @@ void doCommand(String str, bool echo = false) {
 	} else if (command == "mot") {
 		print("front-right %g front-left %g rear-right %g rear-left %g\n",
 			motors[MOTOR_FRONT_RIGHT], motors[MOTOR_FRONT_LEFT], motors[MOTOR_REAR_RIGHT], motors[MOTOR_REAR_LEFT]);
-	} else if (command == "log" && arg0 == "") {
-		printLogInfo();
-	} else if (command == "log" && arg1 != "") {
-		configLogThrottle(arg0.c_str(), arg1.toFloat());
-	} else if (command == "log" && arg0 == "header") {
+	} else if (command == "log") {
 		printLogHeader();
-	} else if (command == "log" && arg0 == "reset") {
-		resetLog();
-	} else if (command == "l" && arg0 == "expose" && arg1 != "") {
-		exposeLogValue(arg1.c_str());
-	} else if (command == "l") {
-		printLogValues(arg0.c_str());
+		if (arg0 == "dump") printLogData();
 	} else if (command == "cr") {
 		calibrateRC();
 	} else if (command == "ca") {
@@ -187,13 +172,10 @@ void doCommand(String str, bool echo = false) {
 #ifdef ESP32
 		print("Chip: %s\n", ESP.getChipModel());
 		print("Temperature: %.1f °C\n", temperatureRead());
-		print("Total RAM: %d KB\n", ESP.getHeapSize() / 1024);
-		print("Free heap: %d KB\n", ESP.getFreeHeap() / 1024);
-		print("PSRAM: %d KB\n", ESP.getPsramSize() / 1024);
-		print("Free PSRAM: %d KB\n", ESP.getFreePsram() / 1024);
+		print("Free heap: %d\n", ESP.getFreeHeap());
 		print("Firmware: " __DATE__ " " __TIME__ "\n");
 		// Print tasks table
-		print("Num  Task                MinSt  Prio  Core  CPU%%\n");
+		print("Num  Task                Stack  Prio  Core  CPU%%\n");
 		int taskCount = uxTaskGetNumberOfTasks();
 		TaskStatus_t *systemState = new TaskStatus_t[taskCount];
 		uint32_t totalRunTime;
@@ -227,7 +209,7 @@ void handleInput() {
 
 	while (Serial.available()) {
 		char c = Serial.read();
-		if (c == '\n' || c == '\r') {
+		if (c == '\n') {
 			doCommand(input);
 			input.clear();
 		} else {

flix/control.ino

@@ -6,7 +6,7 @@
 #include "vector.h"
 #include "quaternion.h"
 #include "pid.h"
-#include "filter.h"
+#include "lpf.h"
 #include "util.h"
 
 #define PITCHRATE_P 0.05
@@ -149,7 +149,6 @@ void controlTorque() {
 	motors[MOTOR_REAR_LEFT] = thrustTarget + torqueTarget.x + torqueTarget.y - torqueTarget.z;
 	motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.x + torqueTarget.y + torqueTarget.z;
 
-	// Prioritize angle control over thrust control
 	desaturate(motors[MOTOR_FRONT_LEFT], motors[MOTOR_FRONT_RIGHT], motors[MOTOR_REAR_LEFT], motors[MOTOR_REAR_RIGHT]);
 
 	motors[0] = constrain(motors[0], 0, 1);

flix/estimate.ino

@@ -5,7 +5,7 @@
 
 #include "quaternion.h"
 #include "vector.h"
-#include "filter.h"
+#include "lpf.h"
 #include "util.h"
 
 Vector rates; // estimated angular rates, rad/s
@@ -15,12 +15,6 @@ bool landed;
 float accWeight = 0.003;
 float levelWeight = 0.0002;
 LowPassFilter<Vector> ratesFilter(0.2); // cutoff frequency ~ 40 Hz
-NotchFilter<Vector> ratesNotch(382, 40);
-
-void setupEstimate() {
-	print("Setup estimation\n");
-	ratesNotch.reset();
-}
 
 void estimate() {
 	applyGyro();
@@ -31,7 +25,6 @@ void estimate() {
 void applyGyro() {
 	// filter gyro to get angular rates
 	rates = ratesFilter.update(gyro);
-	rates = ratesNotch.update(rates);
 
 	// apply rates to attitude
 	attitude = Quaternion::rotate(attitude, Quaternion::fromRotationVector(rates * dt));
@@ -39,7 +32,8 @@ void applyGyro() {
 
 void applyAcc() {
 	// test should we apply accelerometer gravity correction
-	landed = !motorsActive() && abs(acc.norm() - ONE_G) < ONE_G * 0.1f;
+	float accNorm = acc.norm();
+	landed = !motorsActive() && abs(accNorm - ONE_G) < ONE_G * 0.1f;
 
 	if (!landed) return;
 
@@ -53,7 +47,6 @@ void applyAcc() {
 
 void applyLevel() {
 	if (landed) return;
-	if (thrustTarget < 0.1) return; // skip at idle thrust
 
 	// assume the pilot keeps the drone more or less level in flight
 	Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude);

flix/filter.h

@@ -1,98 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Low pass and notch filters
-
-#pragma once
-
-template <typename T> // Using template to make the filter usable for scalar and vector values
-class LowPassFilter {
-public:
-	float alpha; // smoothing constant, 1 means filter disabled
-	T output;
-
-	LowPassFilter(float alpha): alpha(alpha) {};
-
-	T update(const T input) {
-		if (!init) {
-			init = true;
-			return output = input;
-		}
-		return output += alpha * (input - output);
-	}
-
-	void setCutOffFrequency(float cutOffFreq, float dt) {
-		alpha = 1 - exp(-2 * PI * cutOffFreq * dt);
-	}
-
-	void reset() {
-		init = false;
-	}
-
-private:
-	bool init = false;
-};
-
-template <typename T>
-class NotchFilter {
-public:
-	float frequency;
-	float bandwidth;
-	T output;
-
-	NotchFilter(float frequency, float bandwidth): frequency(frequency), bandwidth(bandwidth) {
-		reset();
-	};
-
-	T update(const T input) {
-		if (frequency <= 0 || bandwidth <= 0) return input;
-
-		if (!init) {
-			init = true;
-			x1 = x2 = input;
-			y1 = y2 = input;
-			return output = input;
-		}
-
-		output = b0 * input + b1 * x1 + b2 * x2 - a1 * y1 - a2 * y2;
-
-		x2 = x1;
-		x1 = input;
-		y2 = y1;
-		y1 = output;
-
-		return output;
-	}
-
-	void reset() {
-		const float dt = 0.001f;
-		float f = frequency;
-		float bw = bandwidth;
-		if (f < 0) f = 0;
-		if (bw < 1e-6f) bw = 1e-6f;
-
-		float q = f / bw;
-		if (q < 1e-3f) q = 1e-3f;
-
-		const float w0 = 2.0f * PI * f * dt;
-		const float c = cos(w0);
-		const float s = sin(w0);
-		const float alpha = s / (2.0f * q);
-
-		const float a0 = 1.0f + alpha;
-		const float invA0 = 1.0f / a0;
-
-		b0 = 1.0f * invA0;
-		b1 = -2.0f * c * invA0;
-		b2 = 1.0f * invA0;
-		a1 = -2.0f * c * invA0;
-		a2 = (1.0f - alpha) * invA0;
-
-		init = false;
-	}
-
-private:
-	float b0, b1, b2, a1, a2;
-	T x1, x2, y1, y2;
-	bool init = false;
-};

flix/flix.ino

@@ -17,7 +17,7 @@ extern float motors[4];
 
 void setup() {
 	Serial.begin(115200);
-	print("Initializing Flix\n");
+	print("Initializing flix\n");
 	setupParameters();
 	setupPower();
 	setupLED();
@@ -26,8 +26,6 @@ void setup() {
 	setupWiFi();
 	setupIMU();
 	setupRC();
-	setupEstimate();
-	setupLog();
 	setLED(false);
 	print("Initializing complete\n");
 }
@@ -42,6 +40,6 @@ void loop() {
 	handleInput();
 	processMavlink();
 	readVoltage();
-	loopLog();
+	logData();
 	syncParameters();
 }

flix/imu.ino

@@ -4,16 +4,12 @@
 // Work with the IMU sensor
 
 #include <SPI.h>
-#include <Wire.h>
 #include <FlixPeriph.h>
 #include "vector.h"
-#include "filter.h"
+#include "lpf.h"
 #include "util.h"
 
