Remove unneeded declaration from the sim

Virtual rc is disabled if rxRxPin < 0

README.md

@@ -84,7 +84,7 @@ Additional articles:
 |*Boost converter (optional, for more stable power supply)*|*5V output*|<img src="docs/img/buck-boost.jpg" width=100>|1|
 |Motor|8520 3.7V brushed motor.<br>Motor with exact 3.7V voltage is needed, not ranged working voltage (3.7V — 6V).<br>Make sure the motor shaft diameter and propeller hole diameter match!|<img src="docs/img/motor.jpeg" width=100>|4|
 |Propeller|55 mm or 65 mm|<img src="docs/img/prop.jpg" width=100>|4|
-|MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)|<img src="docs/img/100n03a.jpg" width=100>|4|
+|MOSFET (transistor)|UMW 100N03A or [analog](https://t.me/opensourcequadcopter/33).<br>Warning: don't use KIA 100N03A or other manufacturers, they might not work!|<img src="docs/img/100n03a.jpg" width=100>|4|
 |Pull-down resistor<br>Voltage measurement resistor|10 kΩ|<img src="docs/img/resistor10k.jpg" width=100>|6|
 |3.7V Li-Po battery|LW 952540 (or any compatible by the size).<br>Make sure the battery has enough discharge rate — 25C or more!|<img src="docs/img/battery.jpg" width=100>|1|
 |Battery connector cable|MX2.0 2P female|<img src="docs/img/mx.png" width=100>|1|

docs/usage.md

@@ -198,7 +198,7 @@ After this setup, you should see the battery voltage in QGroundControl top panel
 
 ## Setup remote control
 
-There are several ways to control the drone's flight: using **smartphone** (Wi-Fi), using **SBUS remote control**, or using **USB remote control** (Wi-Fi).
+There are several ways to control the drone's flight: using **smartphone** (Wi-Fi), using **SBUS remote control**, or using **USB remote control** (Wi-Fi/ESP-NOW).
 
 ### Control with a smartphone
 
@@ -243,7 +243,7 @@ If your drone doesn't have RC receiver installed, you can use USB remote control
 3. Power up the drone.
 4. Connect your computer to the appeared `flix` Wi-Fi network (password: `flixwifi`).
 5. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
-6. Go the the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate you USB remote control there.
+6. Go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate your USB remote control there.
 7. Use the USB remote control to fly the drone!
 
 ## Flight
@@ -339,7 +339,7 @@ To setup ESP-NOW communication:
    espnow 7a:c8:e3:eb:bf:e9 &PiuSysxP9+$L&5E
    ```
 
-   Run this line as a console command on each drone you want to bind to this proxy board. [The maximum number](https://github.com/espressif/esp-idf/blob/e95cab4be8fd293e3f3323181e7a2280874da6f7/components/esp_wifi/include/esp_now.h#L32-L33) of simultaneously connected drones is 20 (unencrypted) io 6 (encrypted).
+   Run this line as a console command on each drone you want to bind to this proxy board. [The maximum number](https://github.com/espressif/esp-idf/blob/e95cab4be8fd293e3f3323181e7a2280874da6f7/components/esp_wifi/include/esp_now.h#L32-L33) of simultaneously connected drones is 20 (unencrypted) or 6 (encrypted).
 
 3. Set the `WIFI_MODE` parameter to `3` on the drone:
 
@@ -356,7 +356,7 @@ To setup ESP-NOW communication:
 
 ## Flight log
 
-After the flight, you can download the flight log for analysis wirelessly. Use the following command on your computer for that:
+After the flight, you can download the flight log wirelessly for analysis. Use the following command on your computer for that:
 
 ```bash
 make log

docs/user.md

@@ -4,6 +4,15 @@ This page contains user-built drones based on the Flix project. Publish your pro
 
 ---
 
+Author: Alican Erüst.<br>
+Description: QX95 mm frame, 55 mm propellers, 3.7 V 25C 1050 mAh LiPo battery, MPU6050 IMU, Logitech F310 gamepad controller, with a total quadcopter weight of 66 g.
+
+<img src="img/user/alicanerus/1.jpg" height=200> <img src="img/user/alicanerus/2.jpg" height=200> <img src="img/user/alicanerus/3.jpg" height=200>
+
+[Flight video](https://drive.google.com/file/d/1k0WeWTKnCAfaugkX7LcmNxsUuq79RL8Z/view?usp=sharing).
+
+---
+
 Author: [Неруш Михаил](https://t.me/NerushMV).<br>
 Description: custom frame made of 4 mm plywood, 8520 brushed motors, 75 mm propellers, MPU-6500. FlySky FS-i6X with ESP32-based adapter for ESP-NOW communication (using PPM output).<br>
 Sources and materials: [link](https://drive.google.com/drive/folders/1uWiDcuorLrtVs_IIR7Y13omij-7Q1nx8).

flix/cli.ino

@@ -51,7 +51,7 @@ const char* motd =
 "espnow <mac> [<key>] - configure ESP-NOW peer\n"
 "mot - show motor output\n"
 "log [dump] - print log header [and data]\n"
-"mfr, mfl, mrr, mrl - test motor (remove props)\n"
+"mfr/mfl/mrr/mrl [<thrust>] - test motor (remove props)\n"
 "sys - show system info\n"
 "reset - reset drone's state\n"
 "reboot - reboot the drone\n";
@@ -161,13 +161,13 @@ void doCommand(String str, bool echo = false) {
 	} else if (command == "ca") {
 		calibrateAccel();
 	} else if (command == "mfr") {
-		testMotor(MOTOR_FRONT_RIGHT);
+		testMotor(MOTOR_FRONT_RIGHT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
 	} else if (command == "mfl") {
-		testMotor(MOTOR_FRONT_LEFT);
+		testMotor(MOTOR_FRONT_LEFT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
 	} else if (command == "mrr") {
-		testMotor(MOTOR_REAR_RIGHT);
+		testMotor(MOTOR_REAR_RIGHT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
 	} else if (command == "mrl") {
-		testMotor(MOTOR_REAR_LEFT);
+		testMotor(MOTOR_REAR_LEFT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
 	} else if (command == "sys") {
 #ifdef ESP32
 		print("Chip: %s\n", ESP.getChipModel());

flix/motors.ino

@@ -51,9 +51,9 @@ bool motorsActive() {
 	return motors[0] != 0 || motors[1] != 0 || motors[2] != 0 || motors[3] != 0;
 }
 
-void testMotor(int n) {
+void testMotor(int n, float thrust) {
 	print("Testing motor %d\n", n);
-	motors[n] = 0.2;
+	motors[n] = thrust;
 	delay(50); // ESP32 may need to wait until the end of the current cycle to change duty https://github.com/espressif/arduino-esp32/issues/5306
 	sendMotors();
 	pause(3);

gazebo/flix.h

@@ -38,7 +38,7 @@ const char* getModeName();
 void sendMotors();
 int getDutyCycle(float value);
 bool motorsActive();
-void testMotor(int n);
+void testMotor(int, float);
 void print(const char* format, ...);
 void pause(float duration);
 void doCommand(String str, bool echo);
@@ -73,7 +73,6 @@ void resetParameters();
 
 // mocks
 void setLED(bool on) {};
-void calibrateGyro() { print("Skip gyro calibrating\n"); };
 void calibrateAccel() { print("Skip accel calibrating\n"); };
 void printIMUCalibration() { print("cal: N/A\n"); };
 void printIMUInfo() {};

gazebo/simulator.cpp

@@ -55,6 +55,7 @@ public:
 		initNode();
 		Serial.begin(0);
 		setupParameters();
+		rcRxPin = 1; // set rc pin to enable rc reading
 		gzmsg << "Flix plugin loaded" << endl;
 	}