Apply motors configuration without reboot

Motor pins: MOT_PIN_FL, MOT_PIN_FR, MOT_PIN_RL, MOT_PIN_RR.
PWM configuration: MOT_PWM_FREQ, MOT_PWM_RES, MOT_PWM_STOP, MOT_PWM_MIN, MOT_PWM_MAX.
MOT_PWM_MAX = -1 chooses duty cycle mode for brushed motors (default).

.github/workflows/build.yml

@@ -25,8 +25,6 @@ jobs:
         path: flix/build
     - name: Build firmware for ESP32-S3
       run: make BOARD=esp32:esp32:esp32s3
-    - name: Build firmware with WiFi disabled
-      run: sed -i 's/^#define WIFI_ENABLED 1$/#define WIFI_ENABLED 0/' flix/flix.ino && make
     - name: Check c_cpp_properties.json
       run: tools/check_c_cpp_properties.py
 

.markdownlint.json

@@ -7,6 +7,7 @@
 	"MD024": false,
 	"MD033": false,
 	"MD034": false,
+	"MD040": false,
 	"MD059": false,
 	"MD044": {
 		"html_elements": false,

.vscode/c_cpp_properties.json

@@ -6,19 +6,18 @@
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
 				"${workspaceFolder}/tools/**",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32",
-				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/**",
+				"~/.arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**",
-				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include",
 				"~/Arduino/libraries/**",
 				"/usr/include/gazebo-11/",
 				"/usr/include/ignition/math6/"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
 				"${workspaceFolder}/flix/estimate.ino",
@@ -31,9 +30,10 @@
 				"${workspaceFolder}/flix/rc.ino",
 				"${workspaceFolder}/flix/time.ino",
 				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino"
+				"${workspaceFolder}/flix/parameters.ino",
+				"${workspaceFolder}/flix/safety.ino"
 			],
-			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++",
+			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [
@@ -53,19 +53,18 @@
 			"name": "Mac",
 			"includePath": [
 				"${workspaceFolder}/flix",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32",
-				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/include/**",
+				"~/Library/Arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**",
-				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include",
 				"~/Documents/Arduino/libraries/**",
 				"/opt/homebrew/include/gazebo-11/",
 				"/opt/homebrew/include/ignition/math6/"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/flix.ino",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
@@ -78,9 +77,10 @@
 				"${workspaceFolder}/flix/rc.ino",
 				"${workspaceFolder}/flix/time.ino",
 				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino"
+				"${workspaceFolder}/flix/parameters.ino",
+				"${workspaceFolder}/flix/safety.ino"
 			],
-			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2411/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": [
@@ -103,17 +103,16 @@
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
 				"${workspaceFolder}/tools/**",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32",
-				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/**",
+				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**",
-				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include",
 				"~/Documents/Arduino/libraries/**"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_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",
 				"${workspaceFolder}/flix/estimate.ino",
@@ -126,9 +125,10 @@
 				"${workspaceFolder}/flix/rc.ino",
 				"${workspaceFolder}/flix/time.ino",
 				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino"
+				"${workspaceFolder}/flix/parameters.ino",
+				"${workspaceFolder}/flix/safety.ino"
 			],
-			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2411/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": [

Makefile

@@ -13,10 +13,10 @@ monitor:
 
 dependencies .dependencies:
 	arduino-cli core update-index --config-file arduino-cli.yaml
-	arduino-cli core install esp32:esp32@3.2.0 --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"@2.0.16
+	arduino-cli lib install "MAVLink"@2.0.25
 	touch .dependencies
 
 gazebo/build cmake: gazebo/CMakeLists.txt

README.md

@@ -138,10 +138,10 @@ You can see a user-contributed [variant of complete circuit diagram](https://mir
 
   |Motor|Position|Direction|Prop type|Motor wires|GPIO|
   |-|-|-|-|-|-|
-  |Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 (*TDI*)|
+  |Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 *(TDI)*|
-  |Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 (*TCK*)|
+  |Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 *(TCK)*|
-  |Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 (*TMS*)|
+  |Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 *(TMS)*|
-  |Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 (*TD0*)|
+  |Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 *(TD0)*|
 
   Clockwise motors have blue & red wires and correspond to propeller type A (marked on the propeller).
   Counter-clockwise motors have black & white wires correspond to propeller type B.

docs/assembly.md

@@ -41,10 +41,10 @@ Motors connection table:
 
 |Motor|Position|Direction|Prop type|Motor wires|GPIO|
 |-|-|-|-|-|-|
-|Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 (*TDI*)|
+|Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 *(TDI)*|
-|Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 (*TCK*)|
+|Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 *(TCK)*|
-|Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 (*TMS*)|
+|Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 *(TMS)*|
-|Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 (*TD0*)|
+|Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 *(TD0)*|
 
 ## Motors tightening
 

docs/book/geometry.md

@@ -110,7 +110,7 @@ float angle = Vector::angleBetween(a, b); // 1.57 (90 градусов)
 
 #### Скалярное произведение
 
-Скалярное произведение векторов (*dot product*) — это произведение длин двух векторов на косинус угла между ними. В математике оно обозначается знаком `·` или слитным написанием векторов. Интуитивно, результат скалярного произведения показывает, насколько два вектора *сонаправлены*.
+Скалярное произведение векторов *(dot product)* — это произведение длин двух векторов на косинус угла между ними. В математике оно обозначается знаком `·` или слитным написанием векторов. Интуитивно, результат скалярного произведения показывает, насколько два вектора *сонаправлены*.
 
