Use Serial1 for sbus on all platforms

.github/workflows/build.yml

@@ -23,10 +23,10 @@ jobs:
       with:
         name: firmware-binary
         path: flix/build
-    - name: Build firmware for ESP32-C3
-      run: make BOARD=esp32:esp32:esp32c3
     - name: Build firmware for ESP32-S3
       run: make BOARD=esp32:esp32:esp32s3
+    - name: Build firmware for ESP32-C3
+      run: make BOARD=esp32:esp32:esp32c3
     - name: Check c_cpp_properties.json
       run: tools/check_c_cpp_properties.py
 

.gitignore

@@ -4,10 +4,9 @@ build/
 tools/log/
 tools/dist/
 *.egg-info/
-.core
-.libs
+.dependencies
 .vscode/*
-!.vscode/settings.default.json
+!.vscode/settings.json
 !.vscode/c_cpp_properties.json
 !.vscode/tasks.json
 !.vscode/launch.json

.vscode/c_cpp_properties.json

@@ -6,18 +6,18 @@
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
 				"${workspaceFolder}/tools/**",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32",
-				"~/.arduino15/packages/esp32/tools/esp32-libs/3.3.10/include/**",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32",
+				"~/.arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**",
 				"~/Arduino/libraries/**",
 				"/usr/include/gazebo-11/",
 				"/usr/include/ignition/math6/"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
 				"${workspaceFolder}/flix/estimate.ino",
@@ -33,7 +33,7 @@
 				"${workspaceFolder}/flix/parameters.ino",
 				"${workspaceFolder}/flix/safety.ino"
 			],
-			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2601/bin/xtensa-esp32-elf-g++",
+			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [
@@ -53,18 +53,18 @@
 			"name": "Mac",
 			"includePath": [
 				"${workspaceFolder}/flix",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32",
-				"~/Library/Arduino15/packages/esp32/tools/esp32-libs/3.3.10/include/**",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32",
+				"~/Library/Arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**",
 				"~/Documents/Arduino/libraries/**",
 				"/opt/homebrew/include/gazebo-11/",
 				"/opt/homebrew/include/ignition/math6/"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/flix.ino",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
@@ -80,7 +80,7 @@
 				"${workspaceFolder}/flix/parameters.ino",
 				"${workspaceFolder}/flix/safety.ino"
 			],
-			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2601/bin/xtensa-esp32-elf-g++",
+			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [
@@ -103,16 +103,16 @@
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
 				"${workspaceFolder}/tools/**",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32",
-				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-libs/3.3.10/include/**",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32",
+				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**",
 				"~/Documents/Arduino/libraries/**"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
 				"${workspaceFolder}/flix/estimate.ino",
@@ -128,7 +128,7 @@
 				"${workspaceFolder}/flix/parameters.ino",
 				"${workspaceFolder}/flix/safety.ino"
 			],
-			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2601/bin/xtensa-esp32-elf-g++.exe",
+			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++.exe",
 			"cStandard": "c11",
 			"cppStandard": "c++17",
 			"defines": [

.vscode/extensions.json

@@ -1,7 +1,6 @@
 {
 	// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
 	"recommendations": [
-		"dangmai.workspace-default-settings",
 		"ms-vscode.cpptools",
 		"ms-vscode.cmake-tools",
 		"ms-python.python"

Makefile

@@ -1,40 +1,28 @@
-BOARD = esp32:esp32:d1_mini32:DebugLevel=error
+BOARD = esp32:esp32:d1_mini32
 PORT := $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-* /dev/cu.usbmodem*))
 
-export ARDUINO_NETWORK_CONNECTION_TIMEOUT := 1h
-
-build: .core .libs
+build: .dependencies
 	arduino-cli compile --fqbn $(BOARD) flix
 
 upload: build
 	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" flix
 
-erase:
-	arduino-cli burn-bootloader --fqbn $(BOARD) -p "$(PORT)" -P esptool
-
 monitor:
 	arduino-cli monitor -p "$(PORT)" -c baudrate=115200
 
-core .core:
-	arduino-cli core update-index --additional-urls https://espressif.github.io/arduino-esp32/package_esp32_index.json
-	arduino-cli core install esp32:esp32@3.3.10 --additional-urls https://espressif.github.io/arduino-esp32/package_esp32_index.json
-	touch .core
-
-libs .libs:
+dependencies .dependencies:
+	arduino-cli core update-index --config-file arduino-cli.yaml
+	arduino-cli core install esp32:esp32@3.3.6 --config-file arduino-cli.yaml
 	arduino-cli lib update-index
 	arduino-cli lib install "FlixPeriph"
 	arduino-cli lib install "MAVLink"@2.0.25
-	touch .libs
-
-upload_proxy: .core .libs
-	arduino-cli compile --fqbn $(BOARD) tools/espnow-proxy
-	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" tools/espnow-proxy
+	touch .dependencies
 
 gazebo/build cmake: gazebo/CMakeLists.txt
 	mkdir -p gazebo/build
 	cd gazebo/build && cmake ..
 
-build_simulator: .libs gazebo/build
+build_simulator: .dependencies gazebo/build
 	make -C gazebo/build
 
 simulator: build_simulator
@@ -49,6 +37,6 @@ plot:
 	plotjuggler -d $(shell ls -t tools/log/*.csv | head -n1)
 
 clean:
-	rm -rf gazebo/build flix/build flix/cache .core .libs
+	rm -rf gazebo/build flix/build flix/cache .dependencies
 
-.PHONY: build upload monitor core libs cmake build_simulator simulator log clean
+.PHONY: build upload monitor dependencies cmake build_simulator simulator log clean

README.md

@@ -21,8 +21,8 @@
 * Dedicated for education and research.
 * Made from general-purpose components.
 * Simple and clean source code in Arduino (<2k lines firmware).
-* Communication using MAVLink protocol over Wi-Fi or ESP-NOW.
-* Control with USB gamepad, remote control or smartphone.
+* Connectivity using Wi-Fi and MAVLink protocol.
+* Control using USB gamepad, remote control or smartphone.
 * Wireless command line interface and analyzing.
 * Precise simulation with Gazebo.
 * Python library for scripting and automatic flights.
@@ -47,14 +47,6 @@ See the [user builds gallery](docs/user.md):
 
 <a href="docs/user.md"><img src="docs/img/user/user.jpg" width=500></a>
 
-### PCB
-
-The official PCB *(Flix2)* is in development now. Follow the [project's channel](https://t.me/opensourcequadcopter) to track the progress.
-
-Outdoor flights demo video of the current prototype:
-
-<a href="https://youtu.be/KXlNmvUTi4g"><img width=300 src="https://i3.ytimg.com/vi/KXlNmvUTi4g/maxresdefault.jpg"></a>
-
 ## Simulation
 
 The simulator is implemented using Gazebo and runs the original Arduino code:
@@ -79,9 +71,9 @@ Additional articles:
 
 |Type|Part|Image|Quantity|
 |-|-|:-:|:-:|
-|Microcontroller board|ESP32 Mini.<br>ESP32-S3/ESP32-C3 boards are also supported.|<img src="docs/img/esp32.jpg" width=100>|1|
-|IMU (and barometer¹) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)<br>ICM20948V2 (ICM‑20948)<br>GY-521 (MPU-6050)|<img src="docs/img/gy-91.jpg" width=90 align=center><br><img src="docs/img/icm-20948.jpg" width=100><br><img src="docs/img/gy-521.jpg" width=100>|1|
-|*Boost converter (optional, for more stable power supply)*|*5V output*|<img src="docs/img/buck-boost.jpg" width=100>|1|
+|Microcontroller board|ESP32 Mini|<img src="docs/img/esp32.jpg" width=100>|1|
+|IMU (and barometer¹) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)<br>ICM20948V2 (ICM‑20948)³<br>GY-521 (MPU-6050)³⁻¹|<img src="docs/img/gy-91.jpg" width=90 align=center><br><img src="docs/img/icm-20948.jpg" width=100><br><img src="docs/img/gy-521.jpg" width=100>|1|
+|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|
@@ -160,16 +152,18 @@ You can see a user-contributed [variant of complete circuit diagram](https://mir
   |-|-|
   |GND|GND|
   |VIN|VCC (or 3.3V depending on the receiver)|
-  |Signal (TX)|GPIO4|
+  |Signal (TX)|GPIO4¹|
 
-* Optionally connect the battery voltage divider for voltage monitoring to any ADC1 pin (e. g. *GPIO32* on ESP32, *GPIO3* on ESP32-S3).
+  *¹ — UART2 RX pin was [changed](https://docs.espressif.com/projects/arduino-esp32/en/latest/migration_guides/2.x_to_3.0.html#id14) to GPIO4 in Arduino ESP32 core 3.0.*
 
-  ESP32 and ESP32-S3 [can measure](https://docs.espressif.com/projects/arduino-esp32/en/latest/api/adc.html#analogsetattenuation) up to 3.1 V and ESP32-S3/ESP32-C3 can measure up to 2.5 V, so choose the voltage divider resistors accordingly.
+* Optionally connect the battery voltage divider for voltage monitoring to any ADC1 pin (e. g. *GPIO32* on ESP32, *GPIO3* on ESP32S3).
+
+  ESP32 and ESP32S3 [can measure](https://docs.espressif.com/projects/arduino-esp32/en/latest/api/adc.html#analogsetattenuation) up to 3.1 V and ESP32S3/ESP32C3 can measure up to 2.5 V, so choose the voltage divider resistors accordingly.
 
 ## Resources
 
 * Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter.
-* Official Telegram chat: https://t.me/opensourcequadcopterchat (English / Russian).
+* 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/.
 
 ## Disclaimer

arduino-cli.yaml

@@ -0,0 +1,5 @@
+board_manager:
+  additional_urls:
+    - https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
+network:
+  connection_timeout: 1h

docs/firmware.md

@@ -67,38 +67,6 @@ In order to add a console command, modify the `doCommand()` function in `cli.ino
 >
 > For on-the-ground commands, use `pause()` function, instead of `delay()`. This function allows to pause in a way that MAVLink connection will continue working.
 
