Fix rates, acc and gyro coordinate frame in mavlink

All of them should be in frd. Get rid of fluToFrd function - there is no big need for it.
Minor cli change
2026-01-12 05:57:52 +00:00 · 2025-07-20 07:59:00 +03:00 · 2025-07-15 01:29:25 +03:00 · 2025-07-15 01:25:10 +03:00 · 2025-07-15 01:22:18 +03:00 · 2025-07-10 06:14:22 +03:00
106 changed files with 413 additions and 7271 deletions
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -5,7 +5,6 @@ on:
    branches: [ '*' ]
  pull_request:
    branches: [ master ]
-  workflow_dispatch:

 jobs:
  build_linux:
@@ -63,43 +62,22 @@ jobs:
        path: gazebo/build/*.so
        retention-days: 1

-  build_simulator_docker:
-    runs-on: ubuntu-latest
-    container:
-      image: ubuntu:20.04
-    steps:
-    - name: Install Arduino CLI
-      uses: arduino/setup-arduino-cli@v1.1.1
-    - uses: actions/checkout@v4
-    - name: Install Gazebo
-      run: curl -sSL http://get.gazebosim.org | sh
-    - name: Install SDL2
-      run: apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install build-essential libsdl2-dev -y
-    - name: Build simulator
-      run: make build_simulator
-    - uses: actions/upload-artifact@v4
-      with:
-        name: gazebo-plugin-binary
-        path: gazebo/build/*.so
-        retention-days: 1
-
-  build_simulator_macos:
-    runs-on: macos-latest
-    if: github.event_name == 'workflow_dispatch'
-    steps:
-    - name: Install Arduino CLI
-      run: brew install arduino-cli
-    - uses: actions/checkout@v4
-    - name: Clean up python binaries # Workaround for https://github.com/actions/setup-python/issues/577
-      run: |
-        rm -f /usr/local/bin/2to3*
-        rm -f /usr/local/bin/idle3*
-        rm -f /usr/local/bin/pydoc3*
-        rm -f /usr/local/bin/python3*
-        rm -f /usr/local/bin/python3*-config
-    - name: Install Gazebo
-      run: brew update && brew tap osrf/simulation && brew install gazebo11
-    - name: Install SDL2
-      run: brew install sdl2
-    - name: Build simulator
-      run: make build_simulator
+#  build_simulator_macos:
+#    runs-on: macos-latest
+#    steps:
+#    - name: Install Arduino CLI
+#      run: brew install arduino-cli
+#    - uses: actions/checkout@v4
+#    - name: Clean up python binaries # Workaround for https://github.com/actions/setup-python/issues/577
+#      run: |
+#        rm -f /usr/local/bin/2to3*
+#        rm -f /usr/local/bin/idle3*
+#        rm -f /usr/local/bin/pydoc3*
+#        rm -f /usr/local/bin/python3*
+#        rm -f /usr/local/bin/python3*-config
+#    - name: Install Gazebo
+#      run: brew update && brew tap osrf/simulation && brew install gazebo11
+#    - name: Install SDL2
+#      run: brew install sdl2
+#    - name: Build simulator
+#      run: make build_simulator
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -1,51 +0,0 @@
-name: Docs
-
-on:
-  push:
-    branches: [ '*' ]
-  pull_request:
-    branches: [ master ]
-
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-jobs:
-  markdownlint:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-    - name: Install markdownlint
-      run: npm install -g markdownlint-cli2
-    - name: Run markdownlint
-      run: markdownlint-cli2 "**/*.md"
-
-  build_book:
-    runs-on: ubuntu-latest
-    needs: markdownlint
-    steps:
-    - uses: actions/checkout@v4
-    - name: Install mdBook
-      run: cargo install mdbook --vers 0.4.43 --locked
-    - name: Build book
-      run: cd docs && mdbook build
-    - name: Upload artifact
-      uses: actions/upload-pages-artifact@v3
-      with:
-        path: docs/build
-
-  deploy:
-    if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
-    concurrency:
-      group: "pages"
-      cancel-in-progress: true
-    environment:
-      name: github-pages
-      url: ${{ steps.deployment.outputs.page_url }}
-    runs-on: ubuntu-latest
-    needs: build_book
-    steps:
-      - name: Deploy to GitHub Pages
-        id: deployment
-        uses: actions/deploy-pages@v4
--- a/.markdownlint.json
+++ b/.markdownlint.json
@@ -1,67 +0,0 @@
-{
-	"MD004": {
-		"style": "asterisk"
-	},
-	"MD010": false,
-	"MD013": false,
-	"MD024": false,
-	"MD033": false,
-	"MD034": false,
-	"MD044": {
-		"html_elements": false,
-		"code_blocks": false,
-		"names": [
-			"FlixPeriph",
-			"Wi-Fi",
-			"STM",
-			"Li-ion",
-			"GitHub",
-			"github.com",
-			"PPM",
-			"PWM",
-			"Futaba",
-			"S.Bus",
-			"C++",
-			"PID",
-			"Arduino IDE",
-			"Arduino",
-			"Arduino Nano",
-			"ESP32",
-			"IMU",
-			"MEMS",
-			"imu.ino",
-			"InvenSense",
-			"MPU-6050",
-			"MPU-9250",
-			"GY-91",
-			"ICM-20948",
-			"Linux",
-			"Windows",
-			"macOS",
-			"iOS",
-			"Android",
-			"Bluetooth",
-			"GPS",
-			"GPIO",
-			"USB",
-			"SPI",
-			"I²C",
-			"UART",
-			"GND",
-			"3V3",
-			"VCC",
-			"SCL",
-			"SDA",
-			"SAO",
-			"AD0",
-			"MOSI",
-			"MISO",
-			"NCS",
-			"MOSFET",
-			"ArduPilot",
-			"Betaflight",
-			"PX4"
-		]
-	},
-	"MD045": false
-}
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -5,18 +5,18 @@
 			"includePath": [
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.1.0/cores/esp32",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.1.0/libraries/**",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.1.0/variants/d1_mini32",
-				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.3-083aad99-v2/esp32/**",
-				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.3-083aad99-v2/esp32/dio_qspi/include",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32",
+				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/**",
+				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include",
 				"~/Arduino/libraries/**",
 				"/usr/include/**"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.1.0/cores/esp32/Arduino.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.1.0/variants/d1_mini32/pins_arduino.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",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
 				"${workspaceFolder}/flix/estimate.ino",
@@ -28,10 +28,9 @@
 				"${workspaceFolder}/flix/motors.ino",
 				"${workspaceFolder}/flix/rc.ino",
 				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino"
+				"${workspaceFolder}/flix/wifi.ino"
 			],
-			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2405/bin/xtensa-esp32-elf-g++",
+			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [
@@ -51,19 +50,19 @@
 			"name": "Mac",
 			"includePath": [
 				"${workspaceFolder}/flix",
-				"${workspaceFolder}/gazebo",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.1.0/cores/esp32",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.1.0/libraries/**",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.1.0/variants/d1_mini32",
-				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.3-083aad99-v2/esp32/include/**",
-				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.3-083aad99-v2/esp32/dio_qspi/include",
+				// "${workspaceFolder}/gazebo",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32",
+				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/include/**",
+				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include",
 				"~/Documents/Arduino/libraries/**",
 				"/opt/homebrew/include/**"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.1.0/cores/esp32/Arduino.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.1.0/variants/d1_mini32/pins_arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/flix.ino",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
@@ -75,10 +74,9 @@
 				"${workspaceFolder}/flix/motors.ino",
 				"${workspaceFolder}/flix/rc.ino",
 				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino"
+				"${workspaceFolder}/flix/wifi.ino"
 			],
-			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2405/bin/xtensa-esp32-elf-g++",
+			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [
@@ -100,17 +98,17 @@
 			"includePath": [
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.1.0/cores/esp32",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.1.0/libraries/**",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.1.0/variants/d1_mini32",
-				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.3-083aad99-v2/esp32/**",
-				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.3-083aad99-v2/esp32/dio_qspi/include",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32",
+				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/**",
+				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include",
 				"~/Documents/Arduino/libraries/**"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.1.0/cores/esp32/Arduino.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.1.0/variants/d1_mini32/pins_arduino.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
 				"${workspaceFolder}/flix/estimate.ino",
@@ -122,10 +120,9 @@
 				"${workspaceFolder}/flix/motors.ino",
 				"${workspaceFolder}/flix/rc.ino",
 				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino"
+				"${workspaceFolder}/flix/wifi.ino"
 			],
-			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2405/bin/xtensa-esp32-elf-g++.exe",
+			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++.exe",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [
--- a/2
+++ b/2
@@ -13,7 +13,7 @@ monitor:

 dependencies .dependencies:
 	arduino-cli core update-index --config-file arduino-cli.yaml
-	arduino-cli core install esp32:esp32@3.1.0 --config-file arduino-cli.yaml
+	arduino-cli core install esp32:esp32@3.2.0 --config-file arduino-cli.yaml
 	arduino-cli lib update-index
 	arduino-cli lib install "FlixPeriph"
 	arduino-cli lib install "MAVLink"@2.0.16
--- a/README.md
+++ b/README.md
@@ -1,163 +1,7 @@
 # Flix

-**Flix** (*flight + X*) — making an open source ESP32-based quadcopter from scratch.
+Minimal **Flix** quadcopter firmware implementation for the [book](https://quadcopter.dev).

-<table>
-  <tr>
-    <td align=center><strong>Version 1.1</strong> (3D-printed frame)</td>
-    <td align=center><strong>Version 0</strong></td>
-  </tr>
-  <tr>
-    <td><img src="docs/img/flix1.1.jpg" width=500 alt="Flix quadcopter"></td>
-    <td><img src="docs/img/flix.jpg" width=500 alt="Flix quadcopter"></td>
-  </tr>
-</table>
+See the full code and documentation in the main branch: https://github.com/okalachev/flix.