 В Flix используется статический метод `Vector::dot()`:
 
@@ -124,7 +124,7 @@ float dotProduct = Vector::dot(a, b); // 32
 
 #### Векторное произведение
 
-Векторное произведение (*cross product*) позволяет найти вектор, перпендикулярный двум другим векторам. В математике оно обозначается знаком `×`, а в прошивке используется статический метод `Vector::cross()`:
+Векторное произведение *(cross product)* позволяет найти вектор, перпендикулярный двум другим векторам. В математике оно обозначается знаком `×`, а в прошивке используется статический метод `Vector::cross()`:
 
 ```cpp
 Vector a(1, 2, 3);
@@ -144,9 +144,9 @@ Vector crossProduct = Vector::cross(a, b); // -3, 6, -3
 
 В прошивке углы Эйлера сохраняются в обычный объект `Vector` (хоть и, строго говоря, не являются вектором):
 
-* Угол по крену (*roll*) — `vector.x`.
+* Угол по крену *(roll)* — `vector.x`.
-* Угол по тангажу (*pitch*) — `vector.y`.
+* Угол по тангажу *(pitch)* — `vector.y`.
-* Угол по рысканию (*yaw*) — `vector.z`.
+* Угол по рысканию *(yaw)* — `vector.z`.
 
 Особенности углов Эйлера:
 
@@ -162,8 +162,8 @@ Vector crossProduct = Vector::cross(a, b); // -3, 6, -3
 
 Помимо углов Эйлера, любую ориентацию в трехмерном пространстве можно представить в виде вращения вокруг некоторой оси на некоторый угол. В геометрии это доказывается, как **теорема вращения Эйлера**. В таком представлении ориентация задается двумя величинами:
 
-* **Ось вращения** (*axis*) — единичный вектор, определяющий ось вращения.
+* **Ось вращения** *(axis)* — единичный вектор, определяющий ось вращения.
-* **Угол поворота** (*angle* или *θ*) — угол, на который нужно повернуть объект вокруг этой оси.
+* **Угол поворота** *(angle* или *θ)* — угол, на который нужно повернуть объект вокруг этой оси.
 
 В Flix ось вращения задается объектом `Vector`, а угол поворота — числом типа `float` в радианах:
 
@@ -177,7 +177,7 @@ float angle = radians(45);
 
 ### Вектор вращения
 
-Если умножить вектор *axis* на угол поворота *θ*, то получится **вектор вращения** (*rotation vector*). Этот вектор играет важную роль в алгоритмах управления ориентацией летательного аппарата.
+Если умножить вектор *axis* на угол поворота *θ*, то получится **вектор вращения** *(rotation vector)*. Этот вектор играет важную роль в алгоритмах управления ориентацией летательного аппарата.
 
 Вектор вращения обладает замечательным свойством: если угловые скорости объекта (в собственной системе координат) в каждый момент времени совпадают с компонентами этого вектора, то за единичное время объект придет к заданной этим вектором ориентации. Это свойство позволяет использовать вектор вращения для управления ориентацией объекта посредством управления угловыми скоростями.
 
@@ -198,7 +198,7 @@ Vector rotation = radians(45) * Vector(1, 2, 3);
 	<a href="https://github.com/okalachev/flix/blob/master/flix/quaternion.h"><code>quaternion.h</code></a>.<br>
 </div>
 
-Вектор вращения удобен, но еще удобнее использовать **кватернион**. В Flix кватернионы задаются объектами `Quaternion` из библиотеки `quaternion.h`. Кватернион состоит из четырех значений: *w*, *x*, *y*, *z* и рассчитывается из вектора оси вращения (*axis*) и угла поворота (*θ*) по формуле:
+Вектор вращения удобен, но еще удобнее использовать **кватернион**. В Flix кватернионы задаются объектами `Quaternion` из библиотеки `quaternion.h`. Кватернион состоит из четырех значений: *w*, *x*, *y*, *z* и рассчитывается из вектора оси вращения *(axis)* и угла поворота *(θ)* по формуле:
 
 \\[ q = \left( \begin{array}{c} w \\\\ x \\\\ y \\\\ z \end{array} \right) = \left( \begin{array}{c} \cos\left(\frac{\theta}{2}\right) \\\\ axis\_x \cdot \sin\left(\frac{\theta}{2}\right) \\\\ axis\_y \cdot \sin\left(\frac{\theta}{2}\right) \\\\ axis\_z \cdot \sin\left(\frac{\theta}{2}\right) \end{array} \right) \\]
 

docs/book/gyro.md

@@ -177,7 +177,7 @@ imu.setDLPF(imu.DLPF_MAX);
 
 ## Калибровка гироскопа
 
-Как и любое измерительное устройство, гироскоп вносит искажения в измерения. Наиболее простая модель этих искажений делит их на статические смещения (*bias*) и случайный шум (*noise*):
+Как и любое измерительное устройство, гироскоп вносит искажения в измерения. Наиболее простая модель этих искажений делит их на статические смещения *(bias)* и случайный шум *(noise)*:
 
 \\[ gyro_{xyz}=rates_{xyz}+bias_{xyz}+noise \\]
 

docs/troubleshooting.md

@@ -13,10 +13,10 @@ Do the following:
 Do the following:
 
 * **Check the battery voltage**. Use a multimeter to measure the battery voltage. It should be in range of 3.7-4.2 V.
-* **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button to make sure you see the whole ESP32 output.
+* **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button to make sure you see the whole ESP32 startup output.
 * **Check the baudrate is correct**. If you see garbage characters in the Serial Monitor, make sure the baudrate is set to 115200.
 * **Make sure correct IMU model is chosen**. If using ICM-20948/MPU-6050 board, change `MPU9250` to `ICM20948`/`MPU6050` in the `imu.ino` file.
-* **Check if the CLI is working**. Perform `help` command in Serial Monitor. You should see the list of available commands. You can also access the CLI using QGroundControl (*Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*).
