Add sources to the simulator using cmake instead of include

As it makes the subsystems code easier to understand.
Declare the most used variables in main sketch file as forward declarations.
Make all control input zero by default (except controlMode).
Minor changes.

.markdownlint.json

@@ -65,5 +65,6 @@
 			"PX4"
 		]
 	},
-	"MD045": false
+	"MD045": false,
+	"MD060": false
 }

.vscode/c_cpp_properties.json

@@ -18,20 +18,7 @@
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
 				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h"
-				"${workspaceFolder}/flix/cli.ino",
-				"${workspaceFolder}/flix/control.ino",
-				"${workspaceFolder}/flix/estimate.ino",
-				"${workspaceFolder}/flix/flix.ino",
-				"${workspaceFolder}/flix/imu.ino",
-				"${workspaceFolder}/flix/led.ino",
-				"${workspaceFolder}/flix/log.ino",
-				"${workspaceFolder}/flix/mavlink.ino",
-				"${workspaceFolder}/flix/motors.ino",
-				"${workspaceFolder}/flix/rc.ino",
-				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino"
 			],
 			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
@@ -65,20 +52,7 @@
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
 				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h"
-				"${workspaceFolder}/flix/flix.ino",
-				"${workspaceFolder}/flix/cli.ino",
-				"${workspaceFolder}/flix/control.ino",
-				"${workspaceFolder}/flix/estimate.ino",
-				"${workspaceFolder}/flix/imu.ino",
-				"${workspaceFolder}/flix/led.ino",
-				"${workspaceFolder}/flix/log.ino",
-				"${workspaceFolder}/flix/mavlink.ino",
-				"${workspaceFolder}/flix/motors.ino",
-				"${workspaceFolder}/flix/rc.ino",
-				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino"
 			],
 			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
@@ -113,20 +87,7 @@
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
 				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h"
-				"${workspaceFolder}/flix/cli.ino",
-				"${workspaceFolder}/flix/control.ino",
-				"${workspaceFolder}/flix/estimate.ino",
-				"${workspaceFolder}/flix/flix.ino",
-				"${workspaceFolder}/flix/imu.ino",
-				"${workspaceFolder}/flix/led.ino",
-				"${workspaceFolder}/flix/log.ino",
-				"${workspaceFolder}/flix/mavlink.ino",
-				"${workspaceFolder}/flix/motors.ino",
-				"${workspaceFolder}/flix/rc.ino",
-				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino"
 			],
 			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++.exe",
 			"cStandard": "c11",

README.md

@@ -1,6 +1,9 @@
-# Flix
+<!-- markdownlint-disable MD041 -->
 
-**Flix** (*flight + X*) — open source ESP32-based quadcopter made from scratch.
+<p align="center">
+  <img src="docs/img/flix.svg" width=180 alt="Flix logo"><br>
+  <b>Flix</b> (<i>flight + X</i>) — open source ESP32-based quadcopter made from scratch.
+</p>
 
 <table>
   <tr>

docs/book/firmware.md

@@ -35,7 +35,7 @@
 
 ### Подсистема управления
 
-Состояние органов управления обрабатывается в функции `interpretControls()` и преобразуется в *команду управления*, которая включает следующее:
+Состояние органов управления обрабатывается в функции `interpretControls()` и преобразуется в **команду управления**, которая включает следующее:
 
 * `attitudeTarget` *(Quaternion)* — целевая ориентация дрона.
 * `ratesTarget` *(Vector)* — целевые угловые скорости, *рад/с*.

docs/firmware.md

@@ -38,13 +38,13 @@ Utility files:
 
 ### Control subsystem
 
-Pilot inputs are interpreted in `interpretControls()`, and then converted to the *control command*, which consists of the following:
+Pilot inputs are interpreted in `interpretControls()`, and then converted to the **control command**, which consists of the following:
 
 * `attitudeTarget` *(Quaternion)* — target attitude of the drone.
 * `ratesTarget` *(Vector)* — target angular rates, *rad/s*.
 * `ratesExtra` *(Vector)* — additional (feed-forward) angular rates , used for yaw rate control in STAB mode, *rad/s*.
 * `torqueTarget` *(Vector)* — target torque, range [-1, 1].
-* `thrustTarget` *(float)* — collective thrust target, range [0, 1].
+* `thrustTarget` *(float)* — collective motor thrust target, range [0, 1].
 
 Control command is handled in `controlAttitude()`, `controlRates()`, `controlTorque()` functions. Each function may be skipped if the corresponding control target is set to `NAN`.
 
@@ -62,6 +62,11 @@ print("Test value: %.2f\n", testValue);
 
 In order to add a console command, modify the `doCommand()` function in `cli.ino` file.
 