-## Features
-
-* Simple and clean Arduino based source code.
-* Acro and Stabilized flight using remote control.
-* Precise simulation using Gazebo.
-* [In-RAM logging](docs/log.md).
-* Command line interface through USB port.
-* Wi-Fi support.
-* MAVLink support.
-* Control using mobile phone (with QGroundControl app).
-* Completely 3D-printed frame.
-* Textbook for students on writing a flight controller ([in development](https://quadcopter.dev)).
-* *Position control and autonomous flights using external camera¹*.
-* [Building and running instructions](docs/build.md).
-
-*¹ — planned.*
-
-## It actually flies
-
-See detailed demo video: https://youtu.be/hT46CZ1CgC4.
-
-<a href="https://youtu.be/hT46CZ1CgC4"><img width=500 src="https://i3.ytimg.com/vi/hT46CZ1CgC4/maxresdefault.jpg"></a>
-
-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).
-
-<a href="docs/user.md"><img src="docs/img/user/user.jpg" width=400></a>
-
-## Simulation
-
-The simulator is implemented using Gazebo and runs the original Arduino code:
-
-<img src="docs/img/simulator.png" width=500 alt="Flix simulator">
-
-See [instructions on running the simulation](docs/build.md).
-
-## Components (version 1)
-
-|Type|Part|Image|Quantity|
-|-|-|:-:|:-:|
-|Microcontroller board|ESP32 Mini|<img src="docs/img/esp32.jpg" width=100>|1|
-|IMU (and barometer²) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board), ICM‑20948³|<img src="docs/img/gy-91.jpg" width=90 align=center><img src="docs/img/icm-20948.jpg" width=100>|1|
-|Motor|8520 3.7V brushed motor (shaft 0.8mm).<br>Motor with exact 3.7V voltage is needed, not ranged working voltage (3.7V — 6V).|<img src="docs/img/motor.jpeg" width=100>|4|
-|Propeller|Hubsan 55 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|10 kΩ|<img src="docs/img/resistor10k.jpg" width=100>|4|
-|3.7V Li-Po battery|LW 952540 (or any compatible by the size)|<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|
-|Screws for frame assembly|M1.4x5|<img src="docs/img/screw-m1.4.jpg" height=30 align=center>|4|
-|Frame bottom 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)|<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 (optional)*|*KINGKONG TINY X8 (warning: lacks USB support) or other⁵*|<img src="docs/img/tx.jpg" width=100>|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||||
-
-*² — barometer is not used for now.*<br>
-*³ — change `MPU9250` to `ICM20948` in `imu.ino` file if using ICM-20948 board.*<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.*
-
-Tools required for assembly:
-
-* 3D printer.
-* Soldering iron.
-* Solder wire (with flux).
-* Screwdrivers.
-* Multimeter.
-
-Feel free to modify the design and or code, and create your own improved versions of Flix! Send your results to the [official Telegram chat](https://t.me/opensourcequadcopterchat), or directly to the author ([E-mail](mailto:okalachev@gmail.com), [Telegram](https://t.me/okalachev)).
-
-## Schematics (version 1)
-
-### Simplified connection diagram
-
-<img src="docs/img/schematics1.svg" width=800 alt="Flix version 1 schematics">
-
-Motor connection scheme:
-
-<img src="docs/img/mosfet-connection.png" height=400 alt="MOSFET connection scheme">
-
-You can see a user-contributed [variant of complete circuit diagram](https://miro.com/app/board/uXjVN-dTjoo=/?moveToWidget=3458764612338222067&cot=14) of the drone.
-
-See [assembly guide](docs/assembly.md) for instructions on assembling the drone.
-
-### Notes
-
-* Power ESP32 Mini with Li-Po battery using VCC (+) and GND (-) pins.
-* Connect the IMU board to the ESP32 Mini using VSPI, power it using 3.3V and GND pins:
-
-  |IMU pin|ESP32 pin|
-  |-|-|
-  |GND|GND|
-  |3.3V|3.3V|
-  |SCL *(SCK)*|SVP (GPIO18)|
-  |SDA *(MOSI)*|GPIO23|
-  |SAO *(MISO)*|GPIO19|
-  |NCS|GPIO5|
-
-* Solder pull-down resistors to the MOSFETs.
-* Connect the motors to the ESP32 Mini using MOSFETs, by following scheme:
-
-  |Motor|Position|Direction|Wires|GPIO|
-  |-|-|-|-|-|
-  |Motor 0|Rear left|Counter-clockwise|Black & White|GPIO12 (*TDI*)|
-  |Motor 1|Rear right|Clockwise|Blue & Red|GPIO13 (*TCK*)|
-  |Motor 2|Front right|Counter-clockwise|Black & White|GPIO14 (*TMS*)|
-  |Motor 3|Front left|Clockwise|Blue & Red|GPIO15 (*TD0*)|
-
-  Counter-clockwise motors have black and white wires and clockwise motors have blue and red wires.
-
-* Optionally connect the RC receiver to the ESP32's UART2:
-
-  |Receiver pin|ESP32 pin|
-  |-|-|
-  |GND|GND|
-  |VIN|VCC (or 3.3V depending on the receiver)|
-  |Signal (TX)|GPIO4⁶|
-
-*⁶ — 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.*
-
-### IMU placement
-
-Default IMU orientation in the code is **LFD** (Left-Forward-Down):
-
-<img src="docs/img/gy91-lfd.svg" width=400 alt="GY-91 axes">
-
-In case of using other IMU orientation, modify the `rotateIMU` function in the `imu.ino` file.
-
-See [FlixPeriph documentation](https://github.com/okalachev/flixperiph?tab=readme-ov-file#imu-axes-orientation) to learn axis orientation of other IMU boards.
-
-## Version 0
-
-See the information on the obsolete version 0 in the [corresponding article](docs/version0.md).
-
-## Materials
-
-Subscribe to the Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter.
-
-Join the official Telegram chat: https://t.me/opensourcequadcopterchat.
-
-Detailed article on Habr.com about the development of the drone (in Russian): https://habr.com/ru/articles/814127/.
+<img src="docs/img/flix1.jpg" width=500 alt="Flix quadcopter">
--- a/docs/Makefile
+++ b/docs/Makefile
@@ -1,10 +0,0 @@
-build:
-	mdbook build
-
-serve:
-	mdbook serve
-
-clean:
-	mdbook clean
-
-.PHONY: build serve clean
--- a/docs/alerts.py
+++ b/docs/alerts.py
@@ -1,31 +0,0 @@
-# https://rust-lang.github.io/mdBook/format/configuration/preprocessors.html
-# https://rust-lang.github.io/mdBook/for_developers/preprocessors.html
-
-import json
-import sys
-import re
-
-
-def transform_markdown_to_html(markdown_text):
-    def replace_blockquote(match):
-        tag = match.group(1).lower()
-        content = match.group(2).strip().replace('\n> ', ' ')
-        return f'<div class="alert alert-{tag}">{content}</div>\n'
-
-    pattern = re.compile(r'> \[!(NOTE|TIP|IMPORTANT|WARNING|CAUTION)\]\n>(.*?)\n?(?=(\n[^>]|\Z))', re.DOTALL)
-    transformed_text = pattern.sub(replace_blockquote, markdown_text)
-    return transformed_text
-
-
-if __name__ == '__main__':
-    if len(sys.argv) > 1:
-        if sys.argv[1] == 'supports':
-            sys.exit(0)
-
-    context, book = json.load(sys.stdin)
-
-    for section in book['sections']:
-        if 'Chapter' in section:
-            section['Chapter']['content'] = transform_markdown_to_html(section['Chapter']['content'])
-
-    print(json.dumps(book))
--- a/docs/assembly.md
+++ b/docs/assembly.md
@@ -1,29 +0,0 @@
-# Brief assembly guide
-
-Soldered components ([schematics variant](https://miro.com/app/board/uXjVN-dTjoo=/?moveToWidget=3458764612338222067&cot=14)):
-
-<img src="img/assembly/1.jpg" width=600>
-
-<br>Use double-sided tape to attach ESP32 to the top frame part (ESP32 holder):
-
-<img src="img/assembly/2.jpg" width=600>
-
-<br>Use two washers to screw the IMU board to the frame:
-
-<img src="img/assembly/3.jpg" width=600>
-
-<br>Screw the IMU with M3x5 screws as shown:
-
-<img src="img/assembly/4.jpg" width=600>
-
-<br>Install the motors, attach MOSFETs to the frame using tape:
-
-<img src="img/assembly/5.jpg" width=600>
-
-<br>Screw the ESP32 holder with M1.4x5 screws to the frame:
-
-<img src="img/assembly/6.jpg" width=600>
-
-<br>Assembled drone:
-
-<img src="img/assembly/7.jpg" width=600>
--- a/docs/assets/flix-frame-1.1.step
+++ b/docs/assets/flix-frame-1.1.step
--- a/docs/assets/flix-frame-1.1.stl
+++ b/docs/assets/flix-frame-1.1.stl
--- a/docs/book.css
+++ b/docs/book.css
@@ -1,110 +0,0 @@
-.sidebar-resize-handle { display: none !important; }
-
-footer {
-	contain: content;
-	border-top: 3px solid #f4f4f4;
-}
-
-footer a.telegram, footer a.github {
-	display: block;
-	margin-bottom: 10px;
-	margin-top: 10px;
-	display: flex;
-	align-items: center;
-	text-decoration: none;
-}
-
-.content .github, .content .telegram {
-	display: flex;
-	align-items: center;
-	text-align: center;
-	justify-content: center;
-}
-
-.telegram::before, .github::before {
-	font-family: FontAwesome;
-	margin-right: 0.3em;
-	font-size: 1.6em;
-	color: black;
-}
-
-.github::before {
-	content: "\f09b";
-}
-
-.telegram::before {
-	font-size: 1.4em;
-	color: #0084c5;
-	content: "\f2c6";
-}
-
-.content hr {
-	border: none;
-	border-top: 2px solid #c9c9c9;
-	margin: 2em 0;
-}
-
-.content img {
-	display: block;
-	margin: 0 auto;
-}
-
-.content img.border {
-	border: 1px solid #c9c9c9;
-}
-
-.firmware {
-	position: relative;
-	margin: 20px 0;
-	padding: 20px 20px;
-	padding-left: 60px;
-	color: var(--fg);
-	background-color: var(--quote-bg);
-	border-block-start: .1em solid var(--quote-border);
-	border-block-end: .1em solid var(--quote-border);
-}
-
-.firmware::before {
-	font-family: FontAwesome;
-	font-size: 1.5em;
-	content: "\f15b";
-	position: absolute;
-	width: 20px;
-	text-align: center;
-	left: 20px;
-}
-
-.alert {
-	margin-top: 20px;
-	margin-bottom: 20px;
-	position: relative;
-	border-left: 2px solid #0a69da;
-	padding: 20px;
-	padding-left: 60px;
-}
-
-.alert::before {
-	font-family: FontAwesome;
-	font-size: 1.5em;
-	color: #0a69da;
-	content: "\f05a";
-	position: absolute;
-	width: 20px;
-	text-align: center;
-	left: 20px;
-}
-
-.alert-tip { border-left-color: #1b7f37; }
-.alert-tip::before { color: #1b7f37; content: '\f0eb'; }
-
-.alert-caution { border-left-color: #cf212e; }
-.alert-caution::before { color: #cf212e; content: '\f071'; }
-
-.alert-important { border-left-color: #8250df; }
-.alert-important::before { color: #8250df; content: '\f06a'; }
-
-.alert-warning { border-left-color: #f0ad4e; }
-.alert-warning::before { color: #f0ad4e; content: '\f071'; }
-
-.alert-code { border-left-color: #333; }
-.alert-code::before { color: #333; content: '\f121'; }
--- a/docs/book.toml
+++ b/docs/book.toml
@@ -1,22 +0,0 @@
-[book]
-authors = ["Oleg Kalachev"]
-language = "ru"
-multilingual = false
-src = "book"
-title = "Полетный контроллер с нуля"
-description = "Учебник по разработке полетного контроллера квадрокоптера"
-
-[build]
-build-dir = "build"
-
-[output.html]
-additional-css = ["book.css", "zoom.css"]
-additional-js = ["zoom.js", "js.js"]
-edit-url-template = "https://github.com/okalachev/flix/blob/master/docs/{path}?plain=1"
-mathjax-support = true
-
-[output.html.code.hidelines]
-cpp = "//~"
-
-[preprocessor.alerts]
-command = "python3 alerts.py"
--- a/docs/book/README.md
+++ b/docs/book/README.md
@@ -1,10 +0,0 @@
-# Flix
-
-> [!IMPORTANT]
-> Flix — это проект по созданию открытого квадрокоптера на базе ESP32 с нуля и учебника по разработке полетных контроллеров.
-
-<img src="img/flix1.1.jpg" class="border" width=500 alt="Flix quadcopter">
-
-<p class="github">GitHub:&nbsp;<a href="https://github.com/okalachev/flix">github.com/okalachev/flix</a>.</p>
-
-<p class="telegram">Telegram-канал:&nbsp;<a href="https://t.me/opensourcequadcopter">@opensourcequadcopter</a>.</p>
--- a/docs/book/SUMMARY.md
+++ b/docs/book/SUMMARY.md
@@ -1,22 +0,0 @@
-<!-- markdownlint-disable MD041 -->
-<!-- markdownlint-disable MD042 -->
-
-[Главная](./README.md)
-
-* [Архитектура прошивки](firmware.md)
-
-# Учебник
-
-* [Основы]()
-* [Светодиод]()
-* [Моторы]()
-* [Радиоуправление]()
-* [Гироскоп](gyro.md)
-* [Акселерометр]()
-* [Оценка состояния]()
-* [PID-регулятор]()
-* [Режим ACRO]()
-* [Режим STAB]()
-* [Wi-Fi]()
-* [MAVLink]()
-* [Симуляция]()
--- a/docs/book/firmware.md
+++ b/docs/book/firmware.md
@@ -1,32 +0,0 @@
-# Архитектура прошивки
-
-<img src="img/dataflow.svg" width=800 alt="Firmware dataflow diagram">
-
-Главный цикл работает на частоте 1000 Гц. Передача данных между подсистемами происходит через глобальные переменные:
-
-* `t` *(float)* — текущее время шага, *с*.
-* `dt` *(float)* — дельта времени между текущим и предыдущим шагами, *с*.
-* `gyro` *(Vector)* — данные с гироскопа, *рад/с*.
-* `acc` *(Vector)* — данные с акселерометра, *м/с<sup>2</sup>*.
-* `rates` *(Vector)* — отфильтрованные угловые скорости, *рад/с*.
-* `attitude` *(Quaternion)* — оценка ориентации (положения) дрона.
-* `controls` *(float[])* — пользовательские управляющие сигналы с пульта, нормализованные в диапазоне [-1, 1].
-* `motors` *(float[])* — выходные сигналы на моторы, нормализованные в диапазоне [-1, 1] (возможно вращение в обратную сторону).
-
-## Исходные файлы
-
-Исходные файлы прошивки находятся в директории `flix`. Ключевые файлы:
-
-* [`flix.ino`](https://github.com/okalachev/flix/blob/canonical/flix/flix.ino) — основной входной файл, скетч Arduino. Включает определение глобальных переменных и главный цикл.
-* [`imu.ino`](https://github.com/okalachev/flix/blob/canonical/flix/imu.ino) — чтение данных с датчика IMU (гироскоп и акселерометр), калибровка IMU.
-* [`rc.ino`](https://github.com/okalachev/flix/blob/canonical/flix/rc.ino) — чтение данных с RC-приемника, калибровка RC.
-* [`mavlink.ino`](https://github.com/okalachev/flix/blob/canonical/flix/mavlink.ino) — взаимодействие с QGroundControl через MAVLink.
-* [`estimate.ino`](https://github.com/okalachev/flix/blob/canonical/flix/estimate.ino) — оценка ориентации дрона, комплементарный фильтр.
-* [`control.ino`](https://github.com/okalachev/flix/blob/canonical/flix/control.ino) — управление ориентацией и угловыми скоростями дрона, трехмерный двухуровневый каскадный PID-регулятор.
-* [`motors.ino`](https://github.com/okalachev/flix/blob/canonical/flix/motors.ino) — управление выходными сигналами на моторы через ШИМ.
-
-Вспомогательные файлы включают:
-
-* [`vector.h`](https://github.com/okalachev/flix/blob/canonical/flix/vector.h), [`quaternion.h`](https://github.com/okalachev/flix/blob/canonical/flix/quaternion.h) — реализация библиотек векторов и кватернионов проекта.
-* [`pid.h`](https://github.com/okalachev/flix/blob/canonical/flix/pid.h) — реализация общего ПИД-регулятора.
-* [`lpf.h`](https://github.com/okalachev/flix/blob/canonical/flix/lpf.h) — реализация общего фильтра нижних частот.
--- a/docs/book/gyro.md
+++ b/docs/book/gyro.md
@@ -1,262 +0,0 @@
-# Гироскоп
-
-<div class="firmware">
-	<strong>Файл прошивки Flix:</strong>
-	<a href="https://github.com/okalachev/flix/blob/canonical/flix/imu.ino"><code>imu.ino</code></a> <small>(каноничная версия)</small>.<br>
-	Текущая версия: <a href="https://github.com/okalachev/flix/blob/master/flix/imu.ino"><code>imu.ino</code></a>.
-</div>
-
-Поддержание стабильного полета квадрокоптера невозможно без датчиков обратной связи. Важнейший из них — это **MEMS-гироскоп**. MEMS-гироскоп это микроэлектромеханический аналог классического механического гироскопа.
-
-Механический гироскоп состоит из вращающегося диска, который сохраняет свою ориентацию в пространстве. Благодаря этому эффекту возможно определить ориентацию объекта в пространстве.
-
-В MEMS-гироскопе нет вращающихся частей, и он помещается в крошечную микросхему. Он может измерять только текущую угловую скорость вращения объекта вокруг трех осей: X, Y и Z.
-
-|Механический гироскоп|MEMS-гироскоп|
-|-|-|
-|<img src="img/gyroscope.jpg" width="300" alt="Механический гироскоп">|<img src="img/mpu9250.jpg" width="100" alt="MEMS-гироскоп MPU-9250">|
-
-MEMS-гироскоп обычно интегрирован в инерциальный модуль (IMU), в котором также находятся акселерометр и магнитометр. Модуль IMU часто называют 9-осевым датчиком, потому что он измеряет:
-
-* Угловую скорость вращения по трем осям (гироскоп).
-* Ускорение по трем осям (акселерометр).
-* Магнитное поле по трем осям (магнитометр).
-
-Flix поддерживает следующие модели IMU:
-
-* InvenSense MPU-9250.
-* InvenSense MPU-6500.
-* InvenSense ICM-20948.
-
-> [!NOTE]
-> MEMS-гироскоп измеряет угловую скорость вращения объекта.
-
-## Интерфейс подключения
-
-Большинство модулей IMU подключаются к микроконтроллеру через интерфейсы I²C и SPI. Оба этих интерфейса являются *шинами данных*, то есть позволяют подключить к одному микроконтроллеру несколько устройств.
-
-**Интерфейс I²C** использует два провода для передачи данных и тактового сигнала. Выбор устройства для коммуникации происходит при помощи передачи адреса устройства на шину. Разные устройства имеют разные адреса, и микроконтроллер может последовательно общаться с несколькими устройствами.
-
-**Интерфейс SPI** использует два провода для передачи данных, еще один для тактового сигнала и еще один для выбора устройства. При этом для каждого устройства на шине выделяется отдельный GPIO-пин для выбора. В разных реализациях этот пин называется CS/NCS (Chip Select) или SS (Slave Select). Когда CS-пин устройства активен (напряжение на нем низкое), устройство выбрано для общения.
-
-В полетных контроллерах IMU обычно подключают через SPI, потому что он обеспечивает значительно бо́льшую скорость передачи данных и меньшую задержку. Подключение IMU через интерфейс I²C (например, в случае нехватки пинов микроконтроллера) возможно, но не рекомендуется.
-
-Подключение IMU к микроконтроллеру ESP32 через интерфейс SPI выглядит так:
-
-|Пин платы IMU|Пин ESP32|
-|-|-|
-|VCC/3V3|3V3|
-|GND|GND|
-|SCL|IO18|
-|SDA *(MOSI)*|IO23|
-|SAO/AD0 *(MISO)*|IO19|
-|NCS|IO5|
-
-Кроме того, многие IMU могут «будить» микроконтроллер при наличии новых данных. Для этого используется пин INT, который подключается к любому GPIO-пину микроконтроллера. При такой конфигурации можно использовать прерывания для обработки новых данных с IMU, вместо периодического опроса датчика. Это позволяет снизить нагрузку на микроконтроллер в сложных алгоритмах управления.
-
-> [!WARNING]
-> На некоторых платах IMU, например, на ICM-20948, отсутствует стабилизатор напряжения, поэтому их нельзя подключать к пину VIN ESP32, который подает напряжение 5 В. Допустимо питание только от пина 3V3.
-
-## Работа с гироскопом
-
-Для взаимодействия с IMU, включая работу с гироскопом, в Flix используется библиотека *FlixPeriph*. Библиотека устанавливается через менеджер библиотек Arduino IDE:
-
-<img src="img/flixperiph.png" width="300">
-
-Чтобы работать с IMU, используется класс, соответствующий модели IMU: `MPU9250`, `MPU6500` или `ICM20948`. Классы для работы с разными IMU имеют единообразный интерфейс для основных операций, поэтому возможно легко переключаться между разными моделями IMU. Датчик MPU-6500 практически полностью совместим с MPU-9250, поэтому фактически класс `MPU9250` поддерживает обе модели.
-
-## Ориентация осей гироскопа
-
-Данные с гироскопа представляют собой угловую скорость вокруг трех осей: X, Y и Z. Ориентацию этих осей у IMU InvenSense можно легко определить по небольшой точке в углу чипа. Оси координат и направление вращения для измерений гироскопа обозначены на диаграмме:
-
-<img src="img/imu-axes.svg" width="300" alt="Оси координат IMU">
-
-Расположение осей координат в популярных платах IMU:
-
-|GY-91|MPU-92/65|ICM-20948|
-|-|-|-|
-|<img src="https://github.com/okalachev/flixperiph/raw/refs/heads/master/img/gy91-axes.svg" width="200" alt="Оси координат платы GY-91">|<img src="https://github.com/okalachev/flixperiph/raw/refs/heads/master/img/mpu9265-axes.svg" width="200" alt="Оси координат платы MPU-9265">|<img src="https://github.com/okalachev/flixperiph/raw/refs/heads/master/img/icm20948-axes.svg" width="200" alt="Оси координат платы ICM-20948">|
-
-Магнитометр IMU InvenSense обычно является отдельным устройством, интегрированным в чип, поэтому его оси координат могут отличаться. Библиотека FlixPeriph скрывает это различие и приводит данные с магнитометра к системе координат гироскопа и акселерометра.
-
-## Чтение данных
-
-Интерфейс библиотеки FlixPeriph соответствует стилю, принятому в Arduino. Для начала работы с IMU необходимо создать объект соответствующего класса и вызвать метод `begin()`. В конструктор класса передается интерфейс, по которому подключен IMU (SPI или I²C):
-
-```cpp
-#include <FlixPeriph.h>
-#include <SPI.h>
-
-MPU9250 IMU(SPI);
-
-void setup() {
-	Serial.begin(115200);
-	bool success = IMU.begin();
-	if (!success) {
-		Serial.println("Failed to initialize IMU");
-	}
-}
-```
-
-Для однократного считывания данных используется метод `read()`. Затем данные с гироскопа получаются при помощи метода `getGyro(x, y, z)`. Этот метод записывает в переменные `x`, `y` и `z` угловые скорости вокруг соответствующих осей в радианах в секунду.
-
-Если нужно гарантировать, что будут считаны новые данные, можно использовать метод `waitForData()`. Этот метод блокирует выполнение программы до тех пор, пока в IMU не появятся новые данные. Метод `waitForData()` позволяет привязать частоту главного цикла `loop` к частоте обновления данных IMU. Это удобно для организации главного цикла управления квадрокоптером.
-
-Программа для чтения данных с гироскопа и вывода их в консоль для построения графиков в Serial Plotter выглядит так:
-
-```cpp
-#include <FlixPeriph.h>
-#include <SPI.h>
-
-MPU9250 IMU(SPI);
-
-void setup() {
-	Serial.begin(115200);
-	bool success = IMU.begin();
-	if (!success) {
-		Serial.println("Failed to initialize IMU");
-	}
-}
-
-void loop() {
-	IMU.waitForData();
-
-	float gx, gy, gz;
-	IMU.getGyro(gx, gy, gz);
-
-	Serial.printf("gx:%f gy:%f gz:%f\n", gx, gy, gz);
-	delay(50); // замедление вывода
-}
-```
-
-После запуска программы в Serial Plotter можно увидеть графики угловых скоростей. Например, при вращениях IMU вокруг вертикальной оси Z графики будут выглядеть так:
-
-<img src="img/gyro-plotter.png">
-
-## Конфигурация гироскопа
-
-В коде Flix настройка IMU происходит в функции `configureIMU`. В этой функции настраиваются три основных параметра гироскопа: диапазон измерений, частота сэмплов и частота LPF-фильтра.
-
-### Частота сэмплов
-
-Большинство IMU могут обновлять данные с разной частотой. В полетных контроллерах обычно используется частота обновления от 500 Гц до 8 кГц. Чем выше частота сэмплов, тем выше точность управления полетом, но и больше нагрузка на микроконтроллер.
-
-Частота сэмплов устанавливается методом `setSampleRate()`. В Flix используется частота 1 кГц:
-
-```cpp
-IMU.setRate(IMU.RATE_1KHZ_APPROX);
-```
-
-Поскольку не все поддерживаемые IMU могут работать строго на частоте 1 кГц, в библиотеке FlixPeriph существует возможность приближенной настройки частоты сэмплов. Например, у IMU ICM-20948 при такой настройке реальная частота сэмплирования будет равна 1125 Гц.
-
-Другие доступные для установки в библиотеке FlixPeriph частоты сэмплирования:
-
-* `RATE_MIN` — минимальная частота сэмплов для конкретного IMU.
-* `RATE_50HZ_APPROX` — значение, близкое к 50 Гц.
-* `RATE_1KHZ_APPROX`  — значение, близкое к 1 кГц.
-* `RATE_8KHZ_APPROX` — значение, близкое к 8 кГц.
-* `RATE_MAX` — максимальная частота сэмплов для конкретного IMU.
-
-#### Диапазон измерений
-
-Большинство MEMS-гироскопов поддерживают несколько диапазонов измерений угловой скорости. Главное преимущество выбора меньшего диапазона — бо́льшая чувствительность. В полетных контроллерах обычно выбирается максимальный диапазон измерений от –2000 до 2000 градусов в секунду, чтобы обеспечить возможность динамичных маневров.
-
-В библиотеке FlixPeriph диапазон измерений гироскопа устанавливается методом `setGyroRange()`:
-
-```cpp
-IMU.setGyroRange(IMU.GYRO_RANGE_2000DPS);
-```
-
-### LPF-фильтр
-
-IMU InvenSense могут фильтровать измерения на аппаратном уровне при помощи фильтра нижних частот (LPF). Flix реализует собственный фильтр для гироскопа, чтобы иметь больше гибкости при поддержке разных IMU. Поэтому для встроенного LPF устанавливается максимальная частота среза:
-
-```cpp
-IMU.setDLPF(IMU.DLPF_MAX);
-```
-
-## Калибровка гироскопа
-
-Как и любое измерительное устройство, гироскоп вносит искажения в измерения. Наиболее простая модель этих искажений делит их на статические смещения (*bias*) и случайный шум (*noise*):
-
-\\[ gyro_{xyz}=rates_{xyz}+bias_{xyz}+noise \\]
-
-Для качественной работы подсистемы оценки ориентации и управления дроном необходимо оценить *bias* гироскопа и учесть его в вычислениях. Для этого при запуске программы производится калибровка гироскопа, которая реализована в функции `calibrateGyro()`. Эта функция считывает данные с гироскопа в состоянии покоя 1000 раз и усредняет их. Полученные значения считаются *bias* гироскопа и в дальнейшем вычитаются из измерений.
-
-Программа для вывода данных с гироскопа с калибровкой:
-
-```cpp
-#include <FlixPeriph.h>
-#include <SPI.h>
-
-MPU9250 IMU(SPI);
-
-float gyroBiasX, gyroBiasY, gyroBiasZ; // bias гироскопа
-
-void setup() {
-	Serial.begin(115200);
-	bool success = IMU.begin();
-	if (!success) {
-		Serial.println("Failed to initialize IMU");
-	}
-	calibrateGyro();
-}
-
-void loop() {
-	float gx, gy, gz;
-	IMU.waitForData();
-	IMU.getGyro(gx, gy, gz);
-
-	// Устранение bias гироскопа
-	gx -= gyroBiasX;
-	gy -= gyroBiasY;
-	gz -= gyroBiasZ;
-
-	Serial.printf("gx:%f gy:%f gz:%f\n", gx, gy, gz);
-	delay(50); // замедление вывода
-}
-
-void calibrateGyro() {
-	const int samples = 1000;
-	Serial.println("Calibrating gyro, stand still");
-
-	gyroBiasX = 0;
-	gyroBiasY = 0;
-	gyroBiasZ = 0;
-
-	// Получение 1000 измерений гироскопа
-	for (int i = 0; i < samples; i++) {
-		IMU.waitForData();
-		float gx, gy, gz;
-		IMU.getGyro(gx, gy, gz);
-		gyroBiasX += gx;
-		gyroBiasY += gy;
-		gyroBiasZ += gz;
-	}
-
-	// Усреднение значений
-	gyroBiasX = gyroBiasX / samples;
-	gyroBiasY = gyroBiasY / samples;
-	gyroBiasZ = gyroBiasZ / samples;
-
-	Serial.printf("Gyro bias X: %f\n", gyroBiasX);
-	Serial.printf("Gyro bias Y: %f\n", gyroBiasY);
-	Serial.printf("Gyro bias Z: %f\n", gyroBiasZ);
-}
-```
-
-График данных с гироскопа в состоянии покоя без калибровки. Можно увидеть статическую ошибку каждой из осей:
-
-<img src="img/gyro-uncalibrated-plotter.png">
-
-График данных с гироскопа в состоянии покоя после калибровки:
-
-<img src="img/gyro-calibrated-plotter.png">
-
-Откалиброванные данные с гироскопа вместе с данными с акселерометра поступают в *подсистему оценки состояния*.
-
-## Дополнительные материалы
-
-* [MPU-9250 datasheet](https://invensense.tdk.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf).
-* [MPU-6500 datasheet](https://invensense.tdk.com/wp-content/uploads/2020/06/PS-MPU-6500A-01-v1.3.pdf).
-* [ICM-20948 datasheet](https://invensense.tdk.com/wp-content/uploads/2016/06/DS-000189-ICM-20948-v1.3.pdf).
--- a/docs/book/img
+++ b/docs/book/img
@@ -1 +0,0 @@
-../img
--- a/docs/build.md
+++ b/docs/build.md
@@ -9,9 +9,9 @@ cd flix