+* **Check if the console is working**. Perform `help` command in Serial Monitor. You should see the list of available commands. You can also access the console using QGroundControl *(Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console)*.
 * **Configure QGroundControl correctly before connecting to the drone** if you use it to control the drone. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
 * **If QGroundControl doesn't connect**, you might need to disable the firewall and/or VPN on your computer.
 * **Check the IMU is working**. Perform `imu` command and check its output:

docs/usage.md

@@ -20,10 +20,10 @@ 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 3.2.0. 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.
+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 2.0.16.
+   * `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. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
@@ -108,7 +108,7 @@ The drone is configured using parameters. To access and modify them, go to the Q
 
 <img src="img/parameters.png" width="400">
 
-You can also work with parameters using `p` command in the console.
+You can also work with parameters using `p` command in the console. Parameter names are case-insensitive.
 
 ### Define IMU orientation
 
@@ -134,6 +134,18 @@ Before flight you need to calibrate the accelerometer:
 1. Access the console using QGroundControl (recommended) or Serial Monitor.
 2. Type `ca` command there and follow the instructions.
 
+### Setup motors
+
+If using non-default motor pins, set the pin numbers using the parameters: `MOTOR_PIN_FL`, `MOTOR_PIN_FR`, `MOTOR_PIN_RL`, `MOTOR_PIN_RR` (front-left, front-right, rear-left, rear-right respectively).
+
+If using brushless motors and ESCs:
+
+1. Set the appropriate PWM using the parameters: `MOT_PWM_STOP`, `MOT_PWM_MIN`, and `MOT_PWM_MAX` (1000, 1000, and 2000 is typical).
+2. Decrease the PWM frequency using the `MOT_PWM_FREQ` parameter (400 is typical).
+
+> [!CAUTION]
+> **Remove the props when configuring the motors!** If improperly configured, you may not be able to stop them.
+
 ### Check everything works
 
 1. Check the IMU is working: perform `imu` command and check its output:
@@ -243,9 +255,43 @@ In this mode, the pilot inputs are ignored (except the mode switch, if configure
 
 If the pilot moves the control sticks, the drone will switch back to *STAB* mode.
 
+## Wi-Fi configuration
+
+You can configure the Wi-Fi using parameters and console commands.
+
+The Wi-Fi mode is chosen using `WIFI_MODE` parameter in QGroundControl or in the console:
+
+* `0` — Wi-Fi is disabled.
+* `1` — Access Point mode *(AP)* — the drone creates a Wi-Fi network.
+* `2` — Client mode *(STA)* — the drone connects to an existing Wi-Fi network.
+* `3` — *ESP-NOW (not implemented yet)*.
+
+> [!WARNING]
+> Tests showed that Client mode may cause **additional delays** in remote control (due to retranslations), so it's generally not recommended.
+
+The SSID and password are configured using the `ap` and `sta` console commands:
+
+```
+ap <ssid> <password>
+sta <ssid> <password>
+```
+
+Example of configuring the Access Point mode:
+
+```
+ap my-flix-ssid mypassword123
+p WIFI_MODE 1
+```
+
+Disabling Wi-Fi:
+
+```
+p WIFI_MODE 0
+```
+
 ## Flight log
 
-After the flight, you can download the flight log for analysis wirelessly. Use the following 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

flix/cli.ino

@@ -6,6 +6,7 @@
 #include "pid.h"
 #include "vector.h"
 #include "util.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;
@@ -14,6 +15,7 @@ extern uint16_t channels[16];
 extern float controlTime;
 extern int mode;
 extern bool armed;
+extern LowPassFilter<Vector> gyroBiasFilter;
 
 const char* motd =
 "\nWelcome to\n"
@@ -38,6 +40,8 @@ const char* motd =
 "raw/stab/acro/auto - set mode\n"
 "rc - show RC data\n"
 "wifi - show Wi-Fi info\n"
+"ap <ssid> <password> - setup Wi-Fi access point\n"
+"sta <ssid> <password> - setup Wi-Fi client mode\n"
 "mot - show motor output\n"
 "log [dump] - print log header [and data]\n"
 "cr - calibrate RC\n"
@@ -54,9 +58,7 @@ void print(const char* format, ...) {
 	vsnprintf(buf, sizeof(buf), format, args);
 	va_end(args);
 	Serial.print(buf);
-#if WIFI_ENABLED
 	mavlinkPrint(buf);
-#endif
 }
 
 void pause(float duration) {
@@ -64,9 +66,7 @@ void pause(float duration) {
 	while (t - start < duration) {
 		step();
 		handleInput();
-#if WIFI_ENABLED
 		processMavlink();
-#endif
 		delay(50);
 	}
 }
@@ -94,7 +94,7 @@ void doCommand(String str, bool echo = false) {
 	} else if (command == "p") {
 		bool success = setParameter(arg0.c_str(), arg1.toFloat());
 		if (success) {
-			print("%s = %g\n", arg0.c_str(), arg1.toFloat());
+			print("%s = %g\n", arg0.c_str(), getParameter(arg0.c_str()));
 		} else {
 			print("Parameter not found: %s\n", arg0.c_str());
 		}
@@ -136,9 +136,11 @@ void doCommand(String str, bool echo = false) {
 		print("mode: %s\n", getModeName());
 		print("armed: %d\n", armed);
 	} else if (command == "wifi") {
-#if WIFI_ENABLED
 		printWiFiInfo();