-### Parameter subsystem
-
-Parameters subsystem (`parameters.ino`) uses standard [Preferences.h](https://docs.espressif.com/projects/arduino-esp32/en/latest/tutorials/preferences.html) ESP32 library to store parameters in non-volatile memory. Each parameter is a regular global variable, which is registered in the `parameters` array.
-
-To add a new parameter:
-
-1. Define a global variable for the parameter, two types are supported: `float` and `int`.
-2. Add an entry to the `parameters` array, with the parameter name, a pointer to the variable, and optionally a callback function to call when the parameter is changed.
-3. Everything else will be handled automatically.
-
-See examples of adding new parameters in commits: [c434107](https://github.com/okalachev/flix/commit/c434107), [a687303](https://github.com/okalachev/flix/commit/a687303).
-
-> [!NOTE]
-> Since all the parameters are internally stored and passed as floats, the safe range for `int` parameters is -16777216 to 16777215.
-
-## Adding a subsystem
-
-To add a new subsystem:
-
-1. Create a new `*.ino` file for your subsystem.
-2. Define setup and loop functions for the subsystem, for example `setupMySubsystem()` and `loopMySubsystem()`.
-3. Use `Rate` class if you need to limit the loop frequency, for example:
-
-    ```cpp
-    Rate mySubsystemRate(100); // 100 Hz
-
-    void loopMySubsystem() {
-    	if (!mySubsystemRate) return;
-    	// Do something...
-    }
-4. Add setup and loop calls in to `setup()` and `loop()` functions in `flix.ino`.
-
 ## Building the firmware
 
 See build instructions in [usage.md](usage.md).

docs/troubleshooting.md

@@ -5,7 +5,7 @@
 Do the following:
 
 * **Check ESP32 core is installed**. Check if the version matches the one used in the [tutorial](usage.md#building-the-firmware).
-* **Check libraries**. Install all the required libraries from the tutorial. Make sure there are no MPU-9250 or other peripherals libraries that may conflict with the ones used in the tutorial.
+* **Check libraries**. Install all the required libraries from the tutorial. Make sure there are no MPU9250 or other peripherals libraries that may conflict with the ones used in the tutorial.
 * **Check the chosen board**. The correct board to choose in Arduino IDE for ESP32 Mini is *WEMOS D1 MINI ESP32*.
 
 ## The drone doesn't fly

docs/usage.md

@@ -20,14 +20,13 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b
 
 1. Install [Arduino IDE](https://www.arduino.cc/en/software) (version 2 is recommended).
 2. *Windows users might need to install [USB to UART bridge driver from Silicon Labs](https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers).*
-3. Install ESP32 core, version 3.3.10. See the [official Espressif's instructions](https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#installing-using-arduino-ide) on installing ESP32 Core in Arduino IDE.
+3. Install ESP32 core, version 3.3.6. See the [official Espressif's instructions](https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#installing-using-arduino-ide) on installing ESP32 Core in Arduino IDE.
 4. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library):
    * `FlixPeriph`, the latest version.
    * `MAVLink`, version 2.0.25.
 5. Open the `flix/flix.ino` sketch from downloaded firmware sources in Arduino IDE.
 6. Connect your ESP32 board to the computer and choose correct board type in Arduino IDE (*WEMOS D1 MINI ESP32* for ESP32 Mini) and the port.
-7. Set *Tools* ⇒ *Core Debug Level* to *Error* to see the errors in the serial console. Set *Tools* ⇒ *USB CDC on Boot* to *Enabled* for ESP32-S3/ESP32-C3 boards.
-8. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
+7. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
 
 ### Command line (Windows, Linux, macOS)
 
@@ -58,12 +57,6 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b
    make upload monitor
    ```
 
-   For ESP32-S3/ESP32-C3 boards, set the appropriate [FQBN](https://docs.arduino.cc/arduino-cli/FAQ/#whats-the-fqbn-string) using `BOARD` parameter:
-
-   ```bash
-   make BOARD=esp32:esp32:esp32s3:DebugLevel=error,FlashSize=4M,CDCOnBoot=cdc upload
-   ```
-
 See other available Make commands in [Makefile](../Makefile).
 
 > [!TIP]
@@ -89,9 +82,6 @@ QGroundControl is a ground control station software that can be used to monitor
 3. Connect your computer or smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`).
 4. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
 
-> [!TIP]
-> If QGroundControl doesn't connect, try to disable the firewall and/or VPN on your computer, as they may block the connection.
-
 ### Access console
 
 The console is a command line interface (CLI) that allows to interact with the drone, change parameters, and perform various actions. There are two ways of accessing the console: using **serial port** or using **QGroundControl (wirelessly)**.
@@ -148,7 +138,7 @@ Before flight you need to calibrate the accelerometer:
 
 If using non-default motor pins, set the pin numbers using the parameters: `MOTOR_PIN_FL`, `MOTOR_PIN_FR`, `MOTOR_PIN_RL`, `MOTOR_PIN_RR` (front-left, front-right, rear-left, rear-right respectively).
 
-Certain ESP32 models (such as ESP32-S3 and ESP32-C3) support a lower maximum PWM frequency; on these boards the parameter `MOT_PWM_FREQ` should be set to 38000 Hz.
+Certain ESP32 models (such as ESP32-S3) support a lower maximum PWM frequency; on these boards the parameter `MOT_PWM_FREQ` should be set to 38000 Hz.
 
 If using brushless motors and ESCs:
 
@@ -180,7 +170,7 @@ After this setup, you should see the battery voltage in QGroundControl top panel
 
 2. 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. Compare your attitude indicator (in the *large vertical* mode) to the video:
 
-   <a href="https://youtu.be/yVRN23-GISU"><img width=300 src="https://i3.ytimg.com/vi/yVRN23-GISU/maxresdefault.jpg"></a>
+    <a href="https://youtu.be/yVRN23-GISU"><img width=300 src="https://i3.ytimg.com/vi/yVRN23-GISU/maxresdefault.jpg"></a>
 
 3. Perform motor tests. Use the following commands **— remove the propellers before running the tests!**
 
@@ -202,18 +192,6 @@ There are several ways to control the drone's flight: using **smartphone** (Wi-F
 
 ### Control with a smartphone
 
-#### Using Mavlink Joystick app (Android)
-
-<img src="https://github.com/goldarte/mavlink-joystick/blob/master/app_screen.png?raw=true" width="400">
-
-1. Download and install [Mavlink Joystick app](https://github.com/goldarte/mavlink-joystick/releases/latest).
-2. Power the drone using the battery.
-3. Connect your smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`).
-4. Open Mavlink Joystick app. It should connect and begin showing the drone's telemetry automatically.
-5. Use the virtual joystick to fly the drone!
-
-#### Using QGroundControl app
-
 1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone.
 2. Power the drone using the battery.
 3. Connect your smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`).
@@ -226,11 +204,11 @@ There are several ways to control the drone's flight: using **smartphone** (Wi-F
 
 ### Control with a remote control
 
-If using SBUS-connected remote control you need to enable SBUS and calibrate it:
+Before using SBUS-connected remote control you need to enable SBUS and calibrate it:
 
 1. Connect to the drone using QGroundControl.
 2. In parameters, set the `RC_RX_PIN` parameter to the GPIO pin number where the SBUS signal is connected, for example: 4. Negative value disables SBUS.
-3. Check if the receiver is working using `rc` command in the console.
+3. Reboot the drone to apply changes.
 4. Open the console, type `cr` command and follow the instructions to calibrate the remote control.
 5. Use the remote control to fly the drone!
 
@@ -300,8 +278,11 @@ The Wi-Fi mode is chosen using `WIFI_MODE` parameter in QGroundControl or in the
 
 * `0` — Wi-Fi is disabled.
 * `1` — Access Point mode *(AP)* — the drone creates a Wi-Fi network.
-* `2` — Client mode *(STA)* — the drone connects to an existing Wi-Fi network (may cause additional delays, so generally not recommended).
-* `3` — ESP-NOW mode — the drone uses ESP-NOW protocol for communication.
+* `2` — Client mode *(STA)* — the drone connects to an existing Wi-Fi network.
+* `3` — *ESP-NOW (not implemented yet)*.
+
+> [!WARNING]
+> Tests showed that Client mode may cause **additional delays** in remote control (due to retranslations), so it's generally not recommended.
 
 The SSID and password are configured using the `ap` and `sta` console commands:
 
@@ -323,37 +304,6 @@ Disabling Wi-Fi:
 p WIFI_MODE 0
 ```
 
-### Using ESP-NOW
-
-[ESP-NOW](https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/network/esp_now.html) is a low level wireless communication protocol. It can provide lower latency, better reliability, and longer range than Wi-Fi. However, it requires a second ESP32 board to be used as a proxy for the computer.
-
-<img src="img/espnow-connection.jpg" width="600">
-
-To setup ESP-NOW communication:
-
-1. Flash the second ESP32 board with ESP-NOW proxy sketch: [`tools/espnow-proxy/espnow-proxy.ino`](../tools/espnow-proxy/espnow-proxy.ino). Use Arduino IDE or command line: `make upload_proxy`.
-
-2. Open Serial Monitor or use `make monitor` command. The ESP32 will print its MAC address and generated encryption key, for example:
-
-   ```
-   espnow 7a:c8:e3:eb:bf:e9 &PiuSysxP9+$L&5E
-   ```
-
-   Run this line as a console command on each drone you want to bind to this proxy board. [The maximum number](https://github.com/espressif/esp-idf/blob/e95cab4be8fd293e3f3323181e7a2280874da6f7/components/esp_wifi/include/esp_now.h#L32-L33) of simultaneously connected drones is 20 (unencrypted) io 6 (encrypted).
-
-3. Set the `WIFI_MODE` parameter to `3` on the drone:
-
-   ```
-   p WIFI_MODE 3
-   ```
-
-4. Go to the QGroundControl menu ⇒ *Application Settings* ⇒ *Comm Links*, add new link with the following settings:
-   * Name: ESP32.
-   * Type: Serial.
-   * Serial Port: choose the port of the proxy ESP32 board, e. g. `/dev/cu.usbserial-0001`.
-   * Baud Rate: 115200.
-5. Click *Save*. QGroundControl should connect to the drone using ESP-NOW and begin showing the telemetry.
-
 ## Flight log
 
 After the flight, you can download the flight log for analysis wirelessly. Use the following command on your computer for that:

docs/user.md

@@ -4,37 +4,6 @@ This page contains user-built drones based on the Flix project. Publish your pro
 
 ---
 
-Author: [Неруш Михаил](https://t.me/NerushMV).<br>
-Description: custom frame made of 4 mm plywood, 8520 brushed motors, 75 mm propellers, MPU-6500. FlySky FS-i6X with ESP32-based adapter for ESP-NOW communication (using PPM output).<br>
-Sources and materials: [link](https://drive.google.com/drive/folders/1uWiDcuorLrtVs_IIR7Y13omij-7Q1nx8).
-
-<img src="img/user/nerush/1.jpg" height=200> <img src="img/user/nerush/2.jpg" height=200>
-
-[Flight video](https://drive.google.com/file/d/1jRXeGx34lJpUfw0GKLQeIzkWZvooQJSE/view?usp=sharing).
-
----
-
-Author: [Konstantinos Paraskevas](https://github.com/Frapais).<br>
-Description: drone with a custom single-boarded airframe, extending the [Sprig-C3 module](https://github.com/Frapais/Sprig-C3).
-ESP32-C3 microcontroller, ICM-20948 IMU, on-board fuel-gauge, status LED indicator.<br>
-Repository with all the code and PCB sources: https://github.com/Frapais/Sprig-Drone.
-
-<img src="img/user/kostas/1.jpg" height=150> <img src="img/user/kostas/2.jpg" height=150>
-
-Detailed video about making the drone:
-
-<a href="https://youtu.be/82Q-uBq6s48"><img width=400 src="https://i3.ytimg.com/vi/82Q-uBq6s48/maxresdefault.jpg"></a>
-
----
-
-Author: [Awab Anas](http://t.me/AW_VENOM).<br>
-Description: ESP32 D1 Mini, MPU-6050, 8520 3.7V brushed motors, 55 mm propellers, battery li-po 1200 mAh, controlling via [Mavlink Joystick app](https://github.com/goldarte/mavlink-joystick/releases/latest).<br>
-[Flight validation](https://drive.google.com/file/d/12z0jfctZDBA6b5UKCG0Uje5rAxj6DhF-/view?usp=sharing).
-
-<img src="img/user/aw_venom/1.jpg" height=200>
-
----
-
 Author: [Ina Tix](https://t.me/ina_tix).<br>
 Description: XR2981 based DC-DC converter, ELRS MINI 2.4GHz RX SX1280 receiver (SBUS interface), Radiomaster TX12 remote control.<br>
 [Flight validation](https://drive.google.com/file/d/1yqkKNuz4R_yxGqUNQxVpixJbXqEEcUSj/view?usp=share_link).
@@ -43,14 +12,6 @@ Description: XR2981 based DC-DC converter, ELRS MINI 2.4GHz RX SX1280 receiver (
 
