Position control draft

Add threshold for rc sticks move for quitting auto mode
Minor docs update
2026-08-16 00:38:56 +00:00 · 2026-08-01 20:13:48 +03:00 · 2026-07-21 10:58:22 +03:00 · 2026-07-21 10:51:50 +03:00 · 2026-07-20 19:01:38 +03:00 · 2026-07-20 10:16:30 +03:00
52 changed files with 1132 additions and 286 deletions
@@ -27,6 +27,8 @@ jobs:
      run: make BOARD=esp32:esp32:esp32c3
    - name: Build firmware for ESP32-S3
      run: make BOARD=esp32:esp32:esp32s3
+    - name: Build espnow-proxy
+      run: arduino-cli compile --fqbn esp32:esp32:esp32 tools/espnow-proxy
    - name: Check c_cpp_properties.json
      run: tools/check_c_cpp_properties.py

@@ -4,9 +4,10 @@ build/
 tools/log/
 tools/dist/
 *.egg-info/
-.dependencies
+.core
+.libs
 .vscode/*
-!.vscode/settings.json
+!.vscode/settings.default.json
 !.vscode/c_cpp_properties.json
 !.vscode/tasks.json
 !.vscode/launch.json
@@ -6,18 +6,18 @@
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
 				"${workspaceFolder}/tools/**",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32",
-				"~/.arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32",
+				"~/.arduino15/packages/esp32/tools/esp32-libs/3.3.10/include/**",
 				"~/Arduino/libraries/**",
 				"/usr/include/gazebo-11/",
 				"/usr/include/ignition/math6/"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
 				"${workspaceFolder}/flix/estimate.ino",
@@ -33,7 +33,7 @@
 				"${workspaceFolder}/flix/parameters.ino",
 				"${workspaceFolder}/flix/safety.ino"
 			],
-			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++",
+			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2601/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [
@@ -53,18 +53,18 @@
 			"name": "Mac",
 			"includePath": [
 				"${workspaceFolder}/flix",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32",
-				"~/Library/Arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32",
+				"~/Library/Arduino15/packages/esp32/tools/esp32-libs/3.3.10/include/**",
 				"~/Documents/Arduino/libraries/**",
 				"/opt/homebrew/include/gazebo-11/",
 				"/opt/homebrew/include/ignition/math6/"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/flix.ino",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
@@ -80,7 +80,7 @@
 				"${workspaceFolder}/flix/parameters.ino",
 				"${workspaceFolder}/flix/safety.ino"
 			],
-			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++",
+			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2601/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [
@@ -103,16 +103,16 @@
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
 				"${workspaceFolder}/tools/**",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32",
-				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32",
+				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-libs/3.3.10/include/**",
 				"~/Documents/Arduino/libraries/**"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
 				"${workspaceFolder}/flix/estimate.ino",
@@ -128,7 +128,7 @@
 				"${workspaceFolder}/flix/parameters.ino",
 				"${workspaceFolder}/flix/safety.ino"
 			],
-			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++.exe",
+			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2601/bin/xtensa-esp32-elf-g++.exe",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [
@@ -1,6 +1,7 @@
 {
 	// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
 	"recommendations": [
+		"dangmai.workspace-default-settings",
 		"ms-vscode.cpptools",
 		"ms-vscode.cmake-tools",
 		"ms-python.python"
@@ -1,24 +1,32 @@
 BOARD = esp32:esp32:d1_mini32
 PORT := $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-* /dev/cu.usbmodem*))

-build: .dependencies
-	arduino-cli compile --fqbn $(BOARD) flix
+export ARDUINO_NETWORK_CONNECTION_TIMEOUT := 1h
+
+build: .core .libs
+	arduino-cli compile --fqbn $(BOARD) --build-property "build.core_debug_level=1" flix

 upload: build
 	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" flix

+erase:
+	arduino-cli burn-bootloader --fqbn $(BOARD) -p "$(PORT)" -P esptool
+
 monitor:
 	arduino-cli monitor -p "$(PORT)" -c baudrate=115200

-dependencies .dependencies:
-	arduino-cli core update-index --config-file arduino-cli.yaml
-	arduino-cli core install esp32:esp32@3.3.6 --config-file arduino-cli.yaml
+core .core:
+	arduino-cli core update-index --additional-urls https://espressif.github.io/arduino-esp32/package_esp32_index.json
+	arduino-cli core install esp32:esp32@3.3.10 --additional-urls https://espressif.github.io/arduino-esp32/package_esp32_index.json
+	touch .core
+
+libs .libs:
 	arduino-cli lib update-index
 	arduino-cli lib install "FlixPeriph"
 	arduino-cli lib install "MAVLink"@2.0.25
-	touch .dependencies
+	touch .libs

-upload_proxy: .dependencies
+upload_proxy: .core .libs
 	arduino-cli compile --fqbn $(BOARD) tools/espnow-proxy
 	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" tools/espnow-proxy

@@ -26,7 +34,7 @@ gazebo/build cmake: gazebo/CMakeLists.txt
 	mkdir -p gazebo/build
 	cd gazebo/build && cmake ..

-build_simulator: .dependencies gazebo/build
+build_simulator: .libs gazebo/build
 	make -C gazebo/build

 simulator: build_simulator
@@ -41,6 +49,6 @@ plot:
 	plotjuggler -d $(shell ls -t tools/log/*.csv | head -n1)

 clean:
-	rm -rf gazebo/build flix/build flix/cache .dependencies
+	rm -rf gazebo/build flix/build flix/cache .core .libs

-.PHONY: build upload monitor dependencies cmake build_simulator simulator log clean
+.PHONY: build upload monitor core libs cmake build_simulator simulator log clean
@@ -47,6 +47,14 @@ See the [user builds gallery](docs/user.md):

 <a href="docs/user.md"><img src="docs/img/user/user.jpg" width=500></a>

+### PCB
+
+The official PCB *(Flix2)* is in development now. Follow the [project's channel](https://t.me/opensourcequadcopter) to track the progress.
+
+Outdoor flights demo video of the current prototype:
+
+<a href="https://youtu.be/KXlNmvUTi4g"><img width=300 src="https://i3.ytimg.com/vi/KXlNmvUTi4g/maxresdefault.jpg"></a>
+
 ## Simulation

 The simulator is implemented using Gazebo and runs the original Arduino code:
@@ -73,10 +81,10 @@ Additional articles:
 |-|-|:-:|:-:|
 |Microcontroller board|ESP32 Mini.<br>ESP32-S3/ESP32-C3 boards are also supported.|<img src="docs/img/esp32.jpg" width=100>|1|
 |IMU (and barometer¹) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)<br>ICM20948V2 (ICM‑20948)<br>GY-521 (MPU-6050)|<img src="docs/img/gy-91.jpg" width=90 align=center><br><img src="docs/img/icm-20948.jpg" width=100><br><img src="docs/img/gy-521.jpg" width=100>|1|
-|Boost converter (optional, for more stable power supply)|5V output|<img src="docs/img/buck-boost.jpg" width=100>|1|
+|*Boost converter (optional, for more stable power supply)*|*5V output*|<img src="docs/img/buck-boost.jpg" width=100>|1|
 |Motor|8520 3.7V brushed motor.<br>Motor with exact 3.7V voltage is needed, not ranged working voltage (3.7V — 6V).<br>Make sure the motor shaft diameter and propeller hole diameter match!|<img src="docs/img/motor.jpeg" width=100>|4|
 |Propeller|55 mm or 65 mm|<img src="docs/img/prop.jpg" width=100>|4|
-|MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)|<img src="docs/img/100n03a.jpg" width=100>|4|
+|MOSFET (transistor)|UMW 100N03A or [analog](https://t.me/opensourcequadcopter/33).<br>Warning: don't use KIA 100N03A or other manufacturers, they might not work!|<img src="docs/img/100n03a.jpg" width=100>|4|
 |Pull-down resistor<br>Voltage measurement resistor|10 kΩ|<img src="docs/img/resistor10k.jpg" width=100>|6|
 |3.7V Li-Po battery|LW 952540 (or any compatible by the size).<br>Make sure the battery has enough discharge rate — 25C or more!|<img src="docs/img/battery.jpg" width=100>|1|
 |Battery connector cable|MX2.0 2P female|<img src="docs/img/mx.png" width=100>|1|
@@ -1,5 +0,0 @@
-board_manager:
-  additional_urls:
-    - https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
-network:
-  connection_timeout: 1h
@@ -79,6 +79,9 @@ To add a new parameter:

 See examples of adding new parameters in commits: [c434107](https://github.com/okalachev/flix/commit/c434107), [a687303](https://github.com/okalachev/flix/commit/a687303).

+> [!NOTE]
+> Since all the parameters are internally stored and passed as floats, the safe range for `int` parameters is -16777216 to 16777215.
+
 ## Adding a subsystem

 To add a new subsystem:
@@ -5,7 +5,7 @@
 Do the following:

 * **Check ESP32 core is installed**. Check if the version matches the one used in the [tutorial](usage.md#building-the-firmware).
-* **Check libraries**. Install all the required libraries from the tutorial. Make sure there are no MPU9250 or other peripherals libraries that may conflict with the ones used in the tutorial.
+* **Check libraries**. Install all the required libraries from the tutorial. Make sure there are no MPU-9250 or other peripherals libraries that may conflict with the ones used in the tutorial.
 * **Check the chosen board**. The correct board to choose in Arduino IDE for ESP32 Mini is *WEMOS D1 MINI ESP32*.

 ## The drone doesn't fly
@@ -20,13 +20,14 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b

 1. Install [Arduino IDE](https://www.arduino.cc/en/software) (version 2 is recommended).
 2. *Windows users might need to install [USB to UART bridge driver from Silicon Labs](https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers).*
-3. Install ESP32 core, version 3.3.6. 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.
+3. Install ESP32 core, version 3.3.10. See the [official Espressif's instructions](https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#installing-using-arduino-ide) on installing ESP32 Core in Arduino IDE.
 4. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library):
   * `FlixPeriph`, the latest version.
   * `MAVLink`, version 2.0.25.
 5. Open the `flix/flix.ino` sketch from downloaded firmware sources in Arduino IDE.
-6. Connect your ESP32 board to the computer and choose correct board type in Arduino IDE (*WEMOS D1 MINI ESP32* for ESP32 Mini) and the port.
-7. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using 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, *ESP32S3 Dev Module* for ESP32-S3 Super Mini) and the port.
+7. Set *Tools* ⇒ *Core Debug Level* to *Error* to see the errors in the serial console. Set *Tools* ⇒ *USB CDC on Boot* to *Enabled* for ESP32-S3/ESP32-C3 boards.
+8. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.

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

@@ -57,6 +58,12 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b
   make upload monitor
   ```

+   For ESP32-S3/ESP32-C3 boards, set the appropriate [FQBN](https://docs.arduino.cc/arduino-cli/FAQ/#whats-the-fqbn-string) using `BOARD` parameter:
+
+   ```bash
+   make BOARD=esp32:esp32:esp32s3:FlashSize=4M,CDCOnBoot=cdc upload
+   ```
+
 See other available Make commands in [Makefile](../Makefile).

 > [!TIP]
@@ -69,8 +76,25 @@ See other available Make commands in [Makefile](../Makefile).
 In case if using different IMU model than MPU9250, change `imu` variable declaration in the `imu.ino`:

 ```cpp
-ICM20948 imu(SPI);  // For ICM-20948
-MPU6050 imu(Wire);  // For MPU-6050
+ICM20948 imu(SPI);  // For ICM-20948 via SPI
+// or
+MPU6050 imu(Wire);  // For MPU-6050 via I2C
+```
+
+If using non-default SPI pins, pass SCK, MISO, and MOSI pin numbers to `SPI.begin` call and SS pin to `imu` constructor like that:
+
+```cpp
+ICM20948(SPI, <SS>);
+// ...
+SPI.begin(<SCK>, <MISO>, <MOSI>);
+imu.begin();
+```
+
+If using non-default I2C pins, pass SDA and SCL pin numbers to `Wire.setPins` call like that:
+
+```cpp
+Wire.begin(<SDA>, <SCL>);
+imu.begin();
 ```

 ### Connect using QGroundControl
@@ -82,6 +106,9 @@ QGroundControl is a ground control station software that can be used to monitor
 3. Connect your computer or smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`).
 4. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically.

+> [!TIP]
+> If QGroundControl doesn't connect, try to disable the firewall and/or VPN on your computer, as they may block the connection.
+
 ### Access console

 The console is a command line interface (CLI) that allows to interact with the drone, change parameters, and perform various actions. There are two ways of accessing the console: using **serial port** or using **QGroundControl (wirelessly)**.
@@ -95,7 +122,7 @@ To access the console using serial port:
 To access the console using QGroundControl:

 1. Connect to the drone using QGroundControl app.
-2. Go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*.
+2. Go to the QGroundControl menu ⇒ *Analyze Tools* ⇒ *MAVLink Console*.

 <img src="img/cli.png" width="400">

@@ -188,7 +215,7 @@ After this setup, you should see the battery voltage in QGroundControl top panel

 ## Setup remote control

-There are several ways to control the drone's flight: using **smartphone** (Wi-Fi), using **SBUS remote control**, or using **USB remote control** (Wi-Fi).
+There are several ways to control the drone's flight: using **smartphone** (Wi-Fi), using **SBUS remote control**, or using **USB remote control** (Wi-Fi/ESP-NOW).

 ### Control with a smartphone

@@ -233,7 +260,7 @@ If your drone doesn't have RC receiver installed, you can use USB remote control
 3. Power up the drone.
 4. Connect your computer to the appeared `flix` Wi-Fi network (password: `flixwifi`).
 5. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
-6. Go the the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate you USB remote control there.
+6. Go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate your USB remote control there.
 7. Use the USB remote control to fly the drone!

 ## Flight
@@ -323,13 +350,13 @@ To setup ESP-NOW communication:

 1. Flash the second ESP32 board with ESP-NOW proxy sketch: [`tools/espnow-proxy/espnow-proxy.ino`](../tools/espnow-proxy/espnow-proxy.ino). Use Arduino IDE or command line: `make upload_proxy`.

-2. Open Serial Monitor or use `make monitor` command. The ESP32 will print its MAC address and generated encryption key, for example:
+2. Open Serial Monitor in Arduino IDE or use `make monitor` command. The ESP32 will print its MAC address and generated encryption key, for example:

   ```
   espnow 7a:c8:e3:eb:bf:e9 &PiuSysxP9+$L&5E
   ```

-   Run this line as a console command on each drone you want to bind to this proxy board.
+   Run this line as a console command on each drone you want to bind to this proxy board. [The maximum number](https://github.com/espressif/esp-idf/blob/e95cab4be8fd293e3f3323181e7a2280874da6f7/components/esp_wifi/include/esp_now.h#L32-L33) of simultaneously connected drones is 20 (unencrypted) or 6 (encrypted).

 3. Set the `WIFI_MODE` parameter to `3` on the drone:

@@ -342,11 +369,14 @@ To setup ESP-NOW communication:
   * Type: Serial.
   * Serial Port: choose the port of the proxy ESP32 board, e. g. `/dev/cu.usbserial-0001`.
   * Baud Rate: 115200.
-5. Click *Save*. QGroundControl should connect to the drone using ESP-NOW and begin showing the telemetry.
+5. Click *Save*, click *Connect*. QGroundControl should connect to the drone using ESP-NOW and begin showing the telemetry.
+
+> [!TIP]
+> Make sure Arduino IDE is not running when using ESP-NOW proxy board, as it may block it.

 ## Flight log

-After the flight, you can download the flight log for analysis wirelessly. Use the following command on your computer for that:
+After the flight, you can download the flight log wirelessly for analysis. Use the following command on your computer for that:

 ```bash
 make log
@@ -4,6 +4,46 @@ This page contains user-built drones based on the Flix project. Publish your pro

 ---

+Author: Alican Erüst.<br>
+Description: QX95 mm frame, 55 mm propellers, 3.7 V 25C 1050 mAh LiPo battery, MPU6050 IMU, Logitech F310 gamepad controller, with a total quadcopter weight of 66 g.
+
+<img src="img/user/alicanerus/1.jpg" height=200> <img src="img/user/alicanerus/2.jpg" height=200> <img src="img/user/alicanerus/3.jpg" height=200>
+
+[Flight video](https://drive.google.com/file/d/1k0WeWTKnCAfaugkX7LcmNxsUuq79RL8Z/view?usp=sharing).
+
+---
+
+Author: [Неруш Михаил](https://t.me/NerushMV).<br>
+Description: custom frame made of 4 mm plywood, 8520 brushed motors, 75 mm propellers, MPU-6500. FlySky FS-i6X with ESP32-based adapter for ESP-NOW communication (using PPM output).<br>
+Sources and materials: [link](https://drive.google.com/drive/folders/1uWiDcuorLrtVs_IIR7Y13omij-7Q1nx8).
+
+<img src="img/user/nerush/1.jpg" height=200> <img src="img/user/nerush/2.jpg" height=200>
+
+[Flight video](https://drive.google.com/file/d/1jRXeGx34lJpUfw0GKLQeIzkWZvooQJSE/view?usp=sharing).
+
+---
+
+Author: [Konstantinos Paraskevas](https://github.com/Frapais).<br>
+Description: drone with a custom single-boarded airframe, extending the [Sprig-C3 module](https://github.com/Frapais/Sprig-C3).
+ESP32-C3 microcontroller, ICM-20948 IMU, on-board fuel-gauge, status LED indicator.<br>
+Repository with all the code and PCB sources: https://github.com/Frapais/Sprig-Drone.
+
+<img src="img/user/kostas/1.jpg" height=150> <img src="img/user/kostas/2.jpg" height=150>
+
+Detailed video about making the drone:
+
+<a href="https://youtu.be/82Q-uBq6s48"><img width=400 src="https://i3.ytimg.com/vi/82Q-uBq6s48/maxresdefault.jpg"></a>
+
+---
+
+Author: [Awab Anas](http://t.me/AW_VENOM).<br>
+Description: ESP32 D1 Mini, MPU-6050, 8520 3.7V brushed motors, 55 mm propellers, battery li-po 1200 mAh, controlling via [Mavlink Joystick app](https://github.com/goldarte/mavlink-joystick/releases/latest).<br>
+[Flight validation](https://drive.google.com/file/d/12z0jfctZDBA6b5UKCG0Uje5rAxj6DhF-/view?usp=sharing).
+
+<img src="img/user/aw_venom/1.jpg" height=200>
+
+---
+
 Author: [Ina Tix](https://t.me/ina_tix).<br>
 Description: XR2981 based DC-DC converter, ELRS MINI 2.4GHz RX SX1280 receiver (SBUS interface), Radiomaster TX12 remote control.<br>
 [Flight validation](https://drive.google.com/file/d/1yqkKNuz4R_yxGqUNQxVpixJbXqEEcUSj/view?usp=share_link).
@@ -57,6 +97,17 @@ Author: [goldarte](https://t.me/goldarte).<br>

 ---

+Author: [malagis](https://oshwhub.com/malagis).<br>
+
+A Chinese custom PCB version of Flix with a big community of users, lots of materials and modifications.
+
+Main project's page: https://oshwhub.com/malagis/esp32-mini-plane.<br>
+Video about the project: https://www.bilibili.com/video/BV14vyqBFEJn/.
+
+<img src="img/user/malagis/1.jpg" height=200> <img src="img/user/malagis/2.jpg" height=200> <img src="img/user/malagis/3.jpg" height=200>
+
+---
+
 ## School 548 course

 Special course on quadcopter design and engineering took place in october-november 2025 in School 548, Moscow. The course included UAV control theory, electronics, drone assembly and setup practice, using the Flix project.
@@ -6,10 +6,10 @@
 #include "pid.h"
 #include "vector.h"
 #include "util.h"
-#include "lpf.h"
+#include "filter.h"

 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
-extern const int RAW, ACRO, STAB, AUTO;
+extern const int RAW, ACRO, STAB, AUTO, POS;
 extern const int W_AP, W_STA, W_ESPNOW;
 extern float t, dt, loopRate;
 extern uint16_t channels[16];
@@ -31,33 +31,39 @@ const char* motd =
 "Commands:\n\n"
 "help - show help\n"
 "p - show all parameters\n"
-"p <name> - show parameter\n"
+"p <str> - show parameters starting with str\n"
 "p <name> <value> - set parameter\n"
 "preset - reset parameters\n"
 "time - show time info\n"
-"ps - show pitch/roll/yaw\n"
-"psq - show attitude quaternion\n"
 "imu - show IMU data\n"
+"ca - calibrate accel\n"
+"st - show state estimation\n"
 "arm - arm the drone\n"
 "disarm - disarm the drone\n"
 "raw/stab/acro/auto - set mode\n"
 "rc - show RC data\n"
+"cr - calibrate RC\n"
 "pw - show power info\n"
 "wifi - show Wi-Fi info\n"
-"ap <ssid> <password> - setup Wi-Fi access point\n"
-"sta <ssid> <password> - setup Wi-Fi client mode\n"
-"espnow <mac> [<key>] - setup ESP-NOW peer\n"
+"wifi ap/sta/espnow/off - set Wi-Fi mode\n"
+"ap <ssid> <password> - configure Wi-Fi access point\n"
+"sta <ssid> <password> - configure Wi-Fi client mode\n"
+"espnow <mac> [<key>] - configure ESP-NOW peer\n"
 "mot - show motor output\n"
+"mfr/mfl/mrr/mrl [<thrust>] - test motor (remove props)\n"
 "log [dump] - print log header [and data]\n"
-"cr - calibrate RC\n"
-"ca - calibrate accel\n"
-"mfr, mfl, mrr, mrl - test motor (remove props)\n"
+"log - show log info\n"
+"log header - show log header\n"
+"log reset - reset log\n"
+"log <name> <rate> - setup log topic rate\n"
+"l <str> - show log values starting with str\n"
+"l expose <name> - expose log value to telemetry\n"
 "sys - show system info\n"
 "reset - reset drone's state\n"
 "reboot - reboot the drone\n";

 void print(const char* format, ...) {
-	char buf[1000];
+	char buf[3000];
 	va_list args;
 	va_start(args, format);
 	vsnprintf(buf, sizeof(buf), format, args);
@@ -92,10 +98,8 @@ void doCommand(String str, bool echo = false) {
 	// execute command
 	if (command == "help" || command == "motd") {
 		print("%s\n", motd);
-	} else if (command == "p" && arg0 == "") {
-		printParameters();
-	} else if (command == "p" && arg0 != "" && arg1 == "") {
-		print("%s = %g\n", arg0.c_str(), getParameter(arg0.c_str()));
+	} else if (command == "p" && arg1 == "") {
+		printParameters(arg0.c_str());
 	} else if (command == "p") {
 		bool success = setParameter(arg0.c_str(), arg1.toFloat());
 		if (success) {
@@ -109,15 +113,15 @@ void doCommand(String str, bool echo = false) {
 		print("Time: %f\n", t);
 		print("Loop rate: %.0f\n", loopRate);
 		print("dt: %f\n", dt);
-	} else if (command == "ps") {
-		Vector a = attitude.toEuler();
-		print("roll: %f pitch: %f yaw: %f\n", degrees(a.x), degrees(a.y), degrees(a.z));
-	} else if (command == "psq") {
-		print("qw: %f qx: %f qy: %f qz: %f\n", attitude.w, attitude.x, attitude.y, attitude.z);
 	} else if (command == "imu") {
 		printIMUInfo();
 		printIMUCalibration();
 		print("landed: %d\n", landed);
+	} else if (command == "st") {
+		print("rates: %g %g %g\n", rates.x, rates.y, rates.z);
+		print("attitude: %g %g %g %g\n", attitude.w, attitude.x, attitude.y, attitude.z);
+		print("roll: %g° pitch: %g° yaw: %g°\n", degrees(attitude.getRoll()), degrees(attitude.getPitch()), degrees(attitude.getYaw()));
+		print("landed: %d\n", landed);
 	} else if (command == "arm") {
 		armed = true;
 	} else if (command == "disarm") {
@@ -130,6 +134,8 @@ void doCommand(String str, bool echo = false) {
 		mode = ACRO;
 	} else if (command == "auto") {
 		mode = AUTO;
+	} else if (command == "pos") {
+		mode = POS;
 	} else if (command == "rc") {
 		print("channels: ");
 		for (int i = 0; i < 16; i++) {
@@ -142,8 +148,10 @@ void doCommand(String str, bool echo = false) {
 		print("armed: %d\n", armed);
 	} else if (command == "pw") {
 		print("Voltage: %.1f V\n", voltage);
-	} else if (command == "wifi") {
+	} else if (command == "wifi" && arg0 == "") {
 		printWiFiInfo();
+	} else if (command == "wifi") {
+		setWiFiMode(arg0);
 	} else if (command == "ap") {
 		configWiFi(W_AP, arg0.c_str(), arg1.c_str());
 	} else if (command == "sta") {
@@ -153,29 +161,41 @@ void doCommand(String str, bool echo = false) {
 	} else if (command == "mot") {
 		print("front-right %g front-left %g rear-right %g rear-left %g\n",
 			motors[MOTOR_FRONT_RIGHT], motors[MOTOR_FRONT_LEFT], motors[MOTOR_REAR_RIGHT], motors[MOTOR_REAR_LEFT]);
-	} else if (command == "log") {
+	} else if (command == "log" && arg0 == "") {
+		printLogInfo();
+	} else if (command == "log" && arg1 != "") {
+		configLogThrottle(arg0.c_str(), arg1.toFloat());
+	} else if (command == "log" && arg0 == "header") {
 		printLogHeader();
-		if (arg0 == "dump") printLogData();
+	} else if (command == "log" && arg0 == "reset") {
+		resetLog();
+	} else if (command == "l" && arg0 == "expose" && arg1 != "") {
+		exposeLogValue(arg1.c_str());
+	} else if (command == "l") {
+		printLogValues(arg0.c_str());
 	} else if (command == "cr") {
 		calibrateRC();
 	} else if (command == "ca") {
 		calibrateAccel();
 	} else if (command == "mfr") {
-		testMotor(MOTOR_FRONT_RIGHT);
+		testMotor(MOTOR_FRONT_RIGHT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
 	} else if (command == "mfl") {
-		testMotor(MOTOR_FRONT_LEFT);
+		testMotor(MOTOR_FRONT_LEFT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
 	} else if (command == "mrr") {
-		testMotor(MOTOR_REAR_RIGHT);
+		testMotor(MOTOR_REAR_RIGHT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
 	} else if (command == "mrl") {
-		testMotor(MOTOR_REAR_LEFT);
+		testMotor(MOTOR_REAR_LEFT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
 	} else if (command == "sys") {
 #ifdef ESP32
 		print("Chip: %s\n", ESP.getChipModel());
 		print("Temperature: %.1f °C\n", temperatureRead());
-		print("Free heap: %d\n", ESP.getFreeHeap());
+		print("Total RAM: %d KB\n", ESP.getHeapSize() / 1024);
+		print("Free heap: %d KB\n", ESP.getFreeHeap() / 1024);
+		print("PSRAM: %d KB\n", ESP.getPsramSize() / 1024);
+		print("Free PSRAM: %d KB\n", ESP.getFreePsram() / 1024);
 		print("Firmware: " __DATE__ " " __TIME__ "\n");
 		// Print tasks table
-		print("Num  Task                Stack  Prio  Core  CPU%%\n");
+		print("Num  Task                MinSt  Prio  Core  CPU%%\n");
 		int taskCount = uxTaskGetNumberOfTasks();
 		TaskStatus_t *systemState = new TaskStatus_t[taskCount];
 		uint32_t totalRunTime;
@@ -209,7 +229,7 @@ void handleInput() {