-#endif
+	} else if (command == "ap") {
+		configWiFi(true, arg0.c_str(), arg1.c_str());
+	} else if (command == "sta") {
+		configWiFi(false, arg0.c_str(), arg1.c_str());
 	} 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]);
@@ -178,6 +180,7 @@ void doCommand(String str, bool echo = false) {
 #endif
 	} else if (command == "reset") {
 		attitude = Quaternion();
+		gyroBiasFilter.reset();
 	} else if (command == "reboot") {
 		ESP.restart();
 	} else {

flix/flix.ino

@@ -7,8 +7,6 @@
 #include "quaternion.h"
 #include "util.h"
 
-#define WIFI_ENABLED 1
-
 extern float t, dt;
 extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
 extern Vector gyro, acc;
@@ -25,9 +23,7 @@ void setup() {
 	setupLED();
 	setupMotors();
 	setLED(true);
-#if WIFI_ENABLED
 	setupWiFi();
-#endif
 	setupIMU();
 	setupRC();
 	setLED(false);
@@ -42,9 +38,7 @@ void loop() {
 	control();
 	sendMotors();
 	handleInput();
-#if WIFI_ENABLED
 	processMavlink();
-#endif
 	logData();
 	syncParameters();
 }

flix/imu.ino

@@ -19,6 +19,8 @@ Vector acc; // accelerometer output, m/s/s
 Vector accBias;
 Vector accScale(1, 1, 1);
 
+LowPassFilter<Vector> gyroBiasFilter(0.001);
+
 void setupIMU() {
 	print("Setup IMU\n");
 	imu.begin();
@@ -50,8 +52,6 @@ void readIMU() {
 void calibrateGyroOnce() {
 	static Delay landedDelay(2);
 	if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary
-
-	static LowPassFilter<Vector> gyroBiasFilter(0.001);
 	gyroBias = gyroBiasFilter.update(gyro);
 }
 

flix/lpf.h

@@ -14,15 +14,6 @@ public:
 	LowPassFilter(float alpha): alpha(alpha) {};
 
 	T update(const T input) {
-		if (alpha == 1) { // filter disabled
-			return input;
-		}
-
-		if (!initialized) {
-			output = input;
-			initialized = true;
-		}
-
 		return output += alpha * (input - output);
 	}
 
@@ -31,9 +22,6 @@ public:
 	}
 
 	void reset() {
-		initialized = false;
+		output = T(); // set to zero
 	}
-
-private:
-	bool initialized = false;
 };

flix/mavlink.ino

@@ -3,19 +3,16 @@
 
 // MAVLink communication
 
-#if WIFI_ENABLED
-
 #include <MAVLink.h>
 #include "util.h"
 
-#define SYSTEM_ID 1
-#define MAVLINK_RATE_SLOW 1
-#define MAVLINK_RATE_FAST 10
-
 extern float controlTime;
 
 bool mavlinkConnected = false;
 String mavlinkPrintBuffer;
+int mavlinkSysId = 1;
+Rate telemetryFast(10);
+Rate telemetrySlow(2);
 
 void processMavlink() {
 	sendMavlink();
@@ -28,10 +25,8 @@ void sendMavlink() {
 	mavlink_message_t msg;
 	uint32_t time = t * 1000;
 
-	static Rate slow(MAVLINK_RATE_SLOW), fast(MAVLINK_RATE_FAST);
+	if (telemetrySlow) {
-
+		mavlink_msg_heartbeat_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_GENERIC,
-	if (slow) {
-		mavlink_msg_heartbeat_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_GENERIC,
 			(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),
@@ -40,27 +35,27 @@ void sendMavlink() {
 
 		if (!mavlinkConnected) return; // send only heartbeat until connected
 
-		mavlink_msg_extended_sys_state_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
+		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 (fast && mavlinkConnected) {
+	if (telemetryFast && mavlinkConnected) {
 		const float zeroQuat[] = {0, 0, 0, 0};
-		mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
+		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, zeroQuat); // convert to frd
 		sendMessage(&msg);
 
-		mavlink_msg_rc_channels_raw_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0,
+		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);
 		if (channels[0] != 0) sendMessage(&msg); // 0 means no RC input
 
 		float controls[8];
 		memcpy(controls, motors, sizeof(motors));
-		mavlink_msg_actuator_control_target_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time, 0, controls);
+		mavlink_msg_actuator_control_target_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time, 0, controls);
 		sendMessage(&msg);
 
-		mavlink_msg_scaled_imu_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time,
+		mavlink_msg_scaled_imu_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time,
 			acc.x * 1000, -acc.y * 1000, -acc.z * 1000, // convert to frd
 			gyro.x * 1000, -gyro.y * 1000, -gyro.z * 1000,
 			0, 0, 0, 0);
@@ -95,7 +90,7 @@ void handleMavlink(const void *_msg) {
 	if (msg.msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
 		mavlink_manual_control_t m;
 		mavlink_msg_manual_control_decode(&msg, &m);
-		if (m.target && m.target != SYSTEM_ID) return; // 0 is broadcast
+		if (m.target && m.target != mavlinkSysId) return; // 0 is broadcast
 
 		controlThrottle = m.z / 1000.0f;
 		controlPitch = m.x / 1000.0f;
@@ -108,11 +103,11 @@ void handleMavlink(const void *_msg) {
 	if (msg.msgid == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) {
 		mavlink_param_request_list_t m;
 		mavlink_msg_param_request_list_decode(&msg, &m);
-		if (m.target_system && m.target_system != SYSTEM_ID) return;
+		if (m.target_system && m.target_system != mavlinkSysId) return;
 
 		mavlink_message_t msg;
 		for (int i = 0; i < parametersCount(); i++) {
-			mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
+			mavlink_msg_param_value_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