 ## Simulation

-### Ubuntu 20.04
+### Ubuntu

-The latest version of Ubuntu supported by Gazebo 11 simulator is 20.04. If you have a newer version, consider using a virtual machine.
+The latest version of Ubuntu supported by Gazebo 11 simulator is 22.04. If you have a newer version, consider using a virtual machine.

 1. Install Arduino CLI:

@@ -84,7 +84,7 @@ The latest version of Ubuntu supported by Gazebo 11 simulator is 20.04. If you h

 #### Control with 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. For **iOS**, use [QGroundControl build from TAJISOFT](https://apps.apple.com/ru/app/qgc-from-tajisoft/id1618653051).
+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. Connect your smartphone to the same Wi-Fi network as the machine running the simulator.
 3. If you're using a virtual machine, make sure that its network is set to the **bridged** mode with Wi-Fi adapter selected.
 4. Run the simulation.
@@ -96,9 +96,10 @@ The latest version of Ubuntu supported by Gazebo 11 simulator is 20.04. If you h

 1. Connect your USB remote control to the machine running the simulator.
 2. Run the simulation.
-3. Calibrate the RC using `cr` command in the command line interface.
-4. Run the simulation again.
-5. Use the USB remote control to fly the drone!
+3. Calibrate the RC using `cr` command in the command line interface and stop the simulation.
+4. Copy the calibration results to the source code (`gazebo/joystick.h`).
+5. Run the simulation again.
+6. Use the USB remote control to fly the drone!

 ## Firmware

@@ -106,7 +107,7 @@ The latest version of Ubuntu supported by Gazebo 11 simulator is 20.04. If you h

 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 3.1.0 (version 2.x is not supported). 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 3.2.0. See the [official Espressif's instructions](https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#installing-using-arduino-ide) on installing ESP32 Core in Arduino IDE.
 4. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library):
   * `FlixPeriph`, the latest version.
   * `MAVLink`, version 2.0.16.
@@ -118,13 +119,6 @@ The latest version of Ubuntu supported by Gazebo 11 simulator is 20.04. If you h
 ### Command line (Windows, Linux, macOS)

 1. [Install Arduino CLI](https://arduino.github.io/arduino-cli/installation/).
-
-   On Linux, use:
-
-   ```bash
-   curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh
-   ```
-
 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. Compile the firmware using `make`. Arduino dependencies will be installed automatically:

@@ -146,21 +140,19 @@ The latest version of Ubuntu supported by Gazebo 11 simulator is 20.04. If you h

 See other available Make commands in the [Makefile](../Makefile).

-> [!TIP]
-> You can test the firmware on a bare ESP32 board without connecting IMU and other peripherals. The Wi-Fi network `flix` should appear and all the basic functionality including CLI and QGroundControl connection should work.
-
 ### Setup and flight

 Before flight you need to calibrate the accelerometer:

-1. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line).
-2. Type `ca` command there and follow the instructions.
+1. Open Serial Monitor in Arduino IDE (use use `make monitor` command in the command line).
+2. Type `ca` command there.
+3. Copy calibration results to the source code (`flix/imu.ino`).

 #### Control with 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.
-3. Connect your smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`).
+3. Connect your smartphone to the appeared `flix` Wi-Fi network.
 4. Open QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
 5. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
 6. Use the virtual joystick to fly the drone!
@@ -169,33 +161,11 @@ Before flight you need to calibrate the accelerometer:

 Before flight using remote control, you need to calibrate it:

-1. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line).
-2. Type `cr` command there and follow the instructions.
-3. Use the remote control to fly the drone!
+1. Open Serial Monitor in Arduino IDE (use use `make monitor` command in the command line).
+2. Type `cr` command there.
+3. Copy calibration results to the source code (`flix/rc.ino`).

-#### Control with USB remote control
-
-If your drone doesn't have RC receiver installed, you can use USB remote control and QGroundControl app to fly it.
-
-1. Install [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html) app on your computer.
-2. Connect your USB remote control to the computer.
-3. Power up the drone.
-4. Connect your computer to the appeared `flix` Wi-Fi network (password: `flixwifi`).
-5. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
-6. Go the the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate you USB remote control there.
-7. Use the USB remote control to fly the drone!
-
-#### Adjusting parameters
-
-You can adjust some of the drone's parameters (include PID coefficients) in QGroundControl app. In order to do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*.
-
-<img src="img/parameters.png" width="400">
-
-#### CLI access
-
-In addition to accessing the drone's command line interface (CLI) using the serial port, you can also access it with QGroundControl using Wi-Fi connection. To do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*.
-
-<img src="img/cli.png" width="400">
+Then you can use your remote control to fly the drone!

 > [!NOTE]
 > If something goes wrong, go to the [Troubleshooting](troubleshooting.md) article.
--- a/docs/firmware.md
+++ b/docs/firmware.md
@@ -6,14 +6,14 @@

 The main loop is running at 1000 Hz. All the dataflow is happening through global variables (for simplicity):

-* `t` *(double)* — current step time, *s*.
+* `t` *(float)* — current step time, *s*.
 * `dt` *(float)* — time delta between the current and previous steps, *s*.
 * `gyro` *(Vector)* — data from the gyroscope, *rad/s*.
 * `acc` *(Vector)* — acceleration data from the accelerometer, *m/s<sup>2</sup>*.
 * `rates` *(Vector)* — filtered angular rates, *rad/s*.
 * `attitude` *(Quaternion)* — estimated attitude (orientation) of drone.
-* `controls` *(float[])* — user control inputs from the RC, normalized to [-1, 1] range.
-* `motors` *(float[])* — motor outputs, normalized to [-1, 1] range; reverse rotation is possible.
+* `controlRoll`, `controlPitch`, ... *(float[])* — pilot's control inputs, range [-1, 1].
+* `motors` *(float[])* — motor outputs, normalized to [0, 1] range; reverse rotation is possible.