 ---
 
-Author: Oleg Kalachev.<br>
-Description: the first attempt on making an official PCB based Flix drone (Flix2 board). The IMU is not working on this version, so an external MPU-6050 board was used, therefore considered as **Flix version 1.5**.<br>
-[Flight video](https://drive.google.com/file/d/1R7tuUsFmPY0CGcOCFfMFaCp9kR49K3bl/view?usp=sharing).
-
-<img src="img/flix1.5.jpg" width=300>
-
----
-
 Author: [FanBy0ru](https://https://github.com/FanBy0ru).<br>
 Description: custom 3D-printed frame.<br>
 Frame STLs and flight validation: https://cults3d.com/en/3d-model/gadget/armature-pour-flix-drone.
@@ -88,17 +49,6 @@ Author: [goldarte](https://t.me/goldarte).<br>
 
 ---
 
-Author: [malagis](https://oshwhub.com/malagis).<br>
-
-A Chinese custom PCB version of Flix with a big community of users, lots of materials and modifications.
-
-Main project's page: https://oshwhub.com/malagis/esp32-mini-plane.<br>
-Video about the project: https://www.bilibili.com/video/BV14vyqBFEJn/.
-
-<img src="img/user/malagis/1.jpg" height=200> <img src="img/user/malagis/2.jpg" height=200> <img src="img/user/malagis/3.jpg" height=200>
-
----
-
 ## School 548 course
 
 Special course on quadcopter design and engineering took place in october-november 2025 in School 548, Moscow. The course included UAV control theory, electronics, drone assembly and setup practice, using the Flix project.

flix/cli.ino

@@ -6,11 +6,10 @@
 #include "pid.h"
 #include "vector.h"
 #include "util.h"
-#include "filter.h"
+#include "lpf.h"
 
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
 extern const int RAW, ACRO, STAB, AUTO;
-extern const int W_AP, W_STA, W_ESPNOW;
 extern float t, dt, loopRate;
 extern uint16_t channels[16];
 extern float controlTime;
@@ -20,50 +19,42 @@ extern LowPassFilter<Vector> gyroBiasFilter;
 extern float voltage;
 
 const char* motd =
+"\nWelcome to\n"
 " _______  __       __  ___   ___\n"
 "|   ____||  |     |  | \\  \\ /  /\n"
 "|  |__   |  |     |  |  \\  V  /\n"
 "|   __|  |  |     |  |   >   <\n"
 "|  |     |  `----.|  |  /  .  \\\n"
 "|__|     |_______||__| /__/ \\__\\\n\n"
-"(C) Oleg Kalachev\n"
-"https://github.com/okalachev/flix\n\n"
 "Commands:\n\n"
 "help - show help\n"
 "p - show all parameters\n"
-"p <str> - show parameters starting with str\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"
-"ca - calibrate accel\n"
-"st - show state estimation\n"
 "arm - arm the drone\n"
 "disarm - disarm the drone\n"
 "raw/stab/acro/auto - set mode\n"
 "rc - show RC data\n"
-"cr - calibrate RC\n"
 "pw - show power info\n"
 "wifi - show Wi-Fi info\n"
-"wifi ap/sta/espnow/off - set Wi-Fi mode\n"
-"ap <ssid> <password> - configure Wi-Fi access point\n"
-"sta <ssid> <password> - configure Wi-Fi client mode\n"
-"espnow <mac> [<key>] - configure ESP-NOW peer\n"
+"ap <ssid> <password> - setup Wi-Fi access point\n"
+"sta <ssid> <password> - setup Wi-Fi client mode\n"
 "mot - show motor output\n"
 "log [dump] - print log header [and data]\n"
+"cr - calibrate RC\n"
+"ca - calibrate accel\n"
 "mfr, mfl, mrr, mrl - test motor (remove props)\n"
-"log - show log info\n"
-"log header - show log header\n"
-"log reset - reset log\n"
-"log <name> <rate> - setup log topic rate\n"
-"l <str> - show log values starting with str\n"
-"l expose <name> - expose log value to telemetry\n"
 "sys - show system info\n"
 "reset - reset drone's state\n"
 "reboot - reboot the drone\n";
 
 void print(const char* format, ...) {
-	char buf[3000];
+	char buf[1000];
 	va_list args;
 	va_start(args, format);
 	vsnprintf(buf, sizeof(buf), format, args);
@@ -98,8 +89,10 @@ void doCommand(String str, bool echo = false) {
 	// execute command
 	if (command == "help" || command == "motd") {
 		print("%s\n", motd);
-	} else if (command == "p" && arg1 == "") {
-		printParameters(arg0.c_str());
+	} 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) {
@@ -113,15 +106,15 @@ void doCommand(String str, bool echo = false) {
 		print("Time: %f\n", t);
 		print("Loop rate: %.0f\n", loopRate);
 		print("dt: %f\n", dt);
+	} else if (command == "ps") {
+		Vector a = attitude.toEuler();
+		print("roll: %f pitch: %f yaw: %f\n", degrees(a.x), degrees(a.y), degrees(a.z));
+	} else if (command == "psq") {
+		print("qw: %f qx: %f qy: %f qz: %f\n", attitude.w, attitude.x, attitude.y, attitude.z);
 	} else if (command == "imu") {
 		printIMUInfo();
 		printIMUCalibration();
 		print("landed: %d\n", landed);
-	} else if (command == "st") {
-		print("rates: %g %g %g\n", rates.x, rates.y, rates.z);
-		print("attitude: %g %g %g %g\n", attitude.w, attitude.x, attitude.y, attitude.z);
-		print("roll: %g° pitch: %g° yaw: %g°\n", degrees(attitude.getRoll()), degrees(attitude.getPitch()), degrees(attitude.getYaw()));
-		print("landed: %d\n", landed);
 	} else if (command == "arm") {
 		armed = true;
 	} else if (command == "disarm") {
@@ -146,31 +139,18 @@ void doCommand(String str, bool echo = false) {
 		print("armed: %d\n", armed);
 	} else if (command == "pw") {
 		print("Voltage: %.1f V\n", voltage);
-	} else if (command == "wifi" && arg0 == "") {
-		printWiFiInfo();
 	} else if (command == "wifi") {
-		setWiFiMode(arg0);
+		printWiFiInfo();
 	} else if (command == "ap") {
-		configWiFi(W_AP, arg0.c_str(), arg1.c_str());
+		configWiFi(true, arg0.c_str(), arg1.c_str());
 	} else if (command == "sta") {
-		configWiFi(W_STA, arg0.c_str(), arg1.c_str());
-	} else if (command == "espnow") {
-		configWiFi(W_ESPNOW, arg0.c_str(), arg1.c_str());
+		configWiFi(false, arg0.c_str(), arg1.c_str());
 	} else if (command == "mot") {
 		print("front-right %g front-left %g rear-right %g rear-left %g\n",
 			motors[MOTOR_FRONT_RIGHT], motors[MOTOR_FRONT_LEFT], motors[MOTOR_REAR_RIGHT], motors[MOTOR_REAR_LEFT]);
-	} else if (command == "log" && arg0 == "") {
-		printLogInfo();
-	} else if (command == "log" && arg1 != "") {
-		configLogThrottle(arg0.c_str(), arg1.toFloat());
-	} else if (command == "log" && arg0 == "header") {
+	} else if (command == "log") {
 		printLogHeader();
-	} else if (command == "log" && arg0 == "reset") {
-		resetLog();
-	} else if (command == "l" && arg0 == "expose" && arg1 != "") {
-		exposeLogValue(arg1.c_str());
-	} else if (command == "l") {
-		printLogValues(arg0.c_str());
+		if (arg0 == "dump") printLogData();
 	} else if (command == "cr") {
 		calibrateRC();
 	} else if (command == "ca") {
@@ -187,13 +167,10 @@ void doCommand(String str, bool echo = false) {
 #ifdef ESP32
 		print("Chip: %s\n", ESP.getChipModel());
 		print("Temperature: %.1f °C\n", temperatureRead());
-		print("Total RAM: %d KB\n", ESP.getHeapSize() / 1024);
-		print("Free heap: %d KB\n", ESP.getFreeHeap() / 1024);
-		print("PSRAM: %d KB\n", ESP.getPsramSize() / 1024);
-		print("Free PSRAM: %d KB\n", ESP.getFreePsram() / 1024);
+		print("Free heap: %d\n", ESP.getFreeHeap());
 		print("Firmware: " __DATE__ " " __TIME__ "\n");
 		// Print tasks table
-		print("Num  Task                MinSt  Prio  Core  CPU%%\n");
+		print("Num  Task                Stack  Prio  Core  CPU%%\n");
 		int taskCount = uxTaskGetNumberOfTasks();
 		TaskStatus_t *systemState = new TaskStatus_t[taskCount];
 		uint32_t totalRunTime;
@@ -227,7 +204,7 @@ void handleInput() {
 
 	while (Serial.available()) {
 		char c = Serial.read();
-		if (c == '\n' || c == '\r') {
+		if (c == '\n') {
 			doCommand(input);
 			input.clear();
 		} else {

flix/control.ino

@@ -6,7 +6,7 @@
 #include "vector.h"
 #include "quaternion.h"
 #include "pid.h"
-#include "filter.h"
+#include "lpf.h"
 #include "util.h"
 
 #define PITCHRATE_P 0.05
@@ -149,7 +149,6 @@ void controlTorque() {
 	motors[MOTOR_REAR_LEFT] = thrustTarget + torqueTarget.x + torqueTarget.y - torqueTarget.z;
 	motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.x + torqueTarget.y + torqueTarget.z;
 
-	// Prioritize angle control over thrust control
 	desaturate(motors[MOTOR_FRONT_LEFT], motors[MOTOR_FRONT_RIGHT], motors[MOTOR_REAR_LEFT], motors[MOTOR_REAR_RIGHT]);
 
 	motors[0] = constrain(motors[0], 0, 1);

flix/estimate.ino

@@ -5,7 +5,7 @@
 
 #include "quaternion.h"
 #include "vector.h"
-#include "filter.h"
+#include "lpf.h"
 #include "util.h"
 
 Vector rates; // estimated angular rates, rad/s
@@ -15,12 +15,6 @@ bool landed;
 float accWeight = 0.003;
 float levelWeight = 0.0002;
 LowPassFilter<Vector> ratesFilter(0.2); // cutoff frequency ~ 40 Hz
-NotchFilter<Vector> ratesNotch(382, 40);
-
-void setupEstimate() {
-	print("Setup estimation\n");
-	ratesNotch.reset();
-}
 
 void estimate() {
 	applyGyro();
@@ -31,7 +25,6 @@ void estimate() {
 void applyGyro() {
 	// filter gyro to get angular rates
 	rates = ratesFilter.update(gyro);
-	rates = ratesNotch.update(rates);
 