 				getParameterName(i), getParameter(i), MAV_PARAM_TYPE_REAL32, parametersCount(), i);
 			sendMessage(&msg);
 		}
@@ -121,7 +116,7 @@ void handleMavlink(const void *_msg) {
 	if (msg.msgid == MAVLINK_MSG_ID_PARAM_REQUEST_READ) {
 		mavlink_param_request_read_t m;
 		mavlink_msg_param_request_read_decode(&msg, &m);
-		if (m.target_system && m.target_system != SYSTEM_ID) return;
+		if (m.target_system && m.target_system != mavlinkSysId) return;
 
 		char name[MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN + 1];
 		strlcpy(name, m.param_id, sizeof(name)); // param_id might be not null-terminated
@@ -130,7 +125,7 @@ void handleMavlink(const void *_msg) {
 			memcpy(name, getParameterName(m.param_index), 16);
 		}
 		mavlink_message_t msg;
-		mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
+		mavlink_msg_param_value_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
 			name, value, MAV_PARAM_TYPE_REAL32, parametersCount(), m.param_index);
 		sendMessage(&msg);
 	}
@@ -138,32 +133,33 @@ void handleMavlink(const void *_msg) {
 	if (msg.msgid == MAVLINK_MSG_ID_PARAM_SET) {
 		mavlink_param_set_t m;
 		mavlink_msg_param_set_decode(&msg, &m);
-		if (m.target_system && m.target_system != SYSTEM_ID) return;
+		if (m.target_system && m.target_system != mavlinkSysId) return;
 
 		char name[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN + 1];
 		strlcpy(name, m.param_id, sizeof(name)); // param_id might be not null-terminated
-		setParameter(name, m.param_value);
+		bool success = setParameter(name, m.param_value);
+		if (!success) return;
 		// send ack
 		mavlink_message_t msg;
-		mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
+		mavlink_msg_param_value_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
-			m.param_id, m.param_value, MAV_PARAM_TYPE_REAL32, parametersCount(), 0); // index is unknown
+			m.param_id, getParameter(name), MAV_PARAM_TYPE_REAL32, parametersCount(), 0); // index is unknown
 		sendMessage(&msg);
 	}
 
 	if (msg.msgid == MAVLINK_MSG_ID_MISSION_REQUEST_LIST) { // handle to make qgc happy
 		mavlink_mission_request_list_t m;
 		mavlink_msg_mission_request_list_decode(&msg, &m);
-		if (m.target_system && m.target_system != SYSTEM_ID) return;
+		if (m.target_system && m.target_system != mavlinkSysId) return;
 
 		mavlink_message_t msg;
-		mavlink_msg_mission_count_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, 0, 0, 0, MAV_MISSION_TYPE_MISSION, 0);
+		mavlink_msg_mission_count_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, 0, 0, MAV_MISSION_TYPE_MISSION, 0);
 		sendMessage(&msg);
 	}
 
 	if (msg.msgid == MAVLINK_MSG_ID_SERIAL_CONTROL) {
 		mavlink_serial_control_t m;
 		mavlink_msg_serial_control_decode(&msg, &m);
-		if (m.target_system && m.target_system != SYSTEM_ID) return;
+		if (m.target_system && m.target_system != mavlinkSysId) return;
 
 		char data[MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN + 1];
 		strlcpy(data, (const char *)m.data, m.count); // data might be not null-terminated
@@ -175,7 +171,7 @@ void handleMavlink(const void *_msg) {
 
 		mavlink_set_attitude_target_t m;
 		mavlink_msg_set_attitude_target_decode(&msg, &m);
-		if (m.target_system && m.target_system != SYSTEM_ID) return;
+		if (m.target_system && m.target_system != mavlinkSysId) return;
 
 		// copy attitude, rates and thrust targets
 		ratesTarget.x = m.body_roll_rate;
@@ -197,7 +193,7 @@ void handleMavlink(const void *_msg) {
 
 		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;
+		if (m.target_system && m.target_system != mavlinkSysId) return;
 
 		attitudeTarget.invalidate();
 		ratesTarget.invalidate();
@@ -209,12 +205,12 @@ void handleMavlink(const void *_msg) {
 	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 != SYSTEM_ID) return;
+		if (m.target_system && m.target_system != mavlinkSysId) return;
 
 		// Send all log records
 		for (int i = 0; i < sizeof(logBuffer) / sizeof(logBuffer[0]); i++) {
 			mavlink_message_t msg;
-			mavlink_msg_log_data_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, 0, i,
+			mavlink_msg_log_data_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, i,
 				sizeof(logBuffer[0]), (uint8_t *)logBuffer[i]);
 			sendMessage(&msg);
 		}
@@ -224,13 +220,13 @@ void handleMavlink(const void *_msg) {
 	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;
+		if (m.target_system && m.target_system != mavlinkSysId) return;
 		mavlink_message_t response;
 		bool accepted = false;
 
 		if (m.command == MAV_CMD_REQUEST_MESSAGE && m.param1 == MAVLINK_MSG_ID_AUTOPILOT_VERSION) {
 			accepted = true;
-			mavlink_msg_autopilot_version_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &response,
+			mavlink_msg_autopilot_version_pack(mavlinkSysId, 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);
 		}
@@ -249,7 +245,7 @@ void handleMavlink(const void *_msg) {
 
 		// 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);
+		mavlink_msg_command_ack_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, accepted ? MAV_RESULT_ACCEPTED : MAV_RESULT_UNSUPPORTED, UINT8_MAX, 0, msg.sysid, msg.compid);
 		sendMessage(&ack);
 	}
 }
@@ -266,7 +262,7 @@ void sendMavlinkPrint() {