 ## Source files

--- a/docs/img/assembly/1.jpg
+++ b/docs/img/assembly/1.jpg
--- a/docs/img/assembly/2.jpg
+++ b/docs/img/assembly/2.jpg
--- a/docs/img/assembly/3.jpg
+++ b/docs/img/assembly/3.jpg
--- a/docs/img/assembly/4.jpg
+++ b/docs/img/assembly/4.jpg
--- a/docs/img/assembly/5.jpg
+++ b/docs/img/assembly/5.jpg
--- a/docs/img/assembly/6.jpg
+++ b/docs/img/assembly/6.jpg
--- a/docs/img/assembly/7.jpg
+++ b/docs/img/assembly/7.jpg
--- a/docs/img/cli.png
+++ b/docs/img/cli.png
--- a/docs/img/flix1.1.jpg
+++ b/docs/img/flix1.1.jpg
--- a/docs/img/flixperiph.png
+++ b/docs/img/flixperiph.png
--- a/docs/img/gyro-calibrated-plotter.png
+++ b/docs/img/gyro-calibrated-plotter.png
--- a/docs/img/gyro-plotter.png
+++ b/docs/img/gyro-plotter.png
--- a/docs/img/gyro-uncalibrated-plotter.png
+++ b/docs/img/gyro-uncalibrated-plotter.png
--- a/docs/img/gyroscope.jpg
+++ b/docs/img/gyroscope.jpg
--- a/docs/img/imu-axes.svg
+++ b/docs/img/imu-axes.svg
@@ -1,119 +0,0 @@
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-  <defs>
-    <style>
-      .a {
-        fill: #dbe1e2;
-      }
-
-      .b {
-        fill: #c2c1c0;
-      }
-
-      .c {
-        fill: #c6c6c5;
-      }
-
-      .d {
-        fill: #ec7d23;
-      }
-
-      .e {
-        font-size: 50px;
-        font-family: Tahoma;
-      }
-
-      .e, .n {
-        fill: #010101;
-      }
-
-      .f {
-        opacity: 0.8;
-      }
-
-      .g, .i, .k, .m {
-        fill: none;
-        stroke-width: 10px;
-      }
-
-      .g {
-        stroke: #0577ba;
-      }
-
-      .g, .i, .k {
-        stroke-linejoin: bevel;
-      }
-
-      .h {
-        fill: #0577ba;
-      }
-
-      .i {
-        stroke: #76c043;
-      }
-
-      .j {
-        fill: #76c043;
-      }
-
-      .k {
-        stroke: #d71f26;
-      }
-
-      .l {
-        fill: #d71f26;
-      }
-
-      .m {
-        stroke: #010101;
-        stroke-miterlimit: 10;
-      }
-    </style>
-  </defs>
-  <g>
-    <g>
-      <rect class="a" x="51.25" y="538.09" width="111.96" height="44.06"/>
-      <polygon class="b" points="204.47 515.98 163.21 582.15 163.21 538.09 204.47 471.91 204.47 515.98"/>
-      <polygon class="c" points="163.21 538.19 51.25 538.19 92.46 471.91 204.42 471.91 163.21 538.19"/>
-      <ellipse class="d" cx="101.09" cy="480" rx="7.45" ry="3.7" transform="translate(-117.09 40.67) rotate(-14.52)"/>
-    </g>
-    <text class="e" transform="translate(166.62 107.43)">Z</text>
-    <g class="f">
-      <g>
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-        <polygon class="h" points="145.79 75.3 127.84 44.21 109.89 75.3 145.79 75.3"/>
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-    <text class="e" transform="translate(338.14 279.7)">Y</text>
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-    <text class="e" transform="translate(438.99 582.15)">X</text>
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--- a/docs/img/mpu9250.jpg
+++ b/docs/img/mpu9250.jpg
--- a/docs/img/parameters.png
+++ b/docs/img/parameters.png
--- a/docs/img/user/alexey_karakash/1.jpg
+++ b/docs/img/user/alexey_karakash/1.jpg
--- a/docs/img/user/alexey_karakash/2.jpg
+++ b/docs/img/user/alexey_karakash/2.jpg
--- a/docs/img/user/alexey_karakash/3.jpg
+++ b/docs/img/user/alexey_karakash/3.jpg
--- a/docs/img/user/alexey_karakash/4.jpg
+++ b/docs/img/user/alexey_karakash/4.jpg
--- a/docs/img/user/alexey_karakash/5.jpg
+++ b/docs/img/user/alexey_karakash/5.jpg
--- a/docs/img/user/alexey_karakash/video.jpg
+++ b/docs/img/user/alexey_karakash/video.jpg
--- a/docs/img/user/cryptokobans/1.jpg
+++ b/docs/img/user/cryptokobans/1.jpg
--- a/docs/img/user/cryptokobans/2.jpg
+++ b/docs/img/user/cryptokobans/2.jpg
--- a/docs/img/user/cryptokobans/video.jpg
+++ b/docs/img/user/cryptokobans/video.jpg
--- a/docs/img/user/fisheyeu/1.jpg
+++ b/docs/img/user/fisheyeu/1.jpg
--- a/docs/img/user/fisheyeu/2.jpg
+++ b/docs/img/user/fisheyeu/2.jpg
--- a/docs/img/user/jeka_chex/1.jpg
+++ b/docs/img/user/jeka_chex/1.jpg
--- a/docs/img/user/jeka_chex/2.jpg
+++ b/docs/img/user/jeka_chex/2.jpg
--- a/docs/img/user/jeka_chex/3.jpg
+++ b/docs/img/user/jeka_chex/3.jpg
--- a/docs/img/user/jeka_chex/4.jpg
+++ b/docs/img/user/jeka_chex/4.jpg
--- a/docs/img/user/jeka_chex/5.jpg
+++ b/docs/img/user/jeka_chex/5.jpg
--- a/docs/img/user/jeka_chex/video-fpv.jpg
+++ b/docs/img/user/jeka_chex/video-fpv.jpg
--- a/docs/img/user/jeka_chex/video.jpg
+++ b/docs/img/user/jeka_chex/video.jpg
--- a/docs/img/user/p_kabakov/1.jpg
+++ b/docs/img/user/p_kabakov/1.jpg
--- a/docs/img/user/p_kabakov/2.jpg
+++ b/docs/img/user/p_kabakov/2.jpg
--- a/docs/img/user/p_kabakov/3.jpg
+++ b/docs/img/user/p_kabakov/3.jpg
--- a/docs/img/user/p_kabakov/wifirc.jpg
+++ b/docs/img/user/p_kabakov/wifirc.jpg
--- a/docs/img/user/peter_ukhov-2/1.jpg
+++ b/docs/img/user/peter_ukhov-2/1.jpg
--- a/docs/img/user/peter_ukhov-2/2.jpg
+++ b/docs/img/user/peter_ukhov-2/2.jpg
--- a/docs/img/user/peter_ukhov-2/video.jpg
+++ b/docs/img/user/peter_ukhov-2/video.jpg
--- a/docs/img/user/peter_ukhov/1.jpg
+++ b/docs/img/user/peter_ukhov/1.jpg
--- a/docs/img/user/peter_ukhov/2.jpg
+++ b/docs/img/user/peter_ukhov/2.jpg
--- a/docs/img/user/peter_ukhov/3.jpg
+++ b/docs/img/user/peter_ukhov/3.jpg
--- a/docs/img/user/peter_ukhov/video.jpg
+++ b/docs/img/user/peter_ukhov/video.jpg
--- a/docs/img/user/rudpa/1.jpg
+++ b/docs/img/user/rudpa/1.jpg
--- a/docs/img/user/rudpa/2.jpg
+++ b/docs/img/user/rudpa/2.jpg
--- a/docs/img/user/rudpa/3.jpg
+++ b/docs/img/user/rudpa/3.jpg
--- a/docs/img/user/rudpa/video.jpg
+++ b/docs/img/user/rudpa/video.jpg
--- a/docs/img/user/user.jpg
+++ b/docs/img/user/user.jpg
--- a/docs/img/user/yi_lun/1.jpg
+++ b/docs/img/user/yi_lun/1.jpg
--- a/docs/img/user/yi_lun/2.jpg
+++ b/docs/img/user/yi_lun/2.jpg
--- a/docs/js.js
+++ b/docs/js.js
@@ -1,7 +0,0 @@
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--- a/docs/theme/index.hbs
+++ b/docs/theme/index.hbs
@@ -1,336 +0,0 @@
-<!DOCTYPE HTML>
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-        <meta name="robots" content="noindex">
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-        <nav id="sidebar" class="sidebar" aria-label="Table of contents">
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-            <mdbook-sidebar-scrollbox class="sidebar-scrollbox">
-                <footer>
-                    <a href="https://github.com/okalachev/flix" class="github">GitHub</a>
-                    <a href="https://t.me/opensourcequadcopter" class="telegram">Telegram-канал</a>
-                    💰 Поддержать проект:
-                    <iframe style="margin-top: 0.4em;" src="https://yoomoney.ru/quickpay/fundraise/button?billNumber=16U9OH2S4IT.241205&" width="330" height="50" frameborder="0" allowtransparency="true" scrolling="no"></iframe>
-                    &copy; 2024 Олег Калачев
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-        <!-- Google Analytics Tag -->
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-        {{#if playground_line_numbers}}
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-        {{#if playground_copyable}}
-        <script>
-            window.playground_copyable = true;
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-        {{/if}}
-
-        {{#if playground_js}}
-        <script src="{{ path_to_root }}ace.js"></script>
-        <script src="{{ path_to_root }}editor.js"></script>
-        <script src="{{ path_to_root }}mode-rust.js"></script>
-        <script src="{{ path_to_root }}theme-dawn.js"></script>
-        <script src="{{ path_to_root }}theme-tomorrow_night.js"></script>
-        {{/if}}
-
-        {{#if search_js}}
-        <script src="{{ path_to_root }}elasticlunr.min.js"></script>
-        <script src="{{ path_to_root }}mark.min.js"></script>
-        <script src="{{ path_to_root }}searcher.js"></script>
-        {{/if}}
-
-        <script src="{{ path_to_root }}clipboard.min.js"></script>
-        <script src="{{ path_to_root }}highlight.js"></script>
-        <script src="{{ path_to_root }}book.js"></script>
-
-        <!-- Custom JS scripts -->
-        {{#each additional_js}}
-        <script src="{{ ../path_to_root }}{{this}}"></script>
-        {{/each}}
-
-        {{#if is_print}}
-        {{#if mathjax_support}}
-        <script>
-        window.addEventListener('load', function() {
-            MathJax.Hub.Register.StartupHook('End', function() {
-                window.setTimeout(window.print, 100);
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-        {{else}}
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-
-    </div>
-    </body>
-</html>
--- a/docs/troubleshooting.md
+++ b/docs/troubleshooting.md
@@ -1,35 +0,0 @@
-# Troubleshooting
-
-## The sketch doesn't compile
-
-Do the following:
-
-* **Check ESP32 core is installed**. Check if the version matches the one used in the [tutorial](build.md#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.
-
-## 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 if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button to make sure you see the whole ESP32 output.
-* **Make sure correct IMU model is chosen**. If using ICM-20948 board, change `MPU9250` to `ICM20948` everywhere in the `imu.ino` file.
-* **Check if the CLI is working**. Perform `help` command in Serial Monitor. You should see the list of available commands. You can also access the CLI using QGroundControl (*Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*).
-* **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**.
-* **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, make sure `rotateIMU` function is defined correctly in `imu.ino` file.
-* **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).
-  * `mfl` — should rotate front left motor (clockwise).
-  * `mrl` — should rotate rear left motor (counter-clockwise).
-  * `mrr` — should rotate rear right motor (clockwise).
-* **Calibrate the RC** if you use it. Type `cr` command in Serial Monitor and follow the instructions.
-* **Check the RC data** if you use it. Use `rc` command, `Control` should show correct values between -1 and 1, and between 0 and 1 for the throttle.
-* **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 gyroscope only attitude estimation**. Comment out `applyAcc();` line in `estimate.ino` and check if the attitude estimation in QGroundControl. It should be stable, but only drift very slowly.
--- a/docs/user.md
+++ b/docs/user.md
@@ -1,97 +0,0 @@
-# Hall of fame
-
-This page contains user-built drones based on the Flix project. Publish your projects into the official Telegram-chat: [@opensourcequadcopterchat](https://t.me/opensourcequadcopterchat) or send materials as a pull request.
-
---
-
-Author: [@cryptokobans](https://t.me/cryptokobans).<br>
-Features: ESP32-C3 SuperMini board, INA226 power monitor, IRLZ44N MOSFETs, MPU-6500 IMU.
-
-**Flight video:**
-
-<a href="https://drive.google.com/file/d/1-4ciDsj8slTEaxxRl1-QAkx0cUDkb8iy/view?usp=sharing"><img height=300 src="img/user/cryptokobans/video.jpg"></a>
-
-<img src="img/user/cryptokobans/1.jpg" height=150> <img src="img/user/cryptokobans/2.jpg" height=150>
-
---
-
-Author: [@jeka_chex](https://t.me/jeka_chex).<br>
-Features: custom frame, FPV camera, 3-blade 31 mm propellers.<br>
-Motor drivers: AON7410 MOSFET + capacitors.<br>
-Custom frame files: https://drive.google.com/drive/folders/1QCIc-_YYFxJN4cMhVLjL5SflqegvCowm?usp=share_link.<br>
-
-**Flight video:**
-
-<a href="https://drive.google.com/file/d/1VnWI5YVPojfqsfpyLX4v2V9zHi9adwcd/view?usp=sharing"><img height=300 src="img/user/jeka_chex/video.jpg"></a>
-
-**FPV flight video:**
-
-<a href="https://drive.google.com/file/d/1RSU6VWs9omsge4hGloH5NQqnxvLyhMKB/view?usp=sharing"><img height=300 src="img/user/jeka_chex/video-fpv.jpg"></a>
-
-<img src="img/user/jeka_chex/1.jpg" height=150> <img src="img/user/jeka_chex/2.jpg" height=150> <img src="img/user/jeka_chex/3.jpg" height=150> <img src="img/user/jeka_chex/4.jpg" height=150> <img src="img/user/jeka_chex/5.jpg" height=150>
-
---
-
-Author: [@fisheyeu](https://t.me/fisheyeu).<br>
-[Video](https://drive.google.com/file/d/1IT4eMmWPZpmaZR_qsIRmNJ52hYkFB_0q/view?usp=share_link).
-
-<img src="img/user/fisheyeu/1.jpg" height=300> <img src="img/user/fisheyeu/2.jpg" height=300>
-
---
-
-Author: [@p_kabakov](https://t.me/p_kabakov).<br>
-Custom propellers guard 3D-model: https://drive.google.com/file/d/1TKnzwvrZYzYuRTLLERNmnKH71H9n4Xj_/view?usp=share_link.<br>
-Features: ESP32-C3 microcontroller is used.<br>
-[Video](https://drive.google.com/file/d/1B0NMcsk0fgwUgNr9XuLOdR2yYCuaj008/view?usp=share_link).
-
-<img src="img/user/p_kabakov/1.jpg" width=150> <img src="img/user/p_kabakov/2.jpg" width=150> <img src="img/user/p_kabakov/3.jpg" width=150>
-
-**Custom Wi-Fi RC control:**
-
-<a href="https://github.com/pavelkabakov/flix/blob/master/rc_control_v1/IMG_20250221_195756.jpg"><img height=300 src="img/user/p_kabakov/wifirc.jpg"></a>
-
-See source and description (in Russian): https://github.com/pavelkabakov/flix/tree/master/rc_control_v1.
-
---
-
-Author: [@yi_lun](https://t.me/yi_lun).<br>
-[Video](https://drive.google.com/file/d/1TkSuvHQ_0qQPFUpY5XjJzmhnpX_07cTg/view?usp=share_link).
-
-<img src="img/user/yi_lun/1.jpg" width=300> <img src="img/user/yi_lun/2.jpg" width=300>
-
---
-
-Author: [@peter_ukhov](https://t.me/peter_ukhov).<br>
-Features: customized ESP32 holder, GY-ICM20948V2 IMU board, boost-converter for powering the ESP32.<br>
-Files for 3D-printing: https://drive.google.com/file/d/1Sma-FEzFBj2HA5ixJtUyH0uWixvr6vdK/view?usp=share_link.<br>
-Schematics: https://miro.com/app/board/uXjVN-dTjoo=/?moveToWidget=3458764612179508274&cot=14.<br>
-
-<a href="https://www.youtube.com/watch?v=wi4w_hOmKcQ"><img width=500 src="img/user/peter_ukhov-2/video.jpg"></a>
-
-<img src="img/user/peter_ukhov-2/1.jpg" width=300> <img src="img/user/peter_ukhov-2/2.jpg" width=300>
-
---
-
-Author: [@Alexey_Karakash](https://t.me/Alexey_Karakash).<br>
-Files for 3D printing of the custom frame: https://drive.google.com/file/d/1tkNmujrHrKpTMVtsRH3mor2zdAM0JHum/view?usp=share_link.<br>
-
-<a href="https://t.me/opensourcequadcopter/61"><img width=500 src="img/user/alexey_karakash/video.jpg"></a>
-
-<img src="img/user/alexey_karakash/1.jpg" height=150> <img src="img/user/alexey_karakash/2.jpg" height=150> <img src="img/user/alexey_karakash/3.jpg" height=150> <img src="img/user/alexey_karakash/4.jpg" height=150> <img src="img/user/alexey_karakash/5.jpg" height=150>
-
---
-
-Author: [@rudpa](https://t.me/rudpa).<br>
-
-<a href="https://t.me/opensourcequadcopter/46"><img width=500 src="img/user/rudpa/video.jpg"></a>
-
-<img src="img/user/rudpa/1.jpg" height=150> <img src="img/user/rudpa/2.jpg" height=150> <img src="img/user/rudpa/3.jpg" height=150>
-
---
-
-Author: [@peter_ukhov](https://t.me/peter_ukhov).<br>
-Schematics: https://miro.com/app/board/uXjVN-dTjoo=/?moveToWidget=3458764612338222067&cot=14.<br>
-
-<a href="https://t.me/opensourcequadcopter/24"><img width=500 src="img/user/peter_ukhov/video.jpg"></a>
-
-<img src="img/user/peter_ukhov/1.jpg" height=150> <img src="img/user/peter_ukhov/2.jpg" height=150> <img src="img/user/peter_ukhov/3.jpg" height=150>
--- a/docs/version0.md
+++ b/docs/version0.md
@@ -1,30 +0,0 @@
-# Flix version 0
-
-Flix version 0 (obsolete):
-
-<img src="img/flix.jpg" width=500 alt="Flix quadcopter">
-
-## Components list
-
-|Type|Part|Image|Quantity|
-|-|-|-|-|
-|Microcontroller board|ESP32 Mini|<img src="img/esp32.jpg" width=100>|1|
-|IMU and barometer² board|GY-91 (or other MPU-9250 board)|<img src="img/gy-91.jpg" width=100>|1|
-|Quadcopter frame|K100|<img src="img/frame.jpg" width=100>|1|
-|Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)|<img src="img/motor.jpeg" width=100>|4|
-|Propeller|Hubsan 55 mm|<img src="img/prop.jpg" width=100>|4|
-|Motor ESC|2.7A 1S Dual Way Micro Brush ESC|<img src="img/esc.jpg" width=100>|4|
-|RC transmitter|KINGKONG TINY X8|<img src="img/tx.jpg" width=100>|1|
-|RC receiver|DF500 (SBUS)|<img src="img/rx.jpg" width=100>|1|
-|~~SBUS inverter~~*||<img src="img/inv.jpg" width=100>|~~1~~|
-|Battery|3.7 Li-Po 850 MaH 60C|||
-|Battery charger||<img src="img/charger.jpg" width=100>|1|
-|Wires, connectors, tape, ...||||
-
-*\* — not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).*
-
-## Schematics
-
-<img src="img/schematics.svg" width=800 alt="Flix schematics">
-
-You can also check a user contributed [variant of complete circuit diagram](https://miro.com/app/board/uXjVN-dTjoo=/?moveToWidget=3458764574482511443&cot=14) of the drone.
--- a/docs/zoom.css
+++ b/docs/zoom.css
@@ -1,31 +0,0 @@
-img[data-action="zoom"] {
-  cursor: zoom-in;
-}
-.zoom-img,
-.zoom-img-wrap {
-  position: relative;
-  z-index: 666;
-  transition: all 300ms;
-}
-img.zoom-img {
-  cursor: zoom-out;
-}
-.zoom-overlay {
-  cursor: zoom-out;
-  z-index: 420;
-  background: #fff;
-  position: fixed;
-  top: 0;
-  left: 0;
-  right: 0;
-  bottom: 0;
-  filter: "alpha(opacity=0)";
-  opacity: 0;
-  transition:      opacity 300ms;
-}
-.zoom-overlay-open .zoom-overlay {
-  filter: "alpha(opacity=100)";
-  opacity: 1;
-}
-
-/*# sourceMappingURL=data:application/json;base64,eyJ2ZXJzaW9uIjozLCJzb3VyY2VzIjpbIi4uL2Nzcy96b29tLmNzcyJdLCJuYW1lcyI6W10sIm1hcHBpbmdzIjoiQUFBQTtFQUNFLGdCQUFnQjtDQUNqQjtBQUNEOztFQUVFLG1CQUFtQjtFQUNuQixhQUFhO0VBQ2Isc0JBQXNCO0NBQ3ZCO0FBQ0Q7RUFDRSxpQkFBaUI7Q0FDbEI7QUFDRDtFQUNFLGlCQUFpQjtFQUNqQixhQUFhO0VBQ2IsaUJBQWlCO0VBQ2pCLGdCQUFnQjtFQUNoQixPQUFPO0VBQ1AsUUFBUTtFQUNSLFNBQVM7RUFDVCxVQUFVO0VBQ1YsMkJBQTJCO0VBQzNCLFdBQVc7RUFDWCwrQkFBK0I7Q0FDaEM7QUFDRDtFQUNFLDZCQUE2QjtFQUM3QixXQUFXO0NBQ1oiLCJmaWxlIjoiem9vbS5jc3MiLCJzb3VyY2VzQ29udGVudCI6WyJpbWdbZGF0YS1hY3Rpb249XCJ6b29tXCJdIHtcbiAgY3Vyc29yOiB6b29tLWluO1xufVxuLnpvb20taW1nLFxuLnpvb20taW1nLXdyYXAge1xuICBwb3NpdGlvbjogcmVsYXRpdmU7XG4gIHotaW5kZXg6IDY2NjtcbiAgdHJhbnNpdGlvbjogYWxsIDMwMG1zO1xufVxuaW1nLnpvb20taW1nIHtcbiAgY3Vyc29yOiB6b29tLW91dDtcbn1cbi56b29tLW92ZXJsYXkge1xuICBjdXJzb3I6IHpvb20tb3V0O1xuICB6LWluZGV4OiA0MjA7XG4gIGJhY2tncm91bmQ6ICNmZmY7XG4gIHBvc2l0aW9uOiBmaXhlZDtcbiAgdG9wOiAwO1xuICBsZWZ0OiAwO1xuICByaWdodDogMDtcbiAgYm90dG9tOiAwO1xuICBmaWx0ZXI6IFwiYWxwaGEob3BhY2l0eT0wKVwiO1xuICBvcGFjaXR5OiAwO1xuICB0cmFuc2l0aW9uOiAgICAgIG9wYWNpdHkgMzAwbXM7XG59XG4uem9vbS1vdmVybGF5LW9wZW4gLnpvb20tb3ZlcmxheSB7XG4gIGZpbHRlcjogXCJhbHBoYShvcGFjaXR5PTEwMClcIjtcbiAgb3BhY2l0eTogMTtcbn1cbiJdfQ== */
--- a/docs/zoom.js
+++ b/docs/zoom.js
@@ -1,281 +0,0 @@
-/* https://github.com/spinningarrow/zoom-vanilla.js
-
-The MIT License
-
-Permission is hereby granted, free of charge, to any person obtaining
-a copy of this software and associated documentation files (the
-"Software"), to deal in the Software without restriction, including
-without limitation the rights to use, copy, modify, merge, publish,
-distribute, sublicense, and/or sell copies of the Software, and to
-permit persons to whom the Software is furnished to do so, subject to
-the following conditions:
-
-The above copyright notice and this permission notice shall be
-included in all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
-LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
-OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
-WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-*/
-
-+function () { "use strict";
-	var OFFSET = 80
-
-	// From http://youmightnotneedjquery.com/#offset
-	function offset(element) {
-		var rect = element.getBoundingClientRect()
-		var scrollTop = window.pageYOffset ||
-			document.documentElement.scrollTop ||
-			document.body.scrollTop ||
-			0
-		var scrollLeft = window.pageXOffset ||
-			document.documentElement.scrollLeft ||
-			document.body.scrollLeft ||
-			0
-		return {
-			top: rect.top + scrollTop,
-			left: rect.left + scrollLeft
-		}
-	}
-
-	function zoomListener() {
-		var activeZoom = null
-		var initialScrollPosition = null
-		var initialTouchPosition = null
-
-		function listen() {
-			document.body.addEventListener('click', function (event) {
-				if (event.target.getAttribute('data-action') !== 'zoom' ||
-					event.target.tagName !== 'IMG') return
-
-				zoom(event)
-			})
-		}
-
-		function zoom(event) {
-			event.stopPropagation()
-
-			if (document.body.classList.contains('zoom-overlay-open')) return
-
-			if (event.metaKey || event.ctrlKey) return openInNewWindow()
-
-			closeActiveZoom({ forceDispose: true })
-
-			activeZoom = vanillaZoom(event.target)
-			activeZoom.zoomImage()
-
-			addCloseActiveZoomListeners()
-		}
-
-		function openInNewWindow() {
-			window.open(event.target.getAttribute('data-original') ||
-				event.target.currentSrc ||
-				event.target.src,
-				'_blank')
-		}
-
-		function closeActiveZoom(options) {
-			options = options || { forceDispose: false }
-			if (!activeZoom) return
-
-			activeZoom[options.forceDispose ? 'dispose' : 'close']()
-			removeCloseActiveZoomListeners()
-			activeZoom = null
-		}
-
-		function addCloseActiveZoomListeners() {
-			// todo(fat): probably worth throttling this
-			window.addEventListener('scroll', handleScroll)
-			document.addEventListener('click', handleClick)
-			document.addEventListener('keyup', handleEscPressed)
-			document.addEventListener('touchstart', handleTouchStart)
-			document.addEventListener('touchend', handleClick)
-		}
-
-		function removeCloseActiveZoomListeners() {
-			window.removeEventListener('scroll', handleScroll)
-			document.removeEventListener('keyup', handleEscPressed)
-			document.removeEventListener('click', handleClick)
-			document.removeEventListener('touchstart', handleTouchStart)
-			document.removeEventListener('touchend', handleClick)
-		}
-
-		function handleScroll(event) {
-			if (initialScrollPosition === null) initialScrollPosition = window.pageYOffset
-			var deltaY = initialScrollPosition - window.pageYOffset
-			if (Math.abs(deltaY) >= 40) closeActiveZoom()
-		}
-
-		function handleEscPressed(event) {
-			if (event.keyCode == 27) closeActiveZoom()
-		}
-
-		function handleClick(event) {
-			event.stopPropagation()
-			event.preventDefault()
-			closeActiveZoom()
-		}
-
-		function handleTouchStart(event) {
-			initialTouchPosition = event.touches[0].pageY
-			event.target.addEventListener('touchmove', handleTouchMove)
-		}
-
-		function handleTouchMove(event) {
-			if (Math.abs(event.touches[0].pageY - initialTouchPosition) <= 10) return
-			closeActiveZoom()
-			event.target.removeEventListener('touchmove', handleTouchMove)
-		}
-
-		return { listen: listen }
-	}
-
-	var vanillaZoom = (function () {
-		var fullHeight = null
-		var fullWidth = null
-		var overlay = null
-		var imgScaleFactor = null
-
-		var targetImage = null
-		var targetImageWrap = null
-		var targetImageClone = null
-
-		function zoomImage() {
-			var img = document.createElement('img')
-			img.onload = function () {
-				fullHeight = Number(img.height)
-				fullWidth = Number(img.width)
-				zoomOriginal()
-			}
-			img.src = targetImage.currentSrc || targetImage.src
-		}
-
-		function zoomOriginal() {
-			targetImageWrap = document.createElement('div')
-			targetImageWrap.className = 'zoom-img-wrap'
-			targetImageWrap.style.position = 'absolute'
-			targetImageWrap.style.top = offset(targetImage).top + 'px'
-			targetImageWrap.style.left = offset(targetImage).left + 'px'
-
-			targetImageClone = targetImage.cloneNode()
-			targetImageClone.style.visibility = 'hidden'
-
-			targetImage.style.width = targetImage.offsetWidth + 'px'
-			targetImage.parentNode.replaceChild(targetImageClone, targetImage)
-
-			document.body.appendChild(targetImageWrap)
-			targetImageWrap.appendChild(targetImage)
-
-			targetImage.classList.add('zoom-img')
-			targetImage.setAttribute('data-action', 'zoom-out')
-
-			overlay = document.createElement('div')
-			overlay.className = 'zoom-overlay'
-
-			document.body.appendChild(overlay)
-
-			calculateZoom()
-			triggerAnimation()
-		}
-
-		function calculateZoom() {
-			targetImage.offsetWidth // repaint before animating
-
-			var originalFullImageWidth  = fullWidth
-			var originalFullImageHeight = fullHeight
-
-			var maxScaleFactor = originalFullImageWidth / targetImage.width
-
-			var viewportHeight = window.innerHeight - OFFSET
-			var viewportWidth  = window.innerWidth - OFFSET
-
-			var imageAspectRatio    = originalFullImageWidth / originalFullImageHeight
-			var viewportAspectRatio = viewportWidth / viewportHeight
-
-			if (originalFullImageWidth < viewportWidth && originalFullImageHeight < viewportHeight) {
-				imgScaleFactor = maxScaleFactor
-			} else if (imageAspectRatio < viewportAspectRatio) {
-				imgScaleFactor = (viewportHeight / originalFullImageHeight) * maxScaleFactor
-			} else {
-				imgScaleFactor = (viewportWidth / originalFullImageWidth) * maxScaleFactor
-			}
-		}
-
-		function triggerAnimation() {
-			targetImage.offsetWidth // repaint before animating
-
-			var imageOffset = offset(targetImage)
-			var scrollTop   = window.pageYOffset
-
-			var viewportY = scrollTop + (window.innerHeight / 2)
-			var viewportX = (window.innerWidth / 2)
-
-			var imageCenterY = imageOffset.top + (targetImage.height / 2)
-			var imageCenterX = imageOffset.left + (targetImage.width / 2)
-
-			var translateY = Math.round(viewportY - imageCenterY)
-			var translateX = Math.round(viewportX - imageCenterX)
-
-			var targetImageTransform = 'scale(' + imgScaleFactor + ')'
-			var targetImageWrapTransform =
-				'translate(' + translateX + 'px, ' + translateY + 'px) translateZ(0)'
-
-			targetImage.style.webkitTransform = targetImageTransform
-			targetImage.style.msTransform = targetImageTransform
-			targetImage.style.transform = targetImageTransform
-
-			targetImageWrap.style.webkitTransform = targetImageWrapTransform
-			targetImageWrap.style.msTransform = targetImageWrapTransform
-			targetImageWrap.style.transform = targetImageWrapTransform
-
-			document.body.classList.add('zoom-overlay-open')
-		}
-
-		function close() {
-			document.body.classList.remove('zoom-overlay-open')
-			document.body.classList.add('zoom-overlay-transitioning')
-
-			targetImage.style.webkitTransform = ''
-			targetImage.style.msTransform = ''
-			targetImage.style.transform = ''
-
-			targetImageWrap.style.webkitTransform = ''
-			targetImageWrap.style.msTransform = ''
-			targetImageWrap.style.transform = ''
-
-			if (!'transition' in document.body.style) return dispose()
-
-			targetImageWrap.addEventListener('transitionend', dispose)
-			targetImageWrap.addEventListener('webkitTransitionEnd', dispose)
-		}
-
-		function dispose() {
-			targetImage.removeEventListener('transitionend', dispose)
-			targetImage.removeEventListener('webkitTransitionEnd', dispose)
-
-			if (!targetImageWrap || !targetImageWrap.parentNode) return
-
-			targetImage.classList.remove('zoom-img')
-			targetImage.style.width = ''
-			targetImage.setAttribute('data-action', 'zoom')
-
-			targetImageClone.parentNode.replaceChild(targetImage, targetImageClone)
-			targetImageWrap.parentNode.removeChild(targetImageWrap)
-			overlay.parentNode.removeChild(overlay)
-
-			document.body.classList.remove('zoom-overlay-transitioning')
-		}
-
-		return function (target) {
-			targetImage = target
-			return { zoomImage: zoomImage, close: close, dispose: dispose }
-		}
-	}())
-
-	zoomListener().listen()
-}()
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -5,12 +5,10 @@

