Show default parameter values in p command output

Also move float comparing logic to a distinct util function.

.github/workflows/build.yml

@@ -23,6 +23,8 @@ jobs:
       with:
         name: firmware-binary
         path: flix/build
+    - name: Build firmware for ESP32-C3
+      run: make BOARD=esp32:esp32:esp32c3
     - name: Build firmware for ESP32-S3
       run: make BOARD=esp32:esp32:esp32s3
     - name: Check c_cpp_properties.json

.gitignore

@@ -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

.vscode/c_cpp_properties.json

@@ -6,18 +6,18 @@
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
 				"${workspaceFolder}/tools/**",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32",
-				"~/.arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**",
+				"~/.arduino15/packages/esp32/tools/esp32-libs/3.3.10/include/**",
 				"~/Arduino/libraries/**",
 				"/usr/include/gazebo-11/",
 				"/usr/include/ignition/math6/"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/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/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/esp32/3.3.10/cores/esp32",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32",
-				"~/Library/Arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**",
+				"~/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": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.h",
 				"${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",
 				"${workspaceFolder}/tools/**",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32",
-				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**",
+				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-libs/3.3.10/include/**",
 				"~/Documents/Arduino/libraries/**"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/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/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": [

.vscode/extensions.json

@@ -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"

Makefile

@@ -1,29 +1,40 @@
-BOARD = esp32:esp32:d1_mini32
+BOARD = esp32:esp32:d1_mini32:DebugLevel=error
-PORT := $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-*)
+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*))
-PORT := $(strip $(PORT))
 
-build: .dependencies
+export ARDUINO_NETWORK_CONNECTION_TIMEOUT := 1h
+
+build: .core .libs
 	arduino-cli compile --fqbn $(BOARD) flix
 
 upload: build
 	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" flix
 
+erase:
+	arduino-cli burn-bootloader --fqbn $(BOARD) -p "$(PORT)" -P esptool
+
 monitor:
 	arduino-cli monitor -p "$(PORT)" -c baudrate=115200
 
-dependencies .dependencies:
+core .core:
-	arduino-cli core update-index --config-file arduino-cli.yaml
+	arduino-cli core update-index --additional-urls https://espressif.github.io/arduino-esp32/package_esp32_index.json
-	arduino-cli core install esp32:esp32@3.3.6 --config-file arduino-cli.yaml
+	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: .core .libs
+	arduino-cli compile --fqbn $(BOARD) tools/espnow-proxy
+	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" tools/espnow-proxy
 
 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
@@ -38,6 +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

README.md

@@ -21,8 +21,8 @@
 * Dedicated for education and research.
 * Made from general-purpose components.
 * Simple and clean source code in Arduino (<2k lines firmware).
-* Connectivity using Wi-Fi and MAVLink protocol.
+* Communication using MAVLink protocol over Wi-Fi or ESP-NOW.
-* Control using USB gamepad, remote control or smartphone.
+* Control with USB gamepad, remote control or smartphone.
 * Wireless command line interface and analyzing.
 * Precise simulation with Gazebo.
 * Python library for scripting and automatic flights.
@@ -47,13 +47,21 @@ 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:
 
 <img src="docs/img/simulator1.png" width=500 alt="Flix simulator">
 
-## Documentation
+## Documentation articles
 
 1. [Assembly instructions](docs/assembly.md).
 2. [Usage: build, setup and flight](docs/usage.md).
@@ -71,14 +79,14 @@ Additional articles:
 
 |Type|Part|Image|Quantity|
 |-|-|:-:|:-:|
-|Microcontroller board|ESP32 Mini|<img src="docs/img/esp32.jpg" width=100>|1|
+|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)³<br>GY-521 (MPU-6050)³⁻¹|<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|
+|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 (alternatively 65 mm)|<img src="docs/img/prop.jpg" 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|
 |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)|<img src="docs/img/battery.jpg" width=100>|1|
+|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|
 |Li-Po Battery charger|Any|<img src="docs/img/charger.jpg" width=100>|1|
 |Screws for IMU board mounting|M3x5|<img src="docs/img/screw-m3.jpg" width=100>|2|
@@ -152,18 +160,16 @@ You can see a user-contributed [variant of complete circuit diagram](https://mir
   |-|-|
   |GND|GND|
   |VIN|VCC (or 3.3V depending on the receiver)|
-  |Signal (TX)|GPIO4¹|
+  |Signal (TX)|GPIO4|
 
-  *¹ — UART2 RX pin was [changed](https://docs.espressif.com/projects/arduino-esp32/en/latest/migration_guides/2.x_to_3.0.html#id14) to GPIO4 in Arduino ESP32 core 3.0.*
+* Optionally connect the battery voltage divider for voltage monitoring to any ADC1 pin (e. g. *GPIO32* on ESP32, *GPIO3* on ESP32-S3).
 
-* Optionally connect the battery voltage divider for voltage monitoring to any ADC1 pin (e. g. *GPIO32* on ESP32, *GPIO3* on ESP32S3).
+  ESP32 and ESP32-S3 [can measure](https://docs.espressif.com/projects/arduino-esp32/en/latest/api/adc.html#analogsetattenuation) up to 3.1 V and ESP32-S3/ESP32-C3 can measure up to 2.5 V, so choose the voltage divider resistors accordingly.
-
-  ESP32 and ESP32S3 [can measure](https://docs.espressif.com/projects/arduino-esp32/en/latest/api/adc.html#analogsetattenuation) up to 3.1 V and ESP32S3/ESP32C3 can measure up to 2.5 V, so choose the voltage divider resistors accordingly.
 