 	// apply rates to attitude
 	attitude = Quaternion::rotate(attitude, Quaternion::fromRotationVector(rates * dt));
@@ -39,7 +32,8 @@ void applyGyro() {
 
 void applyAcc() {
 	// test should we apply accelerometer gravity correction
-	landed = !motorsActive() && abs(acc.norm() - ONE_G) < ONE_G * 0.1f;
+	float accNorm = acc.norm();
+	landed = !motorsActive() && abs(accNorm - ONE_G) < ONE_G * 0.1f;
 
 	if (!landed) return;
 
@@ -53,7 +47,6 @@ void applyAcc() {
 
 void applyLevel() {
 	if (landed) return;
-	if (thrustTarget < 0.1) return; // skip at idle thrust
 
 	// assume the pilot keeps the drone more or less level in flight
 	Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude);

flix/filter.h

@@ -1,98 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Low pass and notch filters
-
-#pragma once
-
-template <typename T> // Using template to make the filter usable for scalar and vector values
-class LowPassFilter {
-public:
-	float alpha; // smoothing constant, 1 means filter disabled
-	T output;
-
-	LowPassFilter(float alpha): alpha(alpha) {};
-
-	T update(const T input) {
-		if (!init) {
-			init = true;
-			return output = input;
-		}
-		return output += alpha * (input - output);
-	}
-
-	void setCutOffFrequency(float cutOffFreq, float dt) {
-		alpha = 1 - exp(-2 * PI * cutOffFreq * dt);
-	}
-
-	void reset() {
-		init = false;
-	}
-
-private:
-	bool init = false;
-};
-
-template <typename T>
-class NotchFilter {
-public:
-	float frequency;
-	float bandwidth;
-	T output;
-
-	NotchFilter(float frequency, float bandwidth): frequency(frequency), bandwidth(bandwidth) {
-		reset();
-	};
-
-	T update(const T input) {
-		if (frequency <= 0 || bandwidth <= 0) return input;
-
-		if (!init) {
-			init = true;
-			x1 = x2 = input;
-			y1 = y2 = input;
-			return output = input;
-		}
-
-		output = b0 * input + b1 * x1 + b2 * x2 - a1 * y1 - a2 * y2;
-
-		x2 = x1;
-		x1 = input;
-		y2 = y1;
-		y1 = output;
-
-		return output;
-	}
-
-	void reset() {
-		const float dt = 0.001f;
-		float f = frequency;
-		float bw = bandwidth;
-		if (f < 0) f = 0;
-		if (bw < 1e-6f) bw = 1e-6f;
-
-		float q = f / bw;
-		if (q < 1e-3f) q = 1e-3f;
-
-		const float w0 = 2.0f * PI * f * dt;
-		const float c = cos(w0);
-		const float s = sin(w0);
-		const float alpha = s / (2.0f * q);
-
-		const float a0 = 1.0f + alpha;
-		const float invA0 = 1.0f / a0;
-
-		b0 = 1.0f * invA0;
-		b1 = -2.0f * c * invA0;
-		b2 = 1.0f * invA0;
-		a1 = -2.0f * c * invA0;
-		a2 = (1.0f - alpha) * invA0;
-
-		init = false;
-	}
-
-private:
-	float b0, b1, b2, a1, a2;
-	T x1, x2, y1, y2;
-	bool init = false;
-};

flix/flix.ino

@@ -17,7 +17,7 @@ extern float motors[4];
 
 void setup() {
 	Serial.begin(115200);
-	print("Initializing Flix\n");
+	print("Initializing flix\n");
 	setupParameters();
 	setupPower();
 	setupLED();
@@ -26,8 +26,6 @@ void setup() {
 	setupWiFi();
 	setupIMU();
 	setupRC();
-	setupEstimate();
-	setupLog();
 	setLED(false);
 	print("Initializing complete\n");
 }
@@ -42,6 +40,6 @@ void loop() {
 	handleInput();
 	processMavlink();
 	readVoltage();
-	loopLog();
+	logData();
 	syncParameters();
 }

flix/imu.ino

@@ -6,7 +6,7 @@
 #include <SPI.h>
 #include <FlixPeriph.h>
 #include "vector.h"
-#include "filter.h"
+#include "lpf.h"
 #include "util.h"
 
 MPU9250 imu(SPI);
@@ -40,12 +40,10 @@ void readIMU() {
 	imu.getGyro(gyro.x, gyro.y, gyro.z);
 	imu.getAccel(acc.x, acc.y, acc.z);
 	calibrateGyroOnce();
-
-	// Apply scale and bias
+	// apply scale and bias
 	acc = (acc - accBias) / accScale;
 	gyro = gyro - gyroBias;
-
-	// Rotate to body frame
+	// rotate to body frame
 	Quaternion rotation = Quaternion::fromEuler(imuRotation);
 	acc = Quaternion::rotateVector(acc, rotation.inversed());
 	gyro = Quaternion::rotateVector(gyro, rotation.inversed());
@@ -54,7 +52,6 @@ void readIMU() {
 void calibrateGyroOnce() {
 	static Delay landedDelay(2);
 	if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary
-
 	gyroBias = gyroBiasFilter.update(gyro);
 }
 
@@ -108,7 +105,6 @@ void calibrateAccelOnce() {
 	if (acc.x < accMin.x) accMin.x = acc.x;
 	if (acc.y < accMin.y) accMin.y = acc.y;
 	if (acc.z < accMin.z) accMin.z = acc.z;
-
 	// Compute scale and bias
 	accScale = (accMax - accMin) / 2 / ONE_G;
 	accBias = (accMax + accMin) / 2;
@@ -125,7 +121,6 @@ void printIMUInfo() {
 	print("model: %s\n", imu.getModel());
 	print("who am I: 0x%02X\n", imu.whoAmI());
 	print("rate: %.0f\n", loopRate);
-	print("temperature: %.1f °C\n", imu.getTemp());
 	print("gyro: %f %f %f\n", gyro.x, gyro.y, gyro.z);
 	print("acc: %f %f %f\n", acc.x, acc.y, acc.z);
 	imu.waitForData();

flix/log.ino

@@ -1,272 +1,77 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
-// Logging subsystem
+// In-RAM logging
 
 #include "vector.h"
 #include "util.h"
 
-int logMemory = 0; // 0 - RAM, 1 - PSRAM, -1 - disabled
-float logUsage = 0.5; // fraction of free memory to use for log
+#define LOG_RATE 100
+#define LOG_DURATION 10
+#define LOG_SIZE LOG_DURATION * LOG_RATE
 
-struct LogValue {
+Vector attitudeEuler;
+Vector attitudeTargetEuler;
+
+struct LogEntry {
 	const char *name;
-	Value value;
-	float lastValue = NAN;
-	bool logged = true; // if false, use only for triggering log update
-	LogValue() : name(nullptr), value() {}; // empty value constructor
-	template <typename T>
-	LogValue(const char *name, T value, bool logged = true) : name(name), value(value), logged(logged) {};
+	float *value;
 };
 
-struct LogTopic {
-	LogValue values[10];
-	int length = 0; // number of logged values
-	float throttle; // max update rate, Hz
-	float lastUpdate = -INFINITY;
-
-	LogTopic(float throttle, LogValue v0, LogValue v1 = {}, LogValue v2 = {}, LogValue v3 = {}, LogValue v4 = {}, LogValue v5 = {}, LogValue v6 = {}, LogValue v7 = {}, LogValue v8 = {}, LogValue v9 = {}) :
-		throttle(throttle), values{v0, v1, v2, v3, v4, v5, v6, v7, v8, v9} {
-			// Count logged values
-			for (auto& v : values) {
-				if (v.name == nullptr) break;
-				if (v.logged) length++;
-			}
-		};
-
-	LogTopic(LogValue v0, LogValue v1 = {}, LogValue v2 = {}, LogValue v3 = {}, LogValue v4 = {}, LogValue v5 = {}, LogValue v6 = {}, LogValue v7 = {}, LogValue v8 = {}, LogValue v9 = {}) :
-		LogTopic(INFINITY, v0, v1, v2, v3, v4, v5, v6, v7, v8, v9) {};
+LogEntry logEntries[] = {
+	{"t", &t},
+	{"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}
 };
 
-LogTopic logTopics[] = {
-	// time
-	LogTopic({"t", &t}), // must be the first topic
-	LogTopic(1, {"loopRate", &loopRate}),
+const int logColumns = sizeof(logEntries) / sizeof(logEntries[0]);
+float logBuffer[LOG_SIZE][logColumns];
 
-	// imu
-	LogTopic(
-		{"gyro.x", &gyro.x},
-		{"gyro.y", &gyro.y},
-		{"gyro.z", &gyro.z}),
-
-	LogTopic(50,
-		{"acc.x", &acc.x},
-		{"acc.y", &acc.y},
-		{"acc.z", &acc.z}),
-
-	LogTopic(10,
-		{"gyroBias.x", &gyroBias.x},
-		{"gyroBias.y", &gyroBias.y},
-		{"gyroBias.z", &gyroBias.z}),
-
-	// estimation
-	LogTopic(50,
-		{"rates.x", &rates.x},
-		{"rates.y", &rates.y},
-		{"rates.z", &rates.z},
-		{"attitude.roll", []() { return attitude.getRoll(); }},
-		{"attitude.pitch", []() { return attitude.getPitch(); }},
-		{"attitude.yaw", []() { return attitude.getYaw(); }}),
-
-	// rc
-	LogTopic(10,
-		{"controlTime", &controlTime, false}, // trigger value
-		{"controlRoll", &controlRoll},
-		{"controlPitch", &controlPitch},
-		{"controlYaw", &controlYaw},
-		{"controlThrottle", &controlThrottle}),
-
-	// control
-	LogTopic({"armed", &armed}),
-	LogTopic({"mode", &mode}),
-
-	LogTopic(10,
-		{"ratesTarget.x", &ratesTarget.x},
-		{"ratesTarget.y", &ratesTarget.y},
-		{"ratesTarget.z", &ratesTarget.z},
-		{"attitudeTarget.roll", []() { return attitudeTarget.getRoll(); }},
-		{"attitudeTarget.pitch", []() { return attitudeTarget.getPitch(); }},
-		{"attitudeTarget.yaw", []() { return attitudeTarget.getYaw(); }},
-		{"thrustTarget", &thrustTarget}),
-
-	// motors
-	LogTopic(
-		{"motors[0]", &motors[0]},
-		{"motors[1]", &motors[1]},
-		{"motors[2]", &motors[2]},
-		{"motors[3]", &motors[3]}),
-
-	// misc
-	LogTopic(5,
-		{"voltage", &voltage},
-		{"temp", &temperatureRead},
-		{"imuTemp", []() { return imu.getTemp(); }}),
-};
-
-void *logBuffer; // buffer for log data
-size_t logCapacity;
-size_t logCursor = 0;
-size_t logLength = 0;
-LogValue *logExposed = nullptr; // log values exposed to telemetry
-
-void setupLog() {
-	print("Setup log\n");
-
-	free(logBuffer); // when reconfiguring
-	logBuffer = nullptr;
-	logCursor = 0;
-	logLength = 0;
-
-	if (logMemory == 0) {
-		logCapacity = ESP.getFreeHeap() * logUsage;
-		logBuffer = (uint8_t *)calloc(logCapacity, 1);
-	} else if (logMemory == 1) {
-		logCapacity = ESP.getFreePsram() * logUsage;
-		logBuffer = (uint8_t *)heap_caps_calloc(logCapacity, 1, MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
-	}
+void prepareLogData() {
+	attitudeEuler = attitude.toEuler();
+	attitudeTargetEuler = attitudeTarget.toEuler();
 }
 