 #include "pid.h"
 #include "vector.h"
-#include "util.h"

 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
-extern float loopRate, dt;
-extern double t;
-extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
+extern float loopRate;
+extern uint16_t channels[16];

 const char* motd =
 "\nWelcome to\n"
@@ -22,11 +20,6 @@ const char* motd =
 "|__|     |_______||__| /__/ \\__\\\n\n"
 "Commands:\n\n"
 "help - show help\n"
-"p - show all parameters\n"
-"p <name> - show parameter\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"
@@ -34,96 +27,42 @@ const char* motd =
 "mot - show motor output\n"
 "log - dump in-RAM log\n"
 "cr - calibrate RC\n"
+"cg - calibrate gyro\n"
 "ca - calibrate accel\n"
 "mfr, mfl, mrr, mrl - test motor (remove props)\n"
-"reset - reset drone's state\n"
-"reboot - reboot the drone\n";
+"reset - reset drone's state\n";

-void print(const char* format, ...) {
-	char buf[1000];
-	va_list args;
-	va_start(args, format);
-	vsnprintf(buf, sizeof(buf), format, args);
-	va_end(args);
-	Serial.print(buf);
-#if WIFI_ENABLED
-	mavlinkPrint(buf);
-#endif
-}
-
-void pause(float duration) {
-#if ARDUINO
-	double start = t;
-	while (t - start < duration) {
-		step();
-		handleInput();
-#if WIFI_ENABLED
-		processMavlink();
-#endif
-	}
-#else
-	// Code above won't work in the simulation
-	delay(duration * 1000);
-#endif
-}
-
-void doCommand(String str, bool echo = false) {
-	// parse command
-	String command, arg0, arg1;
-	splitString(str, command, arg0, arg1);
-
-	// echo command
-	if (echo && !command.isEmpty()) {
-		print("> %s\n", str.c_str());
-	}
-
-	// execute command
+void doCommand(const String& command) {
 	if (command == "help" || command == "motd") {
-		print("%s\n", motd);
-	} else if (command == "p" && arg0 == "") {
-		printParameters();
-	} else if (command == "p" && arg0 != "" && arg1 == "") {
-		print("%s = %g\n", arg0.c_str(), getParameter(arg0.c_str()));
-	} else if (command == "p") {
-		bool success = setParameter(arg0.c_str(), arg1.toFloat());
-		if (success) {
-			print("%s = %g\n", arg0.c_str(), arg1.toFloat());
-		} else {
-			print("Parameter not found: %s\n", arg0.c_str());
-		}
-	} else if (command == "preset") {
-		resetParameters();
-	} else if (command == "time") {
-		print("Time: %f\n", t);
-		print("Loop rate: %f\n", loopRate);
-		print("dt: %f\n", dt);
+		Serial.println(motd);
 	} else if (command == "ps") {
-		Vector a = attitude.toEulerZYX();
-		print("roll: %f pitch: %f yaw: %f\n", degrees(a.x), degrees(a.y), degrees(a.z));
+		Vector a = attitude.toEuler();
+		Serial.printf("roll: %f pitch: %f yaw: %f\n", a.x * RAD_TO_DEG, a.y * RAD_TO_DEG, a.z * RAD_TO_DEG);
 	} else if (command == "psq") {
-		print("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w);
+		Serial.printf("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);
-		printIMUCal();
-		print("rate: %f\n", loopRate);
-		print("landed: %d\n", landed);
+		Serial.printf("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
+		Serial.printf("acc: %f %f %f\n", acc.x, acc.y, acc.z);
+		printIMUCalibration();
+		Serial.printf("rate: %f\n", loopRate);
 	} else if (command == "rc") {
-		print("Raw: throttle %d yaw %d pitch %d roll %d armed %d mode %d\n",
-			channels[throttleChannel], channels[yawChannel], channels[pitchChannel],
-			channels[rollChannel], channels[armedChannel], channels[modeChannel]);
-		print("Control: throttle %g yaw %g pitch %g roll %g armed %g mode %g\n",
-			controls[throttleChannel], controls[yawChannel], controls[pitchChannel],
-			controls[rollChannel], controls[armedChannel], controls[modeChannel]);
-		print("Mode: %s\n", getModeName());
+		Serial.printf("channels: ");
+		for (int i = 0; i < 16; i++) {
+			Serial.printf("%u ", channels[i]);
+		}
+		Serial.printf("\nroll: %g pitch: %g yaw: %g throttle: %g armed: %g mode: %g\n",
+			controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode);
+		Serial.printf("mode: %s\n", getModeName());
 	} else if (command == "mot") {
-		print("Motors: front-right %g front-left %g rear-right %g rear-left %g\n",
+		Serial.printf("front-right %f front-left %f rear-right %f rear-left %f\n",
 			motors[MOTOR_FRONT_RIGHT], motors[MOTOR_FRONT_LEFT], motors[MOTOR_REAR_RIGHT], motors[MOTOR_REAR_LEFT]);
 	} else if (command == "log") {
 		dumpLog();
 	} else if (command == "cr") {
 		calibrateRC();
+	} else if (command == "cg") {
+		calibrateGyro();
 	} else if (command == "ca") {
 		calibrateAccel();
 	} else if (command == "mfr") {
@@ -136,12 +75,10 @@ void doCommand(String str, bool echo = false) {
 		testMotor(MOTOR_REAR_LEFT);
 	} else if (command == "reset") {
 		attitude = Quaternion();
-	} else if (command == "reboot") {
-		ESP.restart();
 	} else if (command == "") {
 		// do nothing
 	} else {
-		print("Invalid command: %s\n", command.c_str());
+		Serial.println("Invalid command: " + command);
 	}
 }

@@ -150,7 +87,7 @@ void handleInput() {
 	static String input;

 	if (showMotd) {
-		print("%s\n", motd);
+		Serial.printf("%s\n", motd);
 		showMotd = false;
 	}

--- a/flix/control.ino
+++ b/flix/control.ino
@@ -45,8 +45,6 @@ PID yawRatePID(YAWRATE_P, YAWRATE_I, YAWRATE_D);
 PID rollPID(ROLL_P, ROLL_I, ROLL_D);
 PID pitchPID(PITCH_P, PITCH_I, PITCH_D);
 PID yawPID(YAW_P, 0, 0);
-Vector maxRate(ROLLRATE_MAX, PITCHRATE_MAX, YAWRATE_MAX);
-float tiltMax = TILT_MAX;

 Quaternion attitudeTarget;
 Vector ratesTarget;
@@ -54,7 +52,6 @@ Vector torqueTarget;
 float thrustTarget;

 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
-extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;

 void control() {
 	interpretRC();
@@ -72,39 +69,39 @@ void control() {
 }

 void interpretRC() {
-	armed = controls[throttleChannel] >= 0.05 &&
-		(controls[armedChannel] >= 0.5 || isnan(controls[armedChannel])); // assume armed if armed channel is not defined
+	armed = controlThrottle >= 0.05 && controlArmed >= 0.5;
+

 	// NOTE: put ACRO or MANUAL modes there if you want to use them
-	if (controls[modeChannel] < 0.25) {
+	if (controlMode < 0.25) {
 		mode = STAB;
-	} else if (controls[modeChannel] < 0.75) {
+	} else if (controlMode < 0.75) {
 		mode = STAB;
 	} else {
 		mode = STAB;
 	}

-	thrustTarget = controls[throttleChannel];
+	thrustTarget = controlThrottle;

 	if (mode == ACRO) {
 		yawMode = YAW_RATE;
-		ratesTarget.x = controls[rollChannel] * maxRate.x;
-		ratesTarget.y = controls[pitchChannel] * maxRate.y;
-		ratesTarget.z = -controls[yawChannel] * maxRate.z; // positive yaw stick means clockwise rotation in FLU
+		ratesTarget.x = controlRoll * ROLLRATE_MAX;
+		ratesTarget.y = controlPitch * PITCHRATE_MAX;
+		ratesTarget.z = -controlYaw * YAWRATE_MAX; // positive yaw stick means clockwise rotation in FLU

 	} else if (mode == STAB) {
-		yawMode = controls[yawChannel] == 0 ? YAW : YAW_RATE;
+		yawMode = controlYaw == 0 ? YAW : YAW_RATE;

-		attitudeTarget = Quaternion::fromEulerZYX(Vector(
-			controls[rollChannel] * tiltMax,
-			controls[pitchChannel] * tiltMax,
+		attitudeTarget = Quaternion::fromEuler(Vector(
+			controlRoll * TILT_MAX,
+			controlPitch * TILT_MAX,
 			attitudeTarget.getYaw()));
-		ratesTarget.z = -controls[yawChannel] * maxRate.z; // positive yaw stick means clockwise rotation in FLU
+		ratesTarget.z = -controlYaw * YAWRATE_MAX; // positive yaw stick means clockwise rotation in FLU

 	} else if (mode == MANUAL) {
 		// passthrough mode
 		yawMode = YAW_RATE;
-		torqueTarget = Vector(controls[rollChannel], controls[pitchChannel], -controls[yawChannel]) * 0.01;
+		torqueTarget = Vector(controlRoll, controlPitch, -controlYaw) * 0.01;
 	}

 	if (yawMode == YAW_RATE || !motorsActive()) {
@@ -122,10 +119,10 @@ void controlAttitude() {
 	}

 	const Vector up(0, 0, 1);
-	Vector upActual = attitude.rotateVector(up);
-	Vector upTarget = attitudeTarget.rotateVector(up);
+	Vector upActual = Quaternion::rotateVector(up, attitude);
+	Vector upTarget = Quaternion::rotateVector(up, attitudeTarget);

-	Vector error = Vector::angularRatesBetweenVectors(upTarget, upActual);
+	Vector error = Vector::rotationVectorBetween(upTarget, upActual);

 	ratesTarget.x = rollPID.update(error.x, dt);
 	ratesTarget.y = pitchPID.update(error.y, dt);
--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -23,20 +23,20 @@ void applyGyro() {
 	rates = ratesFilter.update(gyro);

 	// apply rates to attitude
-	attitude = attitude.rotate(Quaternion::fromAngularRates(rates * dt));
+	attitude = Quaternion::rotate(attitude, Quaternion::fromRotationVector(rates * dt));
 }

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

 	if (!landed) return;

 	// calculate accelerometer correction
-	Vector up = attitude.rotateVector(Vector(0, 0, 1));
-	Vector correction = Vector::angularRatesBetweenVectors(acc, up) * WEIGHT_ACC;
+	Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude);
+	Vector correction = Vector::rotationVectorBetween(acc, up) * WEIGHT_ACC;

 	// apply correction
-	attitude = attitude.rotate(Quaternion::fromAngularRates(correction));
+	attitude = Quaternion::rotate(attitude, Quaternion::fromRotationVector(correction));
 }
--- a/flix/failsafe.ino
+++ b/flix/failsafe.ino
@@ -1,31 +1,16 @@
 // Copyright (c) 2024 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix

-// Fail-safe functions
+// Fail-safe for RC loss

 #define RC_LOSS_TIMEOUT 0.2
 #define DESCEND_TIME 3.0 // time to descend from full throttle to zero

-extern double controlsTime;
-extern int rollChannel, pitchChannel, throttleChannel, yawChannel;
-
-void failsafe() {
-	armingFailsafe();
-	rcLossFailsafe();
-}
-
-// Prevent arming without zero throttle input
-void armingFailsafe() {
-	static double zeroThrottleTime;
-	static double armingTime;
-	if (!armed) armingTime = t; // stores the last time when the drone was disarmed, therefore contains arming time
-	if (controlsTime > 0 && controls[throttleChannel] < 0.05) zeroThrottleTime = controlsTime;
-	if (armingTime - zeroThrottleTime > 0.1) armed = false; // prevent arming if there was no zero throttle for 0.1 sec
-}
+extern float controlTime;

 // RC loss failsafe
-void rcLossFailsafe() {
-	if (t - controlsTime > RC_LOSS_TIMEOUT) {
+void failsafe() {
+	if (t - controlTime > RC_LOSS_TIMEOUT) {
 		descend();
 	}
 }
@@ -33,9 +18,9 @@ void rcLossFailsafe() {
 // Smooth descend on RC lost
 void descend() {
 	mode = STAB;
-	controls[rollChannel] = 0;
-	controls[pitchChannel] = 0;
-	controls[yawChannel] = 0;
-	controls[throttleChannel] -= dt / DESCEND_TIME;
-	if (controls[throttleChannel] < 0) controls[throttleChannel] = 0;
+	controlRoll = 0;
+	controlPitch = 0;
+	controlYaw = 0;
+	controlThrottle -= dt / DESCEND_TIME;
+	if (controlThrottle < 0) controlThrottle = 0;
 }
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -10,22 +10,19 @@
 #define SERIAL_BAUDRATE 115200
 #define WIFI_ENABLED 1