-IMU imu;
-int imuModel = 1, imuBus = 0;
-int imuSckPin = SCK, imuMisoPin = MISO, imuMosiPin = MOSI, imuCsPin = -1, imuIntPin = -1;
-int imuSdaPin = SDA, imuSclPin = SCL;
+MPU9250 imu(SPI);
 Vector imuRotation(0, 0, PI / 2); // imu orientation as Euler angles
 
 Vector gyro; // gyroscope output, rad/s
@@ -27,15 +23,7 @@ LowPassFilter<Vector> gyroBiasFilter(0.001);
 
 void setupIMU() {
 	print("Setup IMU\n");
-	if (imuBus == 0 && imuCsPin > 0) {
-		// SPI connection
-		SPI.begin(imuSckPin, imuMisoPin, imuMosiPin);
-		imu.begin((IMU::Model)imuModel, SPI, imuCsPin, imuIntPin);
-	} else if (imuBus == 1) {
-		// I2C connection
-		Wire.setPins(imuSdaPin, imuSclPin);
-		imu.begin((IMU::Model)imuModel, Wire, imuIntPin);
-	}
+	imu.begin();
 	configureIMU();
 }
 
@@ -52,12 +40,10 @@ void readIMU() {
 	imu.getGyro(gyro.x, gyro.y, gyro.z);
 	imu.getAccel(acc.x, acc.y, acc.z);
 	calibrateGyroOnce();
-
-	// Apply scale and bias
+	// apply scale and bias
 	acc = (acc - accBias) / accScale;
 	gyro = gyro - gyroBias;
-
-	// Rotate to body frame
+	// rotate to body frame
 	Quaternion rotation = Quaternion::fromEuler(imuRotation);
 	acc = Quaternion::rotateVector(acc, rotation.inversed());
 	gyro = Quaternion::rotateVector(gyro, rotation.inversed());
@@ -66,7 +52,6 @@ void readIMU() {
 void calibrateGyroOnce() {
 	static Delay landedDelay(2);
 	if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary
-
 	gyroBias = gyroBiasFilter.update(gyro);
 }
 
@@ -120,7 +105,6 @@ 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;
-
 	// Compute scale and bias
 	accScale = (accMax - accMin) / 2 / ONE_G;
 	accBias = (accMax + accMin) / 2;
@@ -137,8 +121,6 @@ void printIMUInfo() {
 	print("model: %s\n", imu.getModel());
 	print("who am I: 0x%02X\n", imu.whoAmI());
 	print("rate: %.0f\n", loopRate);
-	print("interrupt mode: %s\n", imuIntPin != -1 ? "pin" : "timer");
-	print("temperature: %.1f °C\n", imu.getTemp());
 	print("gyro: %f %f %f\n", gyro.x, gyro.y, gyro.z);
 	print("acc: %f %f %f\n", acc.x, acc.y, acc.z);
 	imu.waitForData();

flix/log.ino

@@ -1,272 +1,77 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
-// Logging subsystem
+// In-RAM logging
 
 #include "vector.h"
 #include "util.h"
 
-int logMemory = 0; // 0 - RAM, 1 - PSRAM, -1 - disabled
-float logUsage = 0.5; // fraction of free memory to use for log
+#define LOG_RATE 100
+#define LOG_DURATION 10
+#define LOG_SIZE LOG_DURATION * LOG_RATE
 
-struct LogValue {
+Vector attitudeEuler;
+Vector attitudeTargetEuler;
+
+struct LogEntry {
 	const char *name;
-	Value value;
-	float lastValue = NAN;
-	bool logged = true; // if false, use only for triggering log update
-	LogValue() : name(nullptr), value() {}; // empty value constructor
-	template <typename T>
-	LogValue(const char *name, T value, bool logged = true) : name(name), value(value), logged(logged) {};
+	float *value;
 };
 
-struct LogTopic {
-	LogValue values[10];
-	int length = 0; // number of logged values
-	float throttle; // max update rate, Hz
-	float lastUpdate = -INFINITY;
-
-	LogTopic(float throttle, LogValue v0, LogValue v1 = {}, LogValue v2 = {}, LogValue v3 = {}, LogValue v4 = {}, LogValue v5 = {}, LogValue v6 = {}, LogValue v7 = {}, LogValue v8 = {}, LogValue v9 = {}) :
-		throttle(throttle), values{v0, v1, v2, v3, v4, v5, v6, v7, v8, v9} {
-			// Count logged values
-			for (auto& v : values) {
-				if (v.name == nullptr) break;
-				if (v.logged) length++;
-			}
-		};
-
-	LogTopic(LogValue v0, LogValue v1 = {}, LogValue v2 = {}, LogValue v3 = {}, LogValue v4 = {}, LogValue v5 = {}, LogValue v6 = {}, LogValue v7 = {}, LogValue v8 = {}, LogValue v9 = {}) :
-		LogTopic(INFINITY, v0, v1, v2, v3, v4, v5, v6, v7, v8, v9) {};
+LogEntry logEntries[] = {
+	{"t", &t},
+	{"rates.x", &rates.x},
+	{"rates.y", &rates.y},
+	{"rates.z", &rates.z},
+	{"ratesTarget.x", &ratesTarget.x},
+	{"ratesTarget.y", &ratesTarget.y},
+	{"ratesTarget.z", &ratesTarget.z},
+	{"attitude.x", &attitudeEuler.x},
+	{"attitude.y", &attitudeEuler.y},
+	{"attitude.z", &attitudeEuler.z},
+	{"attitudeTarget.x", &attitudeTargetEuler.x},
+	{"attitudeTarget.y", &attitudeTargetEuler.y},
+	{"attitudeTarget.z", &attitudeTargetEuler.z},
+	{"thrustTarget", &thrustTarget}
 };
 
-LogTopic logTopics[] = {
-	// time
-	LogTopic({"t", &t}), // must be the first topic
-	LogTopic(1, {"loopRate", &loopRate}),
+const int logColumns = sizeof(logEntries) / sizeof(logEntries[0]);
+float logBuffer[LOG_SIZE][logColumns];
 