 	while (Serial.available()) {
 		char c = Serial.read();
-		if (c == '\n') {
+		if (c == '\n' || c == '\r') {
 			doCommand(input);
 			input.clear();
 		} else {
@@ -6,7 +6,7 @@
 #include "vector.h"
 #include "quaternion.h"
 #include "pid.h"
-#include "lpf.h"
+#include "filter.h"
 #include "util.h"

 #define PITCHRATE_P 0.05
@@ -34,7 +34,7 @@
 #define TILT_MAX radians(30)
 #define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz

-const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes
+const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3, POS = 4;
 int mode = STAB;
 bool armed = false;

@@ -56,6 +56,7 @@ int flightModes[] = {STAB, STAB, STAB}; // map for rc mode switch

 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
 extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
+extern Vector position, positionTarget;

 void control() {
 	interpretControls();
@@ -79,7 +80,18 @@ void interpretControls() {

 	thrustTarget = controlThrottle;

-	if (mode == STAB) {
+	if (mode == POS) {
+		if (controlRoll != 0 || controlPitch != 0) {
+			positionTarget.x = NAN;
+			positionTarget.y = NAN;
+		} else if (invalid(positionTarget.x) || invalid(positionTarget.y)) {
+			// reset position target
+			positionTarget.x = position.x;
+			positionTarget.y = position.y;
+		}
+	}
+
+	if (mode == STAB || (mode == POS && invalid(positionTarget.x))) {
 		float yawTarget = attitudeTarget.getYaw();
 		if (!armed || invalid(yawTarget) || controlYaw != 0) yawTarget = attitude.getYaw(); // reset yaw target
 		attitudeTarget = Quaternion::fromEuler(Vector(controlRoll * tiltMax, controlPitch * tiltMax, yawTarget));
@@ -149,6 +161,7 @@ void controlTorque() {
 	motors[MOTOR_REAR_LEFT] = thrustTarget + torqueTarget.x + torqueTarget.y - torqueTarget.z;
 	motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.x + torqueTarget.y + torqueTarget.z;

+	// Prioritize angle control over thrust control
 	desaturate(motors[MOTOR_FRONT_LEFT], motors[MOTOR_FRONT_RIGHT], motors[MOTOR_REAR_LEFT], motors[MOTOR_REAR_RIGHT]);

 	motors[0] = constrain(motors[0], 0, 1);
@@ -5,7 +5,7 @@

 #include "quaternion.h"
 #include "vector.h"
-#include "lpf.h"
+#include "filter.h"
 #include "util.h"

 Vector rates; // estimated angular rates, rad/s
@@ -15,16 +15,24 @@ bool landed;
 float accWeight = 0.003;
 float levelWeight = 0.0002;
 LowPassFilter<Vector> ratesFilter(0.2); // cutoff frequency ~ 40 Hz
+NotchFilter<Vector> ratesNotch(382, 0);
+
+void setupEstimate() {
+	print("Setup estimation\n");
+	ratesNotch.reset();
+}

 void estimate() {
 	applyGyro();
 	applyAcc();
 	applyLevel();
+	estimatePosition();
 }

 void applyGyro() {
 	// filter gyro to get angular rates
 	rates = ratesFilter.update(gyro);
+	rates = ratesNotch.update(rates);

 	// apply rates to attitude
 	attitude = Quaternion::rotate(attitude, Quaternion::fromRotationVector(rates * dt));
@@ -32,8 +40,7 @@ void applyGyro() {

 void applyAcc() {
 	// test should we apply accelerometer gravity correction
-	float accNorm = acc.norm();
-	landed = !motorsActive() && abs(accNorm - ONE_G) < ONE_G * 0.1f;
+	landed = !motorsActive() && abs(acc.norm() - ONE_G) < ONE_G * 0.1f;

 	if (!landed) return;

@@ -47,6 +54,7 @@ void applyAcc() {

 void applyLevel() {
 	if (landed) return;
+	if (thrustTarget < 0.1) return; // skip at idle thrust

 	// assume the pilot keeps the drone more or less level in flight
 	Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude);
@@ -0,0 +1,98 @@
+// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
+// Repository: https://github.com/okalachev/flix
+
+// Low pass and notch filters
+
+#pragma once
+
+template <typename T> // Using template to make the filter usable for scalar and vector values
+class LowPassFilter {
+public:
+	float alpha; // smoothing constant, 1 means filter disabled
+	T output;
+
+	LowPassFilter(float alpha): alpha(alpha) {};
+
+	T update(const T input) {
+		if (!init) {
+			init = true;
+			return output = input;
+		}
+		return output += alpha * (input - output);
+	}
+
+	void setCutOffFrequency(float cutOffFreq, float dt) {
+		alpha = 1 - exp(-2 * PI * cutOffFreq * dt);
+	}
+
+	void reset() {
+		init = false;
+	}
+
+private:
+	bool init = false;
+};
+
+template <typename T>
+class NotchFilter {
+public:
+	float frequency;
+	float bandwidth;
+	T output;
+
+	NotchFilter(float frequency, float bandwidth): frequency(frequency), bandwidth(bandwidth) {
+		reset();
+	};
+
+	T update(const T input) {
+		if (frequency <= 0 || bandwidth <= 0) return input;
+
+		if (!init) {
+			init = true;
+			x1 = x2 = input;
+			y1 = y2 = input;
+			return output = input;
+		}
+
+		output = b0 * input + b1 * x1 + b2 * x2 - a1 * y1 - a2 * y2;
+
+		x2 = x1;
+		x1 = input;
+		y2 = y1;
+		y1 = output;
+
+		return output;
+	}
+
+	void reset() {
+		const float dt = 0.001f;
+		float f = frequency;
+		float bw = bandwidth;
+		if (f < 0) f = 0;
+		if (bw < 1e-6f) bw = 1e-6f;
+
+		float q = f / bw;
+		if (q < 1e-3f) q = 1e-3f;
+
+		const float w0 = 2.0f * PI * f * dt;
+		const float c = cos(w0);
+		const float s = sin(w0);
+		const float alpha = s / (2.0f * q);
+
+		const float a0 = 1.0f + alpha;
+		const float invA0 = 1.0f / a0;
+
+		b0 = 1.0f * invA0;
+		b1 = -2.0f * c * invA0;
+		b2 = 1.0f * invA0;
+		a1 = -2.0f * c * invA0;
+		a2 = (1.0f - alpha) * invA0;
+
+		init = false;
+	}
+
+private:
+	float b0, b1, b2, a1, a2;
+	T x1, x2, y1, y2;
+	bool init = false;
+};
@@ -17,7 +17,7 @@ extern float motors[4];

 void setup() {
 	Serial.begin(115200);
-	print("Initializing flix\n");
+	print("Initializing Flix\n");
 	setupParameters();
 	setupPower();
 	setupLED();
@@ -26,6 +26,8 @@ void setup() {
 	setupWiFi();
 	setupIMU();
 	setupRC();
+	setupEstimate();
+	setupLog();
 	setLED(false);
 	print("Initializing complete\n");
 }
@@ -40,6 +42,6 @@ void loop() {
 	handleInput();
 	processMavlink();
 	readVoltage();
-	logData();
+	loopLog();
 	syncParameters();
 }
@@ -6,7 +6,7 @@
 #include <SPI.h>
 #include <FlixPeriph.h>
 #include "vector.h"
-#include "lpf.h"
+#include "filter.h"
 #include "util.h"

 MPU9250 imu(SPI);
@@ -40,10 +40,12 @@ void readIMU() {
 	imu.getGyro(gyro.x, gyro.y, gyro.z);
 	imu.getAccel(acc.x, acc.y, acc.z);
 	calibrateGyroOnce();
-	// apply scale and bias
+
+	// Apply scale and bias
 	acc = (acc - accBias) / accScale;
 	gyro = gyro - gyroBias;
-	// rotate to body frame
+
+	// Rotate to body frame
 	Quaternion rotation = Quaternion::fromEuler(imuRotation);
 	acc = Quaternion::rotateVector(acc, rotation.inversed());
 	gyro = Quaternion::rotateVector(gyro, rotation.inversed());
@@ -52,6 +54,7 @@ void readIMU() {
 void calibrateGyroOnce() {
 	static Delay landedDelay(2);
 	if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary
+
 	gyroBias = gyroBiasFilter.update(gyro);
 }

@@ -105,6 +108,7 @@ void calibrateAccelOnce() {
 	if (acc.x < accMin.x) accMin.x = acc.x;
 	if (acc.y < accMin.y) accMin.y = acc.y;
 	if (acc.z < accMin.z) accMin.z = acc.z;
+
 	// Compute scale and bias
 	accScale = (accMax - accMin) / 2 / ONE_G;
 	accBias = (accMax + accMin) / 2;
@@ -121,6 +125,7 @@ void printIMUInfo() {
 	print("model: %s\n", imu.getModel());
 	print("who am I: 0x%02X\n", imu.whoAmI());
 	print("rate: %.0f\n", loopRate);
+	print("temperature: %.1f °C\n", imu.getTemp());
 	print("gyro: %f %f %f\n", gyro.x, gyro.y, gyro.z);
 	print("acc: %f %f %f\n", acc.x, acc.y, acc.z);
 	imu.waitForData();
@@ -1,77 +1,277 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix

-// In-RAM logging
+// Logging subsystem

 #include "vector.h"
 #include "util.h"

-#define LOG_RATE 100
-#define LOG_DURATION 10
-#define LOG_SIZE LOG_DURATION * LOG_RATE
+int logMemory = -1; // 0 - RAM, 1 - PSRAM, -1 - disabled
+float logUsage = 0.5; // fraction of free memory to use for log

-Vector attitudeEuler;
-Vector attitudeTargetEuler;
-
-struct LogEntry {
+struct LogValue {
 	const char *name;
-	float *value;
+	Value value;
+	float lastValue = NAN;
+	bool logged = true; // if false, use only for triggering log update
+	LogValue() : name(nullptr), value() {}; // empty value constructor
+	template <typename T>
+	LogValue(const char *name, T value, bool logged = true) : name(name), value(value), logged(logged) {};
 };