-double t = NAN; // current step time, s
+float t = NAN; // current step time, s
 float dt; // time delta from previous step, s
-int16_t channels[16]; // raw rc channels
-float controls[16]; // normalized controls in range [-1..1] ([0..1] for throttle)
+float controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode; // pilot's inputs, range [-1, 1]
 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 [-1..1]
+float motors[4]; // normalized motors thrust in range [0..1]

 void setup() {
 	Serial.begin(SERIAL_BAUDRATE);
-	print("Initializing flix");
+	Serial.println("Initializing flix\n");
 	disableBrownOut();
-	setupParameters();
 	setupLED();
 	setupMotors();
 	setLED(true);
@@ -35,7 +32,7 @@ void setup() {
 	setupIMU();
 	setupRC();
 	setLED(false);
-	print("Initializing complete");
+	Serial.println("Initializing complete\n");
 }

 void loop() {
@@ -50,5 +47,4 @@ void loop() {
 	processMavlink();
 #endif
 	logData();
-	syncParameters();
 }
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -5,19 +5,26 @@

 #include <SPI.h>
 #include <MPU9250.h>
-#include "lpf.h"
 #include "util.h"

 MPU9250 IMU(SPI);

+// NOTE: use 'ca' command to calibrate the accelerometer and put the values here
 Vector accBias;
-Vector gyroBias;
 Vector accScale(1, 1, 1);
+Vector gyroBias;

 void setupIMU() {
-	print("Setup IMU\n");
-	IMU.begin();
+	Serial.println("Setup IMU");
+	bool status = IMU.begin();
+	if (!status) {
+		while (true) {
+			Serial.println("IMU begin error");
+			delay(1000);
+		}
+	}
 	configureIMU();
+	calibrateGyro();
 }

 void configureIMU() {
@@ -31,7 +38,6 @@ void readIMU() {
 	IMU.waitForData();
 	IMU.getGyro(gyro.x, gyro.y, gyro.z);
 	IMU.getAccel(acc.x, acc.y, acc.z);
-	calibrateGyroOnce();
 	// apply scale and bias
 	acc = (acc - accBias) / accScale;
 	gyro = gyro - gyroBias;
@@ -47,40 +53,49 @@ void rotateIMU(Vector& data) {
 	// Axes orientation for various boards: https://github.com/okalachev/flixperiph#imu-axes-orientation
 }

-void calibrateGyroOnce() {
-	static float landedTime = 0;
-	landedTime = landed ? landedTime + dt : 0;
-	if (landedTime < 2) return; // calibrate only if definitely stationary
+void calibrateGyro() {
+	const int samples = 1000;
+	Serial.println("Calibrating gyro, stand still");
+	IMU.setGyroRange(IMU.GYRO_RANGE_250DPS); // the most sensitive mode

-	static LowPassFilter<Vector> gyroCalibrationFilter(0.001);
-	gyroBias = gyroCalibrationFilter.update(gyro);
+	gyroBias = Vector(0, 0, 0);
+	for (int i = 0; i < samples; i++) {
+		IMU.waitForData();
+		IMU.getGyro(gyro.x, gyro.y, gyro.z);
+		gyroBias = gyroBias + gyro;
+	}
+	gyroBias = gyroBias / samples;
+
+	printIMUCalibration();
+	configureIMU();
 }

 void calibrateAccel() {
-	print("Calibrating accelerometer\n");
+	Serial.println("Calibrating accelerometer");
 	IMU.setAccelRange(IMU.ACCEL_RANGE_2G); // the most sensitive mode

-	print("Place level [8 sec]\n");
-	pause(8);
+	Serial.setTimeout(60000);
+	Serial.print("1/6 Place level [enter] ");
+	Serial.readStringUntil('\n');
 	calibrateAccelOnce();
-	print("Place nose up [8 sec]\n");
-	pause(8);
+	Serial.print("2/6 Place nose up [enter] ");
+	Serial.readStringUntil('\n');
 	calibrateAccelOnce();
-	print("Place nose down [8 sec]\n");
-	pause(8);
+	Serial.print("3/6 Place nose down [enter] ");
+	Serial.readStringUntil('\n');
 	calibrateAccelOnce();
-	print("Place on right side [8 sec]\n");
-	pause(8);
+	Serial.print("4/6 Place on right side [enter] ");
+	Serial.readStringUntil('\n');
 	calibrateAccelOnce();
-	print("Place on left side [8 sec]\n");
-	pause(8);
+	Serial.print("5/6 Place on left side [enter] ");
+	Serial.readStringUntil('\n');
 	calibrateAccelOnce();
-	print("Place upside down [8 sec]\n");
-	pause(8);
+	Serial.print("6/6 Place upside down [enter] ");
+	Serial.readStringUntil('\n');
 	calibrateAccelOnce();

-	printIMUCal();
-	print("✓ Calibration done!\n");
+	printIMUCalibration();
+	Serial.print("✓ Calibration done!\n");
 	configureIMU();
 }

@@ -111,14 +126,13 @@ void calibrateAccelOnce() {
 	accBias = (accMax + accMin) / 2;
 }

-void printIMUCal() {
-	print("gyro bias: %f %f %f\n", gyroBias.x, gyroBias.y, gyroBias.z);
-	print("accel bias: %f %f %f\n", accBias.x, accBias.y, accBias.z);
-	print("accel scale: %f %f %f\n", accScale.x, accScale.y, accScale.z);
+void printIMUCalibration() {
+	Serial.printf("gyro bias: %f %f %f\n", gyroBias.x, gyroBias.y, gyroBias.z);
+	Serial.printf("accel bias: %f %f %f\n", accBias.x, accBias.y, accBias.z);
+	Serial.printf("accel scale: %f %f %f\n", accScale.x, accScale.y, accScale.z);
 }

 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());
+	Serial.printf("model: %s\n", IMU.getModel());
+	Serial.printf("who am I: 0x%02X\n", IMU.whoAmI());
 }
--- a/flix/led.ino
+++ b/flix/led.ino
@@ -21,7 +21,3 @@ void setLED(bool on) {
 	digitalWrite(LED_BUILTIN, on ? HIGH : LOW);
 	state = on;
 }
-
-void blinkLED() {
-	setLED(micros() / BLINK_PERIOD % 2);
-}
--- a/flix/log.ino
+++ b/flix/log.ino
@@ -3,60 +3,36 @@

 // In-RAM logging

-#include "vector.h"
-
 #define LOG_RATE 100
 #define LOG_DURATION 10
 #define LOG_PERIOD 1.0 / LOG_RATE
 #define LOG_SIZE LOG_DURATION * LOG_RATE
+#define LOG_COLUMNS 14

-float tFloat;
-Vector attitudeEuler;
-Vector attitudeTargetEuler;
-
-struct LogEntry {
-	const char *name;
-	float *value;
-};
-
-LogEntry logEntries[] = {
-	{"t", &tFloat},
-	{"rates.x", &rates.x},
-	{"rates.y", &rates.y},
-	{"rates.z", &rates.z},
-	{"ratesTarget.x", &ratesTarget.x},
-	{"ratesTarget.y", &ratesTarget.y},
-	{"ratesTarget.z", &ratesTarget.z},
-	{"attitude.x", &attitudeEuler.x},
-	{"attitude.y", &attitudeEuler.y},
-	{"attitude.z", &attitudeEuler.z},
-	{"attitudeTarget.x", &attitudeTargetEuler.x},
-	{"attitudeTarget.y", &attitudeTargetEuler.y},
-	{"attitudeTarget.z", &attitudeTargetEuler.z},
-	{"thrustTarget", &thrustTarget}
-};
-
-const int logColumns = sizeof(logEntries) / sizeof(logEntries[0]);
-float logBuffer[LOG_SIZE][logColumns];
-
-void prepareLogData() {
-	tFloat = t;
-	attitudeEuler = attitude.toEulerZYX();
-	attitudeTargetEuler = attitudeTarget.toEulerZYX();
-}
+float logBuffer[LOG_SIZE][LOG_COLUMNS]; // * 4 (float)
+int logPointer = 0;

 void logData() {
 	if (!armed) return;
-	static int logPointer = 0;
-	static double logTime = 0;
+
+	static float logTime = 0;
 	if (t - logTime < LOG_PERIOD) return;
 	logTime = t;

-	prepareLogData();
-
-	for (int i = 0; i < logColumns; i++) {
-		logBuffer[logPointer][i] = *logEntries[i].value;
-	}
+	logBuffer[logPointer][0] = t;
+	logBuffer[logPointer][1] = rates.x;
+	logBuffer[logPointer][2] = rates.y;
+	logBuffer[logPointer][3] = rates.z;
+	logBuffer[logPointer][4] = ratesTarget.x;
+	logBuffer[logPointer][5] = ratesTarget.y;
+	logBuffer[logPointer][6] = ratesTarget.z;
+	logBuffer[logPointer][7] = attitude.toEuler().x;
+	logBuffer[logPointer][8] = attitude.toEuler().y;
+	logBuffer[logPointer][9] = attitude.toEuler().z;
+	logBuffer[logPointer][10] = attitudeTarget.toEuler().x;
+	logBuffer[logPointer][11] = attitudeTarget.toEuler().y;
+	logBuffer[logPointer][12] = attitudeTarget.toEuler().z;
+	logBuffer[logPointer][13] = thrustTarget;

 	logPointer++;
 	if (logPointer >= LOG_SIZE) {
@@ -65,15 +41,13 @@ void logData() {
 }

 void dumpLog() {
-	// Print header
-	for (int i = 0; i < logColumns; i++) {
-		print("%s%s", logEntries[i].name, i < logColumns - 1 ? "," : "\n");
-	}
-	// Print data
+	Serial.printf("t,rates.x,rates.y,rates.z,ratesTarget.x,ratesTarget.y,ratesTarget.z,"
+		"attitude.x,attitude.y,attitude.z,attitudeTarget.x,attitudeTarget.y,attitudeTarget.z,thrustTarget\n");
 	for (int i = 0; i < LOG_SIZE; i++) {
 		if (logBuffer[i][0] == 0) continue; // skip empty records
-		for (int j = 0; j < logColumns; j++) {
-			print("%g%s", logBuffer[i][j], j < logColumns - 1 ? "," : "\n");
+		for (int j = 0; j < LOG_COLUMNS - 1; j++) {
+			Serial.printf("%f,", logBuffer[i][j]);
 		}
+		Serial.printf("%f\n", logBuffer[i][LOG_COLUMNS - 1]);
 	}
 }
--- a/flix/lpf.h
+++ b/flix/lpf.h
@@ -22,7 +22,8 @@ public:
 			output = input;
 			initialized = true;
 		}
-		return output = output * (1 - alpha) + input * alpha;
+
+		return output += alpha * (input - output);
 	}

 	void setCutOffFrequency(float cutOffFreq, float dt) {
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -13,10 +13,7 @@
 #define MAVLINK_CONTROL_SCALE 0.7f
 #define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f

-float mavlinkControlScale = 0.7;
-
-extern double controlsTime;
-extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
+extern float controlTime;

 void processMavlink() {
 	sendMavlink();
@@ -24,8 +21,8 @@ void processMavlink() {
 }

 void sendMavlink() {
-	static double lastSlow = 0;
-	static double lastFast = 0;
+	static float lastSlow = 0;
+	static float lastFast = 0;

 	mavlink_message_t msg;
 	uint32_t time = t * 1000;
@@ -37,25 +34,18 @@ void sendMavlink() {
 			MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (armed * MAV_MODE_FLAG_SAFETY_ARMED) | ((mode == STAB) * MAV_MODE_FLAG_STABILIZE_ENABLED),
 			0, MAV_STATE_STANDBY);
 		sendMessage(&msg);
-
-		mavlink_msg_extended_sys_state_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
-			MAV_VTOL_STATE_UNDEFINED, landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR);
-		sendMessage(&msg);
 	}

 	if (t - lastFast >= PERIOD_FAST) {
 		lastFast = t;

 		const float zeroQuat[] = {0, 0, 0, 0};
-		Quaternion att = fluToFrd(attitude); // MAVLink uses FRD coordinate system
 		mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
-			time, att.w, att.x, att.y, att.z, rates.x, rates.y, rates.z, zeroQuat);
+			time, attitude.w, attitude.x, -attitude.y, -attitude.z, rates.x, -rates.y, -rates.z, zeroQuat); // convert to frd
 		sendMessage(&msg);

-		mavlink_msg_rc_channels_scaled_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, controlsTime * 1000, 0,
-			controls[0] * 10000, controls[1] * 10000, controls[2] * 10000,
-			controls[3] * 10000, controls[4] * 10000, controls[5] * 10000,
-			INT16_MAX, INT16_MAX, UINT8_MAX);
+		mavlink_msg_rc_channels_raw_pack(SYSTEM_ID, 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);
 		sendMessage(&msg);

 		float actuator[32];
@@ -64,8 +54,8 @@ void sendMavlink() {
 		sendMessage(&msg);

 		mavlink_msg_scaled_imu_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time,
-			acc.x * 1000, acc.y * 1000, acc.z * 1000,
-			gyro.x * 1000, gyro.y * 1000, gyro.z * 1000,
+			acc.x * 1000, -acc.y * 1000, -acc.z * 1000, // convert to frd
+			gyro.x * 1000, -gyro.y * 1000, -gyro.z * 1000,
 			0, 0, 0, 0);
 		sendMessage(&msg);
 	}
@@ -97,121 +87,16 @@ void handleMavlink(const void *_msg) {
 	if (msg.msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
 		mavlink_manual_control_t m;
 		mavlink_msg_manual_control_decode(&msg, &m);
-		if (m.target && m.target != SYSTEM_ID) return; // 0 is broadcast
+		controlThrottle = m.z / 1000.0f;
+		controlPitch = m.x / 1000.0f * MAVLINK_CONTROL_SCALE;
+		controlRoll = m.y / 1000.0f * MAVLINK_CONTROL_SCALE;
+		controlYaw = m.r / 1000.0f * MAVLINK_CONTROL_SCALE;
+		controlMode = 1; // STAB mode
+		controlArmed = 1; // armed
+		controlTime = t;

-		controls[throttleChannel] = m.z / 1000.0f;
-		controls[pitchChannel] = m.x / 1000.0f * mavlinkControlScale;
-		controls[rollChannel] = m.y / 1000.0f * mavlinkControlScale;
-		controls[yawChannel] = m.r / 1000.0f * mavlinkControlScale;
-		controls[modeChannel] = 1; // STAB mode
-		controls[armedChannel] = 1; // armed
-		controlsTime = t;
-
-		if (abs(controls[yawChannel]) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controls[yawChannel] = 0;
+		if (abs(controlYaw) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controlYaw = 0;
 	}
-
-	if (msg.msgid == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) {
-		mavlink_param_request_list_t m;
-		mavlink_msg_param_request_list_decode(&msg, &m);
-		if (m.target_system && m.target_system != SYSTEM_ID) return;
-
-		mavlink_message_t msg;
-		for (int i = 0; i < parametersCount(); i++) {
-			mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
-				getParameterName(i), getParameter(i), MAV_PARAM_TYPE_REAL32, parametersCount(), i);
-			sendMessage(&msg);
-		}
-	}
-
-	if (msg.msgid == MAVLINK_MSG_ID_PARAM_REQUEST_READ) {
-		mavlink_param_request_read_t m;
-		mavlink_msg_param_request_read_decode(&msg, &m);
-		if (m.target_system && m.target_system != SYSTEM_ID) return;
-
-		char name[MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN + 1];
-		strlcpy(name, m.param_id, sizeof(name)); // param_id might be not null-terminated
-		float value = strlen(name) == 0 ? getParameter(m.param_index) : getParameter(name);
-		if (m.param_index != -1) {
-			memcpy(name, getParameterName(m.param_index), 16);
-		}
-		mavlink_message_t msg;
-		mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
-			name, value, MAV_PARAM_TYPE_REAL32, parametersCount(), m.param_index);
-		sendMessage(&msg);
-	}
-
-	if (msg.msgid == MAVLINK_MSG_ID_PARAM_SET) {
-		mavlink_param_set_t m;
-		mavlink_msg_param_set_decode(&msg, &m);
-		if (m.target_system && m.target_system != SYSTEM_ID) return;
-
-		char name[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN + 1];
-		strlcpy(name, m.param_id, sizeof(name)); // param_id might be not null-terminated
-		setParameter(name, m.param_value);
-		// send ack
-		mavlink_message_t msg;
-		mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
-			m.param_id, m.param_value, MAV_PARAM_TYPE_REAL32, parametersCount(), 0); // index is unknown
-		sendMessage(&msg);
-	}
-
-	if (msg.msgid == MAVLINK_MSG_ID_MISSION_REQUEST_LIST) { // handle to make qgc happy
-		mavlink_mission_request_list_t m;
-		mavlink_msg_mission_request_list_decode(&msg, &m);
-		if (m.target_system && m.target_system != SYSTEM_ID) return;
-
-		mavlink_message_t msg;
-		mavlink_msg_mission_count_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, 0, 0, 0, MAV_MISSION_TYPE_MISSION, 0);
-		sendMessage(&msg);
-	}
-
-	if (msg.msgid == MAVLINK_MSG_ID_SERIAL_CONTROL) {
-		mavlink_serial_control_t m;
-		mavlink_msg_serial_control_decode(&msg, &m);
-		if (m.target_system && m.target_system != SYSTEM_ID) return;
-
-		char data[MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN + 1];
-		strlcpy(data, (const char *)m.data, m.count); // data might be not null-terminated
-		doCommand(data, true);
-	}
-
-	// Handle commands
-	if (msg.msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
-		mavlink_command_long_t m;
-		mavlink_msg_command_long_decode(&msg, &m);
-		if (m.target_system && m.target_system != SYSTEM_ID) return;
-		mavlink_message_t ack;
-		mavlink_message_t response;
-
-		if (m.command == MAV_CMD_REQUEST_MESSAGE && m.param1 == MAVLINK_MSG_ID_AUTOPILOT_VERSION) {
-			mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, MAV_RESULT_ACCEPTED, UINT8_MAX, 0, msg.sysid, msg.compid);
-			sendMessage(&ack);
-			mavlink_msg_autopilot_version_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &response,
-				MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | MAV_PROTOCOL_CAPABILITY_MAVLINK2, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0);
-			sendMessage(&response);
-		} else {
-			mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, MAV_RESULT_UNSUPPORTED, UINT8_MAX, 0, msg.sysid, msg.compid);
-			sendMessage(&ack);
-		}
-	}
-}
-
-// Send shell output to GCS
-void mavlinkPrint(const char* str) {
-	// Send data in chunks
-	for (int i = 0; i < strlen(str); i += MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN) {
-		char data[MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN + 1];
-		strlcpy(data, str + i, sizeof(data));
-		mavlink_message_t msg;
-		mavlink_msg_serial_control_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
-			SERIAL_CONTROL_DEV_SHELL, 0, 0, 0, strlen(data), (uint8_t *)data, 0, 0);
-		sendMessage(&msg);
-	}
-}
-
-// Convert Forward-Left-Up to Forward-Right-Down quaternion
-inline Quaternion fluToFrd(const Quaternion &q) {
-	return Quaternion(q.w, q.x, -q.y, -q.z);
 }