-	// imu
-	LogTopic(
-		{"gyro.x", &gyro.x},
-		{"gyro.y", &gyro.y},
-		{"gyro.z", &gyro.z}),
-
-	LogTopic(50,
-		{"acc.x", &acc.x},
-		{"acc.y", &acc.y},
-		{"acc.z", &acc.z}),
-
-	LogTopic(10,
-		{"gyroBias.x", &gyroBias.x},
-		{"gyroBias.y", &gyroBias.y},
-		{"gyroBias.z", &gyroBias.z}),
-
-	// estimation
-	LogTopic(50,
-		{"rates.x", &rates.x},
-		{"rates.y", &rates.y},
-		{"rates.z", &rates.z},
-		{"attitude.roll", []() { return attitude.getRoll(); }},
-		{"attitude.pitch", []() { return attitude.getPitch(); }},
-		{"attitude.yaw", []() { return attitude.getYaw(); }}),
-
-	// rc
-	LogTopic(10,
-		{"controlTime", &controlTime, false}, // trigger value
-		{"controlRoll", &controlRoll},
-		{"controlPitch", &controlPitch},
-		{"controlYaw", &controlYaw},
-		{"controlThrottle", &controlThrottle}),
-
-	// control
-	LogTopic({"armed", &armed}),
-	LogTopic({"mode", &mode}),
-
-	LogTopic(10,
-		{"ratesTarget.x", &ratesTarget.x},
-		{"ratesTarget.y", &ratesTarget.y},
-		{"ratesTarget.z", &ratesTarget.z},
-		{"attitudeTarget.roll", []() { return attitudeTarget.getRoll(); }},
-		{"attitudeTarget.pitch", []() { return attitudeTarget.getPitch(); }},
-		{"attitudeTarget.yaw", []() { return attitudeTarget.getYaw(); }},
-		{"thrustTarget", &thrustTarget}),
-
-	// motors
-	LogTopic(
-		{"motors[0]", &motors[0]},
-		{"motors[1]", &motors[1]},
-		{"motors[2]", &motors[2]},
-		{"motors[3]", &motors[3]}),
-
-	// misc
-	LogTopic(5,
-		{"voltage", &voltage},
-		{"temp", &temperatureRead},
-		{"imuTemp", []() { return imu.getTemp(); }}),
-};
-
-void *logBuffer; // buffer for log data
-size_t logCapacity;
-size_t logCursor = 0;
-size_t logLength = 0;
-LogValue *logExposed = nullptr; // log values exposed to telemetry
-
-void setupLog() {
-	print("Setup log\n");
-
-	free(logBuffer); // when reconfiguring
-	logBuffer = nullptr;
-	logCursor = 0;
-	logLength = 0;
-
-	if (logMemory == 0) {
-		logCapacity = ESP.getFreeHeap() * logUsage;
-		logBuffer = (uint8_t *)calloc(logCapacity, 1);
-	} else if (logMemory == 1) {
-		logCapacity = ESP.getFreePsram() * logUsage;
-		logBuffer = (uint8_t *)heap_caps_calloc(logCapacity, 1, MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
-	}
+void prepareLogData() {
+	attitudeEuler = attitude.toEuler();
+	attitudeTargetEuler = attitudeTarget.toEuler();
 }
 
-void loopLog() {
-	if (logBuffer == nullptr || !armed) return;
+void logData() {
+	if (!armed) return;
+	static int logPointer = 0;
+	static Rate period(LOG_RATE);
+	if (!period) return;
 
-	if (!logLength) resetLog(); // reset state on first log write
+	prepareLogData();
 
-	static Rate sync(2);
-	if (sync) {
-		const uint8_t marker[] = {0x1A, 0x91, 0x4F, 0xF6, 0x7F};
-		writeLog(&marker, sizeof(marker)); // write sync marker
+	for (int i = 0; i < logColumns; i++) {
+		logBuffer[logPointer][i] = *logEntries[i].value;
 	}
 
-	for (uint8_t i = 0; i < sizeof(logTopics) / sizeof(logTopics[0]); i++) {
-		LogTopic& topic = logTopics[i];
-		if (t - topic.lastUpdate < 1 / topic.throttle) continue; // throttle topic
-		if (!isTopicUpdated(i)) continue; // skip if topic was't updated
-
-		topic.lastUpdate = t;
-		writeLog(&i, sizeof(i)); // write topic index
-
-		for (auto& value : topic.values) {
-			if (value.name == nullptr) break;
-			if (!value.logged) continue;
-			value.lastValue = value.value.get();
-			writeLog(&value.lastValue, sizeof(float)); // write value
-		}
+	logPointer++;
+	if (logPointer >= LOG_SIZE) {
+		logPointer = 0;
 	}
 }
 
-void resetLog() {
-	for (auto& topic : logTopics) {
-		topic.lastUpdate = -INFINITY;
-		for (auto& value : topic.values) {
-			value.lastValue = NAN;
-		}
-	}
-	logCursor = 0;
-	logLength = 0;
-}
-
-void writeLog(const void *data, size_t size) {
-	size_t first = min(size, logCapacity - logCursor);
-	size_t second = size - first;
-	memcpy(logBuffer + logCursor, data, first);
-	logCursor = (logCursor + first) % logCapacity;
-	if (second > 0) {
-		memcpy(logBuffer + logCursor, data + first, second);
-		logCursor = (logCursor + second) % logCapacity;
-	}
-	logLength = min(logLength + size, logCapacity);
-}
-
-void readLog(void *data, size_t position, size_t size) {
-	if (logLength == logCapacity) {
-		position = (logCursor + position) % logCapacity;
-	}
-	size_t first = min(size, logCapacity - position);
-	size_t second = size - first;
-	memcpy(data, logBuffer + position, first);
-	if (second > 0) {
-		memcpy(data + first, logBuffer, second);
-	}
-}
-
-bool isTopicUpdated(const uint8_t topic) {
-	LogTopic& logTopic = logTopics[topic];
-	bool updated = false;
-
-	for (auto& value : logTopic.values) {
-		if (value.name == nullptr) break;
-		float v = value.value.get();
-		if (!floatEquals(value.lastValue, v)) {
-			value.lastValue = v;
-			updated = true;
-		}
-	}
-	return updated;
-}
-
-void printLogInfo() {
-	if (logMemory == -1) return print("Log: disabled\n");
-
-	print("Memory: %s\n", logMemory == 0 ? "RAM" : "PSRAM");
-	print("Usage: %.f%%\n", logUsage * 100);
-	print("Capacity: %u bytes\n", (unsigned)logCapacity);
-	print("Used: %u bytes\n", (unsigned)logLength);
-	print("Estimated duration: %d seconds\n", estimateLogDuration());
-}
-
-int estimateLogDuration() {
-	float bandwidth = 0;
-	for (LogTopic& topic : logTopics) {
-		float rate = isinf(topic.throttle) ? loopRate : topic.throttle;
-		bandwidth += rate * topic.length * sizeof(float);
-	}
-	return logCapacity / bandwidth;
-}
-
 void printLogHeader() {
-	int i = 0;
-	for (auto& topic : logTopics) {
-		print("Topic #%d (%g Hz):\n", i++, topic.throttle);
-		for (auto& value : topic.values) {
-			if (value.name == nullptr) break;
-			print("  %s%s\n", value.name, value.logged ?"" : " (not logged)");
-		}
+	for (int i = 0; i < logColumns; i++) {
+		print("%s%s", logEntries[i].name, i < logColumns - 1 ? "," : "\n");
 	}
 }
 