-LogEntry logEntries[] = {
-	{"t", &t},
+struct LogTopic {
+	LogValue values[10];
+	int length = 0; // number of logged values
+	float throttle; // max update rate, Hz
+	float lastUpdate = -INFINITY;
+
+	LogTopic(float throttle, LogValue v0, LogValue v1 = {}, LogValue v2 = {}, LogValue v3 = {}, LogValue v4 = {}, LogValue v5 = {}, LogValue v6 = {}, LogValue v7 = {}, LogValue v8 = {}, LogValue v9 = {}) :
+		throttle(throttle), values{v0, v1, v2, v3, v4, v5, v6, v7, v8, v9} {
+			// Count logged values
+			for (auto& v : values) {
+				if (v.name == nullptr) break;
+				if (v.logged) length++;
+			}
+		};
+
+	LogTopic(LogValue v0, LogValue v1 = {}, LogValue v2 = {}, LogValue v3 = {}, LogValue v4 = {}, LogValue v5 = {}, LogValue v6 = {}, LogValue v7 = {}, LogValue v8 = {}, LogValue v9 = {}) :
+		LogTopic(INFINITY, v0, v1, v2, v3, v4, v5, v6, v7, v8, v9) {};
+};
+
+LogTopic logTopics[] = {
+	// time
+	LogTopic({"t", &t}), // must be the first topic
+	LogTopic(1, {"loopRate", &loopRate}),
+
+	// imu
+	LogTopic(
+		{"gyro.x", &gyro.x},
+		{"gyro.y", &gyro.y},
+		{"gyro.z", &gyro.z}),
+
+	LogTopic(50,
+		{"acc.x", &acc.x},
+		{"acc.y", &acc.y},
+		{"acc.z", &acc.z}),
+
+	LogTopic(10,
+		{"gyroBias.x", &gyroBias.x},
+		{"gyroBias.y", &gyroBias.y},
+		{"gyroBias.z", &gyroBias.z}),
+
+	// estimation
+	LogTopic(50,
 		{"rates.x", &rates.x},
 		{"rates.y", &rates.y},
 		{"rates.z", &rates.z},
+		{"attitude.roll", []() { return attitude.getRoll(); }},
+		{"attitude.pitch", []() { return attitude.getPitch(); }},
+		{"attitude.yaw", []() { return attitude.getYaw(); }}),
+
+	LogTopic(50,
+		{"position.x", &position.x},
+		{"position.y", &position.y},
+		{"position.z", &position.z}),
+
+	// rc
+	LogTopic(10,
+		{"controlTime", &controlTime, false}, // trigger value
+		{"controlRoll", &controlRoll},
+		{"controlPitch", &controlPitch},
+		{"controlYaw", &controlYaw},
+		{"controlThrottle", &controlThrottle}),
+
+	// control
+	LogTopic({"armed", &armed}),
+	LogTopic({"mode", &mode}),
+
+	LogTopic(10,
 		{"ratesTarget.x", &ratesTarget.x},
 		{"ratesTarget.y", &ratesTarget.y},
 		{"ratesTarget.z", &ratesTarget.z},
-	{"attitude.x", &attitudeEuler.x},
-	{"attitude.y", &attitudeEuler.y},
-	{"attitude.z", &attitudeEuler.z},
-	{"attitudeTarget.x", &attitudeTargetEuler.x},
-	{"attitudeTarget.y", &attitudeTargetEuler.y},
-	{"attitudeTarget.z", &attitudeTargetEuler.z},
-	{"thrustTarget", &thrustTarget}
+		{"attitudeTarget.roll", []() { return attitudeTarget.getRoll(); }},
+		{"attitudeTarget.pitch", []() { return attitudeTarget.getPitch(); }},
+		{"attitudeTarget.yaw", []() { return attitudeTarget.getYaw(); }},
+		{"thrustTarget", &thrustTarget}),
+
+	// motors
+	LogTopic(
+		{"motors[0]", &motors[0]},
+		{"motors[1]", &motors[1]},
+		{"motors[2]", &motors[2]},
+		{"motors[3]", &motors[3]}),
+
+	// misc
+	LogTopic(5,
+		{"voltage", &voltage},
+		{"temp", &temperatureRead},
+		{"imuTemp", []() { return imu.getTemp(); }}),
 };

-const int logColumns = sizeof(logEntries) / sizeof(logEntries[0]);
-float logBuffer[LOG_SIZE][logColumns];
+void *logBuffer; // buffer for log data
+size_t logCapacity;
+size_t logCursor = 0;
+size_t logLength = 0;
+LogValue *logExposed = nullptr; // log values exposed to telemetry

-void prepareLogData() {
-	attitudeEuler = attitude.toEuler();
-	attitudeTargetEuler = attitudeTarget.toEuler();
+void setupLog() {
+	print("Setup log\n");
+
+	free(logBuffer); // when reconfiguring
+	logBuffer = nullptr;
+	logCursor = 0;
+	logLength = 0;
+
+	if (logMemory == 0) {
+		logCapacity = ESP.getFreeHeap() * logUsage;
+		logBuffer = (uint8_t *)calloc(logCapacity, 1);
+	} else if (logMemory == 1) {
+		logCapacity = ESP.getFreePsram() * logUsage;
+		logBuffer = (uint8_t *)heap_caps_calloc(logCapacity, 1, MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
+	}
 }

-void logData() {
-	if (!armed) return;
-	static int logPointer = 0;
-	static Rate period(LOG_RATE);
-	if (!period) return;
+void loopLog() {
+	if (logBuffer == nullptr || !armed) return;

-	prepareLogData();
+	if (!logLength) resetLog(); // reset state on first log write

-	for (int i = 0; i < logColumns; i++) {
-		logBuffer[logPointer][i] = *logEntries[i].value;
+	static Rate sync(2);
+	if (sync) {
+		const uint8_t marker[] = {0x1A, 0x91, 0x4F, 0xF6, 0x7F};
+		writeLog(&marker, sizeof(marker)); // write sync marker
 	}

-	logPointer++;
-	if (logPointer >= LOG_SIZE) {
-		logPointer = 0;
+	for (uint8_t i = 0; i < sizeof(logTopics) / sizeof(logTopics[0]); i++) {
+		LogTopic& topic = logTopics[i];
+		if (t - topic.lastUpdate < 1 / topic.throttle) continue; // throttle topic
+		if (!isTopicUpdated(i)) continue; // skip if topic was't updated
+
+		topic.lastUpdate = t;
+		writeLog(&i, sizeof(i)); // write topic index
+
+		for (auto& value : topic.values) {
+			if (value.name == nullptr) break;
+			if (!value.logged) continue;
+			value.lastValue = value.value.get();
+			writeLog(&value.lastValue, sizeof(float)); // write value
 		}
 	}
+}
+
+void resetLog() {
+	for (auto& topic : logTopics) {
+		topic.lastUpdate = -INFINITY;
+		for (auto& value : topic.values) {
+			value.lastValue = NAN;
+		}
+	}
+	logCursor = 0;
+	logLength = 0;
+}
+
+void writeLog(const void *data, size_t size) {
+	size_t first = min(size, logCapacity - logCursor);
+	size_t second = size - first;
+	memcpy(logBuffer + logCursor, data, first);
+	logCursor = (logCursor + first) % logCapacity;
+	if (second > 0) {
+		memcpy(logBuffer + logCursor, data + first, second);
+		logCursor = (logCursor + second) % logCapacity;
+	}
+	logLength = min(logLength + size, logCapacity);
+}
+
+void readLog(void *data, size_t position, size_t size) {
+	if (logLength == logCapacity) {
+		position = (logCursor + position) % logCapacity;
+	}
+	size_t first = min(size, logCapacity - position);
+	size_t second = size - first;
+	memcpy(data, logBuffer + position, first);
+	if (second > 0) {
+		memcpy(data + first, logBuffer, second);
+	}
+}
+
+bool isTopicUpdated(const uint8_t topic) {
+	LogTopic& logTopic = logTopics[topic];
+	bool updated = false;
+
+	for (auto& value : logTopic.values) {
+		if (value.name == nullptr) break;
+		float v = value.value.get();
+		if (!floatEquals(value.lastValue, v)) {
+			value.lastValue = v;
+			updated = true;
+		}
+	}
+	return updated;
+}
+
+void printLogInfo() {
+	if (logMemory == -1) return print("Log: disabled\n");
+
+	print("Memory: %s\n", logMemory == 0 ? "RAM" : "PSRAM");
+	print("Usage: %.f%%\n", logUsage * 100);
+	print("Capacity: %u bytes\n", (unsigned)logCapacity);
+	print("Used: %u bytes\n", (unsigned)logLength);
+	print("Estimated duration: %d seconds\n", estimateLogDuration());
+}
+
+int estimateLogDuration() {
+	float bandwidth = 0;
+	for (LogTopic& topic : logTopics) {
+		float rate = isinf(topic.throttle) ? loopRate : topic.throttle;
+		bandwidth += rate * topic.length * sizeof(float);
+	}
+	return logCapacity / bandwidth;
+}

 void printLogHeader() {
-	for (int i = 0; i < logColumns; i++) {
-		print("%s%s", logEntries[i].name, i < logColumns - 1 ? "," : "\n");
+	int i = 0;
+	for (auto& topic : logTopics) {
+		print("Topic #%d (%g Hz):\n", i++, topic.throttle);
+		for (auto& value : topic.values) {
+			if (value.name == nullptr) break;
+			print("  %s%s\n", value.name, value.logged ?"" : " (not logged)");
+		}
 	}
 }

-void printLogData() {
-	for (int i = 0; i < LOG_SIZE; i++) {
-		if (logBuffer[i][0] == 0) continue; // skip empty records
-		for (int j = 0; j < logColumns; j++) {
-			print("%g%s", logBuffer[i][j], j < logColumns - 1 ? "," : "\n");
+void printLogValues(const char *filter) {
+	for (LogTopic& topic : logTopics) {
+		for (LogValue& value : topic.values) {
+			if (value.name == nullptr) break;
+			if (strncasecmp(value.name, filter, strlen(filter))) continue;
+			print("%s = %g\n", value.name, value.value.get());
 		}
 	}
 }
+
+void configLogThrottle(const char *name, float throttle) {
+	for (LogTopic& topic : logTopics) {
+		for (LogValue& value : topic.values) {
+			if (value.name == nullptr) break;
+			if (strcasecmp(value.name, name) != 0) continue;
+			topic.throttle = throttle;
+			print("Log throttle for %s set to %.1f Hz\n", name, throttle);
+			return;
+		}
+	}
+	print("Log value not found: %s\n", name);
+}
+
+void exposeLogValue(const char *name) {
+	for (int i = 0; i < sizeof(logTopics) / sizeof(logTopics[0]); i++) {
+		LogTopic& topic = logTopics[i];
+		for (LogValue& value : topic.values) {
+			if (value.name == nullptr) break;
+			if (strcasecmp(value.name, name) != 0) continue;
+			logExposed = &value;
+			print("Log value %s exposed\n", name);
+			return;
+		}
+	}
+	print("Log value not found: %s\n", name);
+}
@@ -1,34 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Low pass filter implementation
-
-#pragma once
-
-template <typename T> // Using template to make the filter usable for scalar and vector values
-class LowPassFilter {
-public:
-	float alpha; // smoothing constant, 1 means filter disabled
-	T output;
-
-	LowPassFilter(float alpha): alpha(alpha) {};
-
-	T update(const T input) {
-		if (!init) {
-			init = true;
-			return output = input;
-		}
-		return output += alpha * (input - output);
-	}
-
-	void setCutOffFrequency(float cutOffFreq, float dt) {
-		alpha = 1 - exp(-2 * PI * cutOffFreq * dt);
-	}
-
-	void reset() {
-		init = false;
-	}
-
-private:
-	bool init = false;
-};
@@ -10,8 +10,13 @@ extern float controlTime;
 extern float voltage;

 int mavlinkSysId = 1;
-Rate telemetryFast(10);
+
 Rate telemetrySlow(2);
+Rate telemetryAttitude(20);
+Rate telemetryRC(10);
+Rate telemetryMotors(10);
+Rate telemetryIMU(15);
+Rate telemetryTopic(10);

 bool mavlinkConnected = false;
 String mavlinkPrintBuffer;
@@ -34,42 +39,58 @@ void sendMavlink() {
 			((mode == AUTO) ? MAV_MODE_FLAG_AUTO_ENABLED : MAV_MODE_FLAG_MANUAL_INPUT_ENABLED),
 			mode, MAV_STATE_STANDBY);
 		sendMessage(&msg);
+	}

 	if (!mavlinkConnected) return; // send only heartbeat until connected

+	if (telemetrySlow) {
 		mavlink_msg_extended_sys_state_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
 			MAV_VTOL_STATE_UNDEFINED, landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR);
 		sendMessage(&msg);
+	}

-		uint16_t voltages[] = {voltage * 1000, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX};
+	if (telemetrySlow && valid(voltage)) {
+		uint16_t voltages[] = {(uint16_t)(voltage * 1000), UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX};
 		uint16_t voltagesExt[] = {0, 0, 0, 0};
 		float remaining = constrain(mapf(voltage, 3.4, 4.2, 0, 1), 0, 1);
 		mavlink_msg_battery_status_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, MAV_BATTERY_FUNCTION_ALL,
 			MAV_BATTERY_TYPE_LIPO, INT16_MAX, voltages, -1, -1, -1, remaining * 100, 0, MAV_BATTERY_CHARGE_STATE_OK, voltagesExt, 0, 0);
-		if (valid(voltage)) sendMessage(&msg);
+		sendMessage(&msg);
 	}

-	if (telemetryFast && mavlinkConnected) {
+	if (telemetryAttitude) {
 		const float offset[] = {0, 0, 0, 0};
 		mavlink_msg_attitude_quaternion_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
 			time, attitude.w, attitude.x, -attitude.y, -attitude.z, rates.x, -rates.y, -rates.z, offset); // convert to frd
 		sendMessage(&msg);
+	}