+> [!IMPORTANT]
+> Avoid using delays in in-flight commands, it will **crash** the drone! (The design is one-threaded.)
+>
+> 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.
+
 ## Building the firmware
 
 See build instructions in [usage.md](usage.md).

docs/img/flix.svg

@@ -0,0 +1,38 @@
+<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 734.86 378.46">
+  <defs>
+    <style>
+      .a {
+        fill: none;
+        stroke: #d5d5d5;
+        stroke-miterlimit: 10;
+        stroke-width: 31px;
+      }
+
+      .b {
+        fill: #c1c1c1;
+      }
+
+      .c {
+        fill: #ff9400;
+      }
+
+      .d {
+        fill: #d5d5d5;
+      }
+    </style>
+  </defs>
+  <g>
+    <g>
+      <line class="a" x1="448.78" y1="294.23" x2="648.77" y2="93.24"/>
+      <line class="a" x1="449.78" y1="94.24" x2="649.77" y2="295.23"/>
+      <circle class="b" cx="549.27" cy="193.73" r="41.5"/>
+      <circle class="c" cx="449.35" cy="93.74" r="77.95"/>
+      <circle class="c" cx="648.89" cy="93.53" r="77.95"/>
+      <circle class="c" cx="647.89" cy="294.51" r="77.95"/>
+      <circle class="c" cx="448.9" cy="294.51" r="77.95"/>
+    </g>
+    <path class="d" d="M8,161.93q0-17.85,22.36-17.85h4.81V100.57Q35.17,8.49,131.23,8h1q36.87,0,47.31,7.48L181,17.41l1,2.41V50q0,12.32-5.82,12.31-2.43,0-7.4-4.64t-14.19-9a48.63,48.63,0,0,0-21.22-4.41q-12,0-19.17,3.5a18.85,18.85,0,0,0-9.82,10.62,67.35,67.35,0,0,0-3.52,12.06,82.52,82.52,0,0,0-.85,13.39v60.32h27.28q10.86,0,16.05,5.43a17.52,17.52,0,0,1,5.19,12.42,22.5,22.5,0,0,1-1.21,7.36q-1.22,3.51-6.64,7.24t-14.36,3.74H101.64V344.82a56,56,0,0,1-.61,9.65,37.8,37.8,0,0,1-2.56,7.6,11.83,11.83,0,0,1-6.94,6.4q-5,1.93-13.51,1.93H57.08q-10.47,0-15.7-4.71t-5.73-8.44a77.31,77.31,0,0,1-.48-9.53V180.27H29.4Q8,180.27,8,161.93Z"/>
+    <path class="d" d="M201.21,348.2V37q0-23.16,20.86-23.4h22.81q22.8,0,22.8,22.44V346.27a68.92,68.92,0,0,1-.49,9.41,22.59,22.59,0,0,1-2.42,7.12,11.48,11.48,0,0,1-6.67,5.43,47.78,47.78,0,0,1-12.74,2.17H225q-11.4,0-17.58-4.47T201.21,348.2Z"/>
+    <path class="d" d="M284.9,61.08V36.47a40.39,40.39,0,0,1,1.7-12.91,11.36,11.36,0,0,1,6.18-7,25.27,25.27,0,0,1,6.68-2.3c1.45-.15,4-.4,7.76-.72h25.23q10.43,0,16.73,4.7t6.31,18.22V62.05a27.94,27.94,0,0,1-.85,7.11,23,23,0,0,1-2.06,5.43,20,20,0,0,1-2.91,4,10,10,0,0,1-3.52,2.54c-1.21.48-2.54,1-4,1.44a11.53,11.53,0,0,1-3.4.73,13.71,13.71,0,0,0-3.15.48H307.7q-10.43,0-16.61-4.7T284.9,61.08Zm1.94,284.71V166.28q0-22.2,21.83-22.2h20.38q10.92,0,16.62,4t6.67,8.45a60.47,60.47,0,0,1,1,12.18V348.2q0,22.2-21.83,22.2H308.67q-10.43,0-15.64-4.95t-5.7-8.81A90.93,90.93,0,0,1,286.84,345.79Z"/>
+  </g>
+</svg>

docs/troubleshooting.md

@@ -4,7 +4,7 @@
 
 Do the following:
 
-* **Check ESP32 core is installed**. Check if the version matches the one used in the [tutorial](usage.md#firmware).
+* **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 the chosen board**. The correct board to choose in Arduino IDE for ESP32 Mini is *WEMOS D1 MINI ESP32*.
 
@@ -25,7 +25,7 @@ Do the following:
   * 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, make sure `rotateIMU` function is defined correctly in `imu.ino` file.
+* **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).
 * **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).