-void printLogValues(const char *filter) {
-	for (LogTopic& topic : logTopics) {
-		for (LogValue& value : topic.values) {
-			if (value.name == nullptr) break;
-			if (strncasecmp(value.name, filter, strlen(filter))) continue;
-			print("%s = %g\n", value.name, value.value.get());
+void printLogData() {
+	for (int i = 0; i < LOG_SIZE; i++) {
+		if (logBuffer[i][0] == 0) continue; // skip empty records
+		for (int j = 0; j < logColumns; j++) {
+			print("%g%s", logBuffer[i][j], j < logColumns - 1 ? "," : "\n");
 		}
 	}
 }
-
-void configLogThrottle(const char *name, float throttle) {
-	for (LogTopic& topic : logTopics) {
-		for (LogValue& value : topic.values) {
-			if (value.name == nullptr) break;
-			if (strcasecmp(value.name, name) != 0) continue;
-			topic.throttle = throttle;
-			print("Log throttle for %s set to %.1f Hz\n", name, throttle);
-			return;
-		}
-	}
-	print("Log value not found: %s\n", name);
-}
-
-void exposeLogValue(const char *name) {
-	for (int i = 0; i < sizeof(logTopics) / sizeof(logTopics[0]); i++) {
-		LogTopic& topic = logTopics[i];
-		for (LogValue& value : topic.values) {
-			if (value.name == nullptr) break;
-			if (strcasecmp(value.name, name) != 0) continue;
-			logExposed = &value;
-			print("Log value %s exposed\n", name);
-			return;
-		}
-	}
-	print("Log value not found: %s\n", name);
-}

flix/lpf.h

@@ -0,0 +1,34 @@
+// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
+// Repository: https://github.com/okalachev/flix
+
+// Low pass filter implementation
+
+#pragma once
+
+template <typename T> // Using template to make the filter usable for scalar and vector values
+class LowPassFilter {
+public:
+	float alpha; // smoothing constant, 1 means filter disabled
+	T output;
+
+	LowPassFilter(float alpha): alpha(alpha) {};
+
+	T update(const T input) {
+		if (!init) {
+			init = true;
+			return output = input;
+		}
+		return output += alpha * (input - output);
+	}
+
+	void setCutOffFrequency(float cutOffFreq, float dt) {
+		alpha = 1 - exp(-2 * PI * cutOffFreq * dt);
+	}
+
+	void reset() {
+		init = false;
+	}
+
+private:
+	bool init = false;
+};

flix/mavlink.ino

@@ -10,13 +10,8 @@ extern float controlTime;
 extern float voltage;
 
 int mavlinkSysId = 1;
-
+Rate telemetryFast(10);
 Rate telemetrySlow(2);
-Rate telemetryAttitude(20);
-Rate telemetryRC(10);
-Rate telemetryMotors(10);
-Rate telemetryIMU(15);
-Rate telemetryTopic(10);
 
 bool mavlinkConnected = false;
 String mavlinkPrintBuffer;
@@ -39,58 +34,42 @@ void sendMavlink() {
 			((mode == AUTO) ? MAV_MODE_FLAG_AUTO_ENABLED : MAV_MODE_FLAG_MANUAL_INPUT_ENABLED),
 			mode, MAV_STATE_STANDBY);
 		sendMessage(&msg);
-	}
 
-	if (!mavlinkConnected) return; // send only heartbeat until connected
+		if (!mavlinkConnected) return; // send only heartbeat until connected
 
-	if (telemetrySlow) {
 		mavlink_msg_extended_sys_state_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
 			MAV_VTOL_STATE_UNDEFINED, landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR);
 		sendMessage(&msg);
-	}
 
-	if (telemetrySlow && valid(voltage)) {
-		uint16_t voltages[] = {(uint16_t)(voltage * 1000), UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX};
+		uint16_t voltages[] = {voltage * 1000, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX};
 		uint16_t voltagesExt[] = {0, 0, 0, 0};
 		float remaining = constrain(mapf(voltage, 3.4, 4.2, 0, 1), 0, 1);
 		mavlink_msg_battery_status_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, MAV_BATTERY_FUNCTION_ALL,
 			MAV_BATTERY_TYPE_LIPO, INT16_MAX, voltages, -1, -1, -1, remaining * 100, 0, MAV_BATTERY_CHARGE_STATE_OK, voltagesExt, 0, 0);
-		sendMessage(&msg);
+		if (valid(voltage)) sendMessage(&msg);
 	}
 
-	if (telemetryAttitude) {
+	if (telemetryFast && mavlinkConnected) {
 		const float offset[] = {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
 		sendMessage(&msg);
-	}
 
-	if (telemetryRC && channels[0]) { // 0 means no RC input
 		mavlink_msg_rc_channels_raw_pack(mavlinkSysId, 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);
-	}
+		if (channels[0] != 0) sendMessage(&msg); // 0 means no RC input
 
-	if (telemetryMotors) {
 		float controls[8];
 		memcpy(controls, motors, sizeof(motors));
 		mavlink_msg_actuator_control_target_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time, 0, controls);
 		sendMessage(&msg);
-	}
 
-	if (telemetryIMU) {
 		mavlink_msg_scaled_imu_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time,
 			acc.x / ONE_G * 1000, -acc.y / ONE_G * 1000, -acc.z / ONE_G * 1000, // convert to frd
 			gyro.x * 1000, -gyro.y * 1000, -gyro.z * 1000,
 			0, 0, 0, 0);
 		sendMessage(&msg);
 	}
-
-	if (telemetryTopic && logExposed != nullptr) {
-		mavlink_msg_named_value_float_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
-			time, logExposed->name, logExposed->value.get());
-		sendMessage(&msg);
-	}
 }
 
 void sendMessage(const void *msg) {
@@ -99,36 +78,16 @@ void sendMessage(const void *msg) {
 	sendWiFi(buf, len);
 }
 
-static uint8_t mavlinkBatch[ESP_NOW_MAX_DATA_LEN_V2];
-static int mavlinkBatchSize = 0;
-
-void batchMessage(const void *msg) {
-	uint8_t buf[MAVLINK_MAX_PACKET_LEN];
-	int len = mavlink_msg_to_send_buffer(buf, (mavlink_message_t *)msg);
-
-	if (mavlinkBatchSize + len > sizeof(mavlinkBatch)) {
-		sendWiFi(mavlinkBatch, mavlinkBatchSize);
-		mavlinkBatchSize = 0;
-	}
-	memcpy(mavlinkBatch + mavlinkBatchSize, buf, len);
-	mavlinkBatchSize += len;
-}
-
-void flushBatchMessages() {
-	sendWiFi(mavlinkBatch, mavlinkBatchSize);
-	mavlinkBatchSize = 0;
-}
-
 void receiveMavlink() {
 	uint8_t buf[MAVLINK_MAX_PACKET_LEN];
 	int len = receiveWiFi(buf, MAVLINK_MAX_PACKET_LEN);
+	if (len) mavlinkConnected = true;
 
 	// New packet, parse it
 	mavlink_message_t msg;
 	mavlink_status_t status;
 	for (int i = 0; i < len; i++) {
 		if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status)) {
-			mavlinkConnected = true;
 			handleMavlink(&msg);
 		}
 	}
@@ -223,24 +182,18 @@ void handleMavlink(const void *_msg) {
 		mavlink_msg_set_attitude_target_decode(&msg, &m);
 		if (m.target_system && m.target_system != mavlinkSysId) return;
 