+	if (telemetryRC && channels[0]) { // 0 means no RC input
 		mavlink_msg_rc_channels_raw_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0,
 			channels[0], channels[1], channels[2], channels[3], channels[4], channels[5], channels[6], channels[7], UINT8_MAX);
-		if (channels[0] != 0) sendMessage(&msg); // 0 means no RC input
+		sendMessage(&msg);
+	}

+	if (telemetryMotors) {
 		float controls[8];
 		memcpy(controls, motors, sizeof(motors));
 		mavlink_msg_actuator_control_target_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time, 0, controls);
 		sendMessage(&msg);
+	}

+	if (telemetryIMU) {
 		mavlink_msg_scaled_imu_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time,
 			acc.x / ONE_G * 1000, -acc.y / ONE_G * 1000, -acc.z / ONE_G * 1000, // convert to frd
 			gyro.x * 1000, -gyro.y * 1000, -gyro.z * 1000,
 			0, 0, 0, 0);
 		sendMessage(&msg);
 	}
+
+	if (telemetryTopic && logExposed != nullptr) {
+		mavlink_msg_named_value_float_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
+			time, logExposed->name, logExposed->value.get());
+		sendMessage(&msg);
+	}
 }

 void sendMessage(const void *msg) {
@@ -78,16 +99,36 @@ void sendMessage(const void *msg) {
 	sendWiFi(buf, len);
 }

+static uint8_t mavlinkBatch[ESP_NOW_MAX_DATA_LEN_V2];
+static int mavlinkBatchSize = 0;
+
+void batchMessage(const void *msg) {
+	uint8_t buf[MAVLINK_MAX_PACKET_LEN];
+	int len = mavlink_msg_to_send_buffer(buf, (mavlink_message_t *)msg);
+
+	if (mavlinkBatchSize + len > sizeof(mavlinkBatch)) {
+		sendWiFi(mavlinkBatch, mavlinkBatchSize);
+		mavlinkBatchSize = 0;
+	}
+	memcpy(mavlinkBatch + mavlinkBatchSize, buf, len);
+	mavlinkBatchSize += len;
+}
+
+void flushBatchMessages() {
+	sendWiFi(mavlinkBatch, mavlinkBatchSize);
+	mavlinkBatchSize = 0;
+}
+
 void receiveMavlink() {
 	uint8_t buf[MAVLINK_MAX_PACKET_LEN];
 	int len = receiveWiFi(buf, MAVLINK_MAX_PACKET_LEN);
-	if (len) mavlinkConnected = true;

 	// New packet, parse it
 	mavlink_message_t msg;
 	mavlink_status_t status;
 	for (int i = 0; i < len; i++) {
 		if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status)) {
+			mavlinkConnected = true;
 			handleMavlink(&msg);
 		}
 	}
@@ -155,6 +196,13 @@ void handleMavlink(const void *_msg) {
 		sendMessage(&msg);
 	}

+	if (msg.msgid == MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE) {
+		mavlink_vision_position_estimate_t m;
+		mavlink_msg_vision_position_estimate_decode(&msg, &m);
+		Vector pos(m.x, m.y, m.z);
+		correctPosition(pos);
+	}
+
 	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);
@@ -182,18 +230,24 @@ void handleMavlink(const void *_msg) {
 		mavlink_msg_set_attitude_target_decode(&msg, &m);
 		if (m.target_system && m.target_system != mavlinkSysId) 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;
+		if (!(m.type_mask & ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE)) {
+			// Attitude control
 			attitudeTarget.w = m.q[0];
 			attitudeTarget.x = m.q[1];
 			attitudeTarget.y = -m.q[2];
 			attitudeTarget.z = -m.q[3];
-		thrustTarget = m.thrust;
-		ratesExtra = Vector(0, 0, 0);
+			ratesExtra.x = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE ? 0 : m.body_roll_rate;
+			ratesExtra.y = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE ? 0 : -m.body_pitch_rate; // convert to flu
+			ratesExtra.z = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE ? 0 : -m.body_yaw_rate;
+		} else {
+			// Rates control
+			attitudeTarget.invalidate();
+			ratesTarget.x = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE ? ratesTarget.x : m.body_roll_rate;
+			ratesTarget.y = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE ? ratesTarget.y : -m.body_pitch_rate;
+			ratesTarget.z = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE ? ratesTarget.z : -m.body_yaw_rate;
+		}

-		if (m.type_mask & ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE) attitudeTarget.invalidate();
+		thrustTarget = valid(m.thrust) ? m.thrust : thrustTarget;
 		armed = m.thrust > 0;
 	}

@@ -211,18 +265,29 @@ void handleMavlink(const void *_msg) {
 		armed = motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0;
 	}

+	if (msg.msgid == MAVLINK_MSG_ID_LOG_REQUEST_LIST) {
+		const uint32_t qgcEpoch = 1262304000; // qgc accepts only timestamps after 2010-01-01
+		mavlink_message_t response;
+		mavlink_msg_log_entry_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &response,
+			0, 1, 0, qgcEpoch + t * 60, logLength); // put fake unique date to make qgc happy with saving logs
+		sendMessage(&response);
+	}
+
 	if (msg.msgid == MAVLINK_MSG_ID_LOG_REQUEST_DATA) {
 		mavlink_log_request_data_t m;
 		mavlink_msg_log_request_data_decode(&msg, &m);
 		if (m.target_system && m.target_system != mavlinkSysId) return;

-		// Send all log records
-		for (int i = 0; i < sizeof(logBuffer) / sizeof(logBuffer[0]); i++) {
-			mavlink_message_t msg;
-			mavlink_msg_log_data_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, i,
-				sizeof(logBuffer[0]), (uint8_t *)logBuffer[i]);
-			sendMessage(&msg);
+		for (int i = 0; i < m.count; i += MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN) {
+			int chunkSize = min(MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN, (int)(m.count - i));
+			mavlink_message_t response;
+			uint8_t data[MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN];
+			readLog(data, m.ofs + i, chunkSize);
+			mavlink_msg_log_data_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &response,
+				m.id, m.ofs + i, chunkSize, data);
+			batchMessage(&response);
 		}
+		flushBatchMessages();
 	}

 	// Handle commands
@@ -241,7 +306,7 @@ void handleMavlink(const void *_msg) {
 		}

 		if (m.command == MAV_CMD_COMPONENT_ARM_DISARM) {
-			if (m.param1 && controlThrottle > 0.05) return; // don't arm if throttle is not low
+			if (m.param1 == 1 && controlThrottle > 0.05) return; // don't arm if throttle is not low
 			accepted = true;
 			armed = m.param1 == 1;
 		}
@@ -7,37 +7,36 @@

 float motors[4]; // normalized motor thrusts in range [0..1]

-int motorPins[4] = {12, 13, 14, 15}; // default pin numbers
+int motorPins[4] = {-1, -1, -1, -1}; // 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;
-const int MOTOR_FRONT_LEFT = 3;
+const int MOTOR_REAR_LEFT = 0, MOTOR_REAR_RIGHT = 1, MOTOR_FRONT_RIGHT = 2, MOTOR_FRONT_LEFT = 3;

 void setupMotors() {
-	print("Setup Motors\n");
-	// configure pins
+	print("Setup motors\n");
+	// Configure pins
 	for (int i = 0; i < 4; i++) {
+		if (motorPins[i] < 0) continue; // skip unassigned motors
 		ledcAttach(motorPins[i], pwmFrequency, pwmResolution);
 		pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // when reconfiguring
 	}
 	sendMotors();
-	print("Motors initialized\n");
 }

 void sendMotors() {
 	for (int i = 0; i < 4; i++) {
+		if (motorPins[i] < 0) continue; // skip unassigned motors
 		ledcWrite(motorPins[i], getDutyCycle(motors[i]));
 	}
 }

 int getDutyCycle(float value) {
 	value = constrain(value, 0, 1);
+
 	if (pwmMax >= 0) { // pwm mode
 		float pwm = mapf(value, 0, 1, pwmMin, pwmMax);
 		if (value == 0) pwm = pwmStop;
@@ -52,9 +51,9 @@ bool motorsActive() {
 	return motors[0] != 0 || motors[1] != 0 || motors[2] != 0 || motors[3] != 0;
 }

-void testMotor(int n) {
+void testMotor(int n, float thrust) {
 	print("Testing motor %d\n", n);
-	motors[n] = 0.2;
+	motors[n] = thrust;
 	delay(50); // ESP32 may need to wait until the end of the current cycle to change duty https://github.com/espressif/arduino-esp32/issues/5306
 	sendMotors();
 	pause(3);
@@ -5,16 +5,16 @@

 #include <Preferences.h>
 #include "util.h"
+#include "pid.h"

-extern int channelZero[16];
-extern int channelMax[16];
+extern int channelZero[16], channelMax[16];
 extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
-extern int rcRxPin;
+extern int rcRxPin, voltagePin;
 extern int wifiMode, wifiLongRange, udpLocalPort, udpRemotePort, espnowChannel;
-extern float rcLossTimeout, descendTime;
-extern int voltagePin;
+extern float rcLossTimeout, descendTime, disarmTilt;
 extern float voltageScale;
 extern LowPassFilter<float> voltageFilter;
+extern PID posX_PID, posY_PID;

 Preferences storage;

@@ -22,6 +22,7 @@ struct Parameter {
 	const char *name; // max length is 15
 	bool integer;
 	union { float *f; int *i; }; // pointer to the variable
+	float inital; // default value
 	float cache; // what's stored in flash
 	void (*callback)(); // called after parameter change
 	Parameter(const char *name, float *variable, void (*callback)() = nullptr) : name(name), integer(false), f(variable), callback(callback) {};
@@ -60,6 +61,12 @@ Parameter parameters[] = {
 	{"CTL_FLT_MODE_0", &flightModes[0]},
 	{"CTL_FLT_MODE_1", &flightModes[1]},
 	{"CTL_FLT_MODE_2", &flightModes[2]},
+	// position
+	{"POS_XY_P", &posX_PID.p, setupPosition},
+	{"POS_XY_I", &posX_PID.i, setupPosition},
+	{"POS_XY_D", &posX_PID.d, setupPosition},
+	{"POS_XY_WU", &posX_PID.windup, setupPosition},
+	{"POS_XY_D_A", &posX_PID.lpf.alpha, setupPosition},
 	// imu
 	{"IMU_ROT_ROLL", &imuRotation.x},
 	{"IMU_ROT_PITCH", &imuRotation.y},
@@ -75,6 +82,8 @@ Parameter parameters[] = {
 	{"EST_ACC_WEIGHT", &accWeight},
 	{"EST_LVL_WEIGHT", &levelWeight},
 	{"EST_RATES_LPF_A", &ratesFilter.alpha},
+	{"EST_RATES_NF_F", &ratesNotch.frequency, setupEstimate},
+	{"EST_RATES_NF_BW", &ratesNotch.bandwidth, setupEstimate},
 	// motors
 	{"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT], setupMotors},
 	{"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT], setupMotors},
@@ -118,7 +127,26 @@ Parameter parameters[] = {
 	// mavlink
 	{"MAV_SYS_ID", &mavlinkSysId},
 	{"MAV_RATE_SLOW", &telemetrySlow.rate},
-	{"MAV_RATE_FAST", &telemetryFast.rate},
+	{"MAV_RATE_ATT", &telemetryAttitude.rate},
+	{"MAV_RATE_RC", &telemetryRC.rate},
+	{"MAV_RATE_MOT", &telemetryMotors.rate},
+	{"MAV_RATE_IMU", &telemetryIMU.rate},
+	{"MAV_RATE_TOPIC", &telemetryTopic.rate},
+	// log
+	{"LOG_MEMORY", &logMemory, setupLog},
+	{"LOG_USAGE", &logUsage, setupLog},
+	{"LOG_RATE_000", &logTopics[0].throttle},
+	{"LOG_RATE_001", &logTopics[1].throttle},
+	{"LOG_RATE_002", &logTopics[2].throttle},
+	{"LOG_RATE_003", &logTopics[3].throttle},
+	{"LOG_RATE_004", &logTopics[4].throttle},
+	{"LOG_RATE_005", &logTopics[5].throttle},
+	{"LOG_RATE_006", &logTopics[6].throttle},
+	{"LOG_RATE_007", &logTopics[7].throttle},
+	{"LOG_RATE_008", &logTopics[8].throttle},
+	{"LOG_RATE_009", &logTopics[9].throttle},
+	{"LOG_RATE_010", &logTopics[10].throttle},
+	{"LOG_RATE_011", &logTopics[11].throttle},
 	// power
 	{"PWR_VOLT_PIN", &voltagePin, setupPower},
 	{"PWR_VOLT_SCALE", &voltageScale},
@@ -126,6 +154,7 @@ Parameter parameters[] = {
 	// safety
 	{"SF_RC_LOSS_TIME", &rcLossTimeout},
 	{"SF_DESCEND_TIME", &descendTime},
+	{"SF_DISARM_TILT", &disarmTilt}
 };

 void setupParameters() {
@@ -133,10 +162,10 @@ void setupParameters() {
 	storage.begin("flix");
 	// Read parameters from storage
 	for (auto &parameter : parameters) {
-		if (!storage.isKey(parameter.name)) {
-			storage.putFloat(parameter.name, parameter.getValue()); // store default value
+		parameter.inital = parameter.getValue();
+		if (storage.isKey(parameter.name)) {
+			parameter.setValue(storage.getFloat(parameter.name));
 		}
-		parameter.setValue(storage.getFloat(parameter.name, 0));
 		parameter.cache = parameter.getValue();
 	}
 }
@@ -182,17 +211,23 @@ void syncParameters() {
 	if (motorsActive()) return; // don't use flash while flying, it may cause a delay

 	for (auto &parameter : parameters) {
-		if (parameter.getValue() == parameter.cache) continue; // no change
-		if (isnan(parameter.getValue()) && isnan(parameter.cache)) continue; // both are NAN
+		if (floatEquals(parameter.getValue(), parameter.cache)) continue; // no change

 		storage.putFloat(parameter.name, parameter.getValue());
 		parameter.cache = parameter.getValue(); // update cache
 	}
 }

