Don't arm by mavlink command if throttle is not low

Minor docs fix
Fix simulation build
2026-03-31 12:33:35 +00:00 · 2025-08-29 03:47:51 +03:00 · 2025-08-28 05:17:46 +03:00 · 2025-08-28 01:13:38 +03:00 · 2025-08-28 00:52:27 +03:00 · 2025-08-28 00:49:24 +03:00
29 changed files with 810 additions and 698 deletions
--- a/README.md
+++ b/README.md
@@ -55,7 +55,7 @@ The simulator is implemented using Gazebo and runs the original Arduino code:
 ## Articles

 * [Assembly instructions](docs/assembly.md).
-* [Building and running the code](docs/build.md).
+* [Usage: build, setup and flight](docs/usage.md).
 * [Troubleshooting](docs/troubleshooting.md).
 * [Firmware architecture overview](docs/firmware.md).
 * [Python library tutorial](tools/pyflix/README.md).
--- a/docs/book/firmware.md
+++ b/docs/book/firmware.md
@@ -1,8 +1,10 @@
 # Архитектура прошивки

-<img src="img/dataflow.svg" width=800 alt="Firmware dataflow diagram">
+Прошивка Flix это обычный скетч Arduino, реализованный в однопоточном стиле. Код инициализации находится в функции `setup()`, а главный цикл — в функции `loop()`. Скетч состоит из нескольких файлов, каждый из которых отвечает за определенную подсистему.

-Главный цикл работает на частоте 1000 Гц. Передача данных между подсистемами происходит через глобальные переменные:
+<img src="img/dataflow.svg" width=600 alt="Firmware dataflow diagram">
+
+Главный цикл `loop()` работает на частоте 1000 Гц. Передача данных между подсистемами происходит через глобальные переменные:

 * `t` *(float)* — текущее время шага, *с*.
 * `dt` *(float)* — дельта времени между текущим и предыдущим шагами, *с*.
@@ -15,18 +17,34 @@

 ## Исходные файлы

-Исходные файлы прошивки находятся в директории `flix`. Ключевые файлы:
+Исходные файлы прошивки находятся в директории `flix`. Основные файлы:

-* [`flix.ino`](https://github.com/okalachev/flix/blob/canonical/flix/flix.ino) — основной входной файл, скетч Arduino. Включает определение глобальных переменных и главный цикл.
-* [`imu.ino`](https://github.com/okalachev/flix/blob/canonical/flix/imu.ino) — чтение данных с датчика IMU (гироскоп и акселерометр), калибровка IMU.
-* [`rc.ino`](https://github.com/okalachev/flix/blob/canonical/flix/rc.ino) — чтение данных с RC-приемника, калибровка RC.
-* [`mavlink.ino`](https://github.com/okalachev/flix/blob/canonical/flix/mavlink.ino) — взаимодействие с QGroundControl через MAVLink.
-* [`estimate.ino`](https://github.com/okalachev/flix/blob/canonical/flix/estimate.ino) — оценка ориентации дрона, комплементарный фильтр.
-* [`control.ino`](https://github.com/okalachev/flix/blob/canonical/flix/control.ino) — управление ориентацией и угловыми скоростями дрона, трехмерный двухуровневый каскадный PID-регулятор.
-* [`motors.ino`](https://github.com/okalachev/flix/blob/canonical/flix/motors.ino) — управление выходными сигналами на моторы через ШИМ.
+* [`flix.ino`](https://github.com/okalachev/flix/blob/master/flix/flix.ino) — основной файл Arduino-скетча. Определяет некоторые глобальные переменные и главный цикл.
+* [`imu.ino`](https://github.com/okalachev/flix/blob/master/flix/imu.ino) — чтение данных с датчика IMU (гироскоп и акселерометр), калибровка IMU.
+* [`rc.ino`](https://github.com/okalachev/flix/blob/master/flix/rc.ino) — чтение данных с RC-приемника, калибровка RC.
+* [`estimate.ino`](https://github.com/okalachev/flix/blob/master/flix/estimate.ino) — оценка ориентации дрона, комплементарный фильтр.
+* [`control.ino`](https://github.com/okalachev/flix/blob/master/flix/control.ino) — подсистема управления, трехмерный двухуровневый каскадный ПИД-регулятор.
+* [`motors.ino`](https://github.com/okalachev/flix/blob/master/flix/motors.ino) — выход PWM на моторы.
+* [`mavlink.ino`](https://github.com/okalachev/flix/blob/master/flix/mavlink.ino) — взаимодействие с QGroundControl или [pyflix](https://github.com/okalachev/flix/tree/master/tools/pyflix) через протокол MAVLink.

-Вспомогательные файлы включают:
+Вспомогательные файлы:

-* [`vector.h`](https://github.com/okalachev/flix/blob/canonical/flix/vector.h), [`quaternion.h`](https://github.com/okalachev/flix/blob/canonical/flix/quaternion.h) — реализация библиотек векторов и кватернионов.
-* [`pid.h`](https://github.com/okalachev/flix/blob/canonical/flix/pid.h) — реализация общего ПИД-регулятора.
-* [`lpf.h`](https://github.com/okalachev/flix/blob/canonical/flix/lpf.h) — реализация общего фильтра нижних частот.
+* [`vector.h`](https://github.com/okalachev/flix/blob/master/flix/vector.h), [`quaternion.h`](https://github.com/okalachev/flix/blob/master/flix/quaternion.h) — библиотеки векторов и кватернионов.
+* [`pid.h`](https://github.com/okalachev/flix/blob/master/flix/pid.h) — ПИД-регулятор.
+* [`lpf.h`](https://github.com/okalachev/flix/blob/master/flix/lpf.h) — фильтр нижних частот.
+
+### Подсистема управления
+
+Состояние органов управления обрабатывается в функции `interpretControls()` и преобразуется в *команду управления*, которая включает следующее:
+
+* `attitudeTarget` *(Quaternion)* — целевая ориентация дрона.
+* `ratesTarget` *(Vector)* — целевые угловые скорости, *рад/с*.
+* `ratesExtra` *(Vector)* — дополнительные (feed-forward) угловые скорости, для управления рысканием в режиме STAB, *рад/с*.
+* `torqueTarget` *(Vector)* — целевой крутящий момент, диапазон [-1, 1].
+* `thrustTarget` *(float)* — целевая общая тяга, диапазон [0, 1].
+
+Команда управления обрабатывается в функциях `controlAttitude()`, `controlRates()`, `controlTorque()`. Если значение одной из переменных установлено в `NAN`, то соответствующая функция пропускается.
+
+<img src="img/control.svg" width=300 alt="Control subsystem diagram">
+
+Состояние *armed* хранится в переменной `armed`, а текущий режим — в переменной `mode`.
--- a/docs/build.md
+++ b/docs/build.md
@@ -1,205 +0,0 @@
-# Building and running
-
-To build the firmware or the simulator, you need to clone the repository using git:
-
-```bash
-git clone https://github.com/okalachev/flix.git
-cd flix
-```
-
-## Simulation
-
-### Ubuntu
-
-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:
-
-   ```bash
-   curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh
-   ```
-
-2. Install Gazebo 11:
-
-   ```bash
-   curl -sSL http://get.gazebosim.org | sh
-   ```
-
-   Set up your Gazebo environment variables:
-
-   ```bash
-   echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
-   source ~/.bashrc
-   ```
-
-3. Install SDL2 and other dependencies:
-
-   ```bash
-   sudo apt-get update && sudo apt-get install build-essential libsdl2-dev
-   ```
-
-4. Add your user to the `input` group to enable joystick support (you need to re-login after this command):
-
-   ```bash
-   sudo usermod -a -G input $USER
-   ```
-
-5. Run the simulation:
-
-   ```bash
-   make simulator
-   ```
-
-### macOS
-
-1. Install Homebrew package manager, if you don't have it installed:
-
-   ```bash
-   /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
-   ```
-
-2. Install Arduino CLI, Gazebo 11 and SDL2:
-
-   ```bash
-   brew tap osrf/simulation
-   brew install arduino-cli
-   brew install gazebo11
-   brew install sdl2
-   ```
-
-   Set up your Gazebo environment variables:
-
-   ```bash
-   echo "source /opt/homebrew/share/gazebo/setup.sh" >> ~/.zshrc
-   source ~/.zshrc
-   ```
-
-3. Run the simulation:
-
-   ```bash
-   make simulator
-   ```
-
-### Setup and flight
-
-#### Control with smartphone
-
-1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone. For **iOS**, use [QGroundControl build from TAJISOFT](https://apps.apple.com/ru/app/qgc-from-tajisoft/id1618653051).
-2. Connect your smartphone to the same Wi-Fi network as the machine running the simulator.
-3. If you're using a virtual machine, make sure that its network is set to the **bridged** mode with Wi-Fi adapter selected.
-4. Run the simulation.
-5. Open QGroundControl app. It should connect and begin showing the virtual drone's telemetry automatically.
-6. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
-7. Use the virtual joystick to fly the drone!
-
-#### Control with USB remote control
-
-1. Connect your USB remote control to the machine running the simulator.
-2. Run the simulation.
-3. Calibrate the RC using `cr` command in the command line interface.
-4. Run the simulation again.
-5. Use the USB remote control to fly the drone!
-
-## Firmware
-
-### Arduino IDE (Windows, Linux, macOS)
-
-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 3.2.0. 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 2.0.16.
-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)
-
-1. [Install Arduino CLI](https://arduino.github.io/arduino-cli/installation/).
-
-   On Linux, use:
-
-   ```bash
-   curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh
-   ```
-
-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. Compile the firmware using `make`. Arduino dependencies will be installed automatically:
-
-   ```bash
-   make
-   ```
-
-   You can flash the firmware to the board using command:
-
-   ```bash
-   make upload
-   ```
-
-   You can also compile the firmware, upload it and start serial port monitoring using command:
-
-   ```bash
-   make upload monitor
-   ```
-
-See other available Make commands in the [Makefile](../Makefile).
-
-> [!TIP]
-> You can test the firmware on a bare ESP32 board without connecting IMU and other peripherals. The Wi-Fi network `flix` should appear and all the basic functionality including CLI and QGroundControl connection should work.
-
-### Setup and flight
-
-Before flight you need to calibrate the accelerometer:
-
-1. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line).
-2. Type `ca` command there and follow the instructions.
-
-#### Control with smartphone
-
-1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone.
-2. Power the drone using the battery.
-3. Connect your smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`).
-4. Open QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
-5. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
-6. Use the virtual joystick to fly the drone!
-
-#### Control with remote control
-
-Before flight using remote control, you need to calibrate it:
-
-1. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line).
-2. Type `cr` command there and follow the instructions.
-3. Use the remote control to fly the drone!
-
-#### Control with USB remote control (Wi-Fi)
-
-If your drone doesn't have RC receiver installed, you can use USB remote control and QGroundControl app to fly it.
-
-1. Install [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html) app on your computer.
-2. Connect your USB remote control to the computer.
-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 the the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate you USB remote control there.
-7. Use the USB remote control to fly the drone!
-
-#### Adjusting parameters
-
-You can adjust some of the drone's parameters (include PID coefficients) in QGroundControl app. In order to do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*.
-
-<img src="img/parameters.png" width="400">
-
-#### CLI access
-
-In addition to accessing the drone's command line interface (CLI) using the serial port, you can also access it with QGroundControl using Wi-Fi connection. To do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*.
-
-<img src="img/cli.png" width="400">
-
-> [!NOTE]
-> If something goes wrong, go to the [Troubleshooting](troubleshooting.md) article.
-
-### Firmware code structure
-
-See [firmware overview](firmware.md) for more details.
--- a/docs/build.md
+++ b/docs/build.md
@@ -0,0 +1 @@
+usage.md
--- a/docs/firmware.md
+++ b/docs/firmware.md
@@ -1,39 +1,56 @@
 # Firmware overview

-The firmware is a regular Arduino sketch, and follows the classic Arduino one-threaded design. The initialization code is in the `setup()` function, and the main loop is in the `loop()` function. The sketch includes multiple files, each responsible for a specific part of the system.
+The firmware is a regular Arduino sketch, and it follows the classic Arduino one-threaded design. The initialization code is in the `setup()` function, and the main loop is in the `loop()` function. The sketch includes several files, each responsible for a specific subsystem.

 ## Dataflow

-<img src="img/dataflow.svg" width=800 alt="Firmware dataflow diagram">
+<img src="img/dataflow.svg" width=600 alt="Firmware dataflow diagram">

-The main loop is running at 1000 Hz. All the dataflow is happening through global variables (for simplicity):
+The main loop is running at 1000 Hz. All the dataflow goes through global variables (for simplicity):

-* `t` *(double)* — current step time, *s*.
+* `t` *(double)* — current step time, *s*.
 * `dt` *(float)* — time delta between the current and previous steps, *s*.
 * `gyro` *(Vector)* — data from the gyroscope, *rad/s*.
 * `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.
-* `controlRoll`, `controlPitch`, ... *(float[])* — pilot's control inputs, range [-1, 1].
-* `motors` *(float[])* — motor outputs, range [0, 1].
+* `controlRoll`, `controlPitch`, ... *(float[])* — pilot control inputs, range [-1, 1].
+* `motors` *(float[])* — motor outputs, range [0, 1].

 ## Source files

-Firmware source files are located in `flix` directory. The key files are:
+Firmware source files are located in `flix` directory. The core files are:

-* [`flix.ino`](../flix/flix.ino) — main entry point, Arduino sketch. Includes global variables definition and the main loop.
+* [`flix.ino`](../flix/flix.ino) — Arduino sketch main file, entry point.Includes some global variable definitions and the main loop.
 * [`imu.ino`](../flix/imu.ino) — reading data from the IMU sensor (gyroscope and accelerometer), IMU calibration.
 * [`rc.ino`](../flix/rc.ino) — reading data from the RC receiver, RC calibration.
-* [`estimate.ino`](../flix/estimate.ino) — drone's attitude estimation, complementary filter.
-* [`control.ino`](../flix/control.ino) — drone's attitude and rates control, three-dimensional two-level cascade PID controller.
-* [`motors.ino`](../flix/motors.ino) — PWM motor outputs control.
+* [`estimate.ino`](../flix/estimate.ino) — attitude estimation, complementary filter.
+* [`control.ino`](../flix/control.ino) — control subsystem, three-dimensional two-level cascade PID controller.
+* [`motors.ino`](../flix/motors.ino) — PWM motor output control.
+* [`mavlink.ino`](../flix/mavlink.ino) — interaction with QGroundControl or [pyflix](../tools/pyflix) via MAVLink protocol.

-Utility files include:
+Utility files:

-* [`vector.h`](../flix/vector.h), [`quaternion.h`](../flix/quaternion.h) — vector and quaternion libraries implementation.
-* [`pid.h`](../flix/pid.h) — generic PID controller implementation.
-* [`lpf.h`](../flix/lpf.h) — generic low-pass filter implementation.
+* [`vector.h`](../flix/vector.h), [`quaternion.h`](../flix/quaternion.h) — vector and quaternion libraries.
+* [`pid.h`](../flix/pid.h) — generic PID controller.
+* [`lpf.h`](../flix/lpf.h) — generic low-pass filter.
+
+### Control subsystem
+
+Pilot inputs are interpreted in `interpretControls()`, and then converted to the *control command*, which consists of the following:
+
+* `attitudeTarget` *(Quaternion)* — target attitude of the drone.
+* `ratesTarget` *(Vector)* — target angular rates, *rad/s*.
+* `ratesExtra` *(Vector)* — additional (feed-forward) angular rates , used for yaw rate control in STAB mode, *rad/s*.
+* `torqueTarget` *(Vector)* — target torque, range [-1, 1].
+* `thrustTarget` *(float)* — collective thrust target, range [0, 1].
+
+Control command is processed in `controlAttitude()`, `controlRates()`, `controlTorque()` functions. Each function may be skipped if the corresponding target is set to `NAN`.
+
+<img src="img/control.svg" width=300 alt="Control subsystem diagram">
+
+Armed state is stored in `armed` variable, and current mode is stored in `mode` variable.

 ## Building

-See build instructions in [build.md](build.md).
+See build instructions in [usage.md](usage.md).
--- a/docs/img/arming.svg
+++ b/docs/img/arming.svg
@@ -0,0 +1,22 @@
+<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 340.21 211.28">
+  <defs>
+    <style>
+      .a {
+        fill: #d5d5d5;
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+  <circle class="b" cx="88.54" cy="85.75" r="45.22"/>
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+  <circle class="c" cx="103.8" cy="112.12" r="13.8"/>
+</svg>
--- a/docs/img/control.svg
+++ b/docs/img/control.svg
--- a/docs/img/controls.svg
+++ b/docs/img/controls.svg
@@ -0,0 +1,123 @@
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+  <defs>
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+      .f {
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+
+      .g {
+        font-size: 30px;
+        font-family: Tahoma;
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+
+      .h {
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+    </g>
+  </g>
+</svg>
--- a/docs/img/dataflow.svg
+++ b/docs/img/dataflow.svg
--- a/docs/img/disarming.svg
+++ b/docs/img/disarming.svg
@@ -0,0 +1,22 @@
+<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 340.21 211.28">
+  <defs>
+    <style>
+      .a {
+        fill: #d5d5d5;
+      }
+
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+      }
+
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+        fill: #636363;
+      }
+    </style>
+  </defs>
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+  <circle class="c" cx="73.28" cy="112.12" r="13.8"/>
+</svg>
--- a/docs/img/qgc-proxy.png
+++ b/docs/img/qgc-proxy.png
--- a/docs/troubleshooting.md
+++ b/docs/troubleshooting.md
@@ -4,7 +4,7 @@

 Do the following:

-* **Check ESP32 core is installed**. Check if the version matches the one used in the [tutorial](build.md#firmware).
+* **Check ESP32 core is installed**. Check if the version matches the one used in the [tutorial](usage.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.
 * **Check the chosen board**. The correct board to choose in Arduino IDE for ESP32 Mini is *WEMOS D1 MINI ESP32*.

--- a/docs/usage.md
+++ b/docs/usage.md
@@ -0,0 +1,249 @@
+# Usage: build, setup and flight
+
+To use Flix, you need to build the firmware and upload it to the ESP32 board. For simulation, you need to build and run the simulator.
+
+For the start, clone the repository using git:
+
+```bash
+git clone https://github.com/okalachev/flix.git
+cd flix
+```
+
+## Simulation
+
+### Ubuntu
+
+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:
+
+   ```bash
+   curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh
+   ```
+
+2. Install Gazebo 11:
+
+   ```bash
+   curl -sSL http://get.gazebosim.org | sh
+   ```
+
+   Set up your Gazebo environment variables:
+
+   ```bash
+   echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
+   source ~/.bashrc
+   ```
+
+3. Install SDL2 and other dependencies:
+
+   ```bash
+   sudo apt-get update && sudo apt-get install build-essential libsdl2-dev
+   ```
+
+4. Add your user to the `input` group to enable joystick support (you need to re-login after this command):
+
+   ```bash
+   sudo usermod -a -G input $USER
+   ```
+
+5. Run the simulation:
+
+   ```bash
+   make simulator
+   ```
+
+### macOS
+
+1. Install Homebrew package manager, if you don't have it installed:
+
+   ```bash
+   /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
+   ```
+
+2. Install Arduino CLI, Gazebo 11 and SDL2:
+
+   ```bash
+   brew tap osrf/simulation
+   brew install arduino-cli
+   brew install gazebo11
+   brew install sdl2
+   ```
+
+   Set up your Gazebo environment variables:
+
+   ```bash
+   echo "source /opt/homebrew/share/gazebo/setup.sh" >> ~/.zshrc
+   source ~/.zshrc
+   ```
+
+3. Run the simulation:
+
+   ```bash
+   make simulator
+   ```
+
+### Setup
+
+#### Control with smartphone
+
+1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone. For **iOS**, use [QGroundControl build from TAJISOFT](https://apps.apple.com/ru/app/qgc-from-tajisoft/id1618653051).
+2. Connect your smartphone to the same Wi-Fi network as the machine running the simulator.
+3. If you're using a virtual machine, make sure that its network is set to the **bridged** mode with Wi-Fi adapter selected.
+4. Run the simulation.
+5. Open QGroundControl app. It should connect and begin showing the virtual drone's telemetry automatically.
+6. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
+7. Use the virtual joystick to fly the drone!
+
+#### Control with USB remote control
+
+1. Connect your USB remote control to the machine running the simulator.
+2. Run the simulation.
+3. Calibrate the RC using `cr` command in the command line interface.
+4. Run the simulation again.
+5. Use the USB remote control to fly the drone!
+
+## Firmware
+
+### Arduino IDE (Windows, Linux, macOS)
+
+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 3.2.0. 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 2.0.16.
+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)
+
+1. [Install Arduino CLI](https://arduino.github.io/arduino-cli/installation/).
+
+   On Linux, use:
+
+   ```bash
+   curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh
+   ```
+
+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. Compile the firmware using `make`. Arduino dependencies will be installed automatically:
+
+   ```bash
+   make
+   ```
+
+   You can flash the firmware to the board using command:
+
+   ```bash
+   make upload
+   ```
+
+   You can also compile the firmware, upload it and start serial port monitoring using command:
+
+   ```bash
+   make upload monitor
+   ```
+
+See other available Make commands in the [Makefile](../Makefile).
+
+> [!TIP]
+> You can test the firmware on a bare ESP32 board without connecting IMU and other peripherals. The Wi-Fi network `flix` should appear and all the basic functionality including CLI and QGroundControl connection should work.
+
+### Setup
+
+Before flight you need to calibrate the accelerometer:
+
+1. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line).
+2. Type `ca` command there and follow the instructions.
+
+#### Control with smartphone
+
+1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone.
+2. Power the drone using the battery.
+3. Connect your smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`).
+4. Open QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
+5. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
+6. Use the virtual joystick to fly the drone!
+
+> [!TIP]
+> Decrease `TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive.
+
+#### Control with remote control
+
+Before flight using remote control, you need to calibrate it:
+
+1. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line).
+2. Type `cr` command there and follow the instructions.
+3. Use the remote control to fly the drone!
+
+#### Control with USB remote control (Wi-Fi)
+
+If your drone doesn't have RC receiver installed, you can use USB remote control and QGroundControl app to fly it.
+
+1. Install [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html) app on your computer.
+2. Connect your USB remote control to the computer.
+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 the the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate you USB remote control there.
+7. Use the USB remote control to fly the drone!
+
+> [!NOTE]
+> If something goes wrong, go to the [Troubleshooting](troubleshooting.md) article.
+
+## Flight
+
+For both virtual sticks and a physical joystick, the default control scheme is left stick for throttle and yaw and right stick for pitch and roll:
+
+<img src="img/controls.svg" width="300">
+
+### Arming and disarming
+
+To start the motors, you should **arm** the drone. To do that, move the left stick to the bottom right corner:
+
+<img src="img/arming.svg" width="150">
+
+After that, the motors **will start spinning** at low speed, indicating that the drone is armed and ready to fly.
+
+When finished flying, **disarm** the drone, moving the left stick to the bottom left corner:
+
+<img src="img/disarming.svg" width="150">
+
+### Flight modes
+
+Flight mode is changed using mode switch on the remote control or using the command line.
+
+#### STAB
+
+The default mode is *STAB*. In this mode, the drone stabilizes its attitude (orientation). The left stick controls throttle and yaw rate, the right stick controls pitch and roll angles.
+
+> [!IMPORTANT]
+> The drone doesn't stabilize its position, so slight drift is possible. The pilot should compensate it manually.
+
+#### ACRO
+
+In this mode, the pilot controls the angular rates. This control method is difficult to fly and mostly used in FPV racing.
+
+#### MANUAL
+
+Manual mode disables all the stabilization, and the pilot inputs are passed directly to the motors. This mode is intended for testing and demonstration purposes only, and basically the drone **cannot fly in this mode**.
+
+#### AUTO
+
+In this mode, the pilot inputs are ignored (except the mode switch, if configured). The drone can be controlled using [pyflix](../tools/pyflix/) Python library, or by modifying the firmware to implement the needed autonomous behavior.
+
+If the pilot moves the control sticks, the drone will switch back to *STAB* mode.
+
+## Adjusting parameters
+
+You can adjust some of the drone's parameters (include PID coefficients) in QGroundControl app. In order to do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*.
+
+<img src="img/parameters.png" width="400">
+
+## CLI access
+
+In addition to accessing the drone's command line interface (CLI) using the serial port, you can also access it with QGroundControl using Wi-Fi connection. To do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*.
+
+<img src="img/cli.png" width="400">
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -8,10 +8,13 @@
 #include "util.h"

 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
+extern const int ACRO, STAB, AUTO;
 extern float loopRate, dt;
 extern double t;
 extern uint16_t channels[16];
-extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
+extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
+extern int mode;
+extern bool armed;

 const char* motd =
 "\nWelcome to\n"
@@ -31,6 +34,9 @@ const char* motd =
 "ps - show pitch/roll/yaw\n"
 "psq - show attitude quaternion\n"
 "imu - show IMU data\n"
+"arm - arm the drone\n"
+"disarm - disarm the drone\n"
+"stab/acro/auto - set mode\n"
 "rc - show RC data\n"
 "mot - show motor output\n"
 "log - dump in-RAM log\n"
@@ -106,14 +112,25 @@ void doCommand(String str, bool echo = false) {
 		printIMUInfo();
 		printIMUCalibration();
 		print("landed: %d\n", landed);
+	} else if (command == "arm") {
+		armed = true;
+	} else if (command == "disarm") {
+		armed = false;
+	} else if (command == "stab") {
+		mode = STAB;
+	} else if (command == "acro") {
+		mode = ACRO;
+	} else if (command == "auto") {
+		mode = AUTO;
 	} else if (command == "rc") {
 		print("channels: ");
 		for (int i = 0; i < 16; i++) {
 			print("%u ", channels[i]);
 		}
-		print("\nroll: %g pitch: %g yaw: %g throttle: %g armed: %g mode: %g\n",
-			controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode);
+		print("\nroll: %g pitch: %g yaw: %g throttle: %g mode: %g\n",
+			controlRoll, controlPitch, controlYaw, controlThrottle, controlMode);
 		print("mode: %s\n", getModeName());
+		print("armed: %d\n", armed);
 	} 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]);
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -9,6 +9,7 @@
 #include "lpf.h"
 #include "util.h"

+#define ARMED_THRUST 0.1 // thrust to indicate armed state
 #define PITCHRATE_P 0.05
 #define PITCHRATE_I 0.2
 #define PITCHRATE_D 0.001
@@ -34,8 +35,8 @@
 #define TILT_MAX radians(30)
 #define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz

-enum { MANUAL, ACRO, STAB, USER } mode = STAB;
-enum { YAW, YAW_RATE } yawMode = YAW;
+const int MANUAL = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes
+int mode = STAB;
 bool armed = false;

 PID rollRatePID(ROLLRATE_P, ROLLRATE_I, ROLLRATE_D, ROLLRATE_I_LIM, RATES_D_LPF_ALPHA);
@@ -49,70 +50,57 @@ float tiltMax = TILT_MAX;

 Quaternion attitudeTarget;
 Vector ratesTarget;
+Vector ratesExtra; // feedforward rates
 Vector torqueTarget;
 float thrustTarget;

 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
-extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
+extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;

 void control() {
-	interpretRC();
+	interpretControls();
 	failsafe();
-	if (mode == STAB) {
-		controlAttitude();
-		controlRate();
-		controlTorque();
-	} else if (mode == ACRO) {
-		controlRate();
-		controlTorque();
-	} else if (mode == MANUAL) {
-		controlTorque();
-	}
+	controlAttitude();
+	controlRates();
+	controlTorque();
 }

-void interpretRC() {
-	armed = controlThrottle >= 0.05 && controlArmed >= 0.5;
-
+void interpretControls() {
 	// NOTE: put ACRO or MANUAL modes there if you want to use them
-	if (controlMode < 0.25) {
-		mode = STAB;
-	} else if (controlMode < 0.75) {
-		mode = STAB;
-	} else {
-		mode = STAB;
-	}
+	if (controlMode < 0.25) mode = STAB;
+	if (controlMode < 0.75) mode = STAB;
+	if (controlMode > 0.75) mode = STAB;
+
+	if (mode == AUTO) return; // pilot is not effective in AUTO mode
+
+	if (controlThrottle < 0.05 && controlYaw > 0.95) armed = true; // arm gesture
+	if (controlThrottle < 0.05 && controlYaw < -0.95) armed = false; // disarm gesture

 	thrustTarget = controlThrottle;

-	if (mode == ACRO) {
-		yawMode = YAW_RATE;
-		ratesTarget.x = controlRoll * maxRate.x;
-		ratesTarget.y = controlPitch* maxRate.y;
-		ratesTarget.z = -controlYaw * maxRate.z; // positive yaw stick means clockwise rotation in FLU
-
-	} else if (mode == STAB) {
-		yawMode = controlYaw == 0 ? YAW : YAW_RATE;
-
-		attitudeTarget = Quaternion::fromEuler(Vector(
-			controlRoll * tiltMax,
-			controlPitch * tiltMax,
-			attitudeTarget.getYaw()));
-		ratesTarget.z = -controlYaw * maxRate.z; // positive yaw stick means clockwise rotation in FLU
-
-	} else if (mode == MANUAL) {
-		// passthrough mode
-		yawMode = YAW_RATE;
-		torqueTarget = Vector(controlRoll, controlPitch, -controlYaw) * 0.01;
+	if (mode == STAB) {
+		float yawTarget = attitudeTarget.getYaw();
+		if (invalid(yawTarget) || controlYaw != 0) yawTarget = attitude.getYaw(); // reset yaw target if NAN or pilot commands yaw rate
+		attitudeTarget = Quaternion::fromEuler(Vector(controlRoll * tiltMax, controlPitch * tiltMax, yawTarget));
+		ratesExtra = Vector(0, 0, -controlYaw * maxRate.z); // positive yaw stick means clockwise rotation in FLU
 	}

-	if (yawMode == YAW_RATE || !motorsActive()) {
-		// update yaw target as we don't have control over the yaw
-		attitudeTarget.setYaw(attitude.getYaw());
+	if (mode == ACRO) {
+		attitudeTarget.invalidate(); // skip attitude control
+		ratesTarget.x = controlRoll * maxRate.x;
+		ratesTarget.y = controlPitch * maxRate.y;
+		ratesTarget.z = -controlYaw * maxRate.z; // positive yaw stick means clockwise rotation in FLU
+	}
+
+	if (mode == MANUAL) { // passthrough mode
+		attitudeTarget.invalidate(); // skip attitude control
+		ratesTarget.invalidate(); // skip rate control
+		torqueTarget = Vector(controlRoll, controlPitch, -controlYaw) * 0.01;
 	}
 }

 void controlAttitude() {
-	if (!armed) {
+	if (!armed || attitudeTarget.invalid()) { // skip attitude control
 		rollPID.reset();
 		pitchPID.reset();
 		yawPID.reset();
@@ -125,17 +113,16 @@ void controlAttitude() {