-		if (!(m.type_mask & ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE)) {
-			// Attitude control
-			attitudeTarget.w = m.q[0];
-			attitudeTarget.x = m.q[1];
-			attitudeTarget.y = -m.q[2];
-			attitudeTarget.z = -m.q[3];
-			ratesExtra.x = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE ? 0 : m.body_roll_rate;
-			ratesExtra.y = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE ? 0 : -m.body_pitch_rate; // convert to flu
-			ratesExtra.z = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE ? 0 : -m.body_yaw_rate;
-		} else {
-			// Rates control
-			attitudeTarget.invalidate();
-			ratesTarget.x = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE ? ratesTarget.x : m.body_roll_rate;
-			ratesTarget.y = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE ? ratesTarget.y : -m.body_pitch_rate;
-			ratesTarget.z = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE ? ratesTarget.z : -m.body_yaw_rate;
-		}
+		// copy attitude, rates and thrust targets
+		ratesTarget.x = m.body_roll_rate;
+		ratesTarget.y = -m.body_pitch_rate; // convert to flu
+		ratesTarget.z = -m.body_yaw_rate;
+		attitudeTarget.w = m.q[0];
+		attitudeTarget.x = m.q[1];
+		attitudeTarget.y = -m.q[2];
+		attitudeTarget.z = -m.q[3];
+		thrustTarget = m.thrust;
+		ratesExtra = Vector(0, 0, 0);
 
-		thrustTarget = valid(m.thrust) ? m.thrust : thrustTarget;
+		if (m.type_mask & ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE) attitudeTarget.invalidate();
 		armed = m.thrust > 0;
 	}
 
@@ -258,29 +211,18 @@ void handleMavlink(const void *_msg) {
 		armed = motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0;
 	}
 
-	if (msg.msgid == MAVLINK_MSG_ID_LOG_REQUEST_LIST) {
-		const uint32_t qgcEpoch = 1262304000; // qgc accepts only timestamps after 2010-01-01
-		mavlink_message_t response;
-		mavlink_msg_log_entry_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &response,
-			0, 1, 0, qgcEpoch + t * 60, logLength); // put fake unique date to make qgc happy with saving logs
-		sendMessage(&response);
-	}
-
 	if (msg.msgid == MAVLINK_MSG_ID_LOG_REQUEST_DATA) {
 		mavlink_log_request_data_t m;
 		mavlink_msg_log_request_data_decode(&msg, &m);
 		if (m.target_system && m.target_system != mavlinkSysId) return;
 
-		for (int i = 0; i < m.count; i += MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN) {
-			int chunkSize = min(MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN, (int)(m.count - i));
-			mavlink_message_t response;
-			uint8_t data[MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN];
-			readLog(data, m.ofs + i, chunkSize);
-			mavlink_msg_log_data_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &response,
-				m.id, m.ofs + i, chunkSize, data);
-			batchMessage(&response);
+		// Send all log records
+		for (int i = 0; i < sizeof(logBuffer) / sizeof(logBuffer[0]); i++) {
+			mavlink_message_t msg;
+			mavlink_msg_log_data_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, i,
+				sizeof(logBuffer[0]), (uint8_t *)logBuffer[i]);
+			sendMessage(&msg);
 		}
-		flushBatchMessages();
 	}
 
 	// Handle commands
@@ -299,7 +241,7 @@ void handleMavlink(const void *_msg) {
 		}
 
 		if (m.command == MAV_CMD_COMPONENT_ARM_DISARM) {
-			if (m.param1 == 1 && controlThrottle > 0.05) return; // don't arm if throttle is not low
+			if (m.param1 && controlThrottle > 0.05) return; // don't arm if throttle is not low
 			accepted = true;
 			armed = m.param1 == 1;
 		}

flix/motors.ino

@@ -14,29 +14,30 @@ int pwmStop = 0;
 int pwmMin = 0;
 int pwmMax = -1; // -1 means duty cycle mode
 
-const int MOTOR_REAR_LEFT = 0, MOTOR_REAR_RIGHT = 1, MOTOR_FRONT_RIGHT = 2, MOTOR_FRONT_LEFT = 3;
+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() {
-	print("Setup motors\n");
-	// Configure pins
+	print("Setup Motors\n");
+	// configure pins
 	for (int i = 0; i < 4; i++) {
-		if (motorPins[i] < 0) continue; // skip unassigned motors
 		ledcAttach(motorPins[i], pwmFrequency, pwmResolution);
 		pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // when reconfiguring
 	}
 	sendMotors();
+	print("Motors initialized\n");
 }
 
 void sendMotors() {
 	for (int i = 0; i < 4; i++) {
-		if (motorPins[i] < 0) continue; // skip unassigned motors
 		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;

flix/parameters.ino

@@ -6,11 +6,13 @@
 #include <Preferences.h>
 #include "util.h"
 
-extern int channelZero[16], channelMax[16];
+extern int channelZero[16];
+extern int channelMax[16];
 extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
-extern int rcRxPin, voltagePin;
+extern int rcRxPin;
 extern int wifiMode, wifiLongRange, udpLocalPort, udpRemotePort, espnowChannel;
 extern float rcLossTimeout, descendTime;
+extern int voltagePin;
 extern float voltageScale;
 extern LowPassFilter<float> voltageFilter;
 
@@ -20,7 +22,6 @@ struct Parameter {
 	const char *name; // max length is 15
 	bool integer;
 	union { float *f; int *i; }; // pointer to the variable
-	float inital; // default value
 	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) {};
@@ -60,13 +61,6 @@ Parameter parameters[] = {
 	{"CTL_FLT_MODE_1", &flightModes[1]},
 	{"CTL_FLT_MODE_2", &flightModes[2]},
 	// imu
-	{"IMU_MODEL", &imuModel},
-	{"IMU_BUS", &imuBus},
-	{"IMU_PIN_SCK", &imuSckPin},
-	{"IMU_PIN_MISO", &imuMisoPin},
-	{"IMU_PIN_MOSI", &imuMosiPin},
-	{"IMU_PIN_CS", &imuCsPin},
-	{"IMU_PIN_INT", &imuIntPin},
 	{"IMU_ROT_ROLL", &imuRotation.x},
 	{"IMU_ROT_PITCH", &imuRotation.y},
 	{"IMU_ROT_YAW", &imuRotation.z},
@@ -81,8 +75,6 @@ Parameter parameters[] = {
 	{"EST_ACC_WEIGHT", &accWeight},
 	{"EST_LVL_WEIGHT", &levelWeight},
 	{"EST_RATES_LPF_A", &ratesFilter.alpha},
-	{"EST_RATES_NF_F", &ratesNotch.frequency, setupEstimate},
-	{"EST_RATES_NF_BW", &ratesNotch.bandwidth, setupEstimate},
 	// motors
 	{"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT], setupMotors},
 	{"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT], setupMotors},
@@ -126,26 +118,7 @@ Parameter parameters[] = {
 	// mavlink
 	{"MAV_SYS_ID", &mavlinkSysId},
 	{"MAV_RATE_SLOW", &telemetrySlow.rate},
-	{"MAV_RATE_ATT", &telemetryAttitude.rate},
-	{"MAV_RATE_RC", &telemetryRC.rate},
-	{"MAV_RATE_MOT", &telemetryMotors.rate},
-	{"MAV_RATE_IMU", &telemetryIMU.rate},
-	{"MAV_RATE_TOPIC", &telemetryTopic.rate},
-	// log
-	{"LOG_MEMORY", &logMemory, setupLog},
-	{"LOG_USAGE", &logUsage, setupLog},
-	{"LOG_RATE_000", &logTopics[0].throttle},
-	{"LOG_RATE_001", &logTopics[1].throttle},
-	{"LOG_RATE_002", &logTopics[2].throttle},
-	{"LOG_RATE_003", &logTopics[3].throttle},
-	{"LOG_RATE_004", &logTopics[4].throttle},
-	{"LOG_RATE_005", &logTopics[5].throttle},
-	{"LOG_RATE_006", &logTopics[6].throttle},
-	{"LOG_RATE_007", &logTopics[7].throttle},
-	{"LOG_RATE_008", &logTopics[8].throttle},
-	{"LOG_RATE_009", &logTopics[9].throttle},
-	{"LOG_RATE_010", &logTopics[10].throttle},
-	{"LOG_RATE_011", &logTopics[11].throttle},
+	{"MAV_RATE_FAST", &telemetryFast.rate},
 	// power
 	{"PWR_VOLT_PIN", &voltagePin, setupPower},
 	{"PWR_VOLT_SCALE", &voltageScale},
@@ -160,10 +133,10 @@ void setupParameters() {
 	storage.begin("flix");
 	// Read parameters from storage
 	for (auto &parameter : parameters) {
-		parameter.inital = parameter.getValue();
-		if (storage.isKey(parameter.name)) {
-			parameter.setValue(storage.getFloat(parameter.name));
+		if (!storage.isKey(parameter.name)) {
+			storage.putFloat(parameter.name, parameter.getValue()); // store default value
 		}
+		parameter.setValue(storage.getFloat(parameter.name, 0));
 		parameter.cache = parameter.getValue();
 	}
 }
@@ -209,23 +182,17 @@ void syncParameters() {
 	if (motorsActive()) return; // don't use flash while flying, it may cause a delay
 