-void printParameters() {
+void printParameters(const char *filter) {
+	print("Name             Value          [Default]\n");
 	for (auto &parameter : parameters) {
-		print("%s = %g\n", parameter.name, parameter.getValue());
+		if (strncasecmp(parameter.name, filter, strlen(filter))) continue;
+
+		if (floatEquals(parameter.getValue(), parameter.inital)) { // parameter changed
+			print("%-15s  %-13g\n", parameter.name, parameter.getValue());
+		} else {
+			print("%-15s  %-13g  [%g]\n", parameter.name, parameter.getValue(), parameter.inital);
+		}
 	}
 }

@@ -5,7 +5,7 @@

 #pragma once

-#include "lpf.h"
+#include "filter.h"

 class PID {
 public:
@@ -0,0 +1,95 @@
+#include "vector.h"
+#include "quaternion.h"
+#include "pid.h"
+#include "util.h"
+
+float mass = 0.065;
+float motorThrust = 0.031 * ONE_G;
+float positionWeight = 0.9;
+float velocityWeight = 0.9;
+
+PID velX_PID(1.0, 0.0, 0.02);
+PID velY_PID(1.0, 0.0, 0.02);
+PID velZ_PID(1.0, 0.0, 0.02);
+
+// PID posX_PID(1.0, 0.0, 0.0);
+// PID posY_PID(1.0, 0.0, 0.0);
+// PID posZ_PID(1.0, 0.0, 0.0);
+
+PID posX_PID(0.1, 0.0, 0.0);
+PID posY_PID(0.1, 0.0, 0.0);
+PID posZ_PID(0.1, 0.0, 0.0);
+
+Vector acceleration;
+Vector velocity;
+Vector position;
+Vector velocityTarget(NAN, NAN, NAN);
+Vector positionTarget(NAN, NAN, NAN);
+
+extern Quaternion attitudeTarget;
+extern float thrustTarget;
+
+void setupPosition() {
+	// TODO: posY_PID = posX_PID;
+	// posX_PID.copy(posY_PID);
+	posY_PID.p = posX_PID.p;
+	posY_PID.i = posX_PID.i;
+	posY_PID.d = posX_PID.d;
+}
+
+void estimatePosition() {
+	acceleration = Quaternion::rotateVector(acceleration, attitude) + Vector(0, 0, -ONE_G);
+	velocity += acceleration * dt;
+	position += velocity * dt;
+}
+
+void correctPosition(Vector& pos) {
+	// position += (pos - position) * positionWeight;
+	position = pos;
+	// positionUpdated = true;
+
+	if (invalid(positionTarget.x) || invalid(positionTarget.y)) return;
+
+	attitudeTarget.setPitch(posX_PID.update(positionTarget.x - position.x));
+	attitudeTarget.setRoll(posY_PID.update(positionTarget.y - position.y));
+}
+
+void correctVelocity(Vector& vel) {
+	velocity += (vel - velocity) * velocityWeight;
+}
+
+void controlVelocity() {
+	Vector accelerationTarget(
+		velX_PID.update(velocityTarget.x - velocity.x),
+		velY_PID.update(velocityTarget.y - velocity.y),
+		velZ_PID.update(velocityTarget.z - velocity.z)
+	);
+
+	Vector thrustVector = (accelerationTarget + Vector(0, 0, ONE_G)) * mass;
+
+	const Vector up(0, 0, 1);
+
+	attitudeTarget = Quaternion::fromBetweenVectors(up, thrustVector);
+	float maxThrust = motorThrust * 4; // 4 motors
+	thrustTarget = thrustVector.norm() / maxThrust;
+}
+
+void controlPosition() {
+	if (positionTarget.invalid()) return;
+
+	velocityTarget = Vector(
+		posX_PID.update(positionTarget.x - position.x),
+		posY_PID.update(positionTarget.y - position.y),
+		posZ_PID.update(positionTarget.z - position.z)
+	);
+
+	controlVelocity();
+}
+
+void controlPositionSimple() {
+	if (positionTarget.invalid()) return;
+
+	// straight attitude target control
+	attitudeTarget.setPitch(posX_PID.update(positionTarget.x - position.x));
+	attitudeTarget.setRoll(posY_PID.update(positionTarget.y - position.y));
+}
@@ -5,11 +5,11 @@

 #include <soc/soc.h>
 #include <soc/rtc_cntl_reg.h>
-#include "lpf.h"
+#include "filter.h"
 #include "util.h"

 float voltage = NAN;
-LowPassFilter<float> voltageFilter(0.2);
+LowPassFilter<float> voltageFilter(1);
 int voltagePin = -1;
 float voltageScale = 2;

@@ -20,6 +20,7 @@ void setupPower() {

 void readVoltage() {
 	if (voltagePin < 0) return;
+
 	static Rate rate(10);
 	if (!rate) return;

@@ -27,15 +27,13 @@ void setupRC() {

 bool readRC() {
 	if (rcRxPin < 0) return false;
-	if (rc.read()) {
-		SBUSData data = rc.data();
-		for (int i = 0; i < 16; i++) channels[i] = data.ch[i]; // copy channels data
+	if (!rc.read()) return false;
+
+	rc.getChannels(channels);
 	normalizeRC();
 	controlTime = t;
 	return true;
 }
-	return false;
-}

 void normalizeRC() {
 	float controls[16];
@@ -55,6 +53,7 @@ void calibrateRC() {
 		print("RC_RX_PIN = %d, set the RC pin!\n", rcRxPin);
 		return;
 	}
+
 	uint16_t zero[16]; // for zero positions
 	uint16_t center[16]; // for center positions
 	uint16_t _[16]; // for unused data
@@ -8,10 +8,12 @@ extern float controlRoll, controlPitch, controlThrottle, controlYaw;

 float rcLossTimeout = 1;
 float descendTime = 10;
+float disarmTilt = radians(120);

 void failsafe() {
 	rcLossFailsafe();
 	autoFailsafe();
+	tiltFailsafe();
 }

 // RC loss failsafe
@@ -36,7 +38,7 @@ void descend() {
 // Allow pilot to interrupt automatic flight
 void autoFailsafe() {
 	static float roll, pitch, yaw, throttle;
-	if (roll != controlRoll || pitch != controlPitch || yaw != controlYaw || abs(throttle - controlThrottle) > 0.05) {
+	if (abs(roll - controlRoll) > 0.05 || abs(pitch - controlPitch) > 0.05 || abs(yaw - controlYaw) > 0.05 || abs(throttle - controlThrottle) > 0.05) {
 		// controls changed and mode switch is not configured
 		if (mode == AUTO && invalid(controlMode)) mode = STAB; // regain control by the pilot
 	}
@@ -45,3 +47,15 @@ void autoFailsafe() {
 	yaw = controlYaw;
 	throttle = controlThrottle;
 }
+
+// Disarm if tilted too much
+void tiltFailsafe() {
+	if (!armed) return;
+	if (mode != STAB) return;
+
+	Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude);
+	float tilt = acos(up.z);
+	if (disarmTilt && tilt > disarmTilt) {
+		armed = false;
+	}
+}
@@ -23,6 +23,12 @@ bool valid(float x) {
 	return isfinite(x);
 }

+bool floatEquals(float a, float b, float epsilon = 0) {
+	if (isnan(a) && isnan(b)) return true;
+	if (a == b) return true;
+	return fabsf(a - b) <= epsilon;
+}
+
 // Wrap angle to [-PI, PI)
 float wrapAngle(float angle) {
 	angle = fmodf(angle, 2 * PI);
@@ -47,16 +53,60 @@ void splitString(String& str, String& token0, String& token1, String& token2) {
 	if (token2.c_str() == NULL) token2 = "";
 }

-// Simplified ESP-NOW Serial without tx buffering and resends
+// Simplified ESP-NOW Serial without resends
 class ESPNOWSerial : public ESP_NOW_Serial_Class {
 public:
+	int lost = 0;
 	using ESP_NOW_Serial_Class::ESP_NOW_Serial_Class;
-	void onSent(bool success) override {} // disable resends
-	size_t write(const uint8_t *data, size_t len) override {
-		return ESP_NOW_Peer::send(data, len); // pure send without buffering
+	void onSent(bool success) override {
+		if (!success) lost++;
+		ESP_NOW_Serial_Class::onSent(true); // always report success to avoid resends
 	}
 };

+// Simple variant type for logging and parameters
+struct Value {
+	enum { EMPTY, FLOAT, INT, BOOL, FLOAT_FN, INT_FN, BOOL_FN } type;
+	union {
+		void *pointer;
+		float *_float;
+		int *_int;
+		bool *_bool;
+		float (*floatFn)();
+		int (*intFn)();
+		bool (*boolFn)();
+	};
+
+	Value() : type(EMPTY), pointer(nullptr) {};
+	Value(float *pt) : type(FLOAT), _float(pt) {};
+	Value(int *pt) : type(INT), _int(pt) {};
+	Value(bool *pt) : type(BOOL), _bool(pt) {};
+	Value(float (*fn)()) : type(FLOAT_FN), floatFn(fn) {};
+	Value(int (*fn)()) : type(INT_FN), intFn(fn) {};
+	Value(bool (*fn)()) : type(BOOL_FN), boolFn(fn) {};
+
+	float get() const {
+		switch (type) {
+			case FLOAT: return *_float;
+			case INT: return *_int;
+			case BOOL: return *_bool ? 1 : 0;
+			case FLOAT_FN: return floatFn();
+			case INT_FN: return intFn();
+			case BOOL_FN: return boolFn() ? 1 : 0;
+			default: return NAN;
+		}
+	};
+
+	void set(float value) const {
+		switch (type) {
+			case FLOAT: *_float = value; break;
+			case INT: *_int = value; break;
+			case BOOL: *_bool = (value != 0); break;
+			default: break;
+		}
+	};
+};
+
 // Rate limiter
 class Rate {
 public:
@@ -65,6 +115,9 @@ public:
 	Rate(float rate) : rate(rate) {}

 	operator bool() {
+		if (t == last) {
+			return true; // the same step
+		}
 		if (t - last >= 1 / rate) {
 			last = t;
 			return true;
@@ -8,7 +8,7 @@
 #include <WiFiUdp.h>
 #include <MacAddress.h>
 #include <ESP32_NOW_Serial.h>
-#include "Preferences.h"
+#include <Preferences.h>
 #include "util.h"

 extern Preferences storage; // use the main preferences storage
@@ -33,10 +33,14 @@ void setupWiFi() {
 	if (wifiMode == W_AP) {
 		WiFi.softAP(storage.getString("WIFI_AP_SSID", "flix").c_str(), storage.getString("WIFI_AP_PASS", "flixwifi").c_str());
 		udp.begin(udpLocalPort);
-	} else if (wifiMode == W_STA) {
+	}
+
+	if (wifiMode == W_STA) {
 		WiFi.begin(storage.getString("WIFI_STA_SSID", "").c_str(), storage.getString("WIFI_STA_PASS", "").c_str());
 		udp.begin(udpLocalPort);
-	} else if (wifiMode == W_ESPNOW) {
+	}
+
+	if (wifiMode == W_ESPNOW) {
 		WiFi.mode(WIFI_AP);
 		WiFi.setChannel(espnowChannel);
 		espnow.addr(MacAddress(storage.getString("ESPNOW_PEER_MAC", "FF:FF:FF:FF:FF:FF").c_str()));
@@ -52,8 +56,9 @@ void setupWiFi() {
 void sendWiFi(const uint8_t *buf, int len) {
 	if (espnow) {
 		espnow.write(buf, len);
+
 		static Rate discovery(2);
-		if (discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device
+		if (espnow.isEncrypted() && discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device
 		return;
 	}