-void loopLog() {
-	if (logBuffer == nullptr || !armed) return;
+void logData() {
+	if (!armed) return;
+	static int logPointer = 0;
+	static Rate period(LOG_RATE);
+	if (!period) return;
 
-	if (!logLength) resetLog(); // reset state on first log write
+	prepareLogData();
 
-	static Rate sync(2);
-	if (sync) {
-		const uint8_t marker[] = {0x1A, 0x91, 0x4F, 0xF6, 0x7F};
-		writeLog(&marker, sizeof(marker)); // write sync marker
+	for (int i = 0; i < logColumns; i++) {
+		logBuffer[logPointer][i] = *logEntries[i].value;
 	}
 
-	for (uint8_t i = 0; i < sizeof(logTopics) / sizeof(logTopics[0]); i++) {
-		LogTopic& topic = logTopics[i];
-		if (t - topic.lastUpdate < 1 / topic.throttle) continue; // throttle topic
-		if (!isTopicUpdated(i)) continue; // skip if topic was't updated
-
-		topic.lastUpdate = t;
-		writeLog(&i, sizeof(i)); // write topic index
-
-		for (auto& value : topic.values) {
-			if (value.name == nullptr) break;
-			if (!value.logged) continue;
-			value.lastValue = value.value.get();
-			writeLog(&value.lastValue, sizeof(float)); // write value
-		}
+	logPointer++;
+	if (logPointer >= LOG_SIZE) {
+		logPointer = 0;
 	}
 }
 
-void resetLog() {
-	for (auto& topic : logTopics) {
-		topic.lastUpdate = -INFINITY;
-		for (auto& value : topic.values) {
-			value.lastValue = NAN;
-		}
-	}
-	logCursor = 0;
-	logLength = 0;
-}
-
-void writeLog(const void *data, size_t size) {
-	size_t first = min(size, logCapacity - logCursor);
-	size_t second = size - first;
-	memcpy(logBuffer + logCursor, data, first);
-	logCursor = (logCursor + first) % logCapacity;
-	if (second > 0) {
-		memcpy(logBuffer + logCursor, data + first, second);
-		logCursor = (logCursor + second) % logCapacity;
-	}
-	logLength = min(logLength + size, logCapacity);
-}
-
-void readLog(void *data, size_t position, size_t size) {
-	if (logLength == logCapacity) {
-		position = (logCursor + position) % logCapacity;
-	}
-	size_t first = min(size, logCapacity - position);
-	size_t second = size - first;
-	memcpy(data, logBuffer + position, first);
-	if (second > 0) {
-		memcpy(data + first, logBuffer, second);
-	}
-}
-
-bool isTopicUpdated(const uint8_t topic) {
-	LogTopic& logTopic = logTopics[topic];
-	bool updated = false;
-
-	for (auto& value : logTopic.values) {
-		if (value.name == nullptr) break;
-		float v = value.value.get();
-		if (!floatEquals(value.lastValue, v)) {
-			value.lastValue = v;
-			updated = true;
-		}
-	}
-	return updated;
-}
-
-void printLogInfo() {
-	if (logMemory == -1) return print("Log: disabled\n");
-
-	print("Memory: %s\n", logMemory == 0 ? "RAM" : "PSRAM");
-	print("Usage: %.f%%\n", logUsage * 100);
-	print("Capacity: %u bytes\n", (unsigned)logCapacity);
-	print("Used: %u bytes\n", (unsigned)logLength);
-	print("Estimated duration: %d seconds\n", estimateLogDuration());
-}
-
-int estimateLogDuration() {
-	float bandwidth = 0;
-	for (LogTopic& topic : logTopics) {
-		float rate = isinf(topic.throttle) ? loopRate : topic.throttle;
-		bandwidth += rate * topic.length * sizeof(float);
-	}
-	return logCapacity / bandwidth;
-}
-
 void printLogHeader() {
-	int i = 0;
-	for (auto& topic : logTopics) {
-		print("Topic #%d (%g Hz):\n", i++, topic.throttle);
-		for (auto& value : topic.values) {
-			if (value.name == nullptr) break;
-			print("  %s%s\n", value.name, value.logged ?"" : " (not logged)");
-		}
+	for (int i = 0; i < logColumns; i++) {
+		print("%s%s", logEntries[i].name, i < logColumns - 1 ? "," : "\n");
 	}
 }
 
-void printLogValues(const char *filter) {
-	for (LogTopic& topic : logTopics) {
-		for (LogValue& value : topic.values) {
-			if (value.name == nullptr) break;
-			if (strncasecmp(value.name, filter, strlen(filter))) continue;
-			print("%s = %g\n", value.name, value.value.get());
+void printLogData() {
+	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");
 		}
 	}
 }
-
-void configLogThrottle(const char *name, float throttle) {
-	for (LogTopic& topic : logTopics) {
-		for (LogValue& value : topic.values) {
-			if (value.name == nullptr) break;
-			if (strcasecmp(value.name, name) != 0) continue;
-			topic.throttle = throttle;
-			print("Log throttle for %s set to %.1f Hz\n", name, throttle);
-			return;
-		}
-	}
-	print("Log value not found: %s\n", name);
-}
-
-void exposeLogValue(const char *name) {
-	for (int i = 0; i < sizeof(logTopics) / sizeof(logTopics[0]); i++) {
-		LogTopic& topic = logTopics[i];
-		for (LogValue& value : topic.values) {
-			if (value.name == nullptr) break;
-			if (strcasecmp(value.name, name) != 0) continue;
-			logExposed = &value;
-			print("Log value %s exposed\n", name);
-			return;
-		}
-	}
-	print("Log value not found: %s\n", name);
-}

flix/lpf.h

@@ -0,0 +1,27 @@
+// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
+// Repository: https://github.com/okalachev/flix
+
+// Low pass filter implementation
+
+#pragma once
+
+template <typename T> // Using template to make the filter usable for scalar and vector values
+class LowPassFilter {
+public:
+	float alpha; // smoothing constant, 1 means filter disabled
+	T output;
+
+	LowPassFilter(float alpha): alpha(alpha) {};
+
+	T update(const T input) {
+		return output += alpha * (input - output);
+	}
+
+	void setCutOffFrequency(float cutOffFreq, float dt) {
+		alpha = 1 - exp(-2 * PI * cutOffFreq * dt);
+	}
+
+	void reset() {
+		output = T(); // set to zero
+	}
+};

flix/mavlink.ino

@@ -10,13 +10,8 @@ extern float controlTime;
 extern float voltage;
 
 int mavlinkSysId = 1;
-
+Rate telemetryFast(10);
 Rate telemetrySlow(2);
-Rate telemetryAttitude(20);
-Rate telemetryRC(10);
-Rate telemetryMotors(10);
-Rate telemetryIMU(15);
-Rate telemetryTopic(10);
 
 bool mavlinkConnected = false;
 String mavlinkPrintBuffer;
@@ -39,18 +34,14 @@ void sendMavlink() {
 			((mode == AUTO) ? MAV_MODE_FLAG_AUTO_ENABLED : MAV_MODE_FLAG_MANUAL_INPUT_ENABLED),
 			mode, MAV_STATE_STANDBY);
 		sendMessage(&msg);
-	}
 
-	if (!mavlinkConnected) return; // send only heartbeat until connected
+		if (!mavlinkConnected) return; // send only heartbeat until connected
 
-	if (telemetrySlow) {
 		mavlink_msg_extended_sys_state_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
 			MAV_VTOL_STATE_UNDEFINED, landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR);
 		sendMessage(&msg);
-	}
 
-	if (telemetrySlow && valid(voltage)) {
-		uint16_t voltages[] = {(uint16_t)(voltage * 1000), UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX};
+		uint16_t voltages[] = {voltage * 1000, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX};
 		uint16_t voltagesExt[] = {0, 0, 0, 0};
 		float remaining = constrain(mapf(voltage, 3.4, 4.2, 0, 1), 0, 1);
 		mavlink_msg_battery_status_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, MAV_BATTERY_FUNCTION_ALL,
@@ -58,39 +49,27 @@ void sendMavlink() {
 		sendMessage(&msg);
 	}
 
-	if (telemetryAttitude) {
+	if (telemetryFast && mavlinkConnected) {
 		const float offset[] = {0, 0, 0, 0};
 		mavlink_msg_attitude_quaternion_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
 			time, attitude.w, attitude.x, -attitude.y, -attitude.z, rates.x, -rates.y, -rates.z, offset); // convert to frd
 		sendMessage(&msg);
-	}
 
-	if (telemetryRC && channels[0]) { // 0 means no RC input
 		mavlink_msg_rc_channels_raw_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0,
 			channels[0], channels[1], channels[2], channels[3], channels[4], channels[5], channels[6], channels[7], UINT8_MAX);
-		sendMessage(&msg);
-	}
+		if (channels[0] != 0) sendMessage(&msg); // 0 means no RC input
 
-	if (telemetryMotors) {
 		float controls[8];
 		memcpy(controls, motors, sizeof(motors));
 		mavlink_msg_actuator_control_target_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time, 0, controls);
 		sendMessage(&msg);
-	}
 
-	if (telemetryIMU) {
 		mavlink_msg_scaled_imu_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time,
 			acc.x / ONE_G * 1000, -acc.y / ONE_G * 1000, -acc.z / ONE_G * 1000, // convert to frd
 			gyro.x * 1000, -gyro.y * 1000, -gyro.z * 1000,
 			0, 0, 0, 0);
 		sendMessage(&msg);
 	}
-
-	if (telemetryTopic && logExposed != nullptr) {
-		mavlink_msg_named_value_float_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
-			time, logExposed->name, logExposed->value.get());
-		sendMessage(&msg);
-	}
 }
 
 void sendMessage(const void *msg) {
@@ -99,36 +78,16 @@ void sendMessage(const void *msg) {
 	sendWiFi(buf, len);
 }
 
-static uint8_t mavlinkBatch[ESP_NOW_MAX_DATA_LEN_V2];
-static int mavlinkBatchSize = 0;
-
-void batchMessage(const void *msg) {
-	uint8_t buf[MAVLINK_MAX_PACKET_LEN];
-	int len = mavlink_msg_to_send_buffer(buf, (mavlink_message_t *)msg);
-
-	if (mavlinkBatchSize + len > sizeof(mavlinkBatch)) {
-		sendWiFi(mavlinkBatch, mavlinkBatchSize);
-		mavlinkBatchSize = 0;
-	}
-	memcpy(mavlinkBatch + mavlinkBatchSize, buf, len);
-	mavlinkBatchSize += len;
-}
-
-void flushBatchMessages() {
-	sendWiFi(mavlinkBatch, mavlinkBatchSize);
-	mavlinkBatchSize = 0;
-}
-
 void receiveMavlink() {
 	uint8_t buf[MAVLINK_MAX_PACKET_LEN];
 	int len = receiveWiFi(buf, MAVLINK_MAX_PACKET_LEN);
+	if (len) mavlinkConnected = true;
 