 	for (auto &parameter : parameters) {
-		if (floatEquals(parameter.getValue(), parameter.cache)) continue; // no change
+		if (parameter.getValue() == parameter.cache) continue; // no change
+		if (isnan(parameter.getValue()) && isnan(parameter.cache)) continue; // both are NAN
 
 		storage.putFloat(parameter.name, parameter.getValue());
 		parameter.cache = parameter.getValue(); // update cache
 	}
 }
 
-void printParameters(const char *filter) {
-	print("Name             Value          [Default]\n");
+void printParameters() {
 	for (auto &parameter : parameters) {
-		if (strncasecmp(parameter.name, filter, strlen(filter))) continue;
-
-		if (floatEquals(parameter.getValue(), parameter.inital)) { // parameter changed
-			print("%-15s  %-13g\n", parameter.name, parameter.getValue());
-		} else {
-			print("%-15s  %-13g  [%g]\n", parameter.name, parameter.getValue(), parameter.inital);
-		}
+		print("%s = %g\n", parameter.name, parameter.getValue());
 	}
 }
 

flix/pid.h

@@ -5,7 +5,7 @@
 
 #pragma once
 
-#include "filter.h"
+#include "lpf.h"
 
 class PID {
 public:

flix/power.ino

@@ -5,11 +5,11 @@
 
 #include <soc/soc.h>
 #include <soc/rtc_cntl_reg.h>
-#include "filter.h"
+#include "lpf.h"
 #include "util.h"
 
 float voltage = NAN;
-LowPassFilter<float> voltageFilter(1);
+LowPassFilter<float> voltageFilter(0.2);
 int voltagePin = -1;
 float voltageScale = 2;
 
@@ -20,7 +20,6 @@ void setupPower() {
 
 void readVoltage() {
 	if (voltagePin < 0) return;
-
 	static Rate rate(10);
 	if (!rate) return;
 

flix/rc.ino

@@ -27,12 +27,14 @@ void setupRC() {
 
 bool readRC() {
 	if (rcRxPin < 0) return false;
-	if (!rc.read()) return false;
-
-	rc.getChannels(channels);
-	normalizeRC();
-	controlTime = t;
-	return true;
+	if (rc.read()) {
+		SBUSData data = rc.data();
+		for (int i = 0; i < 16; i++) channels[i] = data.ch[i]; // copy channels data
+		normalizeRC();
+		controlTime = t;
+		return true;
+	}
+	return false;
 }
 
 void normalizeRC() {
@@ -53,7 +55,6 @@ void calibrateRC() {
 		print("RC_RX_PIN = %d, set the RC pin!\n", rcRxPin);
 		return;
 	}
-
 	uint16_t zero[16]; // for zero positions
 	uint16_t center[16]; // for center positions
 	uint16_t _[16]; // for unused data

flix/util.h

@@ -23,12 +23,6 @@ bool valid(float x) {
 	return isfinite(x);
 }
 
-bool floatEquals(float a, float b, float epsilon = 0) {
-	if (isnan(a) && isnan(b)) return true;
-	if (a == b) return true;
-	return fabsf(a - b) <= epsilon;
-}
-
 // Wrap angle to [-PI, PI)
 float wrapAngle(float angle) {
 	angle = fmodf(angle, 2 * PI);
@@ -53,60 +47,16 @@ void splitString(String& str, String& token0, String& token1, String& token2) {
 	if (token2.c_str() == NULL) token2 = "";
 }
 
-// Simplified ESP-NOW Serial without resends
+// Simplified ESP-NOW Serial without tx buffering and resends
 class ESPNOWSerial : public ESP_NOW_Serial_Class {
 public:
-	int lost = 0;
 	using ESP_NOW_Serial_Class::ESP_NOW_Serial_Class;
-	void onSent(bool success) override {
-		if (!success) lost++;
-		ESP_NOW_Serial_Class::onSent(true); // always report success to avoid resends
+	void onSent(bool success) override {} // disable resends
+	size_t write(const uint8_t *data, size_t len) override {
+		return ESP_NOW_Peer::send(data, len); // pure send without buffering
 	}
 };
 
-// Simple variant type for logging and parameters
-struct Value {
-	enum { EMPTY, FLOAT, INT, BOOL, FLOAT_FN, INT_FN, BOOL_FN } type;
-	union {
-		void *pointer;
-		float *_float;
-		int *_int;
-		bool *_bool;
-		float (*floatFn)();
-		int (*intFn)();
-		bool (*boolFn)();
-	};
-
-	Value() : type(EMPTY), pointer(nullptr) {};
-	Value(float *pt) : type(FLOAT), _float(pt) {};
-	Value(int *pt) : type(INT), _int(pt) {};
-	Value(bool *pt) : type(BOOL), _bool(pt) {};
-	Value(float (*fn)()) : type(FLOAT_FN), floatFn(fn) {};
-	Value(int (*fn)()) : type(INT_FN), intFn(fn) {};
-	Value(bool (*fn)()) : type(BOOL_FN), boolFn(fn) {};
-
-	float get() const {
-		switch (type) {
-			case FLOAT: return *_float;
-			case INT: return *_int;
-			case BOOL: return *_bool ? 1 : 0;
-			case FLOAT_FN: return floatFn();
-			case INT_FN: return intFn();
-			case BOOL_FN: return boolFn() ? 1 : 0;
-			default: return NAN;
-		}
-	};
-
-	void set(float value) const {
-		switch (type) {
-			case FLOAT: *_float = value; break;
-			case INT: *_int = value; break;
-			case BOOL: *_bool = (value != 0); break;
-			default: break;
-		}
-	};
-};
-
 // Rate limiter
 class Rate {
 public:
@@ -115,9 +65,6 @@ public:
 	Rate(float rate) : rate(rate) {}
 
 	operator bool() {
-		if (t == last) {
-			return true; // the same step
-		}
 		if (t - last >= 1 / rate) {
 			last = t;
 			return true;

flix/wifi.ino

@@ -8,7 +8,7 @@
 #include <WiFiUdp.h>
 #include <MacAddress.h>
 #include <ESP32_NOW_Serial.h>
-#include <Preferences.h>
+#include "Preferences.h"
 #include "util.h"
 