@@ -84,7 +89,8 @@ void printWiFiInfo() {
 		print("MAC: %s\n", WiFi.softAPmacAddress().c_str());
 		print("Peer MAC: %s\n", MacAddress(espnow.addr()).toString().c_str());
 		print("Encrypted: %d\n", espnow.isEncrypted());
-		print("Channel: %d\n", espnow.getChannel());
+		print("Channel: %d\n", WiFi.channel());
+		print("Lost packets: %d\n", espnow.lost);
 	} else if (WiFi.getMode() == WIFI_MODE_AP) {
 		print("Mode: Access Point (AP)\n");
 		print("MAC: %s\n", WiFi.softAPmacAddress().c_str());
@@ -127,3 +133,20 @@ void configWiFi(int mode, const char *first, const char *second) {
 	}
 	print("✓ Reboot to apply new settings\n");
 }
+
+void setWiFiMode(const String& mode) {
+	if (mode == "ap") {
+		wifiMode = W_AP;
+	} else if (mode == "sta") {
+		wifiMode = W_STA;
+	} else if (mode == "espnow") {
+		wifiMode = W_ESPNOW;
+	} else if (mode == "off") {
+		wifiMode = W_DISABLED;
+	} else {
+		print("Invalid Wi-Fi mode\n");
+		return;
+	}
+	static const char *modes[] = {"Disabled", "Access Point (AP)", "Client (STA)", "ESP-NOW"};
+	print("✓ Wi-Fi mode set to %s, reboot to apply\n", modes[wifiMode]);
+}
@@ -20,6 +20,10 @@
 #define radians(deg) ((deg)*DEG_TO_RAD)
 #define degrees(rad) ((rad)*RAD_TO_DEG)

+#define MALLOC_CAP_SPIRAM (1<<10)
+#define MALLOC_CAP_8BIT (1<<2)
+#define ESP_NOW_MAX_DATA_LEN_V2 1470
+
 #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
 template<typename T> T max(T a, T b) { return a > b ? a : b; }
 template<typename T> T min(T a, T b) { return a < b ? a : b; }
@@ -156,6 +160,8 @@ HardwareSerial Serial, Serial1, Serial2;
 class EspClass {
 public:
 	void restart() { Serial.println("Ignore reboot in simulation"); }
+	uint32_t getFreeHeap() { return 300 * 1024; } // assume 300 KB free heap
+	uint32_t getFreePsram() { return 8 * 1024 * 1024; } // assume 8 MB free PSRAM
 } ESP;

 unsigned long __delayTime = 0;
@@ -165,11 +171,16 @@ void delay(uint32_t ms) {
 	__delayTime += ms * 1000;
 }

+void *heap_caps_calloc(size_t n, size_t size, uint32_t caps) {
+	return calloc(n, size);
+}
+
 bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; }
 bool ledcWrite(uint8_t pin, uint32_t duty) { return true; }
 uint32_t ledcChangeFrequency(uint8_t pin, uint32_t freq, uint8_t resolution) { return freq; }
 int8_t digitalPinToAnalogChannel(uint8_t pin) { return -1; }
 uint32_t analogReadMilliVolts(uint8_t pin) { return 0; }
+float temperatureRead() { return 0; }

 unsigned long __micros;
 unsigned long __resetTime = 0;
@@ -15,12 +15,11 @@ public:
 	SBUS(HardwareSerial& bus, const int8_t rxpin, const int8_t txpin, const bool inv = true) {};
 	void begin(int rxpin = -1, int txpin = -1, bool inv = true, bool fast = false) {};
 	bool read() { return joystickInit(); };
-	SBUSData data() {
-		SBUSData data;
-		joystickGet(data.ch);
+	void getChannels(uint16_t (&channels)[16]) const {
+		int16_t ch[16];
+		joystickGet(ch);
 		for (int i = 0; i < 16; i++) {
-			data.ch[i] = map(data.ch[i], -32768, 32767, 1000, 2000); // convert to pulse width style
+			channels[i] = map(ch[i], -32768, 32767, 1000, 2000); // convert to pulse width style
 		}
-		return data;
 	};
 };
@@ -9,7 +9,7 @@
 #include "quaternion.h"
 #include "Arduino.h"
 #include "wifi.h"
-#include "lpf.h"
+#include "filter.h"

 extern float t, dt;
 extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
@@ -38,7 +38,7 @@ const char* getModeName();
 void sendMotors();
 int getDutyCycle(float value);
 bool motorsActive();
-void testMotor(int n);
+void testMotor(int, float);
 void print(const char* format, ...);
 void pause(float duration);
 void doCommand(String str, bool echo);
@@ -48,8 +48,17 @@ void normalizeRC();
 void calibrateRC();
 void calibrateRCChannel(int*, uint16_t[16], uint16_t[16], const char*);
 void printRCCalibration();
+void loopLog();
+void resetLog();
+void writeLog(const void *data, size_t size);
+void readLog(void *data, size_t position, size_t size);
+bool isTopicUpdated(const uint8_t topic);
+void printLogInfo();
+int estimateLogDuration();
 void printLogHeader();
-void printLogData();
+void printLogValues(const char *filter);
+void configLogThrottle(const char *name, float throttle);
+void exposeLogValue(const char *name);
 void processMavlink();
 void sendMavlink();
 void sendMessage(const void *msg);
@@ -63,19 +72,25 @@ void failsafe();
 void rcLossFailsafe();
 void descend();
 void autoFailsafe();
+void tiltFailsafe();
 int parametersCount();
 const char *getParameterName(int index);
 float getParameter(int index);
 float getParameter(const char *name);
 bool setParameter(const char *name, const float value);
-void printParameters();
+void printParameters(const char *filter);
 void resetParameters();

 // mocks
 void setLED(bool on) {};
-void calibrateGyro() { print("Skip gyro calibrating\n"); };
 void calibrateAccel() { print("Skip accel calibrating\n"); };
 void printIMUCalibration() { print("cal: N/A\n"); };
 void printIMUInfo() {};
 void printWiFiInfo() {};
 void configWiFi(bool, const char*, const char*) { print("Skip WiFi config\n"); };
+void setWiFiMode(const String& mode) { print("Skip WiFi mode set\n"); };
+
+class IMU {
+public:
+	float getTemp() { return 0; }
+} imu;
@@ -23,7 +23,7 @@
 #include "estimate.ino"
 #include "safety.ino"
 #include "log.ino"
-#include "lpf.h"
+#include "filter.h"
 #include "mavlink.ino"
 #include "motors.ino"
 #include "parameters.ino"
@@ -55,6 +55,8 @@ public:
 		initNode();
 		Serial.begin(0);
 		setupParameters();
+		setupLog();
+		rcRxPin = 1; // set rc pin to enable rc reading
 		gzmsg << "Flix plugin loaded" << endl;
 	}

@@ -87,7 +89,7 @@ public:

 		applyMotorForces();
 		publishTopics();
-		logData();
+		loopLog();
 		syncParameters();
 	}

@@ -11,7 +11,12 @@
 #include <sys/poll.h>
 #include <gazebo/gazebo.hh>

-int wifiMode = 1; // mock
+// Mocks
+int wifiMode = 1;
+int wifiLongRange = 0;
+int espnowChannel = 6;
+const int W_DISABLED = 0, W_AP = 1, W_STA = 2, W_ESPNOW = 3;
+
 int udpLocalPort = 14580;
 int udpRemotePort = 14550;
 const char *udpRemoteIP = "255.255.255.255";
@@ -9,6 +9,7 @@ Usage:
 import csv
 import json
 import docopt
+import math
 from mcap.writer import Writer

 args = docopt.docopt(__doc__)
@@ -39,7 +40,15 @@ channel_id = writer.register_channel(
 )

 for row in csv_reader:
-    data = {key: float(value) for key, value in zip(header, row)}
+    if row[0] == '': continue
+    data = {}
+    for key, value in zip(header, row):
+        if value == '' or math.isnan(float(value)):
+            data[key] = None
+        else:
+            data[key] = float(value)
+
+    data = {key: float(value) if value != '' else None for key, value in zip(header, row)}
    timestamp = round(float(row[0]) * 1e9)
    writer.add_message(channel_id=channel_id, log_time=timestamp, data=json.dumps(data).encode(), publish_time=timestamp,)

@@ -11,18 +11,22 @@
 #include <Preferences.h>
 #include "../../flix/util.h"

-const int CHANNEL = 6;
+const bool DISABLE_SWARM = true;
+const int CHANNEL = -1; // -1 means auto search
 char key[ESP_NOW_KEY_LEN + 1] = {0}; // with trailing null

 Preferences storage;

 std::vector<ESPNOWSerial *> peers;
+bool stop = false;

 void onNewPeer(const esp_now_recv_info_t *info, const uint8_t *data, int len, void *arg) {
 	if (len != 4 || memcmp(data, "flix", 4) != 0) return; // check if discovery message

+	if (stop) return;
+
 	Serial.printf("New peer: " MACSTR "\n", MAC2STR(info->src_addr));
-	ESPNOWSerial *link = new ESPNOWSerial(info->src_addr, CHANNEL, WIFI_IF_AP);
+	ESPNOWSerial *link = new ESPNOWSerial(info->src_addr, WiFi.channel(), WIFI_IF_STA);
 	link->begin();
 	link->setKey((const uint8_t *)key);
 	peers.push_back(link);
@@ -30,9 +34,8 @@ void onNewPeer(const esp_now_recv_info_t *info, const uint8_t *data, int len, vo

 void setup() {
 	Serial.begin(115200);
-	WiFi.mode(WIFI_AP);
+	WiFi.mode(WIFI_STA);
 	WiFi.setSleep(false);
-	WiFi.setChannel(CHANNEL);

 	ESP_NOW.onNewPeer(onNewPeer, NULL);
 	ESP_NOW.begin();
@@ -43,12 +46,6 @@ void setup() {
 		storage.putString("key", key);
 	}
 	strcpy(key, storage.getString("key").c_str());
-
-	// Discover the first peer
-	while (peers.empty()) {
-		Serial.printf("espnow %s %s\n", WiFi.softAPmacAddress().c_str(), key);
-		delay(500);
-	}
 }

 void generateRandomKey() {
@@ -61,6 +58,20 @@ void generateRandomKey() {
 void loop() {
 	uint8_t buf[5000];