 #endif
--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -2,7 +2,6 @@
 // Repository: https://github.com/okalachev/flix

 // 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 "util.h"

@@ -11,11 +10,8 @@
 #define MOTOR_2_PIN 14 // front right
 #define MOTOR_3_PIN 15 // front left

-#define PWM_FREQUENCY 1000
-#define PWM_RESOLUTION 12
-#define PWM_STOP 0
-#define PWM_MIN 0
-#define PWM_MAX 1000000 / PWM_FREQUENCY
+#define PWM_FREQUENCY 78000
+#define PWM_RESOLUTION 10

 // Motors array indexes:
 const int MOTOR_REAR_LEFT = 0;
@@ -24,7 +20,7 @@ const int MOTOR_FRONT_RIGHT = 2;
 const int MOTOR_FRONT_LEFT = 3;

 void setupMotors() {
-	print("Setup Motors\n");
+	Serial.println("Setup Motors");

 	// configure pins
 	ledcAttach(MOTOR_0_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
@@ -33,14 +29,12 @@ void setupMotors() {
 	ledcAttach(MOTOR_3_PIN, PWM_FREQUENCY, PWM_RESOLUTION);

 	sendMotors();
-	print("Motors initialized\n");
+	Serial.println("Motors initialized");
 }

 int getDutyCycle(float value) {
 	value = constrain(value, 0, 1);
-	float pwm = mapff(value, 0, 1, PWM_MIN, PWM_MAX);
-	if (value == 0) pwm = PWM_STOP;
-	float duty = mapff(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1);
+	float duty = mapff(value, 0, 1, 0, (1 << PWM_RESOLUTION) - 1);
 	return round(duty);
 }

@@ -55,13 +49,13 @@ bool motorsActive() {
 	return motors[0] != 0 || motors[1] != 0 || motors[2] != 0 || motors[3] != 0;
 }

-void testMotor(uint8_t n) {
-	print("Testing motor %d\n", n);
+void testMotor(int n) {
+	Serial.printf("Testing motor %d\n", n);
 	motors[n] = 1;
 	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);
+	delay(3000);
 	motors[n] = 0;
 	sendMotors();
-	print("Done\n");
+	Serial.printf("Done\n");
 }
--- a/flix/parameters.ino
+++ b/flix/parameters.ino
@@ -1,142 +0,0 @@
-// Copyright (c) 2024 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Parameters storage in flash memory
-
-#include <Preferences.h>
-
-extern float channelNeutral[16];
-extern float channelMax[16];
-extern float mavlinkControlScale;
-
-Preferences storage;
-
-struct Parameter {
-	const char *name;
-	float *variable;
-	float value; // cache
-};
-
-Parameter parameters[] = {
-	// control
-	{"ROLLRATE_P", &rollRatePID.p},
-	{"ROLLRATE_I", &rollRatePID.i},
-	{"ROLLRATE_D", &rollRatePID.d},
-	{"ROLLRATE_I_LIM", &rollRatePID.windup},
-	{"PITCHRATE_P", &pitchRatePID.p},
-	{"PITCHRATE_I", &pitchRatePID.i},
-	{"PITCHRATE_D", &pitchRatePID.d},
-	{"PITCHRATE_I_LIM", &pitchRatePID.windup},
-	{"YAWRATE_P", &yawRatePID.p},
-	{"YAWRATE_I", &yawRatePID.i},
-	{"YAWRATE_D", &yawRatePID.d},
-	{"ROLL_P", &rollPID.p},
-	{"ROLL_I", &rollPID.i},
-	{"ROLL_D", &rollPID.d},
-	{"PITCH_P", &pitchPID.p},
-	{"PITCH_I", &pitchPID.i},
-	{"PITCH_D", &pitchPID.d},
-	{"YAW_P", &yawPID.p},
-	{"PITCHRATE_MAX", &maxRate.y},
-	{"ROLLRATE_MAX", &maxRate.x},
-	{"YAWRATE_MAX", &maxRate.z},
-	{"TILT_MAX", &tiltMax},
-	// imu
-	{"ACC_BIAS_X", &accBias.x},
-	{"ACC_BIAS_Y", &accBias.y},
-	{"ACC_BIAS_Z", &accBias.z},
-	{"ACC_SCALE_X", &accScale.x},
-	{"ACC_SCALE_Y", &accScale.y},
-	{"ACC_SCALE_Z", &accScale.z},
-	// rc
-	{"RC_NEUTRAL_0", &channelNeutral[0]},
-	{"RC_NEUTRAL_1", &channelNeutral[1]},
-	{"RC_NEUTRAL_2", &channelNeutral[2]},
-	{"RC_NEUTRAL_3", &channelNeutral[3]},
-	{"RC_NEUTRAL_4", &channelNeutral[4]},
-	{"RC_NEUTRAL_5", &channelNeutral[5]},
-	{"RC_NEUTRAL_6", &channelNeutral[6]},
-	{"RC_NEUTRAL_7", &channelNeutral[7]},
-	{"RC_MAX_0", &channelMax[0]},
-	{"RC_MAX_1", &channelMax[1]},
-	{"RC_MAX_2", &channelMax[2]},
-	{"RC_MAX_3", &channelMax[3]},
-	{"RC_MAX_4", &channelMax[4]},
-	{"RC_MAX_5", &channelMax[5]},
-	{"RC_MAX_6", &channelMax[6]},
-	{"RC_MAX_7", &channelMax[7]},
-#if WIFI_ENABLED
-	// MAVLink
-	{"MAV_CTRL_SCALE", &mavlinkControlScale},
-#endif
-};
-
-void setupParameters() {
-	storage.begin("flix", false);
-	// Read parameters from storage
-	for (auto &parameter : parameters) {
-		if (!storage.isKey(parameter.name)) {
-			storage.putFloat(parameter.name, *parameter.variable);
-		}
-		*parameter.variable = storage.getFloat(parameter.name, *parameter.variable);
-		parameter.value = *parameter.variable;
-	}
-}
-
-int parametersCount() {
-	return sizeof(parameters) / sizeof(parameters[0]);
-}
-
-const char *getParameterName(int index) {
-	if (index < 0 || index >= parametersCount()) return "";
-	return parameters[index].name;
-}
-
-float getParameter(int index) {
-	if (index < 0 || index >= parametersCount()) return NAN;
-	return *parameters[index].variable;
-}
-
-float getParameter(const char *name) {
-	for (auto &parameter : parameters) {
-		if (strcmp(parameter.name, name) == 0) {
-			return *parameter.variable;
-		}
-	}
-	return NAN;
-}
-
-bool setParameter(const char *name, const float value) {
-	for (auto &parameter : parameters) {
-		if (strcmp(parameter.name, name) == 0) {
-			*parameter.variable = value;
-			return true;
-		}
-	}
-	return false;
-}
-
-void syncParameters() {
-	static double lastSync = 0;
-	if (t - lastSync < 1) return; // sync once per second
-	if (motorsActive()) return; // don't use flash while flying, it may cause a delay
-	lastSync = t;
-
-	for (auto &parameter : parameters) {
-		if (parameter.value == *parameter.variable) continue;
-		if (isnan(parameter.value) && isnan(*parameter.variable)) continue; // handle NAN != NAN
-		storage.putFloat(parameter.name, *parameter.variable);
-		parameter.value = *parameter.variable;
-	}
-}
-
-void printParameters() {
-	for (auto &parameter : parameters) {
-		print("%s = %g\n", parameter.name, *parameter.variable);
-	}
-}
-
-void resetParameters() {
-	storage.clear();
-	ESP.restart();
-}
--- a/flix/quaternion.h
+++ b/flix/quaternion.h
@@ -15,22 +15,22 @@ public:

 	Quaternion(float w, float x, float y, float z): w(w), x(x), y(y), z(z) {};

-	static Quaternion fromAxisAngle(float a, float b, float c, float angle) {
+	static Quaternion fromAxisAngle(const Vector& axis, float angle) {
 		float halfAngle = angle * 0.5;
 		float sin2 = sin(halfAngle);
 		float cos2 = cos(halfAngle);
-		float sinNorm = sin2 / sqrt(a * a + b * b + c * c);
-		return Quaternion(cos2, a * sinNorm, b * sinNorm, c * sinNorm);
+		float sinNorm = sin2 / axis.norm();
+		return Quaternion(cos2, axis.x * sinNorm, axis.y * sinNorm, axis.z * sinNorm);
 	}

-	static Quaternion fromAngularRates(const Vector& rates) {
-		if (rates.zero()) {
+	static Quaternion fromRotationVector(const Vector& rotation) {
+		if (rotation.zero()) {
 			return Quaternion();
 		}
-		return Quaternion::fromAxisAngle(rates.x, rates.y, rates.z, rates.norm());
+		return Quaternion::fromAxisAngle(rotation, rotation.norm());
 	}

-	static Quaternion fromEulerZYX(const Vector& euler) {
+	static Quaternion fromEuler(const Vector& euler) {
 		float cx = cos(euler.x / 2);
 		float cy = cos(euler.y / 2);
 		float cz = cos(euler.z / 2);
@@ -60,14 +60,38 @@ public:
 		return ret;
 	}

-	void toAxisAngle(float& a, float& b, float& c, float& angle) const {
-		angle = acos(w) * 2;
-		a = x / sin(angle / 2);
-		b = y / sin(angle / 2);
-		c = z / sin(angle / 2);
+	bool finite() const {
+		return isfinite(w) && isfinite(x) && isfinite(y) && isfinite(z);
 	}

-	Vector toEulerZYX() const {
+	float norm() const {
+		return sqrt(w * w + x * x + y * y + z * z);
+	}
+
+	void normalize() {
+		float n = norm();
+		w /= n;
+		x /= n;
+		y /= n;
+		z /= n;
+	}
+
+	void toAxisAngle(Vector& axis, float& angle) const {
+		angle = acos(w) * 2;
+		axis.x = x / sin(angle / 2);
+		axis.y = y / sin(angle / 2);
+		axis.z = z / sin(angle / 2);
+	}
+
+	Vector toRotationVector() const {
+		if (w == 1 && x == 0 && y == 0 && z == 0) return Vector(0, 0, 0); // neutral quaternion
+		float angle;
+		Vector axis;
+		toAxisAngle(axis, angle);
+		return angle * axis;
+	}
+
+	Vector toEuler() const {
 		// https://github.com/ros/geometry2/blob/589caf083cae9d8fae7effdb910454b4681b9ec1/tf2/include/tf2/impl/utils.h#L87
 		Vector euler;
 		float sqx = x * x;
@@ -112,18 +136,9 @@ public:

 	void setYaw(float yaw) {
 		// TODO: optimize?
-		Vector euler = toEulerZYX();
+		Vector euler = toEuler();
 		euler.z = yaw;
-		(*this) = Quaternion::fromEulerZYX(euler);
-	}
-
-	Quaternion& operator *= (const Quaternion& q) {
-		Quaternion ret(
-			w * q.w - x * q.x - y * q.y - z * q.z,
-			w * q.x + x * q.w + y * q.z - z * q.y,
-			w * q.y + y * q.w + z * q.x - x * q.z,
-			w * q.z + z * q.w + x * q.y - y * q.x);
-		return (*this = ret);
+		(*this) = Quaternion::fromEuler(euler);
 	}

 	Quaternion operator * (const Quaternion& q) const {
@@ -134,6 +149,14 @@ public:
 			w * q.z + z * q.w + x * q.y - y * q.x);
 	}

+	bool operator == (const Quaternion& q) const {
+		return w == q.w && x == q.x && y == q.y && z == q.z;
+	}
+
+	bool operator != (const Quaternion& q) const {
+		return !(*this == q);
+	}
+
 	Quaternion inversed() const {
 		float normSqInv = 1 / (w * w + x * x + y * y + z * z);
 		return Quaternion(
@@ -143,18 +166,6 @@ public:
 			-z * normSqInv);
 	}

-	float norm() const {
-		return sqrt(w * w + x * x + y * y + z * z);
-	}
-
-	void normalize() {
-		float n = norm();
-		w /= n;
-		x /= n;
-		y /= n;
-		z /= n;
-	}
-
 	Vector conjugate(const Vector& v) const {
 		Quaternion qv(0, v.x, v.y, v.z);
 		Quaternion res = (*this) * qv * inversed();
@@ -167,22 +178,27 @@ public:
 		return Vector(res.x, res.y, res.z);
 	}

-	// Rotate vector by quaternion
-	Vector rotateVector(const Vector& v) const {
-		return conjugateInversed(v);
-	}
-
 	// Rotate quaternion by quaternion
-	Quaternion rotate(const Quaternion& q, const bool normalize = true) const {
-		Quaternion rotated = (*this) * q;
+	static Quaternion rotate(const Quaternion& a, const Quaternion& b, const bool normalize = true) {
+		Quaternion rotated = a * b;
 		if (normalize) {
 			rotated.normalize();
 		}
 		return rotated;
 	}

-	bool finite() const {
-		return isfinite(w) && isfinite(x) && isfinite(y) && isfinite(z);
+	// Rotate vector by quaternion
+	static Vector rotateVector(const Vector& v, const Quaternion& q) {
+		return q.conjugateInversed(v);
+	}
+
+	// Quaternion between two quaternions a and b
+	static Quaternion between(const Quaternion& a, const Quaternion& b, const bool normalize = true) {
+		Quaternion q = a * b.inversed();
+		if (normalize) {
+			q.normalize();
+		}
+		return q;
 	}

 	size_t printTo(Print& p) const {
--- a/flix/rc.ino
+++ b/flix/rc.ino
@@ -8,7 +8,15 @@

 SBUS RC(Serial2); // NOTE: Use RC(Serial2, 16, 17) if you use the old UART2 pins

-// RC channels mapping:
+uint16_t channels[16]; // raw rc channels
+float controlTime; // time of the last controls update
+
+
+// NOTE: use 'cr' command to calibrate the RC and put the values here
+int channelZero[] = {992, 992, 172, 992, 172, 172, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+int channelMax[] = {1811, 1811, 1811, 1811, 1811, 1811, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+
+// Channels mapping:
 int rollChannel = 0;
 int pitchChannel = 1;
 int throttleChannel = 2;
@@ -16,54 +24,57 @@ int yawChannel = 3;
 int armedChannel = 4;
 int modeChannel = 5;

-double controlsTime; // time of the last controls update
-float channelNeutral[16] = {NAN}; // first element NAN means not calibrated
-float channelMax[16];
-
 void setupRC() {
-	print("Setup RC\n");
+	Serial.println("Setup RC");
 	RC.begin();
 }

 bool readRC() {
 	if (RC.read()) {
 		SBUSData data = RC.data();
-		memcpy(channels, data.ch, sizeof(channels)); // copy channels data
+		for (int i = 0; i < 16; i++) channels[i] = data.ch[i]; // copy channels data
 		normalizeRC();
-		controlsTime = t;
+		controlTime = t;
 		return true;
 	}
 	return false;
 }

 void normalizeRC() {
-	if (isnan(channelNeutral[0])) return; // skip if not calibrated
-	for (uint8_t i = 0; i < 16; i++) {
-		controls[i] = mapf(channels[i], channelNeutral[i], channelMax[i], 0, 1);
+	float controls[16];
+	for (int i = 0; i < 16; i++) {
+		controls[i] = mapf(channels[i], channelZero[i], channelMax[i], 0, 1);
 	}
+	// Update control values
+	controlRoll = controls[rollChannel];
+	controlPitch = controls[pitchChannel];
+	controlYaw = controls[yawChannel];
+	controlThrottle = controls[throttleChannel];
+	controlArmed = controls[armedChannel];
+	controlMode = controls[modeChannel];
 }

 void calibrateRC() {
-	print("Calibrate RC: move all sticks to maximum positions [4 sec]\n");
-	print("··o     ··o\n···     ···\n···     ···\n");
-	pause(4);
+	Serial.println("Calibrate RC: move all sticks to maximum positions [4 sec]");
+	Serial.println("··o     ··o\n···     ···\n···     ···");
+	delay(4000);
 	while (!readRC());
 	for (int i = 0; i < 16; i++) {
 		channelMax[i] = channels[i];
 	}
-	print("Calibrate RC: move all sticks to neutral positions [4 sec]\n");
-	print("···     ···\n···     ·o·\n·o·     ···\n");
-	pause(4);
+	Serial.println("Calibrate RC: move all sticks to neutral positions [4 sec]");
+	Serial.println("···     ···\n···     ·o·\n·o·     ···");
+	delay(4000);
 	while (!readRC());
 	for (int i = 0; i < 16; i++) {
-		channelNeutral[i] = channels[i];
+		channelZero[i] = channels[i];
 	}
-	printRCCal();
+	printRCCalibration();
 }

-void printRCCal() {
-	for (int i = 0; i < sizeof(channelNeutral) / sizeof(channelNeutral[0]); i++) print("%g ", channelNeutral[i]);
-	print("\n");
-	for (int i = 0; i < sizeof(channelMax) / sizeof(channelMax[0]); i++) print("%g ", channelMax[i]);
-	print("\n");
+void printRCCalibration() {
+	for (int i = 0; i < sizeof(channelZero) / sizeof(channelZero[0]); i++) Serial.printf("%d ", channelZero[i]);
+	Serial.printf("\n");
+	for (int i = 0; i < sizeof(channelMax) / sizeof(channelMax[0]); i++) Serial.printf("%d ", channelMax[i]);
+	Serial.printf("\n");
 }
--- a/flix/time.ino
+++ b/flix/time.ino
@@ -6,7 +6,7 @@
 float loopRate; // Hz

 void step() {
-	double now = micros() / 1000000.0;
+	float now = micros() / 1000000.0;
 	dt = now - t;
 	t = now;