 extern Preferences storage; // use the main preferences storage
@@ -33,14 +33,10 @@ void setupWiFi() {
 	if (wifiMode == W_AP) {
 		WiFi.softAP(storage.getString("WIFI_AP_SSID", "flix").c_str(), storage.getString("WIFI_AP_PASS", "flixwifi").c_str());
 		udp.begin(udpLocalPort);
-	}
-
-	if (wifiMode == W_STA) {
+	} else if (wifiMode == W_STA) {
 		WiFi.begin(storage.getString("WIFI_STA_SSID", "").c_str(), storage.getString("WIFI_STA_PASS", "").c_str());
 		udp.begin(udpLocalPort);
-	}
-
-	if (wifiMode == W_ESPNOW) {
+	} else if (wifiMode == W_ESPNOW) {
 		WiFi.mode(WIFI_AP);
 		WiFi.setChannel(espnowChannel);
 		espnow.addr(MacAddress(storage.getString("ESPNOW_PEER_MAC", "FF:FF:FF:FF:FF:FF").c_str()));
@@ -56,7 +52,6 @@ void setupWiFi() {
 void sendWiFi(const uint8_t *buf, int len) {
 	if (espnow) {
 		espnow.write(buf, len);
-
 		static Rate discovery(2);
 		if (discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device
 		return;
@@ -90,7 +85,6 @@ void printWiFiInfo() {
 		print("Peer MAC: %s\n", MacAddress(espnow.addr()).toString().c_str());
 		print("Encrypted: %d\n", espnow.isEncrypted());
 		print("Channel: %d\n", espnow.getChannel());
-		print("Lost packets: %d\n", espnow.lost);
 	} else if (WiFi.getMode() == WIFI_MODE_AP) {
 		print("Mode: Access Point (AP)\n");
 		print("MAC: %s\n", WiFi.softAPmacAddress().c_str());
@@ -133,20 +127,3 @@ void configWiFi(int mode, const char *first, const char *second) {
 	}
 	print("✓ Reboot to apply new settings\n");
 }
-
-void setWiFiMode(const String& mode) {
-	if (mode == "ap") {
-		wifiMode = W_AP;
-	} else if (mode == "sta") {
-		wifiMode = W_STA;
-	} else if (mode == "espnow") {
-		wifiMode = W_ESPNOW;
-	} else if (mode == "off") {
-		wifiMode = W_DISABLED;
-	} else {
-		print("Invalid Wi-Fi mode\n");
-		return;
-	}
-	static const char *modes[] = {"Disabled", "Access Point (AP)", "Client (STA)", "ESP-NOW"};
-	print("✓ Wi-Fi mode set to %s, reboot to apply\n", modes[wifiMode]);
-}

gazebo/Arduino.h

@@ -20,10 +20,6 @@
 #define radians(deg) ((deg)*DEG_TO_RAD)
 #define degrees(rad) ((rad)*RAD_TO_DEG)
 
-#define MALLOC_CAP_SPIRAM (1<<10)
-#define MALLOC_CAP_8BIT (1<<2)
-#define ESP_NOW_MAX_DATA_LEN_V2 1470
-
 #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
 template<typename T> T max(T a, T b) { return a > b ? a : b; }
 template<typename T> T min(T a, T b) { return a < b ? a : b; }
@@ -160,8 +156,6 @@ HardwareSerial Serial, Serial1, Serial2;
 class EspClass {
 public:
 	void restart() { Serial.println("Ignore reboot in simulation"); }
-	uint32_t getFreeHeap() { return 300 * 1024; } // assume 300 KB free heap
-	uint32_t getFreePsram() { return 8 * 1024 * 1024; } // assume 8 MB free PSRAM
 } ESP;
 
 unsigned long __delayTime = 0;
@@ -171,16 +165,11 @@ void delay(uint32_t ms) {
 	__delayTime += ms * 1000;
 }
 
-void *heap_caps_calloc(size_t n, size_t size, uint32_t caps) {
-	return calloc(n, size);
-}
-
 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; }
 int8_t digitalPinToAnalogChannel(uint8_t pin) { return -1; }
 uint32_t analogReadMilliVolts(uint8_t pin) { return 0; }
-float temperatureRead() { return 0; }
 
 unsigned long __micros;
 unsigned long __resetTime = 0;

gazebo/SBUS.h

@@ -15,11 +15,12 @@ public:
 	SBUS(HardwareSerial& bus, const int8_t rxpin, const int8_t txpin, const bool inv = true) {};
 	void begin(int rxpin = -1, int txpin = -1, bool inv = true, bool fast = false) {};
 	bool read() { return joystickInit(); };
-	void getChannels(uint16_t (&channels)[16]) const {
-		int16_t ch[16];
-		joystickGet(ch);
+	SBUSData data() {
+		SBUSData data;
+		joystickGet(data.ch);
 		for (int i = 0; i < 16; i++) {
-			channels[i] = map(ch[i], -32768, 32767, 1000, 2000); // convert to pulse width style
+			data.ch[i] = map(data.ch[i], -32768, 32767, 1000, 2000); // convert to pulse width style
 		}
+		return data;
 	};
 };

gazebo/flix.h

@@ -9,7 +9,7 @@
 #include "quaternion.h"
 #include "Arduino.h"
 #include "wifi.h"
-#include "filter.h"
+#include "lpf.h"
 
 extern float t, dt;
 extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
@@ -21,10 +21,6 @@ extern float motors[4];
 Vector gyro, acc, imuRotation;
 Vector accBias, gyroBias, accScale(1, 1, 1);
 LowPassFilter<Vector> gyroBiasFilter(0);
-int imuModel = 1, imuBus = 0;
-int imuSckPin = 0, imuMisoPin = 0, imuMosiPin = 0, imuCsPin = -1, imuIntPin = -1;
-int imuSdaPin = 0, imuSclPin = 0;
-int rgbPin = -1, rgbNum = 1;
 
 // declarations
 void step();
@@ -52,17 +48,8 @@ void normalizeRC();
 void calibrateRC();
 void calibrateRCChannel(int*, uint16_t[16], uint16_t[16], const char*);
 void printRCCalibration();
-void loopLog();
-void resetLog();
-void writeLog(const void *data, size_t size);
-void readLog(void *data, size_t position, size_t size);
-bool isTopicUpdated(const uint8_t topic);
-void printLogInfo();
-int estimateLogDuration();
 void printLogHeader();
-void printLogValues(const char *filter);
-void configLogThrottle(const char *name, float throttle);
-void exposeLogValue(const char *name);
+void printLogData();
 void processMavlink();
 void sendMavlink();
 void sendMessage(const void *msg);
@@ -81,19 +68,14 @@ const char *getParameterName(int index);
 float getParameter(int index);
 float getParameter(const char *name);
 bool setParameter(const char *name, const float value);
-void printParameters(const char *filter);
+void printParameters();
 void resetParameters();
 
 // mocks
 void setLED(bool on) {};
+void calibrateGyro() { print("Skip gyro calibrating\n"); };
 void calibrateAccel() { print("Skip accel calibrating\n"); };
 void printIMUCalibration() { print("cal: N/A\n"); };
 void printIMUInfo() {};
 void printWiFiInfo() {};
 void configWiFi(bool, const char*, const char*) { print("Skip WiFi config\n"); };
-void setWiFiMode(const String& mode) { print("Skip WiFi mode set\n"); };
-
-class IMU {
-public:
-	float getTemp() { return 0; }
-} imu;

gazebo/simulator.cpp

@@ -23,7 +23,7 @@
 #include "estimate.ino"
 #include "safety.ino"
 #include "log.ino"
-#include "filter.h"
+#include "lpf.h"
 #include "mavlink.ino"
 #include "motors.ino"
 #include "parameters.ino"
@@ -55,8 +55,6 @@ public:
 		initNode();
 		Serial.begin(0);
 		setupParameters();
-		setupLog();
-		rcRxPin = 1; // set rc pin to enable rc reading
 		gzmsg << "Flix plugin loaded" << endl;
 	}
 