+	static int channelIndex = 0;
+	static const int channels[] = {6, 11, 1, 2, 6, 11, 3, 4, 5, 6, 1, 11, 8, 6, 9, 10, 11, 6, 1, 12, 13}; // 6, 1 and 11 are most common
+
+	static unsigned long last = 0;
+	if (!stop && millis() - last > 500) {
+		// Change search channel
+		last = millis();
+		channelIndex = (channelIndex + 1) % (sizeof(channels) / sizeof(channels[0]));
+		int channel = CHANNEL < 0 ? channels[channelIndex] : CHANNEL;
+		Serial.printf("Run on Flix: espnow %s %s\n", WiFi.STA.macAddress().c_str(), key);
+		Serial.printf("Searching channel %d\n", channel);
+		WiFi.setChannel(channel);
+	}
+
 	// Send from Serial to ESP-NOW
 	while (Serial.available() > 0) {
 		int b = Serial.read();
@@ -81,6 +92,15 @@ void loop() {
 	// Send from ESP-NOW to Serial
 	for (ESPNOWSerial *link : peers) {
 		int len = link->read(buf, sizeof(buf));
+		if (!stop) {
+			for (int i = 0; i < len; i++) {
+				if (buf[i] == MAVLINK_STX) {
+					// Got MAVLink message, stop discovery
+					Serial.printf("Received MAVLink from " MACSTR "\n", MAC2STR(link->addr()));
+					if (DISABLE_SWARM) stop = true;
+				}
+			}
+		}
 		if (len > 0) {
 			Serial.write(buf, len);
 		}
@@ -0,0 +1,76 @@
+#!/usr/bin/env python3
+
+"""Convert flight from Flix format to CSV
+
+Usage:
+    log_to_csv.py <input_file>
+"""
+
+import os
+from pyflix import Flix
+import docopt
+import struct
+import csv
+
+DIR = os.path.dirname(os.path.realpath(__file__))
+HEADER_FILE = os.path.join(DIR, 'log/log_header.txt')
+
+# Read log header
+try:
+    # read from file
+    header = open(HEADER_FILE, 'r').read()
+except FileNotFoundError:
+    flix = Flix()
+    header = flix.cli('log header')  # receive the log schema
+    open(HEADER_FILE, 'w').write(header)  # save to file
+
+# Parse log header
+topics = []
+for line in header.splitlines():
+    if not line.startswith('  '):
+        topics.append([])
+    elif 'not logged' not in line:
+        topics[-1].append(line.strip())
+
+# Read log file
+args = docopt.docopt(__doc__)
+input_file = args['<input_file>']
+outfile_file = input_file + '.csv'
+data = open(input_file, 'rb').read()
+
+# Search for sync marker
+SYNC_MARKER = bytes.fromhex('1A 91 4F F6 7F')
+sync_offset = data.find(SYNC_MARKER)
+if sync_offset == -1:
+    raise ValueError('Sync marker not found in log file')
+data = data[sync_offset + len(SYNC_MARKER):]
+data = data.replace(SYNC_MARKER, b'')  # remove all other sync markers
+
+header_row = [f'{value}' for topic in topics for value in topic]
+rows = []
+
+offset = 0
+while offset < len(data):
+    try:
+        topic = struct.unpack_from('B', data, offset)[0]
+        offset += 1
+
+        if topic >= len(topics):
+            raise ValueError(f'Invalid topic {topic} at offset {offset}')
+
+        if topic == 0 or not rows:
+            rows.append({})
+
+        for name in topics[topic]:
+            value = struct.unpack_from('<f', data, offset)[0]
+            offset += 4
+            rows[-1][name] = value
+    except struct.error as e:
+        break
+
+# Write CSV file
+with open(outfile_file, 'w', newline='') as f:
+    writer = csv.DictWriter(f, fieldnames=header_row, extrasaction='ignore')
+    writer.writeheader()
+    rows = filter(lambda row: float(row.get('t', 0)), rows)
+    writer.writerows(rows)
@@ -28,6 +28,8 @@ from pyflix import Flix
 flix = Flix()  # create a Flix object and wait for connection
 ```

+If using ESP-NOW connection, specify the proxy device name in `FLIX_DEVICE` environment variable or pass it to the constructor: `Flix(device='/dev/cu.usbserial-0001')`.
+
 ### Telemetry

 Basic telemetry is available through object properties. The property names generally match the corresponding variables in the firmware code:
@@ -220,6 +222,13 @@ The following scripts demonstrate how to use the library:
 * [`log.py`](../log.py) — download flight logs from the drone.
 * [`example.py`](../example.py) — a simple example, prints telemetry data and waits for events.

+> [!TIP]
+> Set `FLIX_DEVICE` environment variable to use these tools with ESP-NOW connection, for example:
+>
+> ```bash
+> FLIX_DEVICE=/dev/cu.usbserial-0001 tools/cli.py
+> ```
+
 ## Advanced usage

 ### MAVLink
@@ -44,12 +44,17 @@ class Flix:
    _print_buffer: str = ''
    _modes = ['RAW', 'ACRO', 'STAB', 'AUTO']

-    def __init__(self, system_id: int=1, wait_connection: bool=True):
+    def __init__(self, system_id: int=1, wait_connection: bool=True, device=os.getenv('FLIX_DEVICE')):
        if not (0 <= system_id < 256):
            raise ValueError('system_id must be in range [0, 255]')
        self._setup_mavlink()
        self.system_id = system_id
        self._init_state()
+        if device is not None:
+            # User defined connection
+            logger.debug(f'Connecting to {device}')
+            self.connection: mavutil.mavfile = mavutil.mavlink_connection(device, source_system=255)  # type: ignore
+        else:
            try:
                # Direct connection
                logger.debug('Listening on port 14550')
@@ -1,6 +1,6 @@
 [project]
 name = "pyflix"
-version = "0.15"
+version = "0.16"
 description = "Python API for Flix drone"
 authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }]
 license = "MIT"
Author	SHA1	Message	Date
Oleg Kalachev	142cb9af01	Position control draft	2026-08-01 20:13:48 +03:00
Oleg Kalachev	74b082957e	Add threshold for rc sticks move for quitting auto mode	2026-07-21 10:58:22 +03:00
Oleg Kalachev	4582942919	Minor docs update	2026-07-21 10:51:50 +03:00
Oleg Kalachev	df14a5678f	Don't send discovery message if encrypting is disabled in espnow	2026-07-20 19:01:38 +03:00
Oleg Kalachev	81721abf91	Disable log as it may crash the program	2026-07-20 10:16:30 +03:00
Oleg Kalachev	1276d220a6	Add tilt disarm failsafe	2026-07-18 21:35:13 +03:00
Oleg Kalachev	79c7e282cb	Fix esp-now proxy	2026-07-18 14:25:19 +03:00
Oleg Kalachev	f031cf3046	Fix printing espnow channel number in wifi command	2026-07-18 14:16:33 +03:00
Oleg Kalachev	60f389a289	Fix espnow proxy	2026-07-18 11:35:20 +03:00
Oleg Kalachev	5c24ce113d	Minor docs update	2026-07-18 00:45:19 +03:00
Oleg Kalachev	b58c2e7c7a	Add auto channel search to espnow-proxy	2026-07-18 00:03:18 +03:00
Oleg Kalachev	2137730a8d	Make espnow-proxy output more obvious	2026-07-18 00:03:01 +03:00
Oleg Kalachev	309d2d2e29	Add espnow-proxy build to ci	2026-07-17 23:42:28 +03:00
Oleg Kalachev	0c91ccfab5	Use STA interface in ESP-NOW proxy	2026-07-17 23:39:21 +03:00
Oleg Kalachev	26d53d4ce1	Docs fix	2026-07-17 17:18:07 +03:00
Oleg Kalachev	0366b24ff3	Minor docs fix	2026-07-17 17:06:22 +03:00
Oleg Kalachev	3de4e9ab9a	Add info on uploading the firmware to ESP32-S3 Super Mini	2026-07-17 17:04:45 +03:00
Oleg Kalachev	f1e024b19a	Add instructions on how to set pin numbers for imu	2026-07-17 14:13:02 +03:00
Oleg Kalachev	d9be26c5be	Disable gyro notch filter by default	2026-07-16 23:21:17 +03:00
Oleg Kalachev	f8a4cbfee1	Fix in docs	2026-07-16 17:48:16 +03:00
Oleg Kalachev	658040e652	Merge branch 'master' into robolager2026	2026-07-16 16:54:47 +03:00
Oleg Kalachev	70459df8dd	Disable swarming in espnow proxy by default	2026-07-16 11:30:10 +03:00
Oleg Kalachev	61213bb8a1	Unset default motor pins (for safety)	2026-07-15 20:19:02 +03:00
Oleg Kalachev	d48b71fb1a	Disable voltage lpf by default (Setting alpha = 1 efficiently disables the filter.) Filtering does more harm than good in voltage monitoring.	2026-07-15 18:42:34 +03:00
Oleg Kalachev	8917849711	Remove unneeded declaration from the sim	2026-07-15 18:40:51 +03:00
Oleg Kalachev	1cdc7a8641	Fix rc in simulator Virtual rc is disabled if rxRxPin < 0	2026-07-15 18:40:35 +03:00
Oleg Kalachev	0439407d76	Remove unneeded declaration from the sim	2026-07-15 18:29:36 +03:00
Oleg Kalachev	c2005a2ca2	Fix rc in simulator	2026-07-15 17:40:11 +03:00
Oleg Kalachev	6a804862da	Fix simulator build with new logging	2026-07-15 14:17:24 +03:00
Oleg Kalachev	590bfe10b0	Minor doc changes	2026-07-15 10:52:52 +03:00
Oleg Kalachev	70af1a1c09	Remove DebugLevel from fqbn in usage article	2026-07-15 10:38:04 +03:00
Oleg Kalachev	9e9dafbdfb	Support feed forward rates in mavlink control	2026-07-15 10:11:15 +03:00
Oleg Kalachev	86a4418813	Move debug level definition from fbqn to arduino-cli commaand	2026-07-13 22:05:31 +03:00
Oleg Kalachev	d64bf24c6d	Add alicanerus' build	2026-07-08 22:29:33 +03:00
Oleg Kalachev	7c53e88963	Add notch filter for the gyro	2026-07-08 16:07:03 +03:00
Oleg Kalachev	28f015569b	Add log reset command to cli	2026-07-08 01:07:59 +03:00
Oleg Kalachev	fabd5e072d	Fixes in the docs	2026-07-04 21:40:39 +03:00
Oleg Kalachev	1ae85ff118	Add argument to motor testing commands for specifying thrust	2026-07-02 22:22:33 +03:00
Oleg Kalachev	83d1c5c68a	Implement entirely new logging subsystem Make topic-based logging mechanics. Print any log value to console. Possibility to expose any logging value to mavlink.	2026-06-30 13:03:43 +03:00
Oleg Kalachev	26a0dd65be	Minor fixes and updates	2026-06-30 12:19:29 +03:00
Oleg Kalachev	9d439afd80	Store only changed parameters in flash instead of all Rationale: 1. Parameters NVS storage is limited and storing unchanged parameters is wasteful. 2. This allows changing parameters in the code without having to erase the flash storage. 3. Updating the firmware version may change the parameter defaults.	2026-06-28 17:21:07 +03:00
Oleg Kalachev	64b21a3a6b	Show default parameter values in `p` command output Also move float comparing logic to a distinct util function.	2026-06-24 06:42:09 +03:00
Oleg Kalachev	545eed8944	Add Nerush and Konstantinos Paraskevas builds	2026-06-19 05:15:17 +03:00
Oleg Kalachev	518abf1555	Simplify rc code Utilize the new method for getting channel values.	2026-06-14 04:45:42 +03:00
Oleg Kalachev	17df1c5396	Separate repository vscode settings and local vscode settings Use dangmai.workspace-default-settings externsion for that.	2026-06-11 20:37:35 +03:00
Oleg Kalachev	8e2ffd7c69	Remove core installation when running the sim Split `dependencies` target to `core` and `libs` targets. Move additional urls declaration and connection timeout from arduino-cli.yaml to Makefile for simplicity and transparency. Update ESP32 core url. Remove arduino-cli.yaml.	2026-06-10 18:10:42 +03:00
Oleg Kalachev	52b74afba6	Bring back espnow tx buffering keeping resends disabled Buffering is needed for sending large prints, otherwise the espnow internal buffer overflows. Make onSent always think there was success send, so there won't be any resends. Print lost espnow packets count on wifi console command.	2026-06-09 03:23:30 +03:00
Oleg Kalachev	0ca2473655	Make each mavlink message rate configured separately Add parameters: * MAV_RATE_ATT - ATTITUDE_QUATERNION rate. * MAV_RATE_RC - RC_CHANNELS_RAW rate. * MAV_RATE_MOT - ACTUATOR_CONTROL_TARGET rate. * MAV_RATE_IMU - SCALED_IMU rate.	2026-06-09 02:59:10 +03:00
Oleg Kalachev	b4c2fe3988	Print total RAM in sys command	2026-06-09 02:49:39 +03:00
Oleg Kalachev	e51b47b798	Add command for setting the wifi mode easier	2026-06-09 02:44:09 +03:00
Oleg Kalachev	71abe1bcdb	Minor changes Simplify the code, print imu temperature	2026-06-09 02:25:20 +03:00
Oleg Kalachev	0f2e384ce6	Don't apply level correction on idle thrust	2026-06-09 02:12:27 +03:00
Oleg Kalachev	5e153a210d	Update ESP32-Core to 3.3.10	2026-06-09 02:05:52 +03:00
Oleg Kalachev	9d47bcb82e	Minor changes in docs	2026-05-31 18:10:00 +03:00
Oleg Kalachev	1fafc27b39	Make it possible to unassign motor pin using -1 parameter value	2026-05-30 16:57:27 +03:00
Oleg Kalachev	faca48ced3	Replace ps and psq commands with st command + minor changes Re-arrange commands order. Make command parser consider \r in addition to \n.	2026-05-30 16:51:15 +03:00
Oleg Kalachev	a5dbd2c829	Add erase command to makefile	2026-05-30 16:48:12 +03:00
Oleg Kalachev	59f9528d34	Increase buffer for print, make sys output more correct usStackHighWaterMark is not stack size, it's the minimum stack size	2026-05-30 11:11:35 +03:00
Oleg Kalachev	607b2ff0b7	Add malagis custom pcb version of Flix project to builds	2026-05-28 20:15:09 +03:00
Oleg Kalachev	22c06f76c4	Add Awab Anas' build	2026-05-28 19:29:05 +03:00
Oleg Kalachev	488ceb3004	Set the debug level to error by default to see the errors	2026-05-28 19:25:29 +03:00
Oleg Kalachev	b83c9b3845	Consider mavlink connected only when the gcs message is parsed	2026-05-28 18:41:34 +03:00
Oleg Kalachev	2f4b1423e6	Typo and minor code style changes	2026-05-28 18:39:44 +03:00
Oleg Kalachev	4e32414dae	Support ESP-NOW connection in pyflix Set arbitrary pymavlink connection string using device parameter or FLIX_DEVICE env variable. pyflix@0.16.	2026-05-28 18:22:16 +03:00
Oleg Kalachev	a294883dea	Make p command show all parameters starting with the arg	2026-05-27 13:58:51 +03:00
Oleg Kalachev	cdfba72a0b	Fix simulator run Add missing extern variables. Fix warning.	2026-05-27 11:03:50 +03:00
Oleg Kalachev	18e81720e0	Add video of pcb version flights to the readme	2026-05-26 14:23:56 +03:00
Oleg Kalachev	91173d06c9	Various minor changes	2026-05-22 08:03:46 +03:00