docs/usage.md

@@ -73,14 +73,6 @@ ICM20948 imu(SPI);  // For ICM-20948
 MPU6050 imu(Wire);  // For MPU-6050
 ```
 
-### Setup the IMU orientation
-
-The IMU orientation is defined in `rotateIMU` function in the `imu.ino` file. Change it so it converts the IMU axes to the drone's axes correctly. **Drone axes are X forward, Y left, Z up**:
-
-<img src="img/drone-axes.svg" width="200">
-
-See various [IMU boards axes orientations table](https://github.com/okalachev/flixperiph/?tab=readme-ov-file#imu-axes-orientation) to help you set up the correct orientation.
-
 ### Connect using QGroundControl
 
 QGroundControl is a ground control station software that can be used to monitor and control the drone.
@@ -88,7 +80,7 @@ QGroundControl is a ground control station software that can be used to monitor
 1. Install mobile or desktop version of [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html).
 2. Power up the drone.
 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
+4. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
 
 ### Access console
 
@@ -104,11 +96,37 @@ 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*.
-   <img src="img/cli.png" width="400">
+
+<img src="img/cli.png" width="400">
 
 > [!TIP]
 > Use `help` command to see the list of available commands.
 
+### Access parameters
+
+The drone is configured using parameters. To access and modify them, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*:
+
+<img src="img/parameters.png" width="400">
+
+You can also work with parameters using `p` command in the console.
+
+### Define IMU orientation
+
+Use parameters, to define the IMU board axes orientation relative to the drone's axes: `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:
+
+<img src="img/imu-axes.png" width="200">
+
+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-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-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
 
 Before flight you need to calibrate the accelerometer:
@@ -136,6 +154,10 @@ Before flight you need to calibrate the accelerometer:
    * `mrl` — should rotate rear left motor (counter-clockwise).
    * `mrr` — should rotate rear right motor (clockwise).
 
+   Rotation diagram:
+
+   <img src="img/motors.svg" width=200>
+
 > [!WARNING]
 > Never run the motors when powering the drone from USB, always use the battery for that.
 
@@ -143,7 +165,7 @@ Before flight you need to calibrate the accelerometer:
 
 There are several ways to control the drone's flight: using **smartphone** (Wi-Fi), using **SBUS remote control**, or using **USB remote control** (Wi-Fi).
 
-### Control with smartphone
+### Control with a smartphone
 
 1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone.
 2. Power the drone using the battery.
@@ -155,7 +177,7 @@ There are several ways to control the drone's flight: using **smartphone** (Wi-F
 > [!TIP]
 > Decrease `CTL_TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive.
 
-### Control with remote control
+### Control with a remote control
 
 Before using remote SBUS-connected remote control, you need to calibrate it:
 
@@ -163,7 +185,7 @@ Before using remote SBUS-connected remote control, you need to calibrate it:
 2. Type `cr` command and follow the instructions.
 3. Use the remote control to fly the drone!
 
-### Control with USB remote control
+### Control with a USB remote control
 
 If your drone doesn't have RC receiver installed, you can use USB remote control and QGroundControl app to fly it.
 
@@ -221,12 +243,6 @@ In this mode, the pilot inputs are ignored (except the mode switch, if configure
 
 If the pilot moves the control sticks, the drone will switch back to *STAB* mode.
 
-## Adjusting parameters
-
-You can adjust some of the drone's parameters (include PID coefficients) in QGroundControl. In order to do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*.
-
-<img src="img/parameters.png" width="400">
-
 ## Flight log
 
 After the flight, you can download the flight log for analysis wirelessly. Use the following for that:

docs/user.md

@@ -16,7 +16,7 @@ Author: [goldarte](https://t.me/goldarte).<br>
 
 ## School 548 course
 
-Special quadcopter design and engineering course took place in october-november 2025 in School 548, Moscow. Course included UAV control theory, electronics, and practical drone assembly and setup using the Flix project.