 	Vector error = Vector::rotationVectorBetween(upTarget, upActual);

-	ratesTarget.x = rollPID.update(error.x, dt);
-	ratesTarget.y = pitchPID.update(error.y, dt);
+	ratesTarget.x = rollPID.update(error.x, dt) + ratesExtra.x;
+	ratesTarget.y = pitchPID.update(error.y, dt) + ratesExtra.y;

-	if (yawMode == YAW) {
-		float yawError = wrapAngle(attitudeTarget.getYaw() - attitude.getYaw());
-		ratesTarget.z = yawPID.update(yawError, dt);
-	}
+	float yawError = wrapAngle(attitudeTarget.getYaw() - attitude.getYaw());
+	ratesTarget.z = yawPID.update(yawError, dt) + ratesExtra.z;
 }

-void controlRate() {
-	if (!armed) {
+
+void controlRates() {
+	if (!armed || ratesTarget.invalid()) { // skip rates control
 		rollRatePID.reset();
 		pitchRatePID.reset();
 		yawRatePID.reset();
@@ -151,8 +138,19 @@ void controlRate() {
 }

 void controlTorque() {
+	if (!torqueTarget.valid()) return; // skip torque control
+
 	if (!armed) {
-		memset(motors, 0, sizeof(motors));
+		memset(motors, 0, sizeof(motors)); // stop motors if disarmed
+		return;
+	}
+
+	if (thrustTarget < 0.05) {
+		// minimal thrust to indicate armed state
+		motors[0] = ARMED_THRUST;
+		motors[1] = ARMED_THRUST;
+		motors[2] = ARMED_THRUST;
+		motors[3] = ARMED_THRUST;
 		return;
 	}

@@ -172,7 +170,7 @@ const char* getModeName() {
 		case MANUAL: return "MANUAL";
 		case ACRO: return "ACRO";
 		case STAB: return "STAB";
-		case USER: return "USER";
+		case AUTO: return "AUTO";
 		default: return "UNKNOWN";
 	}
 }
--- a/flix/failsafe.ino
+++ b/flix/failsafe.ino
@@ -10,17 +10,8 @@ extern double controlTime;
 extern float controlRoll, controlPitch, controlThrottle, controlYaw;

 void failsafe() {
-	armingFailsafe();
 	rcLossFailsafe();
-}
-
-// Prevent arming without zero throttle input
-void armingFailsafe() {
-	static double zeroThrottleTime;
-	static double armingTime;
-	if (!armed) armingTime = t; // stores the last time when the drone was disarmed, therefore contains arming time
-	if (controlTime > 0 && controlThrottle < 0.05) zeroThrottleTime = controlTime;
-	if (armingTime - zeroThrottleTime > 0.1) armed = false; // prevent arming if there was no zero throttle for 0.1 sec
+	autoFailsafe();
 }

 // RC loss failsafe
@@ -37,5 +28,21 @@ void descend() {
 	controlPitch = 0;
 	controlYaw = 0;
 	controlThrottle -= dt / DESCEND_TIME;
-	if (controlThrottle < 0) controlThrottle = 0;
+	if (controlThrottle < 0) {
+		armed = false;
+		controlThrottle = 0;
+	}
+}
+
+// Allow pilot to interrupt automatic flight
+void autoFailsafe() {
+	static float roll, pitch, yaw, throttle;
+	if (roll != controlRoll || pitch != controlPitch || yaw != controlYaw || abs(throttle - controlThrottle) > 0.05) {
+		// controls changed
+		if (mode == AUTO) mode = STAB; // regain control by the pilot
+	}
+	roll = controlRoll;
+	pitch = controlPitch;
+	yaw = controlYaw;
+	throttle = controlThrottle;
 }
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -12,7 +12,8 @@

 double t = NAN; // current step time, s
 float dt; // time delta from previous step, s
-float controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode; // pilot's inputs, range [-1, 1]
+float controlRoll, controlPitch, controlYaw, controlThrottle; // pilot's inputs, range [-1, 1]
+float controlMode = NAN;
 Vector gyro; // gyroscope data
 Vector acc; // accelerometer data, m/s/s
 Vector rates; // filtered angular rates, rad/s
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -12,11 +12,10 @@
 #define PERIOD_FAST 0.1
 #define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f

-float mavlinkControlScale = 0.7;
 String mavlinkPrintBuffer;

 extern double controlTime;
-extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
+extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;

 void processMavlink() {
 	sendMavlink();
@@ -36,7 +35,9 @@ void sendMavlink() {
 		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) | ((mode == STAB) * MAV_MODE_FLAG_STABILIZE_ENABLED),
+			(armed ? MAV_MODE_FLAG_SAFETY_ARMED : 0) |
+			((mode == STAB) ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0) |
+			((mode == AUTO) ? MAV_MODE_FLAG_AUTO_ENABLED : MAV_MODE_FLAG_MANUAL_INPUT_ENABLED),
 			mode, MAV_STATE_STANDBY);
 		sendMessage(&msg);

@@ -57,9 +58,9 @@ void sendMavlink() {
 			channels[0], channels[1], channels[2], channels[3], channels[4], channels[5], channels[6], channels[7], UINT8_MAX);
 		if (channels[0] != 0) sendMessage(&msg); // 0 means no RC input

-		float actuator[32];
-		memcpy(actuator, motors, sizeof(motors));
-		mavlink_msg_actuator_output_status_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time, 4, actuator);
+		float controls[8];
+		memcpy(controls, motors, sizeof(motors));
+		mavlink_msg_actuator_control_target_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time, 0, controls);
 		sendMessage(&msg);

 		mavlink_msg_scaled_imu_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time,
@@ -99,11 +100,10 @@ void handleMavlink(const void *_msg) {
 		if (m.target && m.target != SYSTEM_ID) return; // 0 is broadcast

 		controlThrottle = m.z / 1000.0f;
-		controlPitch = m.x / 1000.0f * mavlinkControlScale;
-		controlRoll = m.y / 1000.0f * mavlinkControlScale;
-		controlYaw = m.r / 1000.0f * mavlinkControlScale;
-		controlMode = 1; // STAB mode
-		controlArmed = 1; // armed
+		controlPitch = m.x / 1000.0f;
+		controlRoll = m.y / 1000.0f;
+		controlYaw = m.r / 1000.0f;
+		controlMode = NAN;
 		controlTime = t;

 		if (abs(controlYaw) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controlYaw = 0;
@@ -174,24 +174,73 @@ void handleMavlink(const void *_msg) {
 		doCommand(data, true);
 	}

+	if (msg.msgid == MAVLINK_MSG_ID_SET_ATTITUDE_TARGET) {
+		if (mode != AUTO) return;
+
+		mavlink_set_attitude_target_t m;
+		mavlink_msg_set_attitude_target_decode(&msg, &m);
+		if (m.target_system && m.target_system != SYSTEM_ID) return;
+
+		// 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);
+
+		if (m.type_mask & ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE) attitudeTarget.invalidate();
+		armed = m.thrust > 0;
+	}
+
+	if (msg.msgid == MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET) {
+		if (mode != AUTO) return;
+
+		mavlink_set_actuator_control_target_t m;
+		mavlink_msg_set_actuator_control_target_decode(&msg, &m);
+		if (m.target_system && m.target_system != SYSTEM_ID) return;
+
+		attitudeTarget.invalidate();
+		ratesTarget.invalidate();
+		torqueTarget.invalidate();
+		memcpy(motors, m.controls, sizeof(motors)); // copy motor thrusts
+		armed = motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0;
+	}
+
 	// Handle commands
 	if (msg.msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
 		mavlink_command_long_t m;
 		mavlink_msg_command_long_decode(&msg, &m);
 		if (m.target_system && m.target_system != SYSTEM_ID) return;
-		mavlink_message_t ack;
 		mavlink_message_t response;
+		bool accepted = false;

 		if (m.command == MAV_CMD_REQUEST_MESSAGE && m.param1 == MAVLINK_MSG_ID_AUTOPILOT_VERSION) {
-			mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, MAV_RESULT_ACCEPTED, UINT8_MAX, 0, msg.sysid, msg.compid);
-			sendMessage(&ack);
+			accepted = true;
 			mavlink_msg_autopilot_version_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &response,
 				MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | MAV_PROTOCOL_CAPABILITY_MAVLINK2, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0);
 			sendMessage(&response);
-		} else {
-			mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, MAV_RESULT_UNSUPPORTED, UINT8_MAX, 0, msg.sysid, msg.compid);
-			sendMessage(&ack);
 		}
+
+		if (m.command == MAV_CMD_COMPONENT_ARM_DISARM) {
+			if (m.param1 && controlThrottle > 0.05) return; // don't arm if throttle is not low
+			accepted = true;
+			armed = m.param1 == 1;
+		}
+
+		if (m.command == MAV_CMD_DO_SET_MODE) {
+			if (!(m.param2 >= 0 && m.param2 <= AUTO)) return; // incorrect mode
+			accepted = true;
+			mode = m.param2;
+		}
+
+		// send command ack
+		mavlink_message_t ack;
+		mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, accepted ? MAV_RESULT_ACCEPTED : MAV_RESULT_UNSUPPORTED, UINT8_MAX, 0, msg.sysid, msg.compid);
+		sendMessage(&ack);
 	}
 }

--- a/flix/parameters.ino
+++ b/flix/parameters.ino
@@ -70,12 +70,7 @@ Parameter parameters[] = {
 	{"RC_PITCH", &pitchChannel},
 	{"RC_THROTTLE", &throttleChannel},
 	{"RC_YAW", &yawChannel},
-	{"RC_ARMED", &armedChannel},
 	{"RC_MODE", &modeChannel},
-#if WIFI_ENABLED
-	// MAVLink
-	{"MAV_CTRL_SCALE", &mavlinkControlScale},
-#endif
 };

 void setupParameters() {
--- a/flix/quaternion.h
+++ b/flix/quaternion.h
@@ -64,6 +64,22 @@ public:
 		return isfinite(w) && isfinite(x) && isfinite(y) && isfinite(z);
 	}

+	bool valid() const {
+		return finite();
+	}
+
+	bool invalid() const {
+		return !valid();
+	}
+
+	void invalidate() {
+		w = NAN;
+		x = NAN;
+		y = NAN;
+		z = NAN;
+	}
+
+
 	float norm() const {
 		return sqrt(w * w + x * x + y * y + z * z);
 	}
--- a/flix/rc.ino
+++ b/flix/rc.ino
@@ -14,7 +14,7 @@ float channelZero[16]; // calibration zero values
 float channelMax[16]; // calibration max values

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

 void setupRC() {
 	print("Setup RC\n");
@@ -42,7 +42,6 @@ void normalizeRC() {
 	controlPitch = pitchChannel >= 0 ? controls[(int)pitchChannel] : NAN;
 	controlYaw = yawChannel >= 0 ? controls[(int)yawChannel] : NAN;
 	controlThrottle = throttleChannel >= 0 ? controls[(int)throttleChannel] : NAN;
-	controlArmed = armedChannel >= 0 ? controls[(int)armedChannel] : 1; // assume armed by default
 	controlMode = modeChannel >= 0 ? controls[(int)modeChannel] : NAN;
 }

@@ -58,8 +57,7 @@ void calibrateRC() {
 	calibrateRCChannel(&yawChannel, center, max, "5/9 Move sticks [3 sec]\n...     ...\n..o     .o.\n...     ...\n");
 	calibrateRCChannel(&pitchChannel, zero, max, "6/9 Move sticks [3 sec]\n...     .o.\n...     ...\n.o.     ...\n");
 	calibrateRCChannel(&rollChannel, zero, max, "7/9 Move sticks [3 sec]\n...     ...\n...     ..o\n.o.     ...\n");
-	calibrateRCChannel(&armedChannel, zero, max, "8/9 Switch to armed [3 sec]\n");
-	calibrateRCChannel(&modeChannel, zero, max, "9/9 Disarm and switch mode to max [3 sec]\n");
+	calibrateRCChannel(&modeChannel, zero, max, "9/9 Put mode switch to max [3 sec]\n");
 	printRCCalibration();
 }

@@ -94,6 +92,5 @@ void printRCCalibration() {
 	print("Pitch     %-7g%-7g%-7g\n", pitchChannel, pitchChannel >= 0 ? channelZero[(int)pitchChannel] : NAN, pitchChannel >= 0 ? channelMax[(int)pitchChannel] : NAN);
 	print("Yaw       %-7g%-7g%-7g\n", yawChannel, yawChannel >= 0 ? channelZero[(int)yawChannel] : NAN, yawChannel >= 0 ? channelMax[(int)yawChannel] : NAN);
 	print("Throttle  %-7g%-7g%-7g\n", throttleChannel, throttleChannel >= 0 ? channelZero[(int)throttleChannel] : NAN, throttleChannel >= 0 ? channelMax[(int)throttleChannel] : NAN);
-	print("Armed     %-7g%-7g%-7g\n", armedChannel, armedChannel >= 0 ? channelZero[(int)armedChannel] : NAN, armedChannel >= 0 ? channelMax[(int)armedChannel] : NAN);
 	print("Mode      %-7g%-7g%-7g\n", modeChannel, modeChannel >= 0 ? channelZero[(int)modeChannel] : NAN, modeChannel >= 0 ? channelMax[(int)modeChannel] : NAN);
 }
--- a/flix/util.h
+++ b/flix/util.h
@@ -19,6 +19,14 @@ float mapff(float x, float in_min, float in_max, float out_min, float out_max) {
 	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }

+bool invalid(float x) {
+	return !isfinite(x);
+}
+
+bool valid(float x) {
+	return isfinite(x);
+}
+
 // Wrap angle to [-PI, PI)
 float wrapAngle(float angle) {
 	angle = fmodf(angle, 2 * PI);
--- a/flix/vector.h
+++ b/flix/vector.h
@@ -21,6 +21,21 @@ public:
 		return isfinite(x) && isfinite(y) && isfinite(z);
 	}

+	bool valid() const {
+		return finite();
+	}
+
+	bool invalid() const {
+		return !valid();
+	}
+
+	void invalidate() {
+		x = NAN;
+		y = NAN;
+		z = NAN;
+	}
+
+
 	float norm() const {
 		return sqrt(x * x + y * y + z * z);
 	}
--- a/flix/wifi.ino
+++ b/flix/wifi.ino
@@ -13,6 +13,7 @@
 #define WIFI_PASSWORD "flixwifi"
 #define WIFI_UDP_PORT 14550
 #define WIFI_UDP_REMOTE_PORT 14550
+#define WIFI_UDP_REMOTE_ADDR "255.255.255.255"

 WiFiUDP udp;

@@ -24,7 +25,7 @@ void setupWiFi() {

 void sendWiFi(const uint8_t *buf, int len) {
 	if (WiFi.softAPIP() == IPAddress(0, 0, 0, 0) && WiFi.status() != WL_CONNECTED) return;
-	udp.beginPacket(WiFi.softAPBroadcastIP(), WIFI_UDP_REMOTE_PORT);
+	udp.beginPacket(udp.remoteIP() ? udp.remoteIP() : WIFI_UDP_REMOTE_ADDR, WIFI_UDP_REMOTE_PORT);
 	udp.write(buf, len);
 	udp.endPacket();
 }
--- a/gazebo/README.md
+++ b/gazebo/README.md
@@ -4,7 +4,7 @@

 ## Building and running

-See [building and running instructions](../docs/build.md#simulation).
+See [building and running instructions](../docs/usage.md#simulation).

 ## Code structure

--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -15,7 +15,8 @@
 double t = NAN;
 float dt;
 float motors[4];
-float controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode;
+float controlRoll, controlPitch, controlYaw, controlThrottle = NAN;
+float controlMode = NAN;
 Vector acc;
 Vector gyro;
 Vector rates;
@@ -28,9 +29,9 @@ void computeLoopRate();
 void applyGyro();
 void applyAcc();
 void control();
-void interpretRC();
+void interpretControls();
 void controlAttitude();
-void controlRate();
+void controlRates();
 void controlTorque();
 const char* getModeName();
 void sendMotors();
@@ -54,9 +55,9 @@ void mavlinkPrint(const char* str);
 void sendMavlinkPrint();
 inline Quaternion fluToFrd(const Quaternion &q);
 void failsafe();
-void armingFailsafe();
 void rcLossFailsafe();
 void descend();
+void autoFailsafe();
 int parametersCount();
 const char *getParameterName(int index);
 float getParameter(int index);
--- a/gazebo/wifi.h
+++ b/gazebo/wifi.h
@@ -13,6 +13,7 @@

 #define WIFI_UDP_PORT 14580
 #define WIFI_UDP_REMOTE_PORT 14550
+#define WIFI_UDP_REMOTE_ADDR "255.255.255.255"

 int wifiSocket;

@@ -35,7 +36,7 @@ void sendWiFi(const uint8_t *buf, int len) {
 	if (wifiSocket == 0) setupWiFi();
 	sockaddr_in addr; // remote address
 	addr.sin_family = AF_INET;
-	addr.sin_addr.s_addr = INADDR_BROADCAST; // send UDP broadcast
+	addr.sin_addr.s_addr = inet_addr(WIFI_UDP_REMOTE_ADDR);
 	addr.sin_port = htons(WIFI_UDP_REMOTE_PORT);
 	sendto(wifiSocket, buf, len, 0, (sockaddr *)&addr, sizeof(addr));
 }
--- a/tools/pyflix/README.md
+++ b/tools/pyflix/README.md
@@ -66,13 +66,14 @@ gyro = flix.wait('gyro')  # wait for gyroscope update
 attitude = flix.wait('attitude', timeout=3)  # wait for attitude update, raise TimeoutError after 3 seconds
 ```

-The `value` argument specifies a condition for filtering events. It can be either an expected value or a callable:
+The second argument (`value`) specifies a condition for filtering events. It can be either an expected value or a callable:

 ```python
-flix.wait('armed', value=True)  # wait until armed
-flix.wait('armed', value=False)  # wait until disarmed
-flix.wait('motors', value=lambda motors: not any(motors))  # wait until all motors stop
-flix.wait('attitude_euler', value=lambda att: att[0] > 0)  # wait until roll angle is positive
+flix.wait('armed', True)  # wait until armed
+flix.wait('armed', False)  # wait until disarmed
+flix.wait('mode', 'AUTO')  # wait until flight mode is switched to AUTO
+flix.wait('motors', lambda motors: not any(motors))  # wait until all motors stop
+flix.wait('attitude_euler', lambda att: att[0] > 0)  # wait until roll angle is positive
 ```

 Full list of events:
@@ -107,7 +108,7 @@ Get and set firmware parameters using `get_param` and `set_param` methods:

 ```python
 pitch_p = flix.get_param('PITCH_P')  # get parameter value
-flix.set_param('PITCH_P', 5)      # set parameter value
+flix.set_param('PITCH_P', 5)         # set parameter value
 ```

 Execute CLI commands using `cli` method. This method returns command response:
@@ -121,17 +122,54 @@ flix.cli('reboot')       # reboot the drone
 > [!TIP]
 > Use `help` command to get the list of available commands.

+You can imitate pilot's controls using `set_controls` method:
+
+```python
+flix.set_controls(roll=0, pitch=0, yaw=0, throttle=0.6)
+```
+
+> [!WARNING]
+> This method **is not intended for automatic flights**, only for adding support for a custom pilot input device.
+
 ### Automatic flight

-The flight control feature is in development. List of methods intended for automatic flight control:
+To perform automatic flight, switch the mode to *AUTO*, either from the remote control, or from the code:

-* `set_position`
-* `set_velocity`
-* `set_attitude`
-* `set_rates`
-* `set_motors`
-* `set_controls`
-* `set_mode`
+```python
+flix.set_mode('AUTO')
+```
+
+In this mode you can set flight control targets. Setting attitude target:
+
+```python
+flix.set_attitude([0.1, 0.2, 0.3], 0.6)  # set target roll, pitch, yaw and thrust
+flix.set_attitude([1, 0, 0, 0], 0.6)  # set target attitude quaternion and thrust
+```
+
+Setting angular rates target:
+
+```python
+flix.set_rates([0.1, 0.2, 0.3], 0.6)  # set target roll rate, pitch rate, yaw rate and thrust
+```
+
+You also can control raw motors outputs directly:
+
+```python
+flix.set_motors([0.5, 0.5, 0.5, 0.5])  # set motors outputs in range [0, 1]
+```
+
+In *AUTO* mode, the drone will arm automatically if the thrust is greater than zero, and disarm if thrust is zero. Therefore, to disarm the drone, set thrust to zero:
+
+```python
+flix.set_attitude([0, 0, 0], 0)  # disarm the drone
+```
+
+The following methods are in development and are not functional yet:
+
+* `set_position` — set target position.
+* `set_velocity` — set target velocity.
+
+To exit from *AUTO* mode move control sticks and the drone will switch to *STAB* mode.

 ## Usage alongside QGroundControl

@@ -151,6 +189,8 @@ You can use the Flix library alongside the QGroundControl app, using a proxy mod
   * *Port*: 14560
 4. Restart QGroundControl.

+<img src="../../docs/img/qgc-proxy.png" width="300">
+
 Now you can run `pyflix` scripts and QGroundControl simultaneously.

 ## Tools
--- a/tools/pyflix/flix.py
+++ b/tools/pyflix/flix.py
@@ -6,7 +6,7 @@
 import os
 import time
 from queue import Queue, Empty
-from typing import Literal, Optional, Callable, List, Dict, Any, Union
+from typing import Literal, Optional, Callable, List, Dict, Any, Union, Sequence
 import logging
 import errno
 from threading import Thread, Timer
@@ -40,6 +40,7 @@ class Flix:

    _connection_timeout = 3
    _print_buffer: str = ''
+    _modes = ['MANUAL', 'ACRO', 'STAB', 'AUTO']

    def __init__(self, system_id: int=1, wait_connection: bool=True):
        if not (0 <= system_id < 256):
@@ -55,7 +56,7 @@ class Flix:
            if e.errno != errno.EADDRINUSE:
                raise
            # Port busy - using proxy
-            logger.debug('Listening on port 14560 (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
@@ -147,7 +148,7 @@ class Flix:

    def _handle_mavlink_message(self, msg: mavlink.MAVLink_message):
        if isinstance(msg, mavlink.MAVLink_heartbeat_message):
-            self.mode = ['MANUAL', 'ACRO', 'STAB', 'USER'][msg.custom_mode]
+            self.mode = self._modes[msg.custom_mode]
            self.armed = msg.base_mode & mavlink.MAV_MODE_FLAG_SAFETY_ARMED != 0
            self._trigger('mode', self.mode)
            self._trigger('armed', self.armed)
@@ -168,6 +169,11 @@ class Flix:
                             msg.chan5_raw, msg.chan6_raw, msg.chan7_raw, msg.chan8_raw]
            self._trigger('channels', self.channels)

+        if isinstance(msg, mavlink.MAVLink_actuator_control_target_message):
+            self.motors = msg.controls[:4]  # type: ignore
+            self._trigger('motors', self.motors)
+
+        # TODO: to be removed: the old way of passing motor outputs
        if isinstance(msg, mavlink.MAVLink_actuator_output_status_message):
            self.motors = msg.actuator[:4]  # type: ignore
            self._trigger('motors', self.motors)
@@ -231,6 +237,19 @@ class Flix:
    def _flu_to_mavlink(v: List[float]) -> List[float]:
        return Flix._mavlink_to_flu(v)

+    def _command_send(self, command: int, params: Sequence[float]):
+        if len(params) != 7:
+            raise ValueError('Command must have 7 parameters')
+        for attempt in range(3):
+            try:
+                logger.debug(f'Send command {command} with params {params} (attempt #{attempt + 1})')
+                self.mavlink.command_long_send(self.system_id, 0, command, 0, *params)  # type: ignore
+                self.wait('mavlink.COMMAND_ACK', value=lambda msg: msg.command == command and msg.result == mavlink.MAV_RESULT_ACCEPTED, timeout=0.1)
+                return
+            except TimeoutError:
+                continue
+        raise RuntimeError(f'Failed to send command {command} after 3 attempts')
+
    def _connected(self):
        # Reset disconnection timer
        self._disconnected_timer.cancel()
@@ -275,6 +294,11 @@ class Flix:
                continue
        raise RuntimeError(f'Failed to set parameter {name} to {value} after 3 attempts')

+    def set_mode(self, mode: Union[str, int]):
+        if isinstance(mode, str):
+            mode = self._modes.index(mode.upper())
+        self._command_send(mavlink.MAV_CMD_DO_SET_MODE, (0, mode, 0, 0, 0, 0, 0))
+
    def set_position(self, position: List[float], yaw: Optional[float] = None, wait: bool = False, tolerance: float = 0.1):
        raise NotImplementedError('Position control is not implemented yet')

@@ -282,17 +306,37 @@ class Flix:
        raise NotImplementedError('Velocity control is not implemented yet')

    def set_attitude(self, attitude: List[float], thrust: float):
-        raise NotImplementedError('Automatic flight is not implemented yet')
+        if len(attitude) == 3:
+            attitude = Quaternion([attitude[0], attitude[1], attitude[2]]).q  # type: ignore
+        elif len(attitude) != 4:
+            raise ValueError('Attitude must be [roll, pitch, yaw] or [w, x, y, z] quaternion')
+        if not (0 <= thrust <= 1):
+            raise ValueError('Thrust must be in range [0, 1]')
+        attitude = self._flu_to_mavlink(attitude)
+        for _ in range(2): # duplicate to ensure delivery
+            self.mavlink.set_attitude_target_send(0, self.system_id, 0, 0,
+                [attitude[0], attitude[1], attitude[2], attitude[3]],
+                0, 0, 0, thrust)

    def set_rates(self, rates: List[float], thrust: float):
-        raise NotImplementedError('Automatic flight is not implemented yet')
+        if len(rates) != 3:
+            raise ValueError('Rates must be [roll_rate, pitch_rate, yaw_rate]')
+        if not (0 <= thrust <= 1):
+            raise ValueError('Thrust must be in range [0, 1]')
+        rates = self._flu_to_mavlink(rates)
+        for _ in range(2):  # duplicate to ensure delivery
+            self.mavlink.set_attitude_target_send(0, self.system_id, 0,
+                mavlink.ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE,
+                [1, 0, 0, 0],
+                rates[0], rates[1], rates[2], thrust)

    def set_motors(self, motors: List[float]):
        if len(motors) != 4:
            raise ValueError('motors must have 4 values')
        if not all(0 <= m <= 1 for m in motors):
            raise ValueError('motors must be in range [0, 1]')
-        raise NotImplementedError
+        for _ in range(2):  # duplicate to ensure delivery
+            self.mavlink.set_actuator_control_target_send(int(time.time() * 1000000), 0, self.system_id, 0, motors + [0] * 4)  # type: ignore

    def set_controls(self, roll: float, pitch: float, yaw: float, throttle: float):
        """Send pilot's controls. Warning: not intended for automatic control"""
@@ -300,10 +344,7 @@ class Flix:
            raise ValueError('roll, pitch, yaw must be in range [-1, 1]')
        if not 0 <= throttle <= 1:
            raise ValueError('throttle must be in range [0, 1]')
-        self.mavlink.manual_control_send(self.system_id, roll * 1000, pitch * 1000, yaw * 1000, throttle * 1000, 0)  # type: ignore
-
-    def set_mode(self, mode: Literal['MANUAL', 'ACRO', 'STAB', 'USER']):
-        raise NotImplementedError('Setting mode is not implemented yet')
+        self.mavlink.manual_control_send(self.system_id, int(roll * 1000), int(pitch * 1000), int(yaw * 1000), int(throttle * 1000), 0)  # type: ignore

    def cli(self, cmd: str, wait_response: bool = True) -> str:
        cmd = cmd.strip()
--- a/tools/pyproject.toml
+++ b/tools/pyproject.toml
@@ -1,6 +1,6 @@
 [project]
 name = "pyflix"
-version = "0.5"
+version = "0.7"
 description = "Python API for Flix drone"
 authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }]
 license = "MIT"
Author	SHA1	Message	Date
Oleg Kalachev	f9739dcd7e	Don't arm by mavlink command if throttle is not low	2025-08-29 03:47:51 +03:00
Oleg Kalachev	708c8f04dc	Minor docs fix	2025-08-28 05:17:46 +03:00
Oleg Kalachev	2128201440	Fix simulation build	2025-08-28 01:13:38 +03:00
Oleg Kalachev	8e3c86f5ee	pyflix@0.7	2025-08-28 00:52:27 +03:00
Oleg Kalachev	40fc4b96b5	Implement AUTO mode for automatic flights Support SET_ATTITUDE_TARGET, SET_ACTUATOR_CONTROL_TARGET in mavlink. ACTUATOR_OUTPUT_STATUS is changed ACTUATOR_CONTROL_TARGET to match used message for setting motor outputs. Add support for changing mode from mavlink. Support automatic flights in pyflix.	2025-08-28 00:49:24 +03:00
Oleg Kalachev	10fafbc4a0	Send udp packets in unicast after connection is established This makes qgc connection faster. Add WIFI_UDP_REMOTE_ADDR macro for default remote address for both the firmware and simulation.	2025-08-27 05:01:07 +03:00
Oleg Kalachev	d47d7b8bd4	Support arm/disarm mavlink commands Refactor commands handling to remove repeating ack message packing.	2025-08-27 04:45:25 +03:00
Oleg Kalachev	a7fdc2a88f	Minor change in cli help message	2025-08-27 04:43:24 +03:00
Oleg Kalachev	c1788e2c75	Refactor arming logic Arm and disarm with gestures only: left stick right/down for arming, left/down for disarming. Remove arming switch as it complicates arming gestures logic. Remove MAV_CTRL_SCALE parameter as it complicates arming gestures logic, advise to decrease TILT_MAX when controlling with a smartphone. Put some minimal thrust to motors to indicate armed state. Rename build article to usage article, add flight instructions.	2025-08-27 03:19:26 +03:00
Oleg Kalachev	beb655fdcb	Add illustration for qgc proxy for pyflix	2025-08-27 03:13:28 +03:00
Oleg Kalachev	bf0cdac111	Major update of the articles Reflect control subsystem refactoring. Update dataflow diagram. Add control subsystem diagram. Minor updates.	2025-08-27 00:09:42 +03:00
Oleg Kalachev	b21e81a68b	Add cli commands for switching mode Make mode variable int instead of enum, which is more convinient.	2025-08-26 21:55:27 +03:00
Oleg Kalachev	8418723ccc	Refactor control subsystem Add interpretControls function to convert pilot commands and mode into control targets and make control functions independent from the mode. Add ratesExtra target for rates feed-forward; remove yawMode. Rename controlRate to controlRates to reflect rates variable name. Remove USER mode.	2025-08-26 01:00:56 +03:00