 		char data[MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN + 1];
 		strlcpy(data, str + i, sizeof(data));
 		mavlink_message_t msg;
-		mavlink_msg_serial_control_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
+		mavlink_msg_serial_control_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
 			SERIAL_CONTROL_DEV_SHELL,
 			i + MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN < strlen(str) ? SERIAL_CONTROL_FLAG_MULTI : 0, // more chunks to go
 			0, 0, strlen(data), (uint8_t *)data, 0, 0);
@@ -274,5 +270,3 @@ void sendMavlinkPrint() {
 	}
 	mavlinkPrintBuffer.clear();
 }
-
-#endif

flix/motors.ino

@@ -1,24 +1,19 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
-// Motors output control using MOSFETs
+// PWM control for motors
-// In case of using ESCs, change PWM_STOP, PWM_MIN and PWM_MAX to appropriate values in μs, decrease PWM_FREQUENCY (to 400)
 
 #include "util.h"
 
-#define MOTOR_0_PIN 12 // rear left
-#define MOTOR_1_PIN 13 // rear right
-#define MOTOR_2_PIN 14 // front right
-#define MOTOR_3_PIN 15 // front left
-
-#define PWM_FREQUENCY 78000
-#define PWM_RESOLUTION 10
-#define PWM_STOP 0
-#define PWM_MIN 0
-#define PWM_MAX 1000000 / PWM_FREQUENCY
-
 float motors[4]; // normalized motor thrusts in range [0..1]
 
+int motorPins[4] = {12, 13, 14, 15}; // default pin numbers
+int pwmFrequency = 78000;
+int pwmResolution = 10;
+int pwmStop = 0;
+int pwmMin = 0;
+int pwmMax = -1; // -1 means duty cycle mode
+
 const int MOTOR_REAR_LEFT = 0;
 const int MOTOR_REAR_RIGHT = 1;
 const int MOTOR_FRONT_RIGHT = 2;
@@ -26,30 +21,31 @@ const int MOTOR_FRONT_LEFT = 3;
 
 void setupMotors() {
 	print("Setup Motors\n");
-
 	// configure pins
-	ledcAttach(MOTOR_0_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
+	for (int i = 0; i < 4; i++) {
-	ledcAttach(MOTOR_1_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
+		ledcAttach(motorPins[i], pwmFrequency, pwmResolution);
-	ledcAttach(MOTOR_2_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
+		pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // if re-initializing
-	ledcAttach(MOTOR_3_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
+	}
-
 	sendMotors();
 	print("Motors initialized\n");
 }
 
-int getDutyCycle(float value) {
+void sendMotors() {
-	value = constrain(value, 0, 1);
+	for (int i = 0; i < 4; i++) {
-	float pwm = mapf(value, 0, 1, PWM_MIN, PWM_MAX);
+		ledcWrite(motorPins[i], getDutyCycle(motors[i]));
-	if (value == 0) pwm = PWM_STOP;
+	}
-	float duty = mapf(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1);
-	return round(duty);
 }
 
-void sendMotors() {
+int getDutyCycle(float value) {
-	ledcWrite(MOTOR_0_PIN, getDutyCycle(motors[0]));
+	value = constrain(value, 0, 1);
-	ledcWrite(MOTOR_1_PIN, getDutyCycle(motors[1]));
+	if (pwmMax >= 0) { // pwm mode
-	ledcWrite(MOTOR_2_PIN, getDutyCycle(motors[2]));
+		float pwm = mapf(value, 0, 1, pwmMin, pwmMax);
-	ledcWrite(MOTOR_3_PIN, getDutyCycle(motors[3]));
+		if (value == 0) pwm = pwmStop;
+		float duty = mapf(pwm, 0, 1000000 / pwmFrequency, 0, (1 << pwmResolution) - 1);
+		return round(duty);
+	} else { // duty cycle mode
+		return round(value * ((1 << pwmResolution) - 1));
+	}
 }
 
 bool motorsActive() {

flix/parameters.ino

@@ -9,13 +9,20 @@
 extern float channelZero[16];
 extern float channelMax[16];
 extern float rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
+extern int wifiMode, udpLocalPort, udpRemotePort;
+extern float rcLossTimeout, descendTime;
 
 Preferences storage;
 
 struct Parameter {
 	const char *name; // max length is 15 (Preferences key limit)
-	float *variable;
+	bool integer;
-	float value; // cache
+	union { float *f; int *i; }; // pointer to variable
+	float cache; // what's stored in flash
+	Parameter(const char *name, float *variable) : name(name), integer(false), f(variable) {};
+	Parameter(const char *name, int *variable) : name(name), integer(true), i(variable) {};
+	float getValue() const { return integer ? *i : *f; };
+	void setValue(const float value) { if (integer) *i = value; else *f = value; };
 };
 
 Parameter parameters[] = {
@@ -52,9 +59,20 @@ Parameter parameters[] = {
 	{"IMU_ACC_SCALE_X", &accScale.x},
 	{"IMU_ACC_SCALE_Y", &accScale.y},
 	{"IMU_ACC_SCALE_Z", &accScale.z},
+	{"IMU_GYRO_BIAS_A", &gyroBiasFilter.alpha},
 	// estimate
 	{"EST_ACC_WEIGHT", &accWeight},
 	{"EST_RATES_LPF_A", &ratesFilter.alpha},
+	// motors
+	{"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT]},
+	{"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT]},
+	{"MOT_PIN_RL", &motorPins[MOTOR_REAR_LEFT]},
+	{"MOT_PIN_RR", &motorPins[MOTOR_REAR_RIGHT]},
+	{"MOT_PWM_FREQ", &pwmFrequency},
+	{"MOT_PWM_RES", &pwmResolution},
+	{"MOT_PWM_STOP", &pwmStop},
+	{"MOT_PWM_MIN", &pwmMin},
+	{"MOT_PWM_MAX", &pwmMax},
 	// rc
 	{"RC_ZERO_0", &channelZero[0]},
 	{"RC_ZERO_1", &channelZero[1]},
@@ -77,6 +95,17 @@ Parameter parameters[] = {
 	{"RC_THROTTLE", &throttleChannel},
 	{"RC_YAW", &yawChannel},
 	{"RC_MODE", &modeChannel},
+	// wifi
+	{"WIFI_MODE", &wifiMode},
+	{"WIFI_LOC_PORT", &udpLocalPort},
+	{"WIFI_REM_PORT", &udpRemotePort},
+	// mavlink
+	{"MAV_SYS_ID", &mavlinkSysId},
+	{"MAV_RATE_SLOW", &telemetrySlow.rate},