 	// New packet, parse it
 	mavlink_message_t msg;
 	mavlink_status_t status;
 	for (int i = 0; i < len; i++) {
 		if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status)) {
-			mavlinkConnected = true;
 			handleMavlink(&msg);
 		}
 	}
@@ -252,29 +211,18 @@ void handleMavlink(const void *_msg) {
 		armed = motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0;
 	}
 
-	if (msg.msgid == MAVLINK_MSG_ID_LOG_REQUEST_LIST) {
-		const uint32_t qgcEpoch = 1262304000; // qgc accepts only timestamps after 2010-01-01
-		mavlink_message_t response;
-		mavlink_msg_log_entry_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &response,
-			0, 1, 0, qgcEpoch + t * 60, logLength); // put fake unique date to make qgc happy with saving logs
-		sendMessage(&response);
-	}
-
 	if (msg.msgid == MAVLINK_MSG_ID_LOG_REQUEST_DATA) {
 		mavlink_log_request_data_t m;
 		mavlink_msg_log_request_data_decode(&msg, &m);
 		if (m.target_system && m.target_system != mavlinkSysId) return;
 
-		for (int i = 0; i < m.count; i += MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN) {
-			int chunkSize = min(MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN, (int)(m.count - i));
-			mavlink_message_t response;
-			uint8_t data[MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN];
-			readLog(data, m.ofs + i, chunkSize);
-			mavlink_msg_log_data_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &response,
-				m.id, m.ofs + i, chunkSize, data);
-			batchMessage(&response);
+		// Send all log records
+		for (int i = 0; i < sizeof(logBuffer) / sizeof(logBuffer[0]); i++) {
+			mavlink_message_t msg;
+			mavlink_msg_log_data_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, i,
+				sizeof(logBuffer[0]), (uint8_t *)logBuffer[i]);
+			sendMessage(&msg);
 		}
-		flushBatchMessages();
 	}
 
 	// Handle commands
@@ -293,7 +241,7 @@ void handleMavlink(const void *_msg) {
 		}
 
 		if (m.command == MAV_CMD_COMPONENT_ARM_DISARM) {
-			if (m.param1 == 1 && controlThrottle > 0.05) return; // don't arm if throttle is not low
+			if (m.param1 && controlThrottle > 0.05) return; // don't arm if throttle is not low
 			accepted = true;
 			armed = m.param1 == 1;
 		}

flix/motors.ino

@@ -14,29 +14,30 @@ int pwmStop = 0;
 int pwmMin = 0;
 int pwmMax = -1; // -1 means duty cycle mode
 
-const int MOTOR_REAR_LEFT = 0, MOTOR_REAR_RIGHT = 1, MOTOR_FRONT_RIGHT = 2, MOTOR_FRONT_LEFT = 3;
+const int MOTOR_REAR_LEFT = 0;
+const int MOTOR_REAR_RIGHT = 1;
+const int MOTOR_FRONT_RIGHT = 2;
+const int MOTOR_FRONT_LEFT = 3;
 
 void setupMotors() {
-	print("Setup motors\n");
-	// Configure pins
+	print("Setup Motors\n");
+	// configure pins
 	for (int i = 0; i < 4; i++) {
-		if (motorPins[i] < 0) continue; // skip unassigned motors
 		ledcAttach(motorPins[i], pwmFrequency, pwmResolution);
 		pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // when reconfiguring
 	}
 	sendMotors();
+	print("Motors initialized\n");
 }
 
 void sendMotors() {
 	for (int i = 0; i < 4; i++) {
-		if (motorPins[i] < 0) continue; // skip unassigned motors
 		ledcWrite(motorPins[i], getDutyCycle(motors[i]));
 	}
 }
 
 int getDutyCycle(float value) {
 	value = constrain(value, 0, 1);
-
 	if (pwmMax >= 0) { // pwm mode
 		float pwm = mapf(value, 0, 1, pwmMin, pwmMax);
 		if (value == 0) pwm = pwmStop;

flix/parameters.ino

@@ -6,11 +6,13 @@
 #include <Preferences.h>
 #include "util.h"
 
-extern int channelZero[16], channelMax[16];
+extern int channelZero[16];
+extern int channelMax[16];
 extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
-extern int rcRxPin, voltagePin;
-extern int wifiMode, wifiLongRange, udpLocalPort, udpRemotePort, espnowChannel;
+extern int rcRxPin;
+extern int wifiMode, udpLocalPort, udpRemotePort;
 extern float rcLossTimeout, descendTime;
+extern int voltagePin;
 extern float voltageScale;
 extern LowPassFilter<float> voltageFilter;
 
@@ -20,7 +22,6 @@ struct Parameter {
 	const char *name; // max length is 15
 	bool integer;
 	union { float *f; int *i; }; // pointer to the variable
-	float inital; // default value
 	float cache; // what's stored in flash
 	void (*callback)(); // called after parameter change
 	Parameter(const char *name, float *variable, void (*callback)() = nullptr) : name(name), integer(false), f(variable), callback(callback) {};
@@ -74,8 +75,6 @@ Parameter parameters[] = {
 	{"EST_ACC_WEIGHT", &accWeight},
 	{"EST_LVL_WEIGHT", &levelWeight},
 	{"EST_RATES_LPF_A", &ratesFilter.alpha},
-	{"EST_RATES_NF_F", &ratesNotch.frequency, setupEstimate},
-	{"EST_RATES_NF_BW", &ratesNotch.bandwidth, setupEstimate},
 	// motors
 	{"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT], setupMotors},
 	{"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT], setupMotors},
@@ -87,7 +86,7 @@ Parameter parameters[] = {
 	{"MOT_PWM_MIN", &pwmMin},
 	{"MOT_PWM_MAX", &pwmMax},
 	// rc
-	{"RC_RX_PIN", &rcRxPin, setupRC},
+	{"RC_RX_PIN", &rcRxPin},
 	{"RC_ZERO_0", &channelZero[0]},
 	{"RC_ZERO_1", &channelZero[1]},
 	{"RC_ZERO_2", &channelZero[2]},
@@ -113,34 +112,12 @@ Parameter parameters[] = {
 	{"WIFI_MODE", &wifiMode},
 	{"WIFI_PORT_LOC", &udpLocalPort},
 	{"WIFI_PORT_REM", &udpRemotePort},
-	{"WIFI_LONG_RANGE", &wifiLongRange},
-	// espnow
-	{"ESPNOW_CHANNEL", &espnowChannel},
 	// mavlink
 	{"MAV_SYS_ID", &mavlinkSysId},
 	{"MAV_RATE_SLOW", &telemetrySlow.rate},
-	{"MAV_RATE_ATT", &telemetryAttitude.rate},
-	{"MAV_RATE_RC", &telemetryRC.rate},
-	{"MAV_RATE_MOT", &telemetryMotors.rate},
-	{"MAV_RATE_IMU", &telemetryIMU.rate},
-	{"MAV_RATE_TOPIC", &telemetryTopic.rate},
-	// log
-	{"LOG_MEMORY", &logMemory, setupLog},
-	{"LOG_USAGE", &logUsage, setupLog},
-	{"LOG_RATE_000", &logTopics[0].throttle},
-	{"LOG_RATE_001", &logTopics[1].throttle},
-	{"LOG_RATE_002", &logTopics[2].throttle},
-	{"LOG_RATE_003", &logTopics[3].throttle},
-	{"LOG_RATE_004", &logTopics[4].throttle},
-	{"LOG_RATE_005", &logTopics[5].throttle},
-	{"LOG_RATE_006", &logTopics[6].throttle},
-	{"LOG_RATE_007", &logTopics[7].throttle},
-	{"LOG_RATE_008", &logTopics[8].throttle},
-	{"LOG_RATE_009", &logTopics[9].throttle},
-	{"LOG_RATE_010", &logTopics[10].throttle},
-	{"LOG_RATE_011", &logTopics[11].throttle},
+	{"MAV_RATE_FAST", &telemetryFast.rate},
 	// power
-	{"PWR_VOLT_PIN", &voltagePin, setupPower},
+	{"PWR_VOLT_PIN", &voltagePin},
 	{"PWR_VOLT_SCALE", &voltageScale},
 	{"PWR_VOLT_LPF_A", &voltageFilter.alpha},
 	// safety
@@ -153,10 +130,10 @@ void setupParameters() {
 	storage.begin("flix");
 	// Read parameters from storage
 	for (auto &parameter : parameters) {
-		parameter.inital = parameter.getValue();
-		if (storage.isKey(parameter.name)) {
-			parameter.setValue(storage.getFloat(parameter.name));
+		if (!storage.isKey(parameter.name)) {
+			storage.putFloat(parameter.name, parameter.getValue()); // store default value
 		}
+		parameter.setValue(storage.getFloat(parameter.name, 0));
 		parameter.cache = parameter.getValue();
 	}
 }
@@ -202,23 +179,17 @@ void syncParameters() {
 	if (motorsActive()) return; // don't use flash while flying, it may cause a delay
 
 	for (auto &parameter : parameters) {
-		if (floatEquals(parameter.getValue(), parameter.cache)) continue; // no change
+		if (parameter.getValue() == parameter.cache) continue; // no change
+		if (isnan(parameter.getValue()) && isnan(parameter.cache)) continue; // both are NAN
 
 		storage.putFloat(parameter.name, parameter.getValue());
 		parameter.cache = parameter.getValue(); // update cache
 	}
 }
 
-void printParameters(const char *filter) {
-	print("Name             Value          [Default]\n");
+void printParameters() {
 	for (auto &parameter : parameters) {
-		if (strncasecmp(parameter.name, filter, strlen(filter))) continue;
-
-		if (floatEquals(parameter.getValue(), parameter.inital)) { // parameter changed
-			print("%-15s  %-13g\n", parameter.name, parameter.getValue());
-		} else {
-			print("%-15s  %-13g  [%g]\n", parameter.name, parameter.getValue(), parameter.inital);
-		}
+		print("%s = %g\n", parameter.name, parameter.getValue());
 	}
 }
 

flix/pid.h

@@ -5,7 +5,7 @@
 
 #pragma once
 
-#include "filter.h"
+#include "lpf.h"
 
 class PID {
 public:

flix/power.ino

@@ -5,22 +5,21 @@
 
 #include <soc/soc.h>
 #include <soc/rtc_cntl_reg.h>
-#include "filter.h"
+#include "lpf.h"
 #include "util.h"
 
-float voltage = NAN;
+float voltage;
 LowPassFilter<float> voltageFilter(0.2);
 int voltagePin = -1;
 float voltageScale = 2;
 
 void setupPower() {
-	REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA); // disable reset on low voltage
-	if (digitalPinToAnalogChannel(voltagePin) == -1) voltagePin = -1; // test ADC pin
+	// Disable reset on low voltage
+	REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA);
 }
 
 void readVoltage() {
 	if (voltagePin < 0) return;
-
 	static Rate rate(10);
 	if (!rate) return;
 

flix/rc.ino

@@ -27,12 +27,14 @@ void setupRC() {
 
 bool readRC() {
 	if (rcRxPin < 0) return false;
-	if (!rc.read()) return false;
-
-	rc.getChannels(channels);
-	normalizeRC();
-	controlTime = t;
-	return true;
+	if (rc.read()) {
+		SBUSData data = rc.data();
+		for (int i = 0; i < 16; i++) channels[i] = data.ch[i]; // copy channels data
+		normalizeRC();
+		controlTime = t;
+		return true;
+	}
+	return false;
 }
 
 void normalizeRC() {
@@ -53,19 +55,18 @@ void calibrateRC() {
 		print("RC_RX_PIN = %d, set the RC pin!\n", rcRxPin);
 		return;
 	}
-
-	uint16_t zero[16]; // for zero positions
-	uint16_t center[16]; // for center positions
-	uint16_t _[16]; // for unused data
+	uint16_t zero[16];
+	uint16_t center[16];
+	uint16_t max[16];
 	print("1/8 Calibrating RC: put all switches to default positions [3 sec]\n");
 	pause(3);
-	calibrateRCChannel(NULL, _, zero, "2/8 Move sticks [3 sec]\n...     ...\n...     .o.\n.o.     ...\n");
-	calibrateRCChannel(&throttleChannel, zero, _, "3/8 Move sticks [3 sec]\n.o.     ...\n...     .o.\n...     ...\n");
-	calibrateRCChannel(NULL, _, center, "4/8 Move sticks [3 sec]\n...     ...\n.o.     .o.\n...     ...\n");
-	calibrateRCChannel(&yawChannel, center, _, "5/8 Move sticks [3 sec]\n...     ...\n..o     .o.\n...     ...\n");
-	calibrateRCChannel(&pitchChannel, zero, _, "6/8 Move sticks [3 sec]\n...     .o.\n...     ...\n.o.     ...\n");
-	calibrateRCChannel(&rollChannel, zero, _, "7/8 Move sticks [3 sec]\n...     ...\n...     ..o\n.o.     ...\n");
-	calibrateRCChannel(&modeChannel, zero, _, "8/8 Put mode switch to max [3 sec]\n");
+	calibrateRCChannel(NULL, zero, zero, "2/8 Move sticks [3 sec]\n...     ...\n...     .o.\n.o.     ...\n");
+	calibrateRCChannel(NULL, center, center, "3/8 Move sticks [3 sec]\n...     ...\n.o.     .o.\n...     ...\n");
+	calibrateRCChannel(&throttleChannel, zero, max, "4/8 Move sticks [3 sec]\n.o.     ...\n...     .o.\n...     ...\n");
+	calibrateRCChannel(&yawChannel, center, max, "5/8 Move sticks [3 sec]\n...     ...\n..o     .o.\n...     ...\n");
+	calibrateRCChannel(&pitchChannel, zero, max, "6/8 Move sticks [3 sec]\n...     .o.\n...     ...\n.o.     ...\n");
+	calibrateRCChannel(&rollChannel, zero, max, "7/8 Move sticks [3 sec]\n...     ...\n...     ..o\n.o.     ...\n");
+	calibrateRCChannel(&modeChannel, zero, max, "8/8 Put mode switch to max [3 sec]\n");
 	printRCCalibration();
 }
 

flix/util.h

@@ -6,7 +6,6 @@
 #pragma once
 
 #include <math.h>
-#include <ESP32_NOW_Serial.h>
 
 const float ONE_G = 9.80665;
 extern float t;
@@ -23,12 +22,6 @@ bool valid(float x) {
 	return isfinite(x);
 }
 
-bool floatEquals(float a, float b, float epsilon = 0) {
-	if (isnan(a) && isnan(b)) return true;
-	if (a == b) return true;
-	return fabsf(a - b) <= epsilon;
-}
-
 // Wrap angle to [-PI, PI)
 float wrapAngle(float angle) {
 	angle = fmodf(angle, 2 * PI);
@@ -43,70 +36,13 @@ float wrapAngle(float angle) {
 // Trim and split string by spaces
 void splitString(String& str, String& token0, String& token1, String& token2) {
 	str.trim();
-	if (str.isEmpty()) return;
 	char chars[str.length() + 1];
 	str.toCharArray(chars, str.length() + 1);
 	token0 = strtok(chars, " ");
-	token1 = strtok(NULL, " ");
+	token1 = strtok(NULL, " "); // String(NULL) creates empty string
 	token2 = strtok(NULL, "");
-	if (token1.c_str() == NULL) token1 = "";
-	if (token2.c_str() == NULL) token2 = "";
 }
 
-// Simplified ESP-NOW Serial without resends
-class ESPNOWSerial : public ESP_NOW_Serial_Class {
-public:
-	int lost = 0;
-	using ESP_NOW_Serial_Class::ESP_NOW_Serial_Class;
-	void onSent(bool success) override {
-		if (!success) lost++;
-		ESP_NOW_Serial_Class::onSent(true); // always report success to avoid resends
-	}
-};
-
-// Simple variant type for logging and parameters
-struct Value {
-	enum { EMPTY, FLOAT, INT, BOOL, FLOAT_FN, INT_FN, BOOL_FN } type;
-	union {
-		void *pointer;
-		float *_float;
-		int *_int;
-		bool *_bool;
-		float (*floatFn)();
-		int (*intFn)();
-		bool (*boolFn)();
-	};
-
-	Value() : type(EMPTY), pointer(nullptr) {};
-	Value(float *pt) : type(FLOAT), _float(pt) {};
-	Value(int *pt) : type(INT), _int(pt) {};
-	Value(bool *pt) : type(BOOL), _bool(pt) {};
-	Value(float (*fn)()) : type(FLOAT_FN), floatFn(fn) {};
-	Value(int (*fn)()) : type(INT_FN), intFn(fn) {};
-	Value(bool (*fn)()) : type(BOOL_FN), boolFn(fn) {};
-
-	float get() const {
-		switch (type) {
-			case FLOAT: return *_float;
-			case INT: return *_int;
-			case BOOL: return *_bool ? 1 : 0;
-			case FLOAT_FN: return floatFn();
-			case INT_FN: return intFn();
-			case BOOL_FN: return boolFn() ? 1 : 0;
-			default: return NAN;
-		}
-	};
-
-	void set(float value) const {
-		switch (type) {
-			case FLOAT: *_float = value; break;
-			case INT: *_int = value; break;
-			case BOOL: *_bool = (value != 0); break;
-			default: break;
-		}
-	};
-};
-
 // Rate limiter
 class Rate {
 public:
@@ -115,9 +51,6 @@ public:
 	Rate(float rate) : rate(rate) {}
 
 	operator bool() {
-		if (t == last) {
-			return true; // the same step
-		}
 		if (t - last >= 1 / rate) {
 			last = t;
 			return true;

flix/wifi.ino

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

gazebo/Arduino.h

@@ -156,7 +156,6 @@ HardwareSerial Serial, Serial1, Serial2;
 class EspClass {
 public:
 	void restart() { Serial.println("Ignore reboot in simulation"); }
-	uint32_t getFreeHeap() { return 300 * 1024; } // assume 300 KB free heap
 } ESP;
 
 unsigned long __delayTime = 0;
@@ -169,7 +168,6 @@ void delay(uint32_t ms) {
 bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; }
 bool ledcWrite(uint8_t pin, uint32_t duty) { return true; }
 uint32_t ledcChangeFrequency(uint8_t pin, uint32_t freq, uint8_t resolution) { return freq; }
-int8_t digitalPinToAnalogChannel(uint8_t pin) { return -1; }
 uint32_t analogReadMilliVolts(uint8_t pin) { return 0; }
 
 unsigned long __micros;

gazebo/ESP32_NOW_Serial.h

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

gazebo/SBUS.h

@@ -15,11 +15,12 @@ public:
 	SBUS(HardwareSerial& bus, const int8_t rxpin, const int8_t txpin, const bool inv = true) {};
 	void begin(int rxpin = -1, int txpin = -1, bool inv = true, bool fast = false) {};
 	bool read() { return joystickInit(); };
-	void getChannels(uint16_t (&channels)[16]) const {
-		int16_t ch[16];
-		joystickGet(ch);
+	SBUSData data() {
+		SBUSData data;
+		joystickGet(data.ch);
 		for (int i = 0; i < 16; i++) {
-			channels[i] = map(ch[i], -32768, 32767, 1000, 2000); // convert to pulse width style
+			data.ch[i] = map(data.ch[i], -32768, 32767, 1000, 2000); // convert to pulse width style
 		}
+		return data;
 	};
 };

gazebo/flix.h

@@ -9,7 +9,7 @@
 #include "quaternion.h"
 #include "Arduino.h"
 #include "wifi.h"
-#include "filter.h"
+#include "lpf.h"
 
 extern float t, dt;
 extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
@@ -43,22 +43,12 @@ void print(const char* format, ...);
 void pause(float duration);
 void doCommand(String str, bool echo);
 void handleInput();
-void setupRC();
 void normalizeRC();
 void calibrateRC();
-void calibrateRCChannel(int*, uint16_t[16], uint16_t[16], const char*);
+void calibrateRCChannel(int *channel, uint16_t zero[16], uint16_t max[16], const char *str);
 void printRCCalibration();
-void loopLog();
-void resetLog();
-void writeLog(const void *data, size_t size);
-void readLog(void *data, size_t position, size_t size);
-bool isTopicUpdated(const uint8_t topic);
-void printLogInfo();
-int estimateLogDuration();
 void printLogHeader();
-void printLogValues(const char *filter);
-void configLogThrottle(const char *name, float throttle);
-void exposeLogValue(const char *name);
+void printLogData();
 void processMavlink();
 void sendMavlink();
 void sendMessage(const void *msg);
@@ -67,7 +57,6 @@ void handleMavlink(const void *_msg);
 void mavlinkPrint(const char* str);
 void sendMavlinkPrint();
 inline Quaternion fluToFrd(const Quaternion &q);
-void setupPower();
 void failsafe();
 void rcLossFailsafe();
 void descend();
@@ -77,7 +66,7 @@ const char *getParameterName(int index);
 float getParameter(int index);
 float getParameter(const char *name);
 bool setParameter(const char *name, const float value);
-void printParameters(const char *filter);
+void printParameters();
 void resetParameters();
 
 // mocks
@@ -88,4 +77,3 @@ void printIMUCalibration() { print("cal: N/A\n"); };
 void printIMUInfo() {};
 void printWiFiInfo() {};
 void configWiFi(bool, const char*, const char*) { print("Skip WiFi config\n"); };
-void setWiFiMode(const String& mode) { print("Skip WiFi mode set\n"); };

gazebo/simulator.cpp

@@ -23,7 +23,7 @@
 #include "estimate.ino"
 #include "safety.ino"
 #include "log.ino"
-#include "filter.h"
+#include "lpf.h"
 #include "mavlink.ino"
 #include "motors.ino"
 #include "parameters.ino"
@@ -55,7 +55,6 @@ public:
 		initNode();
 		Serial.begin(0);
 		setupParameters();
-		setupLog();
 		gzmsg << "Flix plugin loaded" << endl;
 	}
 