@@ -18,7 +18,7 @@ void step() {
 }

 void computeLoopRate() {
-	static double windowStart = 0;
+	static float windowStart = 0;
 	static uint32_t rate = 0;
 	rate++;
 	if (t - windowStart >= 1) { // 1 second window
--- a/flix/util.h
+++ b/flix/util.h
@@ -34,13 +34,3 @@ float wrapAngle(float angle) {
 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) {
-	str.trim();
-	char chars[str.length() + 1];
-	str.toCharArray(chars, str.length() + 1);
-	token0 = strtok(chars, " ");
-	token1 = strtok(NULL, " "); // String(NULL) creates empty string
-	token2 = strtok(NULL, "");
-}
--- a/flix/vector.h
+++ b/flix/vector.h
@@ -13,14 +13,18 @@ public:

 	Vector(float x, float y, float z): x(x), y(y), z(z) {};

-	float norm() const {
-		return sqrt(x * x + y * y + z * z);
-	}
-
 	bool zero() const {
 		return x == 0 && y == 0 && z == 0;
 	}

+	bool finite() const {
+		return isfinite(x) && isfinite(y) && isfinite(z);
+	}
+
+	float norm() const {
+		return sqrt(x * x + y * y + z * z);
+	}
+
 	void normalize() {
 		float n = norm();
 		x /= n;
@@ -28,6 +32,10 @@ public:
 		z /= n;
 	}

+	Vector operator + (const float b) const {
+		return Vector(x + b, y + b, z + b);
+	}
+
 	Vector operator * (const float b) const {
 		return Vector(x * b, y * b, z * b);
 	}
@@ -44,6 +52,14 @@ public:
 		return Vector(x - b.x, y - b.y, z - b.z);
 	}

+	Vector& operator += (const Vector& b) {
+		return *this = *this + b;
+	}
+
+	Vector& operator -= (const Vector& b) {
+		return *this = *this - b;
+	}
+
 	// Element-wise multiplication
 	Vector operator * (const Vector& b) const {
 		return Vector(x * b.x, y * b.y, z * b.z);
@@ -62,10 +78,6 @@ public:
 		return !(*this == b);
 	}

-	bool finite() const {
-		return isfinite(x) && isfinite(y) && isfinite(z);
-	}
-
 	static float dot(const Vector& a, const Vector& b) {
 		return a.x * b.x + a.y * b.y + a.z * b.z;
 	}
@@ -74,18 +86,18 @@ public:
 		return Vector(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x);
 	}

-	static float angleBetweenVectors(const Vector& a, const Vector& b) {
+	static float angleBetween(const Vector& a, const Vector& b) {
 		return acos(constrain(dot(a, b) / (a.norm() * b.norm()), -1, 1));
 	}

-	static Vector angularRatesBetweenVectors(const Vector& a, const Vector& b) {
+	static Vector rotationVectorBetween(const Vector& a, const Vector& b) {
 		Vector direction = cross(a, b);
 		if (direction.zero()) {
 			// vectors are opposite, return any perpendicular vector
 			return cross(a, Vector(1, 0, 0));
 		}
 		direction.normalize();
-		float angle = angleBetweenVectors(a, b);
+		float angle = angleBetween(a, b);
 		return direction * angle;
 	}

@@ -96,3 +108,6 @@ public:
 			p.print(z, 15);
 	}
 };
+
+Vector operator * (const float a, const Vector& b) { return b * a; }
+Vector operator + (const float a, const Vector& b) { return b + a; }
--- a/flix/wifi.ino
+++ b/flix/wifi.ino
@@ -11,20 +11,19 @@

 #define WIFI_SSID "flix"
 #define WIFI_PASSWORD "flixwifi"
-#define WIFI_UDP_IP "255.255.255.255"
 #define WIFI_UDP_PORT 14550
+#define WIFI_UDP_REMOTE_PORT 14550

 WiFiUDP udp;

 void setupWiFi() {
-	print("Setup Wi-Fi\n");
+	Serial.println("Setup Wi-Fi");
 	WiFi.softAP(WIFI_SSID, WIFI_PASSWORD);
 	udp.begin(WIFI_UDP_PORT);
 }

 void sendWiFi(const uint8_t *buf, int len) {
-	if (WiFi.softAPIP() == IPAddress(0, 0, 0, 0) && WiFi.status() != WL_CONNECTED) return;
-	udp.beginPacket(WIFI_UDP_IP, WIFI_UDP_PORT);
+	udp.beginPacket(WiFi.softAPBroadcastIP(), WIFI_UDP_REMOTE_PORT);
 	udp.write(buf, len);
 	udp.endPacket();
 }
--- a/gazebo/Arduino.h
+++ b/gazebo/Arduino.h
@@ -27,31 +27,15 @@ long map(long x, long in_min, long in_max, long out_min, long out_max) {
 	return (delta * rise) / run + out_min;
 }

-size_t strlcpy(char* dst, const char* src, size_t len) {
-	size_t l = strlen(src);
-	size_t i = 0;
-	while (i < len - 1 && *src != '\0') { *dst++ = *src++; i++; }
-	*dst = '\0';
-	return l;
-}
-
 class __FlashStringHelper;

 // Arduino String partial implementation
 // https://www.arduino.cc/reference/en/language/variables/data-types/stringobject/
 class String: public std::string {
 public:
-	String(const char *str = "") : std::string(str ? str : "") {}
 	long toInt() const { return atol(this->c_str()); }
 	float toFloat() const { return atof(this->c_str()); }
 	bool isEmpty() const { return this->empty(); }
-	void toCharArray(char *buf, unsigned int bufsize, unsigned int index = 0) const {
-		strlcpy(buf, this->c_str() + index, bufsize);
-	}
-	void trim() {
-		this->erase(0, this->find_first_not_of(" \t\n\r"));
-		this->erase(this->find_last_not_of(" \t\n\r") + 1);
-	}
 };

 class Print;
@@ -145,11 +129,6 @@ public:

 HardwareSerial Serial, Serial2;

-class EspClass {
-public:
-	void restart() { Serial.println("Ignore reboot in simulation"); }
-} ESP;
-
 void delay(uint32_t ms) {
 	std::this_thread::sleep_for(std::chrono::milliseconds(ms));
 }
--- a/gazebo/Preferences.h
+++ b/gazebo/Preferences.h
@@ -1,61 +0,0 @@
-// Copyright (c) 2024 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Partial implementation of the ESP32 Preferences library for the simulation
-
-#include <map>
-#include <fstream>
-#include "util.h"
-
-class Preferences {
-private:
-	std::map<std::string, float> storage;
-	std::string storagePath;
-
-	void readFromFile() {
-		std::ifstream file(storagePath);
-		std::string key;
-		float value;
-		while (file >> key >> value) {
-			storage[key] = value;
-		}
-	}
-
-	void writeToFile() {
-		std::ofstream file(storagePath);
-		for (auto &pair : storage) {
-			file << pair.first << " " << pair.second << std::endl;
-		}
-	}
-
-public:
-	bool begin(const char *name, bool readOnly = false, const char *partition_label = NULL) {
-		storagePath = getPluginPath().parent_path() / (std::string(name) + ".txt");
-		gzmsg << "Preferences initialized: " << storagePath << std::endl;
-		readFromFile();
-		return true;
-	}
-
-	bool isKey(const char *key) {
-		return storage.find(key) != storage.end();
-	}
-
-	size_t putFloat(const char *key, float value) {
-		storage[key] = value;
-		writeToFile();
-		return sizeof(value);
-	}
-
-	float getFloat(const char *key, float defaultValue = NAN) {
-		if (!isKey(key)) {
-			return defaultValue;
-		}
-		return storage[key];
-	}
-
-	bool clear() {
-		storage.clear();
-		writeToFile();
-		return true;
-	}
-};
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Oleg Kalachev	a5504cc550	Fix rates, acc and gyro coordinate frame in mavlink All of them should be in frd. Get rid of fluToFrd function - there is no big need for it.	2025-07-20 07:59:00 +03:00
Oleg Kalachev	cfb0f17a9a	Minor cli change	2025-07-15 01:29:25 +03:00
Oleg Kalachev	d61948ec9c	Rename printIMUCal to printIMUCalibration for consistency with rc	2025-07-15 01:25:10 +03:00
Oleg Kalachev	0c87d4d634	Port changes from commit `52819e4`	2025-07-15 01:22:18 +03:00
Oleg Kalachev	4d1f9de872	Remove unnecessary documentation files	2025-07-10 06:14:22 +03:00
Oleg Kalachev	cf3d4d7ced	Increase motors pwm frequency to 78Khz 1000 Hz is too low frequency considering the update loop for motors signal is also 1000 Hz. Decrease resolution as it's required to set larger pwm frequencies. This change should vastly improve control jitter and remove audible motors noise.	2025-07-10 06:08:37 +03:00
Oleg Kalachev	443e5213f0	Return zero rotation vector when converting neutral quaternion Previously it would return nans	2025-07-10 06:07:16 +03:00
Oleg Kalachev	f24db96b50	Add missing equals and non-equals operators for quaternion lib	2025-07-10 06:07:08 +03:00
Oleg Kalachev	86305a08f8	Add missing newlines to initialization prints	2025-07-10 06:06:46 +03:00
Oleg Kalachev	21dcb39b7e	Improve vector and quaternion libraries Make the order or basic methods consistent between Vector and Quaternion. Remove `ZYX` from Euler method names as this is standard for robotics. Rename angular rates to rotation vector, which is more correct. Make rotation methods static, to keep the arguments order consistent. Make `Quaternion::fromAxisAngle` accept Vector for axis. Minor fixes.	2025-07-10 06:02:38 +03:00
Oleg Kalachev	c08c89f667	Minor code updates	2025-07-10 05:58:50 +03:00
Oleg Kalachev	114d2305de	Make wi-fi code more consistent between the firmware and simulation	2025-07-10 05:54:52 +03:00
Oleg Kalachev	a93e046117	Make sending udp packets much faster Turns out parsing IP address string is very slow	2025-05-07 17:43:43 +03:00
Oleg Kalachev	e6e4db0c4f	Update ESP32-Core to 3.2.0	2025-05-07 17:41:48 +03:00
Oleg Kalachev	d8fbc193c1	Make accelerometer calibration more verbose Print the number of each calibration step	2025-05-07 17:40:31 +03:00
Oleg Kalachev	dcd95176b4	Make low pass filter formula more straightforward	2025-04-30 00:16:16 +03:00
Oleg Kalachev	b7cebbb3d6	Add some missing operator for vector library	2025-04-30 00:16:02 +03:00
Oleg Kalachev	a6ccd236de	Fix simulation build in Actions Switched runner to Ubuntu 22.04 since Gazebo 11 now has binaries for 22.04 (amd64 only). Changed the building tutorial to reflect that.	2025-04-29 23:02:56 +03:00
Oleg Kalachev	e7a06b9413	Minor code simplifications	2025-04-29 23:01:59 +03:00
Oleg Kalachev	678bc7238e	Update MAVLink-Arduino to 2.0.16	2025-04-29 23:01:46 +03:00
Oleg Kalachev	6670b4f358	Simplify and improve acc calibration command output	2025-04-29 23:01:09 +03:00
Oleg Kalachev	7f80a8a58d	Remove twxs.cmake from the list of recommended extensions	2025-04-29 22:59:32 +03:00
Oleg Kalachev	2bd74e7f6f	Minor code style fix	2025-04-29 22:59:09 +03:00
Oleg Kalachev	d378d01dbc	Encode if the mode in stabilized in heartbeat message	2025-04-29 22:58:54 +03:00
Oleg Kalachev	e8341976f6	Cleanup	2025-03-01 00:02:44 +03:00
Oleg Kalachev	f2aae92f1e	Cleanups and updates	2025-02-28 23:58:31 +03:00
Oleg Kalachev	0a7ed1039f	Rename flu to frd function to match the code style	2025-02-28 23:39:03 +03:00
Oleg Kalachev	d4d1797ffc	Update main readme for the minimal version	2025-02-28 23:22:03 +03:00
Oleg Kalachev	209986b9cd	Change accel calibration code style a bit	2025-02-28 23:15:02 +03:00
Oleg Kalachev	32cdbba2a1	Remove dt multiplier from acc correction and increase acc weight More classical complementary filter implementation Increase effective accelerometer weight for faster convergence	2025-02-28 23:13:44 +03:00
Oleg Kalachev	dd1ea4f604	Cleanup mavlink subsystem code	2025-02-28 23:12:57 +03:00
Oleg Kalachev	5fc30dbd8a	Put last control time in RC control mavlink message instead of send time	2025-02-28 23:08:40 +03:00
Oleg Kalachev	51fa5a6cac	Simplify and fix code	2025-02-28 23:07:37 +03:00
Oleg Kalachev	75127eb6f8	Remove non-nessesary printArray function	2025-02-28 23:06:12 +03:00
Oleg Kalachev	89c1ada005	Remove command parsing to simplify the code	2025-02-28 23:02:02 +03:00
Oleg Kalachev	6058e8ecab	Refactor CLI submodule Move command parsing to doCommand Parse command with splitString instead of stringToken Trim commands Move cliTestMotor to the bottom Rename parseInput to handleInput, which is more clear Move motor test function to motors.ino Remove parameters table functionality to simplify the code	2025-02-28 22:49:37 +03:00
Oleg Kalachev	67e4a95697	Minor fix in joystick support for simulation Don't use channels variable as it breaks code isolation	2025-02-28 22:30:29 +03:00
Oleg Kalachev	fafe630e4c	Improve RC reading in calibration process	2025-02-28 22:29:36 +03:00
Oleg Kalachev	5ff44db8dd	Simplify WIFI_ENABLED macro test	2025-02-28 22:28:44 +03:00
Zatupitel	2b15812483	Fix working on ESP32-S3 (#8 ) Disable brown-out detector in a more correct way: clear only enable bit instead of clearing the whole register. --------- Co-authored-by: Oleg Kalachev <okalachev@gmail.com>	2025-02-28 22:28:10 +03:00
Oleg Kalachev	dbfbe11478	Add test on building the firmware without Wi-Fi to Actions	2025-02-28 22:26:05 +03:00
Oleg Kalachev	41b5932a5d	Move SBUS RC declaration to the top	2025-02-28 22:25:27 +03:00
Oleg Kalachev	add03482aa	Minor cleanups and fixes	2025-02-28 22:24:15 +03:00
Oleg Kalachev	32c4875ca1	Increase pwm frequency and resolution	2025-02-28 22:22:39 +03:00
Oleg Kalachev	07c5ae19dd	Update upload-artifact action to fix build	2025-02-28 22:21:53 +03:00
Oleg Kalachev	d60968ea25	Remove RC_CHANNELS macro	2025-02-28 22:19:52 +03:00
Oleg Kalachev	03c6576b72	Move controlsTime variable to rc.ino	2025-01-11 01:17:11 +03:00
Oleg Kalachev	59a8a80cce	Minor cleanup	2025-01-10 07:15:38 +03:00
Oleg Kalachev	5530ad2981	Move loopRate to time.ino	2025-01-10 07:15:15 +03:00
Oleg Kalachev	f9e1802bc0	Make util module header instead of .ino-file	2025-01-10 07:02:00 +03:00
Oleg Kalachev	ddc46c049f	Make ONE_G definition const and move to utils.ino	2025-01-09 11:31:33 +03:00
Oleg Kalachev	8c9bff0813	Make motor indexes definition const int and move them to motors.ino Remove motor indexes definitions from flix.ino Add motors.ino to simulation code and implement required mocks	2025-01-09 11:17:44 +03:00
Oleg Kalachev	e3873c99c5	Fix getDutyCycle return type to make it possible to increase resolution	2025-01-09 11:02:57 +03:00
Oleg Kalachev	fd437b96d3	Add missing const qualifiers to some quaternion methods	2025-01-09 10:03:08 +03:00
Oleg Kalachev	9a977e85c8	Implement `rotate` method for quaternions as replace for multiplication Vector rotating method is renamed from `rotate` to `rotateVector` to avoid inconsistent object and argument order in different `rotate` methods	2025-01-09 10:00:16 +03:00
Oleg Kalachev	e66cadbb57	Some fixes and updates to readme and other articles	2025-01-09 10:00:05 +03:00
Oleg Kalachev	abfb3fea05	Update ESP32-core to 3.1.0	2025-01-09 09:59:51 +03:00
Oleg Kalachev	672149bd34	Use ubuntu-20.04 runner to build simulator in CI The latest Ubuntu Gazebo 11 officially supports is Ubuntu 20.04	2025-01-09 09:59:40 +03:00
Oleg Kalachev	6c76d339e0	Add battery connector cable to components list	2025-01-09 09:59:31 +03:00
Oleg Kalachev	a76f5a2299	Remove redundant inline specifiers In-class defined methods are specified as inline by default	2025-01-09 09:59:10 +03:00
Oleg Kalachev	8e8c8d05bb	Some minor cleanups and fixes	2025-01-09 09:58:56 +03:00
Oleg Kalachev	1582238abc	Various minor fixes	2024-12-27 21:53:23 +03:00
Oleg Kalachev	f7434921e5	Fix joystick work in simulation Logic was broken as joystickGet never got called	2024-12-27 15:38:44 +03:00
Oleg Kalachev	3c28d0e950	Minor fix	2024-12-25 02:21:40 +03:00
Oleg Kalachev	77c621100f	Increase motors output frequency	2024-12-25 02:19:06 +03:00
Oleg Kalachev	1ef1ed5fc4	Simplify motors duty cycle computation	2024-12-25 02:19:00 +03:00
Oleg Kalachev	ce67baae89	Minor fixes	2024-12-25 02:18:52 +03:00
Oleg Kalachev	ad9259810f	Fix SBUS simulation logic Don't consider zero values from not connected joystick	2024-12-25 02:17:58 +03:00
Oleg Kalachev	c43624734d	Move ONE_G definition to flix.ino	2024-12-25 02:17:50 +03:00
Oleg Kalachev	292b10197f	Improve logic of passing channels data in simulated SBUS Return the data the same way as on the real drone without touching channels global vairable	2024-12-25 02:17:43 +03:00
Oleg Kalachev	16c9d8fe8a	Minor change	2024-12-25 02:17:28 +03:00
Oleg Kalachev	931f46b92d	Don't let throttle be less than 0 in failsafe	2024-12-25 02:17:16 +03:00
Oleg Kalachev	441f82af95	Add notice on removing props in motor test commands in help	2024-12-25 02:16:34 +03:00