+	{"MAV_RATE_FAST", &telemetryFast.rate},
+	// safety
+	{"SF_RC_LOSS_TIME", &rcLossTimeout},
+	{"SF_DESCEND_TIME", &descendTime},
 };
 
 void setupParameters() {
@@ -84,13 +113,18 @@ void setupParameters() {
 	// Read parameters from storage
 	for (auto &parameter : parameters) {
 		if (!storage.isKey(parameter.name)) {
-			storage.putFloat(parameter.name, *parameter.variable);
+			storage.putFloat(parameter.name, parameter.getValue()); // store default value
 		}
-		*parameter.variable = storage.getFloat(parameter.name, *parameter.variable);
+		parameter.setValue(storage.getFloat(parameter.name, 0));
-		parameter.value = *parameter.variable;
+		parameter.cache = parameter.getValue();
 	}
 }
 
+void afterParameterChange(String name, const float value) {
+	if (name == "MOT_PWM_FREQ" || name == "MOT_PWM_RES") setupMotors();
+	if (name == "MOT_PIN_FL" || name == "MOT_PIN_FR" || name == "MOT_PIN_RL" || name == "MOT_PIN_RR") setupMotors();
+}
+
 int parametersCount() {
 	return sizeof(parameters) / sizeof(parameters[0]);
 }
@@ -102,13 +136,13 @@ const char *getParameterName(int index) {
 
 float getParameter(int index) {
 	if (index < 0 || index >= parametersCount()) return NAN;
-	return *parameters[index].variable;
+	return parameters[index].getValue();
 }
 
 float getParameter(const char *name) {
 	for (auto &parameter : parameters) {
-		if (strcmp(parameter.name, name) == 0) {
+		if (strcasecmp(parameter.name, name) == 0) {
-			return *parameter.variable;
+			return parameter.getValue();
 		}
 	}
 	return NAN;
@@ -116,8 +150,10 @@ float getParameter(const char *name) {
 
 bool setParameter(const char *name, const float value) {
 	for (auto &parameter : parameters) {
-		if (strcmp(parameter.name, name) == 0) {
+		if (strcasecmp(parameter.name, name) == 0) {
-			*parameter.variable = value;
+			if (parameter.integer && !isfinite(value)) return false; // can't set integer to NaN or Inf
+			parameter.setValue(value);
+			afterParameterChange(name, value);
 			return true;
 		}
 	}
@@ -130,16 +166,18 @@ void syncParameters() {
 	if (motorsActive()) return; // don't use flash while flying, it may cause a delay
 
 	for (auto &parameter : parameters) {
-		if (parameter.value == *parameter.variable) continue;
+		if (parameter.getValue() == parameter.cache) continue; // no change
-		if (isnan(parameter.value) && isnan(*parameter.variable)) continue; // handle NAN != NAN
+		if (isnan(parameter.getValue()) && isnan(parameter.cache)) continue; // both are NaN
-		storage.putFloat(parameter.name, *parameter.variable);
+		if (isinf(parameter.getValue()) && isinf(parameter.cache)) continue; // both are Inf
-		parameter.value = *parameter.variable;
+
+		storage.putFloat(parameter.name, parameter.getValue());
+		parameter.cache = parameter.getValue(); // update cache
 	}
 }
 
 void printParameters() {
 	for (auto &parameter : parameters) {
-		print("%s = %g\n", parameter.name, *parameter.variable);
+		print("%s = %g\n", parameter.name, parameter.getValue());
 	}
 }
 

flix/rc.ino

@@ -13,10 +13,10 @@ float channelZero[16]; // calibration zero values
 float channelMax[16]; // calibration max values
 
 float controlRoll, controlPitch, controlYaw, controlThrottle; // pilot's inputs, range [-1, 1]
-float controlMode = NAN; //
+float controlMode = NAN;
-float controlTime; // time of the last controls update (0 when no RC)
+float controlTime = NAN; // time of the last controls update
 
-// Channels mapping (using float to store in parameters):
+// Channels mapping (nan means not assigned):
 float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, modeChannel = NAN;
 
 void setupRC() {

flix/safety.ino

@@ -3,12 +3,12 @@
 
 // Fail-safe functions
 
-#define RC_LOSS_TIMEOUT 1
-#define DESCEND_TIME 10
-
 extern float controlTime;
 extern float controlRoll, controlPitch, controlThrottle, controlYaw;
 
+float rcLossTimeout = 1;
+float descendTime = 10;
+
 void failsafe() {
 	rcLossFailsafe();
 	autoFailsafe();
@@ -16,9 +16,8 @@ void failsafe() {
 
 // RC loss failsafe
 void rcLossFailsafe() {
-	if (controlTime == 0) return; // no RC at all
 	if (!armed) return;
-	if (t - controlTime > RC_LOSS_TIMEOUT) {
+	if (t - controlTime > rcLossTimeout) {
 		descend();
 	}
 }
@@ -27,7 +26,7 @@ void rcLossFailsafe() {
 void descend() {
 	mode = AUTO;
 	attitudeTarget = Quaternion();
-	thrustTarget -= dt / DESCEND_TIME;
+	thrustTarget -= dt / descendTime;
 	if (thrustTarget < 0) {
 		thrustTarget = 0;
 		armed = false;

flix/wifi.ino

@@ -1,49 +1,76 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
-// Wi-Fi support
+// Wi-Fi communication
-
-#if WIFI_ENABLED
 
 #include <WiFi.h>
 #include <WiFiAP.h>
 #include <WiFiUdp.h>
+#include "Preferences.h"
 
-#define WIFI_SSID "flix"
+extern Preferences storage; // use the main preferences storage
-#define WIFI_PASSWORD "flixwifi"
+
-#define WIFI_UDP_PORT 14550
+const int W_DISABLED = 0, W_AP = 1, W_STA = 2;
-#define WIFI_UDP_REMOTE_PORT 14550
+int wifiMode = W_AP;
-#define WIFI_UDP_REMOTE_ADDR "255.255.255.255"
+int udpLocalPort = 14550;
+int udpRemotePort = 14550;
+IPAddress udpRemoteIP = "255.255.255.255";
 
 WiFiUDP udp;
 
 void setupWiFi() {
 	print("Setup Wi-Fi\n");
-	WiFi.softAP(WIFI_SSID, WIFI_PASSWORD);
+	if (wifiMode == W_AP) {
-	udp.begin(WIFI_UDP_PORT);
+		WiFi.softAP(storage.getString("WIFI_AP_SSID", "flix").c_str(), storage.getString("WIFI_AP_PASS", "flixwifi").c_str());
+	} else if (wifiMode == W_STA) {
+		WiFi.begin(storage.getString("WIFI_STA_SSID", "").c_str(), storage.getString("WIFI_STA_PASS", "").c_str());
+	}
+	udp.begin(udpLocalPort);
 }
 
 void sendWiFi(const uint8_t *buf, int len) {
-	if (WiFi.softAPIP() == IPAddress(0, 0, 0, 0) && WiFi.status() != WL_CONNECTED) return;
+	if (WiFi.softAPgetStationNum() == 0 && !WiFi.isConnected()) return;
-	udp.beginPacket(udp.remoteIP() ? udp.remoteIP() : WIFI_UDP_REMOTE_ADDR, WIFI_UDP_REMOTE_PORT);
+	udp.beginPacket(udpRemoteIP, udpRemotePort);
 	udp.write(buf, len);
 	udp.endPacket();
 }
 
 int receiveWiFi(uint8_t *buf, int len) {
 	udp.parsePacket();
+	if (udp.remoteIP()) udpRemoteIP = udp.remoteIP();
 	return udp.read(buf, len);
 }
 
 void printWiFiInfo() {
-	print("MAC: %s\n", WiFi.softAPmacAddress().c_str());
+	if (WiFi.getMode() == WIFI_MODE_AP) {
-	print("SSID: %s\n", WiFi.softAPSSID().c_str());
+		print("Mode: Access Point (AP)\n");
-	print("Password: %s\n", WIFI_PASSWORD);
+		print("MAC: %s\n", WiFi.softAPmacAddress().c_str());
-	print("Clients: %d\n", WiFi.softAPgetStationNum());
+		print("SSID: %s\n", WiFi.softAPSSID().c_str());
-	print("Status: %d\n", WiFi.status());
+		print("Password: ***\n");
-	print("IP: %s\n", WiFi.softAPIP().toString().c_str());
+		print("Clients: %d\n", WiFi.softAPgetStationNum());
-	print("Remote IP: %s\n", udp.remoteIP().toString().c_str());
+		print("IP: %s\n", WiFi.softAPIP().toString().c_str());
+	} else if (WiFi.getMode() == WIFI_MODE_STA) {
+		print("Mode: Client (STA)\n");
+		print("Connected: %d\n", WiFi.isConnected());
+		print("MAC: %s\n", WiFi.macAddress().c_str());
+		print("SSID: %s\n", WiFi.SSID().c_str());
+		print("Password: ***\n");
+		print("IP: %s\n", WiFi.localIP().toString().c_str());
+	} else {
+		print("Mode: Disabled\n");
+		return;
+	}
+	print("Remote IP: %s\n", udpRemoteIP.toString().c_str());
 	print("MAVLink connected: %d\n", mavlinkConnected);
 }
 
-#endif
+void configWiFi(bool ap, const char *ssid, const char *password) {
+	if (ap) {
+		storage.putString("WIFI_AP_SSID", ssid);
+		storage.putString("WIFI_AP_PASS", password);
+	} else {
+		storage.putString("WIFI_STA_SSID", ssid);
+		storage.putString("WIFI_STA_PASS", password);
+	}
+	print("✓ Reboot to apply new settings\n");
+}

gazebo/Arduino.h

@@ -165,6 +165,7 @@ void delay(uint32_t ms) {
 
 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; }
 
 unsigned long __micros;
 unsigned long __resetTime = 0;

gazebo/flix.h

@@ -10,8 +10,6 @@
 #include "Arduino.h"
 #include "wifi.h"
 
-#define WIFI_ENABLED 1
-
 extern float t, dt;
 extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
 extern Vector rates;
@@ -34,6 +32,7 @@ void controlRates();
 void controlTorque();
 const char* getModeName();
 void sendMotors();
+int getDutyCycle(float value);
 bool motorsActive();
 void testMotor(int n);
 void print(const char* format, ...);
@@ -73,3 +72,4 @@ 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"); };

tools/grab_log.py

@@ -13,7 +13,7 @@ lines = []
 
 print('Downloading log...')
 count = 0
-dev.write('log\n'.encode())
+dev.write('log dump\n'.encode())
 while True:
     line = dev.readline()
     if not line:

tools/pyflix/README.md

@@ -92,17 +92,17 @@ Full list of events:
 |-----|-----------|----------------|
 |`connected`|Connected to the drone||
 |`disconnected`|Connection is lost||
-|`armed`|Armed state update|Armed state (*bool*)|
+|`armed`|Armed state update|Armed state *(bool)*|
-|`mode`|Flight mode update|Flight mode (*str*)|
+|`mode`|Flight mode update|Flight mode *(str)*|
-|`landed`|Landed state update|Landed state (*bool*)|
+|`landed`|Landed state update|Landed state *(bool)*|
 |`print`|The drone prints text to the console|Text|
-|`attitude`|Attitude update|Attitude quaternion (*list*)|
+|`attitude`|Attitude update|Attitude quaternion *(list)*|
-|`attitude_euler`|Attitude update|Euler angles (*list*)|
+|`attitude_euler`|Attitude update|Euler angles *(list)*|
-|`rates`|Angular rates update|Angular rates (*list*)|
+|`rates`|Angular rates update|Angular rates *(list)*|
-|`channels`|Raw RC channels update|Raw RC channels (*list*)|
+|`channels`|Raw RC channels update|Raw RC channels *(list)*|
-|`motors`|Motor outputs update|Motor outputs (*list*)|
+|`motors`|Motor outputs update|Motor outputs *(list)*|
-|`acc`|Accelerometer update|Accelerometer output (*list*)|
+|`acc`|Accelerometer update|Accelerometer output *(list)*|
-|`gyro`|Gyroscope update|Gyroscope output (*list*)|
+|`gyro`|Gyroscope update|Gyroscope output *(list)*|
 |`mavlink`|Received MAVLink message|Message object|
 |`mavlink.<message_name>`|Received specific MAVLink message|Message object|
 |`mavlink.<message_id>`|Received specific MAVLink message|Message object|
@@ -277,7 +277,3 @@ logger = logging.getLogger('flix')
 logger.setLevel(logging.DEBUG)  # be more verbose
 logger.setLevel(logging.WARNING)  # be less verbose
 ```
-
-## Stability
-
-The library is in development stage. The API is not stable.