Show raw values in imu command

Add info on using USB gamepad
Replace KINGKONG transmitter with BetaFPV LiteRadio
Add RoboCamp video

README.md

@@ -17,11 +17,11 @@
 
 * Dedicated for education and research.
 * Made from general-purpose components.
-* Simple and clean source code in Arduino.
-* Control using remote control or smartphone.
-* Precise simulation with Gazebo.
+* Simple and clean source code in Arduino (<2k lines firmware).
+* Control using USB gamepad, remote control or smartphone.
 * Wi-Fi and MAVLink support.
 * Wireless command line interface and analyzing.
+* Precise simulation with Gazebo.
 * Python library.
 * Textbook on flight control theory and practice ([in development](https://quadcopter.dev)).
 * *Position control (using external camera) and autonomous flights¹*.
@@ -38,7 +38,11 @@ Version 0 demo video: https://youtu.be/8GzzIQ3C6DQ.
 
 <a href="https://youtu.be/8GzzIQ3C6DQ"><img width=500 src="https://i3.ytimg.com/vi/8GzzIQ3C6DQ/maxresdefault.jpg"></a>
 
-See the [user builds gallery](docs/user.md).
+Usage in education (RoboCamp): https://youtu.be/Wd3yaorjTx0.
+
+<a href="https://youtu.be/Wd3yaorjTx0"><img width=500 src="https://i3.ytimg.com/vi/Wd3yaorjTx0/sddefault.jpg"></a>
+
+See the [user builds gallery](docs/user.md):
 
 <a href="docs/user.md"><img src="docs/img/user/user.jpg" width=500></a>
 
@@ -77,7 +81,7 @@ The simulator is implemented using Gazebo and runs the original Arduino code:
 |Frame main part|3D printed⁴:<br>[`flix-frame-1.1.stl`](docs/assets/flix-frame-1.1.stl) [`flix-frame-1.1.step`](docs/assets/flix-frame-1.1.step)<br>Recommended settings: layer 0.2 mm, line 0.4 mm, infill 100%.|<img src="docs/img/frame1.jpg" width=100>|1|
 |Frame top part|3D printed:<br>[`esp32-holder.stl`](docs/assets/esp32-holder.stl) [`esp32-holder.step`](docs/assets/esp32-holder.step)|<img src="docs/img/esp32-holder.jpg" width=100>|1|
 |Washer for IMU board mounting|3D printed:<br>[`washer-m3.stl`](docs/assets/washer-m3.stl) [`washer-m3.step`](docs/assets/washer-m3.step)|<img src="docs/img/washer-m3.jpg" width=100>|2|
-|RC transmitter (recommended)|BetaFPV LiteRadio (CC2500) — with USB support (can control via Wi-Fi).<br>KINGKONG TINY X8 — warning: lacks USB support.<br>Or other⁵|<img src="docs/img/tx.jpg" width=100>|1|
+|Controller (recommended)|CC2500 transmitter, like BetaFPV LiteRadio CC2500 (RC receiver/Wi-Fi).<br>Two-sticks gamepad (Wi-Fi only) — see [recommended gamepads](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/joystick.html#supported-joysticks).<br>Other⁵|<img src="docs/img/betafpv.jpg" width=100><img src="docs/img/logitech.jpg" width=80>|1|
 |*RC receiver (optional)*|*DF500 or other⁵*|<img src="docs/img/rx.jpg" width=100>|1|
 |Wires|28 AWG recommended|<img src="docs/img/wire-28awg.jpg" width=100>||
 |Tape, double-sided tape||||
@@ -86,7 +90,7 @@ The simulator is implemented using Gazebo and runs the original Arduino code:
 *³ — change `MPU9250` to `ICM20948` in `imu.ino` file if using ICM-20948 board.*<br>
 *³⁻¹ — MPU-6050 supports I²C interface only (not recommended). To use it change IMU declaration to `MPU6050 IMU(Wire)`.*<br>
 *⁴ — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*<br>
-*⁵ — you may use any transmitter-receiver pair with SBUS interface, or any transmitter with USB support*
+*⁵ — you also may use any transmitter-receiver pair with SBUS interface.*
 
 Tools required for assembly:
 

docs/build.md

@@ -173,7 +173,7 @@ Before flight using remote control, you need to calibrate it:
 2. Type `cr` command there and follow the instructions.
 3. Use the remote control to fly the drone!
 
-#### Control with USB remote control
+#### Control with USB remote control (Wi-Fi)
 
 If your drone doesn't have RC receiver installed, you can use USB remote control and QGroundControl app to fly it.
 

docs/user.md

@@ -8,7 +8,8 @@ This page contains user-built drones based on the Flix project. Publish your pro
 
 Author: RoboCamp participants.<br>
 Description: 3D-printed and wooden frames, ESP32 Mini, DC-DC buck-boost converters. BetaFPV LiteRadio 3 to control the drones via Wi-Fi connection.<br>
-Features: altitude hold, obstacle avoidance, autonomous flight elements.
+Features: altitude hold, obstacle avoidance, autonomous flight elements.<br>
+Some of the designed model files: https://drive.google.com/drive/folders/18YHWGquKeIevzrMH4-OUT-zKXMETTEUu?usp=share_link.
 
 RoboCamp took place in July 2025, Saint Petersburg, where 9 participants designed and built their own drones using the Flix project, and then modified the firmware to complete specific flight tasks.
 

flix/cli.ino

@@ -104,10 +104,7 @@ void doCommand(String str, bool echo = false) {
 		print("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w);
 	} else if (command == "imu") {
 		printIMUInfo();
-		print("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
-		print("acc: %f %f %f\n", acc.x, acc.y, acc.z);
 		printIMUCalibration();
-		print("rate: %.0f\n", loopRate);
 		print("landed: %d\n", landed);
 	} else if (command == "rc") {
 		print("channels: ");

flix/imu.ino

@@ -122,4 +122,12 @@ void printIMUInfo() {
 	IMU.status() ? print("status: ERROR %d\n", IMU.status()) : print("status: OK\n");
 	print("model: %s\n", IMU.getModel());
 	print("who am I: 0x%02X\n", IMU.whoAmI());
+	print("rate: %.0f\n", loopRate);
+	print("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
+	print("acc: %f %f %f\n", acc.x, acc.y, acc.z);
+	Vector rawGyro, rawAcc;
+	IMU.getGyro(rawGyro.x, rawGyro.y, rawGyro.z);
+	IMU.getAccel(rawAcc.x, rawAcc.y, rawAcc.z);
+	print("raw gyro: %f %f %f\n", rawGyro.x, rawGyro.y, rawGyro.z);
+	print("raw acc: %f %f %f\n", rawAcc.x, rawAcc.y, rawAcc.z);
 }