@@ -74,8 +73,6 @@ public:
 		gyro = Vector(imu->AngularVelocity().X(), imu->AngularVelocity().Y(), imu->AngularVelocity().Z());
 		acc = this->accFilter.update(Vector(imu->LinearAcceleration().X(), imu->LinearAcceleration().Y(), imu->LinearAcceleration().Z()));
 
-		voltage = 4.2f; // dummy voltage value
-
 		readRC();
 		estimate();
 

gazebo/wifi.h

@@ -11,12 +11,7 @@
 #include <sys/poll.h>
 #include <gazebo/gazebo.hh>
 
-// Mocks
-int wifiMode = 1;
-int wifiLongRange = 0;
-int espnowChannel = 6;
-const int W_DISABLED = 0, W_AP = 1, W_STA = 2, W_ESPNOW = 3;
-
+int wifiMode = 1; // mock
 int udpLocalPort = 14580;
 int udpRemotePort = 14550;
 const char *udpRemoteIP = "255.255.255.255";

tools/csv_to_mcap.py

@@ -9,7 +9,6 @@ Usage:
 import csv
 import json
 import docopt
-import math
 from mcap.writer import Writer
 
 args = docopt.docopt(__doc__)
@@ -40,15 +39,7 @@ channel_id = writer.register_channel(
 )
 
 for row in csv_reader:
-    if row[0] == '': continue
-    data = {}
-    for key, value in zip(header, row):
-        if value == '' or math.isnan(float(value)):
-            data[key] = None
-        else:
-            data[key] = float(value)
-
-    data = {key: float(value) if value != '' else None for key, value in zip(header, row)}
+    data = {key: float(value) for key, value in zip(header, row)}
     timestamp = round(float(row[0]) * 1e9)
     writer.add_message(channel_id=channel_id, log_time=timestamp, data=json.dumps(data).encode(), publish_time=timestamp,)
 

tools/espnow-proxy/README.md

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

tools/espnow-proxy/espnow-proxy.ino

@@ -1,88 +0,0 @@
-// Copyright (c) 2026 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Proxy for ESP-NOW connection
-
-#include <vector>
-#include <WiFi.h>
-#include <ESP32_NOW_Serial.h>
-#include <MacAddress.h>
-#include <MAVLink.h>
-#include <Preferences.h>
-#include "../../flix/util.h"
-
-const int CHANNEL = 6;
-char key[ESP_NOW_KEY_LEN + 1] = {0}; // with trailing null
-
-Preferences storage;
-
-std::vector<ESPNOWSerial *> peers;
-
-void onNewPeer(const esp_now_recv_info_t *info, const uint8_t *data, int len, void *arg) {
-	if (len != 4 || memcmp(data, "flix", 4) != 0) return; // check if discovery message
-
-	Serial.printf("New peer: " MACSTR "\n", MAC2STR(info->src_addr));
-	ESPNOWSerial *link = new ESPNOWSerial(info->src_addr, CHANNEL, WIFI_IF_AP);
-	link->begin();
-	link->setKey((const uint8_t *)key);
-	peers.push_back(link);
-}
-
-void setup() {
-	Serial.begin(115200);
-	WiFi.mode(WIFI_AP);
-	WiFi.setSleep(false);
-	WiFi.setChannel(CHANNEL);
-
-	ESP_NOW.onNewPeer(onNewPeer, NULL);
-	ESP_NOW.begin();
-
-	storage.begin("espnow-proxy");
-	if (!storage.isKey("key")) {
-		generateRandomKey();
-		storage.putString("key", key);
-	}
-	strcpy(key, storage.getString("key").c_str());
-
-	// Discover the first peer
-	while (peers.empty()) {
-		Serial.printf("espnow %s %s\n", WiFi.softAPmacAddress().c_str(), key);
-		delay(500);
-	}
-}
-
-void generateRandomKey() {
-	const char chars[] = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789!@#$%^&*-_+=";
-	for (int i = 0; i < ESP_NOW_KEY_LEN; i++) {
-		key[i] = chars[random(0, strlen(chars))];
-	}
-}
-
-void loop() {
-	uint8_t buf[5000];
-
-	// Send from Serial to ESP-NOW
-	while (Serial.available() > 0) {
-		int b = Serial.read();
-		if (b < 0) {
-			break;
-		}
-
-		mavlink_message_t msg;
-		mavlink_status_t status;
-		if (mavlink_parse_char(MAVLINK_COMM_0, (uint8_t)b, &msg, &status)) {
-			int len = mavlink_msg_to_send_buffer(buf, &msg);
-			for (ESPNOWSerial *link : peers) {
-				link->write(buf, len);
-			}
-		}
-	}
-
-	// Send from ESP-NOW to Serial
-	for (ESPNOWSerial *link : peers) {
-		int len = link->read(buf, sizeof(buf));
-		if (len > 0) {
-			Serial.write(buf, len);
-		}
-	}
-}

tools/log_to_csv.py

@@ -1,76 +0,0 @@
-#!/usr/bin/env python3
-
-"""Convert flight from Flix format to CSV
-
-Usage:
-    log_to_csv.py <input_file>
-"""
-
-import os
-from pyflix import Flix
-import docopt
-import struct
-import csv
-
-DIR = os.path.dirname(os.path.realpath(__file__))
-HEADER_FILE = os.path.join(DIR, 'log/log_header.txt')
-
-# Read log header
-try:
-    # read from file
-    header = open(HEADER_FILE, 'r').read()
-except FileNotFoundError:
-    flix = Flix()
-    header = flix.cli('log header')  # receive the log schema
-    open(HEADER_FILE, 'w').write(header)  # save to file
-
-# Parse log header
-topics = []
-for line in header.splitlines():
-    if not line.startswith('  '):
-        topics.append([])
-    elif 'not logged' not in line:
-        topics[-1].append(line.strip())
-
-# Read log file
-args = docopt.docopt(__doc__)
-input_file = args['<input_file>']
-outfile_file = input_file + '.csv'
-data = open(input_file, 'rb').read()
-
-# Search for sync marker
-SYNC_MARKER = bytes.fromhex('1A 91 4F F6 7F')
-sync_offset = data.find(SYNC_MARKER)
-if sync_offset == -1:
-    raise ValueError('Sync marker not found in log file')
-data = data[sync_offset + len(SYNC_MARKER):]
-data = data.replace(SYNC_MARKER, b'')  # remove all other sync markers
-
-header_row = [f'{value}' for topic in topics for value in topic]
-rows = []
-
-offset = 0
-while offset < len(data):
-    try:
-        topic = struct.unpack_from('B', data, offset)[0]
-        offset += 1
-
-        if topic >= len(topics):
-            raise ValueError(f'Invalid topic {topic} at offset {offset}')
-
-        if topic == 0 or not rows:
-            rows.append({})
-
-        for name in topics[topic]:
-            value = struct.unpack_from('<f', data, offset)[0]
-            offset += 4
-            rows[-1][name] = value
-    except struct.error as e:
-        break
-
-# Write CSV file
-with open(outfile_file, 'w', newline='') as f:
-    writer = csv.DictWriter(f, fieldnames=header_row, extrasaction='ignore')
-    writer.writeheader()
-    rows = filter(lambda row: float(row.get('t', 0)), rows)
-    writer.writerows(rows)

tools/pyflix/README.md

@@ -28,8 +28,6 @@ from pyflix import Flix
 flix = Flix()  # create a Flix object and wait for connection
 ```
 
-If using ESP-NOW connection, specify the proxy device name in `FLIX_DEVICE` environment variable or pass it to the constructor: `Flix(device='/dev/cu.usbserial-0001')`.
-
 ### Telemetry
 
 Basic telemetry is available through object properties. The property names generally match the corresponding variables in the firmware code:
@@ -39,7 +37,7 @@ print(flix.connected)       # True if connected to the drone
 print(flix.mode)            # current flight mode (str)
 print(flix.armed)           # True if the drone is armed
 print(flix.landed)          # True if the drone is landed
-print(flix.voltage)         # battery voltage (NaN - unknown, ~0 - USB powered)
+print(flix.voltage)         # battery voltage
 print(flix.attitude)        # attitude quaternion [w, x, y, z]
 print(flix.attitude_euler)  # attitude as Euler angles [roll, pitch, yaw]
 print(flix.rates)           # angular rates [roll_rate, pitch_rate, yaw_rate]
@@ -222,13 +220,6 @@ The following scripts demonstrate how to use the library:
 * [`log.py`](../log.py) — download flight logs from the drone.
 * [`example.py`](../example.py) — a simple example, prints telemetry data and waits for events.
 
-> [!TIP]
-> Set `FLIX_DEVICE` environment variable to use these tools with ESP-NOW connection, for example:
->
-> ```bash
-> FLIX_DEVICE=/dev/cu.usbserial-0001 tools/cli.py
-> ```
-
 ## Advanced usage
 
 ### MAVLink

tools/pyflix/flix.py

@@ -5,7 +5,6 @@
 
 import os
 import time
-import math
 from queue import Queue, Empty
 from typing import Optional, Callable, List, Dict, Any, Union, Sequence
 import logging
@@ -27,7 +26,7 @@ class Flix:
     mode: str = ''
     armed: bool = False
     landed: bool = False
-    voltage: float = math.nan
+    voltage: float = 0
     attitude: List[float]
     attitude_euler: List[float]  # roll, pitch, yaw
     rates: List[float]
@@ -44,27 +43,22 @@ class Flix:
     _print_buffer: str = ''
     _modes = ['RAW', 'ACRO', 'STAB', 'AUTO']
 
-    def __init__(self, system_id: int=1, wait_connection: bool=True, device=os.getenv('FLIX_DEVICE')):
+    def __init__(self, system_id: int=1, wait_connection: bool=True):
         if not (0 <= system_id < 256):
             raise ValueError('system_id must be in range [0, 255]')
         self._setup_mavlink()
         self.system_id = system_id
         self._init_state()
-        if device is not None:
-            # User defined connection
-            logger.debug(f'Connecting to {device}')
-            self.connection: mavutil.mavfile = mavutil.mavlink_connection(device, source_system=255)  # type: ignore
-        else:
-            try:
-                # Direct connection
-                logger.debug('Listening on port 14550')
-                self.connection: mavutil.mavfile = mavutil.mavlink_connection('udpin:0.0.0.0:14550', source_system=255)  # type: ignore
-            except OSError as e:
-                if e.errno != errno.EADDRINUSE:
-                    raise
-                # Port busy - using proxy
-                logger.debug('Listening on port 14555 (proxy)')
-                self.connection: mavutil.mavfile = mavutil.mavlink_connection('udpin:0.0.0.0:14555', source_system=254)  # type: ignore
+        try:
+            # Direct connection
+            logger.debug('Listening on port 14550')
+            self.connection: mavutil.mavfile = mavutil.mavlink_connection('udpin:0.0.0.0:14550', source_system=255)  # type: ignore
+        except OSError as e:
+            if e.errno != errno.EADDRINUSE:
+                raise
+            # Port busy - using proxy
+            logger.debug('Listening on port 14555 (proxy)')
+            self.connection: mavutil.mavfile = mavutil.mavlink_connection('udpin:0.0.0.0:14555', source_system=254)  # type: ignore
         self.connection.target_system = system_id
         self.mavlink: mavlink.MAVLink = self.connection.mav
         self._event_listeners: Dict[str, List[Callable[..., Any]]] = {}

tools/pyproject.toml

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