+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.
 
 <img height=200 src="img/user/school548/1.jpg"> <img height=200 src="img/user/school548/2.jpg"> <img height=200 src="img/user/school548/3.jpg">
 
@@ -25,7 +25,7 @@ STL files and other materials: see [here](https://drive.google.com/drive/folders
 ### Selected works
 
 Author: [KiraFlux](https://t.me/@kiraflux_0XC0000005).<br>
-Description: **custom ESPNOW remote control** is implemented, firmware modified to support ESPNOW protocol.<br>
+Description: **custom ESPNOW remote control** was implemented, modified firmware to support ESPNOW protocol.<br>
 Telegram posts: [1](https://t.me/opensourcequadcopter/106), [2](https://t.me/opensourcequadcopter/114).<br>
 Modified Flix firmware: https://github.com/KiraFlux/flix/tree/klyax.<br>
 Remote control project: https://github.com/KiraFlux/ESP32-DJC.<br>

flix/cli.cpp

@@ -3,6 +3,8 @@
 
 // Implementation of command line interface
 
+#include <Arduino.h>
+#include "flix.h"
 #include "pid.h"
 #include "vector.h"
 #include "util.h"
@@ -11,7 +13,7 @@ extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRO
 extern const int RAW, ACRO, STAB, AUTO;
 extern float t, dt, loopRate;
 extern uint16_t channels[16];
-extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
+extern float controlTime;
 extern int mode;
 extern bool armed;
 
@@ -71,7 +73,7 @@ void pause(float duration) {
 	}
 }
 
-void doCommand(String str, bool echo = false) {
+void doCommand(String str, bool echo) {
 	// parse command
 	String command, arg0, arg1;
 	splitString(str, command, arg0, arg1);
@@ -132,6 +134,7 @@ void doCommand(String str, bool echo = false) {
 		}
 		print("\nroll: %g pitch: %g yaw: %g throttle: %g mode: %g\n",
 			controlRoll, controlPitch, controlYaw, controlThrottle, controlMode);
+		print("time: %.1f\n", controlTime);
 		print("mode: %s\n", getModeName());
 		print("armed: %d\n", armed);
 	} else if (command == "wifi") {

flix/config.h

@@ -0,0 +1,55 @@
+// Wi-Fi
+#define WIFI_ENABLED 1
+#define WIFI_SSID "flix"
+#define WIFI_PASSWORD "flixwifi"
+#define WIFI_UDP_PORT 14550
+#define WIFI_UDP_REMOTE_PORT 14550
+#define WIFI_UDP_REMOTE_ADDR "255.255.255.255"
+
+// Motors
+#define MOTOR_0_PIN 12 // rear left
+#define MOTOR_1_PIN 13 // rear right
+#define MOTOR_2_PIN 14 // front right
+#define MOTOR_3_PIN 15 // front left
+#define PWM_FREQUENCY 78000
+#define PWM_RESOLUTION 10
+#define PWM_STOP 0
+#define PWM_MIN 0
+#define PWM_MAX 1000000 / PWM_FREQUENCY
+
+// Control
+#define PITCHRATE_P 0.05
+#define PITCHRATE_I 0.2
+#define PITCHRATE_D 0.001
+#define PITCHRATE_I_LIM 0.3
+#define ROLLRATE_P PITCHRATE_P
+#define ROLLRATE_I PITCHRATE_I
+#define ROLLRATE_D PITCHRATE_D
+#define ROLLRATE_I_LIM PITCHRATE_I_LIM
+#define YAWRATE_P 0.3
+#define YAWRATE_I 0.0
+#define YAWRATE_D 0.0
+#define YAWRATE_I_LIM 0.3
+#define ROLL_P 6
+#define ROLL_I 0
+#define ROLL_D 0
+#define PITCH_P ROLL_P
+#define PITCH_I ROLL_I
+#define PITCH_D ROLL_D
+#define YAW_P 3
+#define PITCHRATE_MAX radians(360)
+#define ROLLRATE_MAX radians(360)
+#define YAWRATE_MAX radians(300)
+#define TILT_MAX radians(30)
+#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz
+
+// Estimation
+#define WEIGHT_ACC 0.003
+#define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz
+
+// MAVLink
+#define SYSTEM_ID 1
+
+// Safety
+#define RC_LOSS_TIMEOUT 1
+#define DESCEND_TIME 10

flix/control.cpp

@@ -3,41 +3,25 @@
 
 // Flight control
 
+#include "config.h"
+#include "flix.h"
 #include "vector.h"
 #include "quaternion.h"
 #include "pid.h"
 #include "lpf.h"
 #include "util.h"
 
-#define PITCHRATE_P 0.05
+extern const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes
-#define PITCHRATE_I 0.2
-#define PITCHRATE_D 0.001
-#define PITCHRATE_I_LIM 0.3
-#define ROLLRATE_P PITCHRATE_P
-#define ROLLRATE_I PITCHRATE_I
-#define ROLLRATE_D PITCHRATE_D
-#define ROLLRATE_I_LIM PITCHRATE_I_LIM
-#define YAWRATE_P 0.3
-#define YAWRATE_I 0.0
-#define YAWRATE_D 0.0
-#define YAWRATE_I_LIM 0.3
-#define ROLL_P 6
-#define ROLL_I 0
-#define ROLL_D 0
-#define PITCH_P ROLL_P
-#define PITCH_I ROLL_I
-#define PITCH_D ROLL_D
-#define YAW_P 3
-#define PITCHRATE_MAX radians(360)
-#define ROLLRATE_MAX radians(360)
-#define YAWRATE_MAX radians(300)
-#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
 int mode = STAB;
 bool armed = false;
 
+Quaternion attitudeTarget;
+Vector ratesTarget;
+Vector ratesExtra; // feedforward rates