@@ -89,7 +87,7 @@ public:
 
 		applyMotorForces();
 		publishTopics();
-		loopLog();
+		logData();
 		syncParameters();
 	}
 

gazebo/wifi.h

@@ -11,12 +11,7 @@
 #include <sys/poll.h>
 #include <gazebo/gazebo.hh>
 
-// Mocks
-int wifiMode = 1;
-int wifiLongRange = 0;
-int espnowChannel = 6;
-const int W_DISABLED = 0, W_AP = 1, W_STA = 2, W_ESPNOW = 3;
-
+int wifiMode = 1; // mock
 int udpLocalPort = 14580;
 int udpRemotePort = 14550;
 const char *udpRemoteIP = "255.255.255.255";

tools/csv_to_mcap.py

@@ -9,7 +9,6 @@ Usage:
 import csv
 import json
 import docopt
-import math
 from mcap.writer import Writer
 
 args = docopt.docopt(__doc__)
@@ -40,15 +39,7 @@ channel_id = writer.register_channel(
 )
 
 for row in csv_reader:
-    if row[0] == '': continue
-    data = {}
-    for key, value in zip(header, row):
-        if value == '' or math.isnan(float(value)):
-            data[key] = None
-        else:
-            data[key] = float(value)
-
-    data = {key: float(value) if value != '' else None for key, value in zip(header, row)}
+    data = {key: float(value) for key, value in zip(header, row)}
     timestamp = round(float(row[0]) * 1e9)
     writer.add_message(channel_id=channel_id, log_time=timestamp, data=json.dumps(data).encode(), publish_time=timestamp,)
 

tools/log_to_csv.py

@@ -1,76 +0,0 @@
-#!/usr/bin/env python3
-
-"""Convert flight from Flix format to CSV
-
-Usage:
-    log_to_csv.py <input_file>
-"""
-
-import os
-from pyflix import Flix
-import docopt
-import struct
-import csv
-
-DIR = os.path.dirname(os.path.realpath(__file__))
-HEADER_FILE = os.path.join(DIR, 'log/log_header.txt')
-
-# Read log header
-try:
-    # read from file
-    header = open(HEADER_FILE, 'r').read()
-except FileNotFoundError:
-    flix = Flix()
-    header = flix.cli('log header')  # receive the log schema
-    open(HEADER_FILE, 'w').write(header)  # save to file
-
-# Parse log header
-topics = []
-for line in header.splitlines():
-    if not line.startswith('  '):
-        topics.append([])
-    elif 'not logged' not in line:
-        topics[-1].append(line.strip())
-
-# Read log file
-args = docopt.docopt(__doc__)
-input_file = args['<input_file>']
-outfile_file = input_file + '.csv'
-data = open(input_file, 'rb').read()
-
-# Search for sync marker
-SYNC_MARKER = bytes.fromhex('1A 91 4F F6 7F')
-sync_offset = data.find(SYNC_MARKER)
-if sync_offset == -1:
-    raise ValueError('Sync marker not found in log file')
-data = data[sync_offset + len(SYNC_MARKER):]
-data = data.replace(SYNC_MARKER, b'')  # remove all other sync markers
-
-header_row = [f'{value}' for topic in topics for value in topic]
-rows = []
-
-offset = 0
-while offset < len(data):
-    try:
-        topic = struct.unpack_from('B', data, offset)[0]
-        offset += 1
-
-        if topic >= len(topics):
-            raise ValueError(f'Invalid topic {topic} at offset {offset}')
-
-        if topic == 0 or not rows:
-            rows.append({})
-
-        for name in topics[topic]:
-            value = struct.unpack_from('<f', data, offset)[0]
-            offset += 4
-            rows[-1][name] = value
-    except struct.error as e:
-        break
-
-# Write CSV file
-with open(outfile_file, 'w', newline='') as f:
-    writer = csv.DictWriter(f, fieldnames=header_row, extrasaction='ignore')
-    writer.writeheader()
-    rows = filter(lambda row: float(row.get('t', 0)), rows)
-    writer.writerows(rows)

tools/pyflix/README.md

@@ -28,8 +28,6 @@ from pyflix import Flix
 flix = Flix()  # create a Flix object and wait for connection
 ```
 
-If using ESP-NOW connection, specify the proxy device name in `FLIX_DEVICE` environment variable or pass it to the constructor: `Flix(device='/dev/cu.usbserial-0001')`.
-
 ### Telemetry
 
 Basic telemetry is available through object properties. The property names generally match the corresponding variables in the firmware code:
@@ -222,13 +220,6 @@ The following scripts demonstrate how to use the library:
 * [`log.py`](../log.py) — download flight logs from the drone.
 * [`example.py`](../example.py) — a simple example, prints telemetry data and waits for events.
 
-> [!TIP]
-> Set `FLIX_DEVICE` environment variable to use these tools with ESP-NOW connection, for example:
->
-> ```bash
-> FLIX_DEVICE=/dev/cu.usbserial-0001 tools/cli.py
-> ```
-
 ## Advanced usage
 
 ### MAVLink

tools/pyflix/flix.py

@@ -44,27 +44,22 @@ class Flix:
     _print_buffer: str = ''
     _modes = ['RAW', 'ACRO', 'STAB', 'AUTO']
 
-    def __init__(self, system_id: int=1, wait_connection: bool=True, device=os.getenv('FLIX_DEVICE')):
+    def __init__(self, system_id: int=1, wait_connection: bool=True):
         if not (0 <= system_id < 256):
             raise ValueError('system_id must be in range [0, 255]')
         self._setup_mavlink()
         self.system_id = system_id
         self._init_state()
-        if device is not None:
-            # User defined connection
-            logger.debug(f'Connecting to {device}')
-            self.connection: mavutil.mavfile = mavutil.mavlink_connection(device, source_system=255)  # type: ignore
-        else:
-            try:
-                # Direct connection
-                logger.debug('Listening on port 14550')
-                self.connection: mavutil.mavfile = mavutil.mavlink_connection('udpin:0.0.0.0:14550', source_system=255)  # type: ignore
-            except OSError as e:
-                if e.errno != errno.EADDRINUSE:
-                    raise
-                # Port busy - using proxy
-                logger.debug('Listening on port 14555 (proxy)')
-                self.connection: mavutil.mavfile = mavutil.mavlink_connection('udpin:0.0.0.0:14555', source_system=254)  # type: ignore
+        try:
+            # Direct connection
+            logger.debug('Listening on port 14550')
+            self.connection: mavutil.mavfile = mavutil.mavlink_connection('udpin:0.0.0.0:14550', source_system=255)  # type: ignore
+        except OSError as e:
+            if e.errno != errno.EADDRINUSE:
+                raise
+            # Port busy - using proxy
+            logger.debug('Listening on port 14555 (proxy)')
+            self.connection: mavutil.mavfile = mavutil.mavlink_connection('udpin:0.0.0.0:14555', source_system=254)  # type: ignore
         self.connection.target_system = system_id
         self.mavlink: mavlink.MAVLink = self.connection.mav
         self._event_listeners: Dict[str, List[Callable[..., Any]]] = {}

tools/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "pyflix"
-version = "0.16"
+version = "0.15"
 description = "Python API for Flix drone"
 authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }]
 license = "MIT"