 ## Resources
 
 * Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter.
-* Official Telegram chat: https://t.me/opensourcequadcopterchat.
+* Official Telegram chat: https://t.me/opensourcequadcopterchat (English / Russian).
 * Detailed article on Habr.com about the development of the drone (in Russian): https://habr.com/ru/articles/814127/.
 
 ## Disclaimer

arduino-cli.yaml

@@ -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

docs/assembly.md

@@ -28,6 +28,8 @@ Soldered components ([schematics variant](https://miro.com/app/board/uXjVN-dTjoo
 
 <img src="img/assembly/7.jpg" width=600>
 
+See an alternative assembly process photos here: https://drive.google.com/drive/folders/1FG5BH9RCzdf1XmJcC70PymiRMXcz6Fx7?usp=sharing.
+
 ## Motor directions
 
 > [!WARNING]

docs/firmware.md

@@ -67,6 +67,38 @@ In order to add a console command, modify the `doCommand()` function in `cli.ino
 >
 > For on-the-ground commands, use `pause()` function, instead of `delay()`. This function allows to pause in a way that MAVLink connection will continue working.
 
+### Parameter subsystem
+
+Parameters subsystem (`parameters.ino`) uses standard [Preferences.h](https://docs.espressif.com/projects/arduino-esp32/en/latest/tutorials/preferences.html) ESP32 library to store parameters in non-volatile memory. Each parameter is a regular global variable, which is registered in the `parameters` array.
+
+To add a new parameter:
+
+1. Define a global variable for the parameter, two types are supported: `float` and `int`.
+2. Add an entry to the `parameters` array, with the parameter name, a pointer to the variable, and optionally a callback function to call when the parameter is changed.
+3. Everything else will be handled automatically.
+
+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:
+
+1. Create a new `*.ino` file for your subsystem.
+2. Define setup and loop functions for the subsystem, for example `setupMySubsystem()` and `loopMySubsystem()`.
+3. Use `Rate` class if you need to limit the loop frequency, for example:
+
+    ```cpp
+    Rate mySubsystemRate(100); // 100 Hz
+
+    void loopMySubsystem() {
+    	if (!mySubsystemRate) return;
+    	// Do something...
+    }
+4. Add setup and loop calls in to `setup()` and `loop()` functions in `flix.ino`.
+
 ## Building the firmware
 
 See build instructions in [usage.md](usage.md).

docs/troubleshooting.md

@@ -5,27 +5,32 @@
 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
 
 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 the battery voltage**. Use a multimeter to measure the battery voltage. The fully charged battery should have about 4.2V.
+* **Check the battery you use has enough discharge current**. The battery should be able to provide 15A of current. So the C-rating for a 1000 mAh battery should be at least 15C (higher is better).
 * **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button or `reboot` command to see the whole 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 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.
+* **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 the IMU is working**. Perform `imu` command and check its output:
   * The `status` field should be `OK`.
   * The `rate` field should be about 1000 (Hz).
   * The `accel` and `gyro` fields should change as you move the drone.
-* **Calibrate the accelerometer.** if is wasn't done before. Type `ca` command in Serial Monitor and follow the instructions.
-* **Check the attitude estimation**. Connect to the drone using QGroundControl. Rotate the drone in different orientations and check if the attitude estimation shown in QGroundControl is correct.
 * **Check the IMU orientation is set correctly**. If the attitude estimation is rotated, set the correct IMU orientation as described in the [tutorial](usage.md#define-imu-orientation).
+* **Calibrate the accelerometer.** if is wasn't done before. Type `ca` command in Serial Monitor and follow the instructions.
+* **Check the attitude estimation**. Connect to the drone using QGroundControl. Rotate the drone in different orientations and check if the attitude estimation is shown exactly as on the video below:
+
+  <a href="https://youtu.be/yVRN23-GISU"><img width=200 src="https://i3.ytimg.com/vi/yVRN23-GISU/maxresdefault.jpg"></a>
+
+* **Check the IMU output**. Connect to the drone using QGroundControl on your computer. Go to the *Analyze* tab, *MAVLINK Inspector*. Plot the data from the `SCALED_IMU` message. The gyroscope and accelerometer data should change according to the drone movement.
 * **Check the motors type**. Motors with exact 3.7V voltage are needed, not ranged working voltage (3.7V — 6V).
 * **Check the motors**. Perform the following commands using Serial Monitor:
   * `mfr` — should rotate front right motor (counter-clockwise).
@@ -33,9 +38,10 @@ Do the following:
   * `mrl` — should rotate rear left motor (counter-clockwise).
   * `mrr` — should rotate rear right motor (clockwise).
 * **Check the propeller directions are correct**. Make sure your propeller types (A or B) are installed as on the picture:
+
   <img src="img/user/peter_ukhov-2/1.jpg" width="200">
-* **Check the remote control**. Using `rc` command, check the control values reflect your sticks movement. All the controls should change between -1 and 1, and throttle between 0 and 1.
+
-* **If using SBUS receiver**:
+* **If using an SBUS receiver**:
   * **Define the used GPIO pin** in `RC_RX_PIN` parameter.
   * **Calibrate the RC** using `cr` command in the console.
-* **Check the IMU output using QGroundControl**. Connect to the drone using QGroundControl on your computer. Go to the *Analyze* tab, *MAVLINK Inspector*. Plot the data from the `SCALED_IMU` message. The gyroscope and accelerometer data should change according to the drone movement.
+  * **Check the controls** using `rc` command. All the controls should change between -1 and 1, and the throttle between 0 and 1.

docs/usage.md

@@ -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.
+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:DebugLevel=error,FlashSize=4M,CDCOnBoot=cdc upload
+   ```
+
 See other available Make commands in [Makefile](../Makefile).
 