+Vector torqueTarget;
+float thrustTarget;
+
 PID rollRatePID(ROLLRATE_P, ROLLRATE_I, ROLLRATE_D, ROLLRATE_I_LIM, RATES_D_LPF_ALPHA);
 PID pitchRatePID(PITCHRATE_P, PITCHRATE_I, PITCHRATE_D, PITCHRATE_I_LIM, RATES_D_LPF_ALPHA);
 PID yawRatePID(YAWRATE_P, YAWRATE_I, YAWRATE_D);
@@ -47,12 +31,6 @@ PID yawPID(YAW_P, 0, 0);
 Vector maxRate(ROLLRATE_MAX, PITCHRATE_MAX, YAWRATE_MAX);
 float tiltMax = TILT_MAX;
 
-Quaternion attitudeTarget;
-Vector ratesTarget;
-Vector ratesExtra; // feedforward rates
-Vector torqueTarget;
-float thrustTarget;
-
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
 extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
 

flix/estimate.cpp

@@ -3,13 +3,19 @@
 
 // Attitude estimation from gyro and accelerometer
 
+#include "config.h"
+#include "flix.h"
 #include "quaternion.h"
 #include "vector.h"
 #include "lpf.h"
 #include "util.h"
 
-#define WEIGHT_ACC 0.003
+Vector rates; // estimated angular rates, rad/s
-#define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz
+Quaternion attitude; // estimated attitude
+bool landed;
+
+float accWeight = 0.003;
+LowPassFilter<Vector> ratesFilter(0.2); // cutoff frequency ~ 40 Hz
 
 void estimate() {
 	applyGyro();
@@ -18,7 +24,6 @@ void estimate() {
 
 void applyGyro() {
 	// filter gyro to get angular rates
-	static LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
 	rates = ratesFilter.update(gyro);
 
 	// apply rates to attitude
@@ -34,7 +39,7 @@ void applyAcc() {
 
 	// calculate accelerometer correction
 	Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude);
-	Vector correction = Vector::rotationVectorBetween(acc, up) * WEIGHT_ACC;
+	Vector correction = Vector::rotationVectorBetween(acc, up) * accWeight;
 
 	// apply correction
 	attitude = Quaternion::rotate(attitude, Quaternion::fromRotationVector(correction));

flix/flix.h

@@ -0,0 +1,90 @@
+// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
+// Repository: https://github.com/okalachev/flix
+
+// All-in-one header file
+
+#pragma once
+
+#include <Arduino.h>
+#include "vector.h"
+#include "quaternion.h"
+
+extern float t, dt;
+extern float loopRate;
+extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
+extern Vector gyro, acc;
+extern Vector rates;
+extern Quaternion attitude;
+extern bool landed;
+extern int mode;
+extern bool armed;
+extern Quaternion attitudeTarget;
+extern Vector ratesTarget, ratesExtra, torqueTarget;
+extern float thrustTarget;
+extern float motors[4];
+
+void print(const char* format, ...);
+void pause(float duration);
+void doCommand(String str, bool echo = false);
+void handleInput();
+void control();
+void interpretControls();
+void controlAttitude();
+void controlRates();
+void controlTorque();
+const char *getModeName();
+void estimate();
+void applyGyro();
+void applyAcc();
+void setupIMU();
+void configureIMU();
+void readIMU();
+void rotateIMU(Vector& data);
+void calibrateGyroOnce();
+void calibrateAccel();
+void calibrateAccelOnce();
+void printIMUCalibration();
+void printIMUInfo();
+void setupLED();
+void setLED(bool on);
+void blinkLED();
+void prepareLogData();
+void logData();
+void printLogHeader();
+void printLogData();
+void processMavlink();
+void sendMavlink();
+void sendMessage(const void *msg);
+void receiveMavlink();
+void handleMavlink(const void *_msg);
+void mavlinkPrint(const char* str);
+void sendMavlinkPrint();
+void setupMotors();
+int getDutyCycle(float value);
+void sendMotors();
+bool motorsActive();
+void testMotor(int n);
+void setupParameters();
+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 syncParameters();
+void printParameters();
+void resetParameters();
+void setupRC();
+bool readRC();
+void normalizeRC();
+void calibrateRC();
+void calibrateRCChannel(float *channel, uint16_t in[16], uint16_t out[16], const char *str);
+void printRCCalibration();
+void failsafe();
+void rcLossFailsafe();
+void descend();
+void autoFailsafe();
+void step();
+void computeLoopRate();
+void setupWiFi();
+void sendWiFi(const uint8_t *buf, int len);
+int receiveWiFi(uint8_t *buf, int len);

flix/flix.ino

@@ -3,22 +3,11 @@
 
 // Main firmware file
 
+#include "config.h"
 #include "vector.h"
 #include "quaternion.h"
 #include "util.h"
-
+#include "flix.h"
-#define WIFI_ENABLED 1
-
-float t = NAN; // current step time, s
-float dt; // time delta from previous step, s
-float controlRoll, controlPitch, controlYaw, controlThrottle; // pilot's inputs, range [-1, 1]
-float controlMode = NAN;
-Vector gyro; // gyroscope data
-Vector acc; // accelerometer data, m/s/s
-Vector rates; // filtered angular rates, rad/s
-Quaternion attitude; // estimated attitude
-bool landed; // are we landed and stationary
-float motors[4]; // normalized motors thrust in range [0..1]
 
 void setup() {
 	Serial.begin(115200);

flix/imu.cpp

@@ -10,10 +10,14 @@
 #include "util.h"
 
 MPU9250 imu(SPI);
+Vector imuRotation(0, 0, -PI / 2); // imu orientation as Euler angles
 
+Vector gyro; // gyroscope output, rad/s
+Vector gyroBias;
+
+Vector acc; // accelerometer output, m/s/s
 Vector accBias;
 Vector accScale(1, 1, 1);
-Vector gyroBias;
 
 void setupIMU() {
 	print("Setup IMU\n");
@@ -37,24 +41,18 @@ void readIMU() {
 	// apply scale and bias
 	acc = (acc - accBias) / accScale;
 	gyro = gyro - gyroBias;
-	// rotate
+	// rotate to body frame
-	rotateIMU(acc);
+	Quaternion rotation = Quaternion::fromEuler(imuRotation);
-	rotateIMU(gyro);
+	acc = Quaternion::rotateVector(acc, rotation.inversed());
-}
+	gyro = Quaternion::rotateVector(gyro, rotation.inversed());
-
-void rotateIMU(Vector& data) {
-	// Rotate from LFD to FLU
-	// NOTE: In case of using other IMU orientation, change this line:
-	data = Vector(data.y, data.x, -data.z);
-	// Axes orientation for various boards: https://github.com/okalachev/flixperiph#imu-axes-orientation
 }
 
 void calibrateGyroOnce() {
 	static Delay landedDelay(2);
 	if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary
 
-	static LowPassFilter<Vector> gyroCalibrationFilter(0.001);
+	static LowPassFilter<Vector> gyroBiasFilter(0.001);
-	gyroBias = gyroCalibrationFilter.update(gyro);
+	gyroBias = gyroBiasFilter.update(gyro);
 }
 
 void calibrateAccel() {

flix/led.cpp

@@ -3,6 +3,8 @@
 
 // Board's LED control
 
+#include <Arduino.h>
+
 #define BLINK_PERIOD 500000
 
 #ifndef LED_BUILTIN

flix/log.cpp

@@ -3,6 +3,7 @@
 
 // In-RAM logging
 
+#include "flix.h"
 #include "vector.h"
 #include "util.h"
 

flix/lpf.h

@@ -5,6 +5,8 @@
 
 #pragma once
 
+#include <Arduino.h>
+
 template <typename T> // Using template to make the filter usable for scalar and vector values
 class LowPassFilter {
 public:

flix/mavlink.cpp

@@ -3,6 +3,10 @@
 
 // MAVLink communication
 
+#include <Arduino.h>
+#include "config.h"
+#include "flix.h"
+
 #if WIFI_ENABLED
 
 #include <MAVLink.h>
@@ -12,12 +16,13 @@
 #define MAVLINK_RATE_SLOW 1
 #define MAVLINK_RATE_FAST 10
 
+extern const int AUTO, STAB;
+extern uint16_t channels[16];
+extern float controlTime;
+
 bool mavlinkConnected = false;
 String mavlinkPrintBuffer;
 
-extern float controlTime;
-extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
-
 void processMavlink() {
 	sendMavlink();
 	receiveMavlink();
@@ -207,6 +212,7 @@ void handleMavlink(const void *_msg) {
 		armed = motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0;
 	}
 
+	/* TODO:
 	if (msg.msgid == MAVLINK_MSG_ID_LOG_REQUEST_DATA) {
 		mavlink_log_request_data_t m;
 		mavlink_msg_log_request_data_decode(&msg, &m);
@@ -220,6 +226,7 @@ void handleMavlink(const void *_msg) {
 			sendMessage(&msg);
 		}
 	}
+	*/
 
 	// Handle commands
 	if (msg.msgid == MAVLINK_MSG_ID_COMMAND_LONG) {

flix/motors.cpp

@@ -4,24 +4,17 @@
 // Motors output control using MOSFETs
 // In case of using ESCs, change PWM_STOP, PWM_MIN and PWM_MAX to appropriate values in μs, decrease PWM_FREQUENCY (to 400)
 
+#include <Arduino.h>
+#include "config.h"
+#include "flix.h"
 #include "util.h"
 
-#define MOTOR_0_PIN 12 // rear left
+float motors[4]; // normalized motor thrusts in range [0..1]
-#define MOTOR_1_PIN 13 // rear right
-#define MOTOR_2_PIN 14 // front right
-#define MOTOR_3_PIN 15 // front left
 
-#define PWM_FREQUENCY 78000
+extern const int MOTOR_REAR_LEFT = 0;
-#define PWM_RESOLUTION 10
+extern const int MOTOR_REAR_RIGHT = 1;
-#define PWM_STOP 0
+extern const int MOTOR_FRONT_RIGHT = 2;
-#define PWM_MIN 0
+extern const int MOTOR_FRONT_LEFT = 3;
-#define PWM_MAX 1000000 / PWM_FREQUENCY
-
-// Motors array indexes:
-const int MOTOR_REAR_LEFT = 0;
-const int MOTOR_REAR_RIGHT = 1;
-const int MOTOR_FRONT_RIGHT = 2;
-const int MOTOR_FRONT_LEFT = 3;
 
 void setupMotors() {
 	print("Setup Motors\n");

flix/parameters.cpp

@@ -4,11 +4,22 @@
 // Parameters storage in flash memory
 
 #include <Preferences.h>
+#include "flix.h"
+#include "pid.h"
+#include "lpf.h"