 > [!TIP]
@@ -82,6 +89,9 @@ 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)**.
@@ -114,7 +124,7 @@ You can also work with parameters using `p` command in the console. Parameter na
 
 The IMU orientation (relative to the drone's axes) is defined using the parameters: `IMU_ROT_ROLL`, `IMU_ROT_PITCH`, and `IMU_ROT_YAW`.
 
-The drone has *X* axis pointing forward, *Y* axis pointing left, and *Z* axis pointing up, and the supported IMU boards have *X* axis pointing to the pins side and *Z* axis pointing up from the component side:
+The drone has *X* axis pointing forward, *Y* axis pointing left, and *Z* axis pointing up, and the supported IMU boards have *X* axis pointing to the mounting holes side and *Z* axis pointing up from the component side:
 
 <img src="img/imu-axes.png" width="200">
 
@@ -122,10 +132,10 @@ Use the following table to set the parameters for common IMU orientations:
 
 |Orientation|Parameters|Orientation|Parameters|
 |:-:|-|-|-|
-|<img src="img/imu-rot-1.png" width="180">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 0    |<img src="img/imu-rot-5.png" width="180">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 0|
+|<img src="img/imu-rot-3.png" width="180">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 0    |<img src="img/imu-rot-7.png" width="180">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 0|
-|<img src="img/imu-rot-2.png" width="180">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 1.571|<img src="img/imu-rot-6.png" width="180">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = -1.571|
+|<img src="img/imu-rot-2.png" width="180">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = -1.571|<img src="img/imu-rot-6.png" width="180">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = -1.571|
-|<img src="img/imu-rot-3.png" width="180">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 3.142|<img src="img/imu-rot-7.png" width="180">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 3.142|
+|<img src="img/imu-rot-1.png" width="180">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 3.142|<img src="img/imu-rot-5.png" width="180">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 3.142|
-|<img src="img/imu-rot-4.png" width="180"><br>☑️ **Default**|<br>`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = -1.571|<img src="img/imu-rot-8.png" width="180">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 1.571|
+|<img src="img/imu-rot-4.png" width="180"><br>☑️ **Default**|<br>`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 1.571|<img src="img/imu-rot-8.png" width="180">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 1.571|
 
 ### Calibrate accelerometer
 
@@ -138,7 +148,7 @@ Before flight you need to calibrate the accelerometer:
 
 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).
 
-Certain ESP32 models (such as ESP32-S3) support a lower maximum PWM frequency; on these boards the parameter `MOT_PWM_FREQ` should be set to 40000 Hz.
+Certain ESP32 models (such as ESP32-S3 and ESP32-C3) support a lower maximum PWM frequency; on these boards the parameter `MOT_PWM_FREQ` should be set to 38000 Hz.
 
 If using brushless motors and ESCs:
 
@@ -192,6 +202,18 @@ There are several ways to control the drone's flight: using **smartphone** (Wi-F
 
 ### Control with a smartphone
 
+#### Using Mavlink Joystick app (Android)
+
+<img src="https://github.com/goldarte/mavlink-joystick/blob/master/app_screen.png?raw=true" width="400">
+
+1. Download and install [Mavlink Joystick app](https://github.com/goldarte/mavlink-joystick/releases/latest).
+2. Power the drone using the battery.
+3. Connect your smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`).
+4. Open Mavlink Joystick app. It should connect and begin showing the drone's telemetry automatically.
+5. Use the virtual joystick to fly the drone!
+
+#### Using QGroundControl app
+
 1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone.
 2. Power the drone using the battery.
 3. Connect your smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`).
@@ -204,11 +226,11 @@ There are several ways to control the drone's flight: using **smartphone** (Wi-F
 
 ### Control with a remote control
 
-Before using SBUS-connected remote control you need to enable SBUS and calibrate it:
+If using SBUS-connected remote control you need to enable SBUS and calibrate it:
 
 1. Connect to the drone using QGroundControl.
 2. In parameters, set the `RC_RX_PIN` parameter to the GPIO pin number where the SBUS signal is connected, for example: 4. Negative value disables SBUS.
-3. Reboot the drone to apply changes.
+3. Check if the receiver is working using `rc` command in the console.
 4. Open the console, type `cr` command and follow the instructions to calibrate the remote control.
 5. Use the remote control to fly the drone!
 
@@ -278,11 +300,8 @@ The Wi-Fi mode is chosen using `WIFI_MODE` parameter in QGroundControl or in the
 
 * `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.
+* `2` — Client mode *(STA)* — the drone connects to an existing Wi-Fi network (may cause additional delays, so generally not recommended).
-* `3` — *ESP-NOW (not implemented yet)*.
+* `3` — ESP-NOW mode — the drone uses ESP-NOW protocol for communication.
-
-> [!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:
 
@@ -304,6 +323,37 @@ Disabling Wi-Fi:
 p WIFI_MODE 0
 ```
 
+### Using ESP-NOW
+
+[ESP-NOW](https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/network/esp_now.html) is a low level wireless communication protocol. It can provide lower latency, better reliability, and longer range than Wi-Fi. However, it requires a second ESP32 board to be used as a proxy for the computer.
+
+<img src="img/espnow-connection.jpg" width="600">
+
+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:
+
+   ```
+   espnow 7a:c8:e3:eb:bf:e9 &PiuSysxP9+$L&5E
+   ```
+
+   Run this line as a console command on each drone you want to bind to this proxy board. [The maximum number](https://github.com/espressif/esp-idf/blob/e95cab4be8fd293e3f3323181e7a2280874da6f7/components/esp_wifi/include/esp_now.h#L32-L33) of simultaneously connected drones is 20 (unencrypted) io 6 (encrypted).
+
+3. Set the `WIFI_MODE` parameter to `3` on the drone:
+
+   ```
+   p WIFI_MODE 3
+   ```
+
+4. Go to the QGroundControl menu ⇒ *Application Settings* ⇒ *Comm Links*, add new link with the following settings:
+   * Name: ESP32.
+   * 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.
+
 ## Flight log
 
 After the flight, you can download the flight log for analysis wirelessly. Use the following command on your computer for that:

docs/user.md

@@ -4,6 +4,52 @@ This page contains user-built drones based on the Flix project. Publish your pro
 
 ---
 
+Author: [Неруш Михаил](https://t.me/NerushMV).<br>
+Description: custom frame made of 4 mm plywood, 8520 brushed motors, 75 mm propellers, MPU-6500. FlySky FS-i6X with ESP32-based adapter for ESP-NOW communication (using PPM output).
+
+<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).
+
+<img src="img/user/ina_tix/1.jpg" height=200> <img src="img/user/ina_tix/2.jpg" height=200> <img src="img/user/ina_tix/3.jpg" height=200>
+
+---
+
+Author: Oleg Kalachev.<br>
+Description: the first attempt on making an official PCB based Flix drone (Flix2 board). The IMU is not working on this version, so an external MPU-6050 board was used, therefore considered as **Flix version 1.5**.<br>
+[Flight video](https://drive.google.com/file/d/1R7tuUsFmPY0CGcOCFfMFaCp9kR49K3bl/view?usp=sharing).
+
+<img src="img/flix1.5.jpg" width=300>
+
+---
+
 Author: [FanBy0ru](https://https://github.com/FanBy0ru).<br>
 Description: custom 3D-printed frame.<br>
 Frame STLs and flight validation: https://cults3d.com/en/3d-model/gadget/armature-pour-flix-drone.
@@ -41,6 +87,17 @@ 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.

flix/cli.ino

@@ -10,6 +10,7 @@
 
 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 W_AP, W_STA, W_ESPNOW;
 extern float t, dt, loopRate;
 extern uint16_t channels[16];
 extern float controlTime;
@@ -19,42 +20,44 @@ extern LowPassFilter<Vector> gyroBiasFilter;
 extern float voltage;
 
 const char* motd =
-"\nWelcome to\n"
 " _______  __       __  ___   ___\n"
 "|   ____||  |     |  | \\  \\ /  /\n"
 "|  |__   |  |     |  |  \\  V  /\n"
 "|   __|  |  |     |  |   >   <\n"
 "|  |     |  `----.|  |  /  .  \\\n"
 "|__|     |_______||__| /__/ \\__\\\n\n"
+"(C) Oleg Kalachev\n"
+"https://github.com/okalachev/flix\n\n"
 "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"
+"wifi ap/sta/espnow/off - set Wi-Fi mode\n"
-"sta <ssid> <password> - setup Wi-Fi client 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"
 "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"
 "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);
@@ -89,10 +92,8 @@ void doCommand(String str, bool echo = false) {
 	// execute command
 	if (command == "help" || command == "motd") {
 		print("%s\n", motd);
-	} else if (command == "p" && arg0 == "") {
+	} else if (command == "p" && arg1 == "") {
-		printParameters();
+		printParameters(arg0.c_str());
-	} else if (command == "p" && arg0 != "" && arg1 == "") {
-		print("%s = %g\n", arg0.c_str(), getParameter(arg0.c_str()));
 	} else if (command == "p") {
 		bool success = setParameter(arg0.c_str(), arg1.toFloat());
 		if (success) {
@@ -106,15 +107,15 @@ 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") {
@@ -139,12 +140,16 @@ 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(true, arg0.c_str(), arg1.c_str());
+		configWiFi(W_AP, arg0.c_str(), arg1.c_str());
 	} else if (command == "sta") {
-		configWiFi(false, arg0.c_str(), arg1.c_str());
+		configWiFi(W_STA, arg0.c_str(), arg1.c_str());
+	} else if (command == "espnow") {
+		configWiFi(W_ESPNOW, 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]);
@@ -167,9 +172,11 @@ void doCommand(String str, bool echo = false) {
 #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("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;
@@ -203,7 +210,7 @@ void handleInput() {
 
 	while (Serial.available()) {
 		char c = Serial.read();
-		if (c == '\n') {
+		if (c == '\n' || c == '\r') {
 			doCommand(input);
 			input.clear();
 		} else {

flix/control.ino

@@ -149,6 +149,7 @@ 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);

flix/estimate.ino

@@ -32,8 +32,7 @@ void applyGyro() {
 
 void applyAcc() {
 	// test should we apply accelerometer gravity correction
-	float accNorm = acc.norm();
+	landed = !motorsActive() && abs(acc.norm() - ONE_G) < ONE_G * 0.1f;
-	landed = !motorsActive() && abs(accNorm - ONE_G) < ONE_G * 0.1f;
 
 	if (!landed) return;
 
@@ -47,6 +46,7 @@ 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);

flix/imu.ino

@@ -10,7 +10,7 @@
 #include "util.h"
 
 MPU9250 imu(SPI);
-Vector imuRotation(0, 0, -PI / 2); // imu orientation as Euler angles
+Vector imuRotation(0, 0, PI / 2); // imu orientation as Euler angles
 
 Vector gyro; // gyroscope output, rad/s
 Vector gyroBias;
@@ -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();

flix/lpf.h

@@ -14,6 +14,10 @@ public:
 	LowPassFilter(float alpha): alpha(alpha) {};
 
 	T update(const T input) {
+		if (!init) {
+			init = true;
+			return output = input;
+		}
 		return output += alpha * (input - output);
 	}
 
@@ -22,6 +26,9 @@ public:
 	}
 
 	void reset() {
-		output = T(); // set to zero
+		init = false;
 	}
+
+private:
+	bool init = false;
 };

flix/mavlink.ino

@@ -10,8 +10,12 @@ 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);
 
 bool mavlinkConnected = false;
 String mavlinkPrintBuffer;
@@ -34,14 +38,18 @@ 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,
@@ -49,21 +57,27 @@ void sendMavlink() {
 		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,
@@ -81,13 +95,13 @@ void sendMessage(const void *msg) {
 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);
 		}
 	}
@@ -241,7 +255,7 @@ 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;
 		}

flix/motors.ino

@@ -14,15 +14,13 @@ int pwmStop = 0;
 int pwmMin = 0;
 int pwmMax = -1; // -1 means duty cycle mode
 
-const int MOTOR_REAR_LEFT = 0;
+const int MOTOR_REAR_LEFT = 0, MOTOR_REAR_RIGHT = 1, MOTOR_FRONT_RIGHT = 2, MOTOR_FRONT_LEFT = 3;
-const int MOTOR_REAR_RIGHT = 1;
-const int MOTOR_FRONT_RIGHT = 2;
-const int MOTOR_FRONT_LEFT = 3;
 
 void setupMotors() {
 	print("Setup Motors\n");
-	// configure pins
+	// 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
 	}
@@ -32,12 +30,14 @@ void setupMotors() {
 
 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;
@@ -54,7 +54,7 @@ bool motorsActive() {
 
 void testMotor(int n) {
 	print("Testing motor %d\n", n);
-	motors[n] = 1;
+	motors[n] = 0.2;
 	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);

flix/parameters.ino

@@ -6,13 +6,11 @@
 #include <Preferences.h>
 #include "util.h"
 
-extern int channelZero[16];
+extern int channelZero[16], channelMax[16];
-extern int channelMax[16];
 extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
-extern int rcRxPin;
+extern int rcRxPin, voltagePin;
-extern int wifiMode, udpLocalPort, udpRemotePort;
+extern int wifiMode, wifiLongRange, udpLocalPort, udpRemotePort, espnowChannel;
 extern float rcLossTimeout, descendTime;
-extern int voltagePin;
 extern float voltageScale;
 extern LowPassFilter<float> voltageFilter;
 
@@ -22,6 +20,7 @@ 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) {};
@@ -86,7 +85,7 @@ Parameter parameters[] = {
 	{"MOT_PWM_MIN", &pwmMin},
 	{"MOT_PWM_MAX", &pwmMax},
 	// rc
-	{"RC_RX_PIN", &rcRxPin},
+	{"RC_RX_PIN", &rcRxPin, setupRC},
 	{"RC_ZERO_0", &channelZero[0]},
 	{"RC_ZERO_1", &channelZero[1]},
 	{"RC_ZERO_2", &channelZero[2]},
@@ -110,14 +109,20 @@ Parameter parameters[] = {
 	{"RC_MODE", &modeChannel},
 	// wifi
 	{"WIFI_MODE", &wifiMode},
-	{"WIFI_LOC_PORT", &udpLocalPort},
+	{"WIFI_PORT_LOC", &udpLocalPort},
-	{"WIFI_REM_PORT", &udpRemotePort},
+	{"WIFI_PORT_REM", &udpRemotePort},
+	{"WIFI_LONG_RANGE", &wifiLongRange},
+	// espnow
+	{"ESPNOW_CHANNEL", &espnowChannel},
 	// 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},
 	// power
-	{"PWR_VOLT_PIN", &voltagePin},
+	{"PWR_VOLT_PIN", &voltagePin, setupPower},
 	{"PWR_VOLT_SCALE", &voltageScale},
 	{"PWR_VOLT_LPF_A", &voltageFilter.alpha},
 	// safety
@@ -133,6 +138,7 @@ void setupParameters() {
 		if (!storage.isKey(parameter.name)) {
 			storage.putFloat(parameter.name, parameter.getValue()); // store default value
 		}
+		parameter.inital = parameter.getValue();
 		parameter.setValue(storage.getFloat(parameter.name, 0));
 		parameter.cache = parameter.getValue();
 	}
@@ -179,17 +185,23 @@ 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 (floatEquals(parameter.getValue(), parameter.cache)) continue; // no change
-		if (isnan(parameter.getValue()) && isnan(parameter.cache)) continue; // both are NAN
 
 		storage.putFloat(parameter.name, parameter.getValue());
 		parameter.cache = parameter.getValue(); // update cache
 	}
 }
 
-void printParameters() {
+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);
+		}
 	}
 }
 

flix/power.ino

@@ -8,18 +8,19 @@
 #include "lpf.h"
 #include "util.h"
 
-float voltage;
+float voltage = NAN;
 LowPassFilter<float> voltageFilter(0.2);
 int voltagePin = -1;
 float voltageScale = 2;
 
 void setupPower() {
-	// Disable reset on low voltage
+	REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA); // disable reset on low voltage
-	REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA);
+	if (digitalPinToAnalogChannel(voltagePin) == -1) voltagePin = -1; // test ADC pin
 }
 
 void readVoltage() {
 	if (voltagePin < 0) return;
+
 	static Rate rate(10);
 	if (!rate) return;
 

flix/rc.ino

@@ -6,7 +6,7 @@
 #include <SBUS.h>
 #include "util.h"
 
-SBUS rc(Serial2);
+SBUS rc(Serial1);
 int rcRxPin = -1; // -1 means disabled
 
 uint16_t channels[16]; // raw rc channels
@@ -27,15 +27,13 @@ void setupRC() {
 
 bool readRC() {
 	if (rcRxPin < 0) return false;
-	if (rc.read()) {
+	if (!rc.read()) return false;
-		SBUSData data = rc.data();
+
-		for (int i = 0; i < 16; i++) channels[i] = data.ch[i]; // copy channels data
+	rc.getChannels(channels);
 	normalizeRC();
 	controlTime = t;
 	return true;
 }
-	return false;
-}
 
 void normalizeRC() {
 	float controls[16];
@@ -55,18 +53,19 @@ void calibrateRC() {
 		print("RC_RX_PIN = %d, set the RC pin!\n", rcRxPin);
 		return;
 	}
-	uint16_t zero[16];
+
-	uint16_t center[16];
+	uint16_t zero[16]; // for zero positions
-	uint16_t max[16];
+	uint16_t center[16]; // for center positions
+	uint16_t _[16]; // for unused data
 	print("1/8 Calibrating RC: put all switches to default positions [3 sec]\n");
 	pause(3);
-	calibrateRCChannel(NULL, zero, zero, "2/8 Move sticks [3 sec]\n...     ...\n...     .o.\n.o.     ...\n");
+	calibrateRCChannel(NULL, _, zero, "2/8 Move sticks [3 sec]\n...     ...\n...     .o.\n.o.     ...\n");
-	calibrateRCChannel(NULL, center, center, "3/8 Move sticks [3 sec]\n...     ...\n.o.     .o.\n...     ...\n");
+	calibrateRCChannel(&throttleChannel, zero, _, "3/8 Move sticks [3 sec]\n.o.     ...\n...     .o.\n...     ...\n");
-	calibrateRCChannel(&throttleChannel, zero, max, "4/8 Move sticks [3 sec]\n.o.     ...\n...     .o.\n...     ...\n");
+	calibrateRCChannel(NULL, _, center, "4/8 Move sticks [3 sec]\n...     ...\n.o.     .o.\n...     ...\n");
-	calibrateRCChannel(&yawChannel, center, max, "5/8 Move sticks [3 sec]\n...     ...\n..o     .o.\n...     ...\n");
+	calibrateRCChannel(&yawChannel, center, _, "5/8 Move sticks [3 sec]\n...     ...\n..o     .o.\n...     ...\n");
-	calibrateRCChannel(&pitchChannel, zero, max, "6/8 Move sticks [3 sec]\n...     .o.\n...     ...\n.o.     ...\n");
+	calibrateRCChannel(&pitchChannel, zero, _, "6/8 Move sticks [3 sec]\n...     .o.\n...     ...\n.o.     ...\n");
-	calibrateRCChannel(&rollChannel, zero, max, "7/8 Move sticks [3 sec]\n...     ...\n...     ..o\n.o.     ...\n");
+	calibrateRCChannel(&rollChannel, zero, _, "7/8 Move sticks [3 sec]\n...     ...\n...     ..o\n.o.     ...\n");
-	calibrateRCChannel(&modeChannel, zero, max, "8/8 Put mode switch to max [3 sec]\n");
+	calibrateRCChannel(&modeChannel, zero, _, "8/8 Put mode switch to max [3 sec]\n");
 	printRCCalibration();
 }
 

flix/util.h

@@ -6,6 +6,7 @@
 #pragma once
 
 #include <math.h>
+#include <ESP32_NOW_Serial.h>
 
 const float ONE_G = 9.80665;
 extern float t;
@@ -22,6 +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);
@@ -36,13 +43,27 @@ float wrapAngle(float angle) {
 // Trim and split string by spaces
 void splitString(String& str, String& token0, String& token1, String& token2) {
 	str.trim();
+	if (str.isEmpty()) return;
 	char chars[str.length() + 1];
 	str.toCharArray(chars, str.length() + 1);
 	token0 = strtok(chars, " ");
-	token1 = strtok(NULL, " "); // String(NULL) creates empty string
+	token1 = strtok(NULL, " ");
 	token2 = strtok(NULL, "");
+	if (token1.c_str() == NULL) token1 = "";
+	if (token2.c_str() == NULL) token2 = "";
 }
 
+// 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 {
+		if (!success) lost++;
+		ESP_NOW_Serial_Class::onSent(true); // always report success to avoid resends
+	}
+};
+
 // Rate limiter
 class Rate {
 public:
@@ -51,6 +72,9 @@ 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;

flix/wifi.ino

@@ -1,77 +1,152 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
-// Wi-Fi communication
+// Wi-Fi and ESP-NOW communication
 
 #include <WiFi.h>
 #include <WiFiAP.h>
 #include <WiFiUdp.h>
-#include "Preferences.h"
+#include <MacAddress.h>
+#include <ESP32_NOW_Serial.h>
+#include <Preferences.h>
+#include "util.h"
 
 extern Preferences storage; // use the main preferences storage
 
-const int W_DISABLED = 0, W_AP = 1, W_STA = 2;
+const int W_DISABLED = 0, W_AP = 1, W_STA = 2, W_ESPNOW = 3;
 int wifiMode = W_AP;
+
+int wifiLongRange = 0;
 int udpLocalPort = 14550;
 int udpRemotePort = 14550;
 IPAddress udpRemoteIP = "255.255.255.255";
-
 WiFiUDP udp;
 
+ESPNOWSerial espnow(NULL, 0, WIFI_IF_AP);
+ESPNOWSerial espnowBroadcast(ESP_NOW.BROADCAST_ADDR, 0, WIFI_IF_AP);
+int espnowChannel = 6;
+
 void setupWiFi() {
 	print("Setup Wi-Fi\n");
+	WiFi.enableLongRange(wifiLongRange);
+
 	if (wifiMode == W_AP) {
 		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());
-	}
-	WiFi.setSleep(false); // disable power save
 		udp.begin(udpLocalPort);
 	}
 
+	if (wifiMode == W_STA) {
+		WiFi.begin(storage.getString("WIFI_STA_SSID", "").c_str(), storage.getString("WIFI_STA_PASS", "").c_str());
+		udp.begin(udpLocalPort);
+	}
+
+	if (wifiMode == W_ESPNOW) {
+		WiFi.mode(WIFI_AP);
+		WiFi.setChannel(espnowChannel);
+		espnow.addr(MacAddress(storage.getString("ESPNOW_PEER_MAC", "FF:FF:FF:FF:FF:FF").c_str()));
+		String key = storage.getString("ESPNOW_PEER_KEY", "");
+		espnow.setKey(key.isEmpty() ? nullptr : (const uint8_t *)key.c_str());
+		espnow.begin();
+		espnowBroadcast.begin();
+	}
+
+	WiFi.setSleep(false); // disable power save
+}
+
 void sendWiFi(const uint8_t *buf, int len) {
+	if (espnow) {
+		espnow.write(buf, len);
+
+		static Rate discovery(2);
+		if (discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device
+		return;
+	}
+
 	if (WiFi.softAPgetStationNum() == 0 && !WiFi.isConnected()) return;
+
 	udp.beginPacket(udpRemoteIP, udpRemotePort);
 	udp.write(buf, len);
 	udp.endPacket();
 }
 
 int receiveWiFi(uint8_t *buf, int len) {
+	if (espnow) {
+		return espnow.read(buf, len);
+	}
+
+	if (WiFi.softAPgetStationNum() == 0 && !WiFi.isConnected()) return 0;
+
 	udp.parsePacket();
 	if (udp.remoteIP()) udpRemoteIP = udp.remoteIP();
 	return udp.read(buf, len);
 }
 
 void printWiFiInfo() {
-	if (WiFi.getMode() == WIFI_MODE_AP) {
+	if (espnow) {
+		print("Mode: ESP-NOW\n");
+		print("ESP-NOW version: %d\n", ESP_NOW.getVersion());
+		print("Max packet size: %d\n", ESP_NOW.getMaxDataLen());
+		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("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());
 		print("SSID: %s\n", WiFi.softAPSSID().c_str());
 		print("Password: ***\n");
+		print("Channel: %d\n", WiFi.channel());
 		print("Clients: %d\n", WiFi.softAPgetStationNum());
 		print("IP: %s\n", WiFi.softAPIP().toString().c_str());
+		print("Remote IP: %s\n", udpRemoteIP.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("Channel: %d\n", WiFi.channel());
+		print("RSSI: %d dBm\n", WiFi.RSSI());
 		print("IP: %s\n", WiFi.localIP().toString().c_str());
+		print("Remote IP: %s\n", udpRemoteIP.toString().c_str());
 	} else {
 		print("Mode: Disabled\n");
-		return;
 	}
-	print("Remote IP: %s\n", udpRemoteIP.toString().c_str());
 	print("MAVLink connected: %d\n", mavlinkConnected);
 }
 
-void configWiFi(bool ap, const char *ssid, const char *password) {
+void configWiFi(int mode, const char *first, const char *second) {
-	if (ap) {
+	MacAddress mac;
-		storage.putString("WIFI_AP_SSID", ssid);
+	if (mode == W_AP && strlen(first) > 0 && strlen(second) >= 8) {
-		storage.putString("WIFI_AP_PASS", password);
+		storage.putString("WIFI_AP_SSID", first);
+		storage.putString("WIFI_AP_PASS", second);
+	} else if (mode == W_STA && strlen(first) > 0 && strlen(second) >= 8) {
+		storage.putString("WIFI_STA_SSID", first);
+		storage.putString("WIFI_STA_PASS", second);
+	} else if (mode == W_ESPNOW && mac.fromString(first)) {
+		storage.putString("ESPNOW_PEER_MAC", first);
+		storage.putString("ESPNOW_PEER_KEY", strlen(second) == ESP_NOW_KEY_LEN ? second : "");
 	} else {
-		storage.putString("WIFI_STA_SSID", ssid);
+		print("Invalid configuration\n");
-		storage.putString("WIFI_STA_PASS", password);
+		return;
 	}
 	print("✓ Reboot to apply new settings\n");
 }
+
+void setWiFiMode(const String& mode) {
+	if (mode == "ap") {
+		wifiMode = W_AP;
+	} else if (mode == "sta") {
+		wifiMode = W_STA;
+	} else if (mode == "espnow") {
+		wifiMode = W_ESPNOW;
+	} else if (mode == "off") {
+		wifiMode = W_DISABLED;
+	} else {
+		print("Invalid Wi-Fi mode\n");
+		return;
+	}
+	static const char *modes[] = {"Disabled", "Access Point (AP)", "Client (STA)", "ESP-NOW"};
+	print("✓ Wi-Fi mode set to %s, reboot to apply\n", modes[wifiMode]);
+}

gazebo/Arduino.h

@@ -151,7 +151,7 @@ public:
 	void setRxInvert(bool invert) {};
 };
 
-HardwareSerial Serial, Serial2;
+HardwareSerial Serial, Serial1, Serial2;
 
 class EspClass {
 public:
@@ -168,6 +168,7 @@ 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; }
+int8_t digitalPinToAnalogChannel(uint8_t pin) { return -1; }
 uint32_t analogReadMilliVolts(uint8_t pin) { return 0; }
 
 unsigned long __micros;

gazebo/ESP32_NOW_Serial.h

@@ -0,0 +1,12 @@
+// Dummy file for the simulator
+
+class ESP_NOW_Peer {
+protected:
+	size_t send(const uint8_t *data, int len) { return 0; }
+};
+
+class ESP_NOW_Serial_Class : public ESP_NOW_Peer {
+public:
+	virtual void onSent(bool success) {};
+	virtual size_t write(const uint8_t *data, size_t len) { return 0; };
+};

gazebo/SBUS.h

@@ -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() {
+	void getChannels(uint16_t (&channels)[16]) const {
-		SBUSData data;
+		int16_t ch[16];
-		joystickGet(data.ch);
+		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;
 	};
 };

gazebo/flix.h

@@ -43,9 +43,10 @@ void print(const char* format, ...);
 void pause(float duration);
 void doCommand(String str, bool echo);
 void handleInput();
+void setupRC();
 void normalizeRC();
 void calibrateRC();
-void calibrateRCChannel(int *channel, uint16_t zero[16], uint16_t max[16], const char *str);
+void calibrateRCChannel(int*, uint16_t[16], uint16_t[16], const char*);
 void printRCCalibration();
 void printLogHeader();
 void printLogData();
@@ -57,6 +58,7 @@ void handleMavlink(const void *_msg);
 void mavlinkPrint(const char* str);
 void sendMavlinkPrint();
 inline Quaternion fluToFrd(const Quaternion &q);
+void setupPower();
 void failsafe();
 void rcLossFailsafe();
 void descend();
@@ -66,7 +68,7 @@ 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
@@ -77,3 +79,4 @@ 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"); };

gazebo/simulator.cpp

@@ -73,6 +73,8 @@ public:
 		gyro = Vector(imu->AngularVelocity().X(), imu->AngularVelocity().Y(), imu->AngularVelocity().Z());
 		acc = this->accFilter.update(Vector(imu->LinearAcceleration().X(), imu->LinearAcceleration().Y(), imu->LinearAcceleration().Z()));
 
+		voltage = 4.2f; // dummy voltage value
+
 		readRC();
 		estimate();
 

gazebo/wifi.h

@@ -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";

tools/espnow-proxy/README.md

@@ -0,0 +1,3 @@
+# ESPNOW-proxy
+
+Proxy sketch for using ESP-NOW connection with Flix drone.

tools/espnow-proxy/espnow-proxy.ino

@@ -0,0 +1,88 @@
+// Copyright (c) 2026 Oleg Kalachev <okalachev@gmail.com>
+// Repository: https://github.com/okalachev/flix
+
+// Proxy for ESP-NOW connection
+
+#include <vector>
+#include <WiFi.h>
+#include <ESP32_NOW_Serial.h>
+#include <MacAddress.h>
+#include <MAVLink.h>
+#include <Preferences.h>
+#include "../../flix/util.h"
+
+const int CHANNEL = 6;
+char key[ESP_NOW_KEY_LEN + 1] = {0}; // with trailing null
+
+Preferences storage;
+
+std::vector<ESPNOWSerial *> peers;
+
+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
+
+	Serial.printf("New peer: " MACSTR "\n", MAC2STR(info->src_addr));
+	ESPNOWSerial *link = new ESPNOWSerial(info->src_addr, CHANNEL, WIFI_IF_AP);
+	link->begin();
+	link->setKey((const uint8_t *)key);
+	peers.push_back(link);
+}
+
+void setup() {
+	Serial.begin(115200);
+	WiFi.mode(WIFI_AP);
+	WiFi.setSleep(false);
+	WiFi.setChannel(CHANNEL);
+
+	ESP_NOW.onNewPeer(onNewPeer, NULL);
+	ESP_NOW.begin();
+
+	storage.begin("espnow-proxy");
+	if (!storage.isKey("key")) {
+		generateRandomKey();
+		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() {
+	const char chars[] = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789!@#$%^&*-_+=";
+	for (int i = 0; i < ESP_NOW_KEY_LEN; i++) {
+		key[i] = chars[random(0, strlen(chars))];
+	}
+}
+
+void loop() {
+	uint8_t buf[5000];
+
+	// Send from Serial to ESP-NOW
+	while (Serial.available() > 0) {
+		int b = Serial.read();
+		if (b < 0) {
+			break;
+		}
+
+		mavlink_message_t msg;
+		mavlink_status_t status;
+		if (mavlink_parse_char(MAVLINK_COMM_0, (uint8_t)b, &msg, &status)) {
+			int len = mavlink_msg_to_send_buffer(buf, &msg);
+			for (ESPNOWSerial *link : peers) {
+				link->write(buf, len);
+			}
+		}
+	}
+
+	// Send from ESP-NOW to Serial
+	for (ESPNOWSerial *link : peers) {
+		int len = link->read(buf, sizeof(buf));
+		if (len > 0) {
+			Serial.write(buf, len);
+		}
+	}
+}

tools/pyflix/README.md

@@ -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:
@@ -37,7 +39,7 @@ print(flix.connected)       # True if connected to the drone
 print(flix.mode)            # current flight mode (str)
 print(flix.armed)           # True if the drone is armed
 print(flix.landed)          # True if the drone is landed
-print(flix.voltage)         # battery voltage
+print(flix.voltage)         # battery voltage (NaN - unknown, ~0 - USB powered)
 print(flix.attitude)        # attitude quaternion [w, x, y, z]
 print(flix.attitude_euler)  # attitude as Euler angles [roll, pitch, yaw]
 print(flix.rates)           # angular rates [roll_rate, pitch_rate, yaw_rate]

tools/pyflix/flix.py

@@ -5,6 +5,7 @@
 
 import os
 import time
+import math
 from queue import Queue, Empty
 from typing import Optional, Callable, List, Dict, Any, Union, Sequence
 import logging
@@ -26,7 +27,7 @@ class Flix:
     mode: str = ''
     armed: bool = False
     landed: bool = False
-    voltage: float = 0
+    voltage: float = math.nan
     attitude: List[float]
     attitude_euler: List[float]  # roll, pitch, yaw
     rates: List[float]
@@ -43,12 +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')

tools/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "pyflix"
-version = "0.14"
+version = "0.16"
 description = "Python API for Flix drone"
 authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }]
 license = "MIT"