 #include "util.h"
 
 extern float channelZero[16];
 extern float channelMax[16];
 extern float rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
+extern float tiltMax;
+extern PID rollPID, pitchPID, yawPID;
+extern PID rollRatePID, pitchRatePID, yawRatePID;
+extern Vector maxRate;
+extern Vector imuRotation;
+extern Vector accBias, accScale;
+extern float accWeight;
+extern LowPassFilter<Vector> ratesFilter;
 
 Preferences storage;
 
@@ -43,12 +54,18 @@ Parameter parameters[] = {
 	{"CTL_Y_RATE_MAX", &maxRate.z},
 	{"CTL_TILT_MAX", &tiltMax},
 	// imu
+	{"IMU_ROT_ROLL", &imuRotation.x},
+	{"IMU_ROT_PITCH", &imuRotation.y},
+	{"IMU_ROT_YAW", &imuRotation.z},
 	{"IMU_ACC_BIAS_X", &accBias.x},
 	{"IMU_ACC_BIAS_Y", &accBias.y},
 	{"IMU_ACC_BIAS_Z", &accBias.z},
 	{"IMU_ACC_SCALE_X", &accScale.x},
 	{"IMU_ACC_SCALE_Y", &accScale.y},
 	{"IMU_ACC_SCALE_Z", &accScale.z},
+	// estimate
+	{"EST_ACC_WEIGHT", &accWeight},
+	{"EST_RATES_LPF_A", &ratesFilter.alpha},
 	// rc
 	{"RC_ZERO_0", &channelZero[0]},
 	{"RC_ZERO_1", &channelZero[1]},

flix/pid.h

@@ -5,6 +5,8 @@
 
 #pragma once
 
+#include "Arduino.h"
+#include "flix.h"
 #include "lpf.h"
 
 class PID {

flix/quaternion.h

@@ -5,6 +5,7 @@
 
 #pragma once
 
+#include <Arduino.h>
 #include "vector.h"
 
 class Quaternion : public Printable {

flix/rc.cpp

@@ -6,13 +6,16 @@
 #include <SBUS.h>
 #include "util.h"
 
-SBUS rc(Serial2); // NOTE: Use RC(Serial2, 16, 17) if you use the old UART2 pins
+SBUS rc(Serial2);
 
 uint16_t channels[16]; // raw rc channels
-float controlTime; // time of the last controls update
 float channelZero[16]; // calibration zero values
 float channelMax[16]; // calibration max values
 
+float controlRoll, controlPitch, controlYaw, controlThrottle; // pilot's inputs, range [-1, 1]
+float controlMode = NAN; //
+float controlTime; // time of the last controls update (0 when no RC)
+
 // Channels mapping (using float to store in parameters):
 float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, modeChannel = NAN;
 
@@ -38,11 +41,11 @@ void normalizeRC() {
 		controls[i] = mapf(channels[i], channelZero[i], channelMax[i], 0, 1);
 	}
 	// Update control values
-	controlRoll = rollChannel >= 0 ? controls[(int)rollChannel] : NAN;
+	controlRoll = rollChannel >= 0 ? controls[(int)rollChannel] : 0;
-	controlPitch = pitchChannel >= 0 ? controls[(int)pitchChannel] : NAN;
+	controlPitch = pitchChannel >= 0 ? controls[(int)pitchChannel] : 0;
-	controlYaw = yawChannel >= 0 ? controls[(int)yawChannel] : NAN;
+	controlYaw = yawChannel >= 0 ? controls[(int)yawChannel] : 0;
-	controlThrottle = throttleChannel >= 0 ? controls[(int)throttleChannel] : NAN;
+	controlThrottle = throttleChannel >= 0 ? controls[(int)throttleChannel] : 0;
-	controlMode = modeChannel >= 0 ? controls[(int)modeChannel] : NAN;
+	controlMode = modeChannel >= 0 ? controls[(int)modeChannel] : NAN; // mode switch should not have affect if not set
 }
 
 void calibrateRC() {

flix/safety.cpp

@@ -3,11 +3,11 @@
 
 // Fail-safe functions
 
-#define RC_LOSS_TIMEOUT 1
+#include "config.h"
-#define DESCEND_TIME 10
+#include "flix.h"
 
 extern float controlTime;
-extern float controlRoll, controlPitch, controlThrottle, controlYaw;
+extern const int AUTO, STAB;
 
 void failsafe() {
 	rcLossFailsafe();

flix/time.cpp

@@ -3,6 +3,11 @@
 
 // Time related functions
 
+#include "Arduino.h"
+#include "flix.h"
+
+float t = NAN; // current time, s
+float dt; // time delta with the previous step, s
 float loopRate; // Hz
 
 void step() {

flix/util.h

@@ -8,24 +8,24 @@
 #include <math.h>
 #include <soc/soc.h>
 #include <soc/rtc_cntl_reg.h>
+#include "flix.h"
 
 const float ONE_G = 9.80665;
-extern float t;
 
-float mapf(float x, float in_min, float in_max, float out_min, float out_max) {
+inline float mapf(float x, float in_min, float in_max, float out_min, float out_max) {
 	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
 
-bool invalid(float x) {
+inline bool invalid(float x) {
 	return !isfinite(x);
 }
 
-bool valid(float x) {
+inline bool valid(float x) {
 	return isfinite(x);
 }
 
 // Wrap angle to [-PI, PI)
-float wrapAngle(float angle) {
+inline float wrapAngle(float angle) {
 	angle = fmodf(angle, 2 * PI);
 	if (angle > PI) {
 		angle -= 2 * PI;
@@ -36,12 +36,12 @@ float wrapAngle(float angle) {
 }
 
 // Disable reset on low voltage
-void disableBrownOut() {
+inline void disableBrownOut() {
 	REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA);
 }
 
 // Trim and split string by spaces
-void splitString(String& str, String& token0, String& token1, String& token2) {
+inline void splitString(String& str, String& token0, String& token1, String& token2) {
 	str.trim();
 	char chars[str.length() + 1];
 	str.toCharArray(chars, str.length() + 1);

flix/vector.h

@@ -5,6 +5,8 @@
 
 #pragma once
 
+#include <Arduino.h>
+
 class Vector : public Printable {
 public:
 	float x, y, z;
@@ -35,7 +37,6 @@ public:
 		z = NAN;
 	}
 
-
 	float norm() const {
 		return sqrt(x * x + y * y + z * z);
 	}
@@ -124,5 +125,5 @@ public:
 	}
 };
 
-Vector operator * (const float a, const Vector& b) { return b * a; }
+inline Vector operator * (const float a, const Vector& b) { return b * a; }
-Vector operator + (const float a, const Vector& b) { return b + a; }
+inline Vector operator + (const float a, const Vector& b) { return b + a; }

flix/wifi.cpp

@@ -3,20 +3,19 @@
 
 // Wi-Fi support
 
+#include "config.h"
+#include "flix.h"
+
 #if WIFI_ENABLED
 
 #include <WiFi.h>
 #include <WiFiAP.h>
 #include <WiFiUdp.h>
 
-#define WIFI_SSID "flix"
-#define WIFI_PASSWORD "flixwifi"
-#define WIFI_UDP_PORT 14550
-#define WIFI_UDP_REMOTE_PORT 14550
-#define WIFI_UDP_REMOTE_ADDR "255.255.255.255"
-
 WiFiUDP udp;
 
+extern bool mavlinkConnected;
+
 void setupWiFi() {
 	print("Setup Wi-Fi\n");
 	WiFi.softAP(WIFI_SSID, WIFI_PASSWORD);

gazebo/CMakeLists.txt

@@ -10,9 +10,23 @@ list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}")
 
 set(FLIX_SOURCE_DIR ../flix)
 include_directories(${FLIX_SOURCE_DIR})
+set(FLIX_SOURCE_DIR ../flix)
+include_directories(${FLIX_SOURCE_DIR})
+set(FLIX_SOURCES
+  ${FLIX_SOURCE_DIR}/cli.cpp
+  ${FLIX_SOURCE_DIR}/control.cpp
+  ${FLIX_SOURCE_DIR}/estimate.cpp
+  ${FLIX_SOURCE_DIR}/safety.cpp
+  ${FLIX_SOURCE_DIR}/log.cpp
+  ${FLIX_SOURCE_DIR}/mavlink.cpp
+  ${FLIX_SOURCE_DIR}/motors.cpp
+  ${FLIX_SOURCE_DIR}/parameters.cpp
+  ${FLIX_SOURCE_DIR}/rc.cpp
+  ${FLIX_SOURCE_DIR}/time.cpp
+)
 
 set(CMAKE_BUILD_TYPE RelWithDebInfo)
-add_library(flix SHARED simulator.cpp)
+add_library(flix SHARED simulator.cpp ${FLIX_SOURCES})
 target_link_libraries(flix ${GAZEBO_LIBRARIES} ${SDL2_LIBRARIES})
 target_include_directories(flix PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_compile_options(flix PRIVATE -Wno-address-of-packed-member) # disable unneeded mavlink warnings

gazebo/flix.h

@@ -12,16 +12,15 @@
 
 #define WIFI_ENABLED 1
 
-float t = NAN;
+extern float t, dt;
-float dt;
+extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
-float motors[4];
+extern Vector rates;
-float controlRoll, controlPitch, controlYaw, controlThrottle = NAN;
+extern Quaternion attitude;
-float controlMode = NAN;
+extern bool landed;
-Vector acc;
+extern float motors[4];
-Vector gyro;
+
-Vector rates;
+Vector gyro, acc, imuRotation;
-Quaternion attitude;
+Vector accBias, gyroBias, accScale(1, 1, 1);
-bool landed;
 
 // declarations
 void step();
@@ -74,4 +73,3 @@ void calibrateAccel() { print("Skip accel calibrating\n"); };
 void printIMUCalibration() { print("cal: N/A\n"); };
 void printIMUInfo() {};
 void printWiFiInfo() {};
-Vector accBias, gyroBias, accScale(1, 1, 1);

gazebo/simulator.cpp

@@ -18,18 +18,6 @@
 #include "Arduino.h"
 #include "flix.h"
 
-#include "cli.ino"
-#include "control.ino"
-#include "estimate.ino"
-#include "safety.ino"
-#include "log.ino"
-#include "lpf.h"
-#include "mavlink.ino"
-#include "motors.ino"
-#include "parameters.ino"
-#include "rc.ino"
-#include "time.ino"
-
 using ignition::math::Vector3d;
 using namespace gazebo;
 using namespace std;

tools/pyflix/README.md

@@ -95,7 +95,7 @@ Full list of events:
 |`armed`|Armed state update|Armed state (*bool*)|
 |`mode`|Flight mode update|Flight mode (*str*)|
 |`landed`|Landed state update|Landed state (*bool*)|
-|`print`|The drone sends text to the console|Text|
+|`print`|The drone prints text to the console|Text|
 |`attitude`|Attitude update|Attitude quaternion (*list*)|
 |`attitude_euler`|Attitude update|Euler angles (*list*)|
 |`rates`|Angular rates update|Angular rates (*list*)|
@@ -112,7 +112,7 @@ Full list of events:
 > [!NOTE]
 > Update events trigger on every new piece of data from the drone, and do not mean the value has changed.
 
-### Common methods
+### Basic methods
 
 Get and set firmware parameters using `get_param` and `set_param` methods: