Merge branch 'master' into run-sim

Test simulator run in CI
2026-01-13 06:26:52 +00:00 · 2024-05-24 22:35:36 +03:00 · 2024-01-31 17:23:07 +03:00 · 2024-01-25 23:53:08 +03:00
95 changed files with 315 additions and 9554 deletions
--- a/.editorconfig
+++ b/.editorconfig
@@ -4,7 +4,7 @@ root = true
 end_of_line = lf
 insert_final_newline = true

-[*.{ino,cpp,c,h,hpp,sdf,world,json}]
+[*.{ino,cpp,c,h,hpp,sdf,world}]
 charset = utf-8
 indent_style = tab
 tab_width = 4
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -7,75 +7,75 @@ on:
    branches: [ master ]

 jobs:
-  build_linux:
+  build:
    runs-on: ubuntu-latest
    steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v3
    - name: Install Arduino CLI
      run: curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh
    - name: Build firmware
      run: make
-    - name: Check c_cpp_properties.json
-      run: tools/check_c_cpp_properties.py

  build_macos:
    runs-on: macos-latest
    steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v3
    - name: Install Arduino CLI
      run: brew install arduino-cli
    - name: Build firmware
      run: make
-    - name: Check c_cpp_properties.json
-      run: tools/check_c_cpp_properties.py

  build_windows:
    runs-on: windows-latest
    steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v3
    - name: Install Arduino CLI
      run: choco install arduino-cli
    - name: Install Make
      run: choco install make
    - name: Build firmware
      run: make
-    - name: Check c_cpp_properties.json
-      run: python3 tools/check_c_cpp_properties.py

  build_simulator:
    runs-on: ubuntu-latest
    steps:
    - name: Install Arduino CLI
      uses: arduino/setup-arduino-cli@v1.1.1
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v3
    - name: Install Gazebo
      run: curl -sSL http://get.gazebosim.org | sh
    - name: Install SDL2
      run: sudo apt-get install libsdl2-dev
    - name: Build simulator
      run: make build_simulator
+    - name: Run simulator
+      run: timeout --preserve-status 30 make simulator GAZEBO=gzserver || [ $? -eq 143 ]
    - uses: actions/upload-artifact@v3
      with:
        name: gazebo-plugin-binary
        path: gazebo/build/*.so
        retention-days: 1

-#  build_simulator_macos:
-#    runs-on: macos-latest
-#    steps:
-#    - name: Install Arduino CLI
-#      run: brew install arduino-cli
-#    - uses: actions/checkout@v4
-#    - name: Clean up python binaries # Workaround for https://github.com/actions/setup-python/issues/577
-#      run: |
-#        rm -f /usr/local/bin/2to3*
-#        rm -f /usr/local/bin/idle3*
-#        rm -f /usr/local/bin/pydoc3*
-#        rm -f /usr/local/bin/python3*
-#        rm -f /usr/local/bin/python3*-config
-#    - name: Install Gazebo
-#      run: brew update && brew tap osrf/simulation && brew install gazebo11
-#    - name: Install SDL2
-#      run: brew install sdl2
-#    - name: Build simulator
-#      run: make build_simulator
+  build_simulator_macos:
+    runs-on: macos-latest
+    steps:
+    - name: Install Arduino CLI
+      run: brew install arduino-cli
+    - uses: actions/checkout@v3
+    - name: Clean up python binaries # Workaround for https://github.com/actions/setup-python/issues/577
+      run: |
+        rm -f /usr/local/bin/2to3*
+        rm -f /usr/local/bin/idle3*
+        rm -f /usr/local/bin/pydoc3*
+        rm -f /usr/local/bin/python3*
+        rm -f /usr/local/bin/python3*-config
+    - name: Install Gazebo
+      run: brew update && brew tap osrf/simulation && brew install gazebo11
+    - name: Install SDL2
+      run: brew install sdl2
+    - name: Build simulator
+      run: make build_simulator
+    - name: Run simulator
+      run: |
+        brew install coreutils
+        timeout --preserve-status 30 make simulator GAZEBO=gzserver || [ $? -eq 143 ]
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -1,51 +0,0 @@
-name: Docs
-
-on:
-  push:
-    branches: [ '*' ]
-  pull_request:
-    branches: [ master ]
-
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-jobs:
-  markdownlint:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-    - name: Install markdownlint
-      run: npm install -g markdownlint-cli2
-    - name: Run markdownlint
-      run: markdownlint-cli2 "**/*.md"
-
-  build_book:
-    runs-on: ubuntu-latest
-    needs: markdownlint
-    steps:
-    - uses: actions/checkout@v4
-    - name: Install mdBook
-      run: cargo install mdbook --vers 0.4.43 --locked
-    - name: Build book
-      run: cd docs && mdbook build
-    - name: Upload artifact
-      uses: actions/upload-pages-artifact@v3
-      with:
-        path: docs/build
-
-  deploy:
-    if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
-    concurrency:
-      group: "pages"
-      cancel-in-progress: true
-    environment:
-      name: github-pages
-      url: ${{ steps.deployment.outputs.page_url }}
-    runs-on: ubuntu-latest
-    needs: build_book
-    steps:
-      - name: Deploy to GitHub Pages
-        id: deployment
-        uses: actions/deploy-pages@v4
--- a/.github/workflows/tools.yml
+++ b/.github/workflows/tools.yml
@@ -1,33 +0,0 @@
-name: Build tools
-
-on:
-  push:
-    branches: [ '*' ]
-  pull_request:
-    branches: [ master ]
-
-jobs:
-  csv_to_ulog:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-    - name: Build csv_to_ulog
-      run: cd tools/csv_to_ulog && mkdir build && cd build && cmake .. && make
-    - name: Test csv_to_ulog
-      run: |
-        cd tools/csv_to_ulog/build
-        echo -e "t,x,y,z\n0,1,2,3\n1,4,5,6" > log.csv
-        ./csv_to_ulog log.csv
-        test $(stat -c %s log.ulg) -eq 196
-  python_tools:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-    - name: Install Python dependencies
-      run: pip install -r tools/requirements.txt
-    - name: Test csv_to_mcap tool
-      run: |
-        cd tools
-        echo -e "t,x,y,z\n0,1,2,3\n1,4,5,6" > log.csv
-        ./csv_to_mcap.py log.csv
-        test $(stat -c %s log.mcap) -eq 883
--- a/.gitignore
+++ b/.gitignore
@@ -3,10 +3,3 @@
 build/
 tools/log/
 .dependencies
-.vscode/*
-!.vscode/settings.json
-!.vscode/c_cpp_properties.json
-!.vscode/tasks.json
-!.vscode/launch.json
-!.vscode/extensions.json
-!.vscode/intellisense.h
--- a/.markdownlint.json
+++ b/.markdownlint.json
@@ -1,67 +0,0 @@
-{
-	"MD004": {
-		"style": "asterisk"
-	},
-	"MD010": false,
-	"MD013": false,
-	"MD024": false,
-	"MD033": false,
-	"MD034": false,
-	"MD044": {
-		"html_elements": false,
-		"code_blocks": false,
-		"names": [
-			"FlixPeriph",
-			"Wi-Fi",
-			"STM",
-			"Li-ion",
-			"GitHub",
-			"github.com",
-			"PPM",
-			"PWM",
-			"Futaba",
-			"S.Bus",
-			"C++",
-			"PID",
-			"Arduino IDE",
-			"Arduino",
-			"Arduino Nano",
-			"ESP32",
-			"IMU",
-			"MEMS",
-			"imu.ino",
-			"InvenSense",
-			"MPU-6050",
-			"MPU-9250",
-			"GY-91",
-			"ICM-20948",
-			"Linux",
-			"Windows",
-			"macOS",
-			"iOS",
-			"Android",
-			"Bluetooth",
-			"GPS",
-			"GPIO",
-			"USB",
-			"SPI",
-			"I²C",
-			"UART",
-			"GND",
-			"3V3",
-			"VCC",
-			"SCL",
-			"SDA",
-			"SAO",
-			"AD0",
-			"MOSI",
-			"MISO",
-			"NCS",
-			"MOSFET",
-			"ArduPilot",
-			"Betaflight",
-			"PX4"
-		]
-	},
-	"MD045": false
-}
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -1,150 +0,0 @@
-{
-	"configurations": [
-		{
-			"name": "Linux",
-			"includePath": [
-				"${workspaceFolder}/flix",
-				"${workspaceFolder}/gazebo",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.0.7/libraries/**",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32",
-				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/**",
-				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/dio_qspi/include",
-				"~/Arduino/libraries/**",
-				"/usr/include/**"
-			],
-			"forcedInclude": [
-				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32/Arduino.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32/pins_arduino.h",
-				"${workspaceFolder}/flix/cli.ino",
-				"${workspaceFolder}/flix/control.ino",
-				"${workspaceFolder}/flix/estimate.ino",
-				"${workspaceFolder}/flix/flix.ino",
-				"${workspaceFolder}/flix/imu.ino",
-				"${workspaceFolder}/flix/led.ino",
-				"${workspaceFolder}/flix/log.ino",
-				"${workspaceFolder}/flix/mavlink.ino",
-				"${workspaceFolder}/flix/motors.ino",
-				"${workspaceFolder}/flix/rc.ino",
-				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/util.ino",
-				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino"
-			],
-			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2302/bin/xtensa-esp32-elf-g++",
-			"cStandard": "c11",
-			"cppStandard": "c++17",
-			"defines": [
-				"F_CPU=240000000L",
-				"ARDUINO=10607",
-				"ARDUINO_D1_MINI32",
-				"ARDUINO_ARCH_ESP32",
-				"ARDUINO_BOARD=D1_MINI32",
-				"ARDUINO_VARIANT=d1_mini32",
-				"ARDUINO_PARTITION_default",
-				"ESP32",
-				"CORE_DEBUG_LEVEL=0",
-				"ARDUINO_USB_CDC_ON_BOOT="
-			]
-		},
-		{
-			"name": "Mac",
-			"includePath": [
-				"${workspaceFolder}/flix",
-				"${workspaceFolder}/gazebo",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/libraries/**",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32",
-				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/include/**",
-				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/dio_qspi/include",
-				"~/Documents/Arduino/libraries/**",
-				"/opt/homebrew/include/**"
-			],
-			"forcedInclude": [
-				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32/Arduino.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32/pins_arduino.h",
-				"${workspaceFolder}/flix/flix.ino",
-				"${workspaceFolder}/flix/cli.ino",
-				"${workspaceFolder}/flix/control.ino",
-				"${workspaceFolder}/flix/estimate.ino",
-				"${workspaceFolder}/flix/imu.ino",
-				"${workspaceFolder}/flix/led.ino",
-				"${workspaceFolder}/flix/log.ino",
-				"${workspaceFolder}/flix/mavlink.ino",
-				"${workspaceFolder}/flix/motors.ino",
-				"${workspaceFolder}/flix/rc.ino",
-				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/util.ino",
-				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino"
-			],
-			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2302/bin/xtensa-esp32-elf-g++",
-			"cStandard": "c11",
-			"cppStandard": "c++17",
-			"defines": [
-				"F_CPU=240000000L",
-				"ARDUINO=10607",
-				"ARDUINO_D1_MINI32",
-				"ARDUINO_ARCH_ESP32",
-				"ARDUINO_BOARD=D1_MINI32",
-				"ARDUINO_VARIANT=d1_mini32",
-				"ARDUINO_PARTITION_default",
-				"ARDUINO_FQBN=esp32:esp32:d1_mini32",
-				"ESP32",
-				"CORE_DEBUG_LEVEL=0",
-				"ARDUINO_USB_CDC_ON_BOOT="
-			]
-		},
-		{
-			"name": "Win32",
-			"includePath": [
-				"${workspaceFolder}/flix",
-				"${workspaceFolder}/gazebo",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/libraries/**",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32",
-				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/**",
-				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/dio_qspi/include",
-				"~/Documents/Arduino/libraries/**"
-			],
-			"forcedInclude": [
-				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32/Arduino.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32/pins_arduino.h",
-				"${workspaceFolder}/flix/cli.ino",
-				"${workspaceFolder}/flix/control.ino",
-				"${workspaceFolder}/flix/estimate.ino",
-				"${workspaceFolder}/flix/flix.ino",
-				"${workspaceFolder}/flix/imu.ino",
-				"${workspaceFolder}/flix/led.ino",
-				"${workspaceFolder}/flix/log.ino",
-				"${workspaceFolder}/flix/mavlink.ino",
-				"${workspaceFolder}/flix/motors.ino",
-				"${workspaceFolder}/flix/rc.ino",
-				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/util.ino",
-				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino"
-			],
-			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2302/bin/xtensa-esp32-elf-g++.exe",
-			"cStandard": "c11",
-			"cppStandard": "c++17",
-			"defines": [
-				"F_CPU=240000000L",
-				"ARDUINO=10607",
-				"ARDUINO_D1_MINI32",
-				"ARDUINO_ARCH_ESP32",
-				"ARDUINO_BOARD=D1_MINI32",
-				"ARDUINO_VARIANT=d1_mini32",
-				"ARDUINO_PARTITION_default",
-				"ARDUINO_FQBN=esp32:esp32:d1_mini32",
-				"ESP32",
-				"CORE_DEBUG_LEVEL=0",
-				"ARDUINO_USB_CDC_ON_BOOT="
-			]
-		}
-	],
-	"version": 4
-}
--- a/.vscode/extensions.json
+++ b/.vscode/extensions.json
@@ -1,10 +0,0 @@
-{
-	// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
-	"recommendations": [
-		"ms-vscode.cpptools",
-		"twxs.cmake",
-		"ms-vscode.cmake-tools",
-		"ms-python.python"
-	],
-	"unwantedRecommendations": []
-}
--- a/.vscode/intellisense.h
+++ b/.vscode/intellisense.h
@@ -1,5 +0,0 @@
-#ifdef __INTELLISENSE__
-	#pragma diag_suppress 144, 513
-	// diag 144: a value of type "enum <unnamed>" cannot be used to initialize an entity of type "enum <unnamed>"C/C++
-	// diag 513: a value of type "enum <unnamed>" cannot be assigned to an entity of type "enum <unnamed>"C/C++
-#endif
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -1,25 +0,0 @@
-{
-	"version": "0.2.0",
-	"configurations": [
-		{
-			"name": "Debug simulation",
-			"type": "cppdbg",
-			"request": "launch",
-			"program": "/usr/bin/gzserver",
-			"osx": {
-				"program": "/opt/homebrew/bin/gzserver",
-				"MIMode": "lldb",
-			},
-			"args": ["--verbose", "${workspaceFolder}/gazebo/flix.world"],
-			"stopAtEntry": false,
-			"cwd": "${fileDirname}",
-			"environment": [
-				{"name": "GAZEBO_MODEL_PATH", "value": "${workspaceFolder}/gazebo/models"},
-				{"name": "GAZEBO_PLUGIN_PATH", "value": "${workspaceFolder}/gazebo/build"}
-			],
-			"MIMode": "gdb",
-			"preLaunchTask": "Build simulator",
-			"externalConsole": true,
-		},
-	]
-}
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,13 +0,0 @@
-{
-	"C_Cpp.intelliSenseEngineFallback": "enabled",
-	"files.associations": {
-		"*.sdf": "xml",
-		"*.ino": "cpp",
-		"*.h": "cpp"
-	},
-	"C_Cpp.vcFormat.newLine.beforeOpenBrace.function": "newLine",
-	"C_Cpp.vcFormat.newLine.beforeOpenBrace.block": "sameLine",
-	"C_Cpp.vcFormat.newLine.beforeOpenBrace.lambda": "sameLine",
-	"C_Cpp.vcFormat.newLine.beforeOpenBrace.namespace": "sameLine",
-	"C_Cpp.vcFormat.newLine.beforeOpenBrace.type": "sameLine"
-}
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -1,31 +0,0 @@
-{
-	"tasks": [
-		{
-			"label": "Build firmware",
-			"type": "shell",
-			"command": "make",
-			"problemMatcher": [ "$gcc" ],
-			"presentation": { "clear": true, "showReuseMessage": false },
-		},
-		{
-			"label": "Upload firmware",
-			"type": "shell",
-			"command": "make upload",
-			"problemMatcher": [ "$gcc" ],
-			"presentation": { "clear": true, "showReuseMessage": false }
-		},
-		{
-			"label": "Build simulator",
-			"type": "shell",
-			"command": "make build_simulator",
-			"problemMatcher": [ "$gcc" ],
-			"presentation": { "clear": true, "showReuseMessage": false }
-		},
-		{
-			"label": "Clean",
-			"type": "shell",
-			"command": "make clean",
-		}
-	],
-	"version": "2.0.0"
-}
--- a/7
+++ b/7
@@ -13,10 +13,10 @@ monitor:

 dependencies .dependencies:
 	arduino-cli core update-index --config-file arduino-cli.yaml
-	arduino-cli core install esp32:esp32@3.0.7 --config-file arduino-cli.yaml
+	arduino-cli core install esp32:esp32@2.0.11 --config-file arduino-cli.yaml
 	arduino-cli lib update-index
 	arduino-cli lib install "FlixPeriph"
-	arduino-cli lib install "MAVLink"@2.0.12
+	arduino-cli lib install "MAVLink"@2.0.1
 	touch .dependencies

 gazebo/build cmake: gazebo/CMakeLists.txt
@@ -26,10 +26,11 @@ gazebo/build cmake: gazebo/CMakeLists.txt
 build_simulator: .dependencies gazebo/build
 	make -C gazebo/build

+GAZEBO ?= gazebo
 simulator: build_simulator
 	GAZEBO_MODEL_PATH=$$GAZEBO_MODEL_PATH:${CURDIR}/gazebo/models \
 	GAZEBO_PLUGIN_PATH=$$GAZEBO_PLUGIN_PATH:${CURDIR}/gazebo/build \
-	gazebo --verbose ${CURDIR}/gazebo/flix.world
+	$(GAZEBO) --verbose ${CURDIR}/gazebo/flix.world

 log:
 	PORT=$(PORT) tools/grab_log.py
--- a/README.md
+++ b/README.md
@@ -1,156 +1,69 @@
-# Flix
+# flix

-**Flix** (*flight + X*) — making an open source ESP32-based quadcopter from scratch.
+**flix** (*flight + X*) — making an open source ESP32-based quadcopter from scratch.

-<table>
-  <tr>
-    <td align=center><strong>Version 1</strong> (3D-printed frame)</td>
-    <td align=center><strong>Version 0</strong></td>
-  </tr>
-  <tr>
-    <td><img src="docs/img/flix1.jpg" width=500 alt="Flix quadcopter"></td>
-    <td><img src="docs/img/flix.jpg" width=500 alt="Flix quadcopter"></td>
-  </tr>
-</table>
+<img src="docs/img/flix.jpg" width=500 alt="Flix quadcopter">

 ## Features

 * Simple and clean Arduino based source code.
 * Acro and Stabilized flight using remote control.
 * Precise simulation using Gazebo.
-* [In-RAM logging](docs/log.md).
+* In-RAM logging.
 * Command line interface through USB port.
 * Wi-Fi support.
 * MAVLink support.
 * Control using mobile phone (with QGroundControl app).
-* Completely 3D-printed frame.
-* Textbook for students on writing a flight controller ([in development](https://quadcopter.dev)).
-* *Position control and autonomous flights using external camera¹*.
+* ESCs with reverse mode support.
+* *Textbook and videos for students on writing a flight controller\*.*
+* *Completely 3D-printed frame*.*
+* *Position control and autonomous flights using external camera\**.
 * [Building and running instructions](docs/build.md).

-*¹ — planned.*
+*\* — planned.*

 ## It actually flies

-See detailed demo video (for version 0): https://youtu.be/8GzzIQ3C6DQ.
-
 <a href="https://youtu.be/8GzzIQ3C6DQ"><img width=500 src="https://i3.ytimg.com/vi/8GzzIQ3C6DQ/maxresdefault.jpg"></a>

-Version 1 test flight: https://t.me/opensourcequadcopter/42.
-
-<a href="https://t.me/opensourcequadcopter/42"><img width=500 src="docs/img/flight-video.jpg"></a>
+See YouTube demo video: https://youtu.be/8GzzIQ3C6DQ.

 ## Simulation

-The simulator is implemented using Gazebo and runs the original Arduino code:
+Simulation in Gazebo using a plugin that runs original Arduino code is implemented:

 <img src="docs/img/simulator.png" width=500 alt="Flix simulator">

-See [instructions on running the simulation](docs/build.md).
+## Schematics

-## Components (version 1)
+<img src="docs/img/schematics.svg" width=800 alt="Flix schematics">

-|Type|Part|Image|Quantity|
-|-|-|:-:|:-:|
-|Microcontroller board|ESP32 Mini|<img src="docs/img/esp32.jpg" width=100>|1|
-|IMU (and barometer²) board|GY‑91 (or other MPU‑9250/MPU‑6500 board), ICM‑20948³|<img src="docs/img/gy-91.jpg" width=90 align=center><img src="docs/img/icm-20948.jpg" width=100>|1|
-|Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)|<img src="docs/img/motor.jpeg" width=100>|4|
-|Propeller|Hubsan 55 mm|<img src="docs/img/prop.jpg" width=100>|4|
-|MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)|<img src="docs/img/100n03a.jpg" width=100>|4|
-|Pull-down resistor|10 kΩ|<img src="docs/img/resistor10k.jpg" width=100>|4|
-|3.7V Li-Po battery|LW 952540 (or any compatible by the size)|<img src="docs/img/battery.jpg" width=100>|1|
-|Li-Po Battery charger|Any|<img src="docs/img/charger.jpg" width=100>|1|
-|Screws for IMU board mounting|M3x5|<img src="docs/img/screw-m3.jpg" width=100>|2|
-|Screws for frame assembly|M1.4x5|<img src="docs/img/screw-m1.4.jpg" height=30 align=center>|4|
-|Frame bottom part|3D printed⁴:<br>[`flix-frame.stl`](docs/assets/flix-frame.stl) [`flix-frame.step`](docs/assets/flix-frame.step)|<img src="docs/img/frame1.jpg" width=100>|1|
-|Frame top part|3D printed:<br>[`esp32-holder.stl`](docs/assets/esp32-holder.stl) [`esp32-holder.step`](docs/assets/esp32-holder.step)|<img src="docs/img/esp32-holder.jpg" width=100>|1|
-|Washer for IMU board mounting|3D printed:<br>[`washer-m3.stl`](docs/assets/washer-m3.stl) [`washer-m3.step`](docs/assets/washer-m3.step)|<img src="docs/img/washer-m3.jpg" width=100>|1|
-|*RC transmitter (optional)*|*KINGKONG TINY X8 or other⁵*|<img src="docs/img/tx.jpg" width=100>|1|
-|*RC receiver (optional)*|*DF500 or other⁵*|<img src="docs/img/rx.jpg" width=100>|1|
-|Wires|28 AWG recommended|<img src="docs/img/wire-28awg.jpg" width=100>||
-|Tape, double-sided tape||||
+You can also check a user contributed [variant of complete circuit diagram](https://miro.com/app/board/uXjVN-dTjoo=/) of the drone.

-*² — barometer is not used for now.*<br>
-*³ — change `MPU9250` to `ICM20948` in `imu.ino` file if using ICM-20948 board.*<br>
-*⁴ — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*<br>
-*⁵ — you may use any transmitter-receiver pair with SBUS interface.*
+*\* — SBUS inverter is not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).*

-Tools required for assembly:
+## Components (version 0)

-* 3D printer.
-* Soldering iron.
-* Solder wire (with flux).
-* Screwdrivers.
-* Multimeter.
+|Component|Type|Image|Quantity|
+|-|-|-|-|
+|ESP32 Mini|Microcontroller board|<img src="docs/img/esp32.jpg" width=100>|1|
+|GY-91|IMU+LDO+barometer board|<img src="docs/img/gy-91.jpg" width=100>|1|
+|K100|Quadcopter frame|<img src="docs/img/frame.jpg" width=100>|1|
+|8520 3.7V brushed motor (**shaft 0.8mm!**)|Motor|<img src="docs/img/motor.jpeg" width=100>|4|
+|Hubsan 55 mm| Propeller|<img src="docs/img/prop.jpg" width=100>|4|
+|2.7A 1S Dual Way Micro Brush ESC|Motor ESC|<img src="docs/img/esc.jpg" width=100>|4|
+|KINGKONG TINY X8|RC transmitter|<img src="docs/img/tx.jpg" width=100>|1|
+|DF500 (SBUS)|RC receiver|<img src="docs/img/rx.jpg" width=100>|1|
+||~~SBUS inverter~~*|<img src="docs/img/inv.jpg" width=100>|~~1~~|
+|3.7 Li-Po 850 MaH 60C|Battery|||
+||Battery charger|<img src="docs/img/charger.jpg" width=100>|1|
+||Wires, connectors, tape, ...|||
+||3D-printed frame parts|||

-Feel free to modify the design and or code, and create your own improved versions of Flix! Send your results to the [official Telegram chat](https://t.me/opensourcequadcopterchat), or directly to the author ([E-mail](mailto:okalachev@gmail.com), [Telegram](https://t.me/okalachev)).
-
-## Schematics (version 1)
-
-### Simplified connection diagram
-
-<img src="docs/img/schematics1.svg" width=800 alt="Flix version 1 schematics">
-
-Motor connection scheme:
-
-<img src="docs/img/mosfet-connection.png" height=400 alt="MOSFET connection scheme">
-
-Complete diagram is Work-in-Progress.
-
-### Notes
-
-* Power ESP32 Mini with Li-Po battery using VCC (+) and GND (-) pins.
-* Connect the IMU board to the ESP32 Mini using VSPI, power it using 3.3V and GND pins:
-
-  |IMU pin|ESP32 pin|
-  |-|-|
-  |GND|GND|
-  |3.3V|3.3V|
-  |SCL *(SCK)*|SVP (GPIO18)|
-  |SDA *(MOSI)*|GPIO23|
-  |SAO *(MISO)*|GPIO19|
-  |NCS|GPIO5|
-
-* Solder pull-down resistors to the MOSFETs.
-* Connect the motors to the ESP32 Mini using MOSFETs, by following scheme:
-
-  |Motor|Position|Direction|Wires|GPIO|
-  |-|-|-|-|-|
-  |Motor 0|Rear left|Counter-clockwise|Black & White|GPIO12|
-  |Motor 1|Rear right|Clockwise|Blue & Red|GPIO13|
-  |Motor 2|Front right|Counter-clockwise|Black & White|GPIO14|
-  |Motor 3|Front left|Clockwise|Blue & Red|GPIO15|
-
-  Counter-clockwise motors have black and white wires and clockwise motors have blue and red wires.
-
-* Optionally connect the RC receiver to the ESP32's UART2:
-
-  |Receiver pin|ESP32 pin|
-  |-|-|
-  |GND|GND|
-  |VIN|VC (or 3.3V depending on the receiver)|
-  |Signal|GPIO4⁶|
-
-*⁶ — UART2 RX pin was [changed](https://docs.espressif.com/projects/arduino-esp32/en/latest/migration_guides/2.x_to_3.0.html#id14) to GPIO4 in Arduino ESP32 core 3.0.*
-
-### IMU placement
-
-Default IMU orientation in the code is **LFD** (Left-Forward-Down):
-
-<img src="docs/img/gy91-lfd.svg" width=400 alt="GY-91 axes">
-
-In case of using other IMU orientation, modify the `rotateIMU` function in the `imu.ino` file.
-
-See [FlixPeriph documentation](https://github.com/okalachev/flixperiph?tab=readme-ov-file#imu-axes-orientation) to learn axis orientation of other IMU boards.
-
-## Version 0
-
-See the information on the obsolete version 0 in the [corresponding article](docs/version0.md).
+*\* — not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).*

 ## Materials

-Subscribe to the Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter.
-
-Join the official Telegram chat: https://t.me/opensourcequadcopterchat.
+Subscribe to Telegram-channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter.

 Detailed article on Habr.com about the development of the drone (in Russian): https://habr.com/ru/articles/814127/.
--- a/docs/Makefile
+++ b/docs/Makefile
@@ -1,10 +0,0 @@
-build:
-	mdbook build
-
-serve:
-	mdbook serve
-
-clean:
-	mdbook clean
-
-.PHONY: build serve clean
--- a/docs/alerts.py
+++ b/docs/alerts.py
@@ -1,31 +0,0 @@
-# https://rust-lang.github.io/mdBook/format/configuration/preprocessors.html
-# https://rust-lang.github.io/mdBook/for_developers/preprocessors.html
-
-import json
-import sys
-import re
-
-
-def transform_markdown_to_html(markdown_text):
-    def replace_blockquote(match):
-        tag = match.group(1).lower()
-        content = match.group(2).strip().replace('\n> ', ' ')
-        return f'<div class="alert alert-{tag}">{content}</div>\n'
-
-    pattern = re.compile(r'> \[!(NOTE|TIP|IMPORTANT|WARNING|CAUTION)\]\n>(.*?)\n?(?=(\n[^>]|\Z))', re.DOTALL)
-    transformed_text = pattern.sub(replace_blockquote, markdown_text)
-    return transformed_text
-
-
-if __name__ == '__main__':
-    if len(sys.argv) > 1:
-        if sys.argv[1] == 'supports':
-            sys.exit(0)
-
-    context, book = json.load(sys.stdin)
-
-    for section in book['sections']:
-        if 'Chapter' in section:
-            section['Chapter']['content'] = transform_markdown_to_html(section['Chapter']['content'])
-
-    print(json.dumps(book))
--- a/docs/assets/esp32-holder.step
+++ b/docs/assets/esp32-holder.step
--- a/docs/assets/esp32-holder.stl
+++ b/docs/assets/esp32-holder.stl
--- a/docs/assets/flix-frame.step
+++ b/docs/assets/flix-frame.step
--- a/docs/assets/flix-frame.stl
+++ b/docs/assets/flix-frame.stl
--- a/docs/assets/washer-m3.step
+++ b/docs/assets/washer-m3.step
@@ -1,200 +0,0 @@
-ISO-10303-21;
-HEADER;
-
-FILE_DESCRIPTION(
-/* description */ (''),
-/* implementation_level */ '2;1');
-
-FILE_NAME(
-/* name */ 'washer-m3.step',
-/* time_stamp */ '2024-10-29T13:59:42+03:00',
-/* author */ (''),
-/* organization */ (''),
-/* preprocessor_version */ '',
-/* originating_system */ '',
-
-/* authorisation */ '');
-
-FILE_SCHEMA (('AUTOMOTIVE_DESIGN { 1 0 10303 214 3 1 1 }'));
-ENDSEC;
-
-DATA;
-#10=MECHANICAL_DESIGN_GEOMETRIC_PRESENTATION_REPRESENTATION('',(#13),#125);
-#11=SHAPE_REPRESENTATION_RELATIONSHIP('SRR','None',#132,#12);
-#12=ADVANCED_BREP_SHAPE_REPRESENTATION('',(#14),#124);
-#13=STYLED_ITEM('',(#141),#14);
-#14=MANIFOLD_SOLID_BREP('Body1',#65);
-#15=FACE_BOUND('',#26,.T.);
-#16=FACE_BOUND('',#28,.T.);
-#17=PLANE('',#85);
-#18=PLANE('',#86);
-#19=FACE_OUTER_BOUND('',#23,.T.);
-#20=FACE_OUTER_BOUND('',#24,.T.);
-#21=FACE_OUTER_BOUND('',#25,.T.);
-#22=FACE_OUTER_BOUND('',#27,.T.);
-#23=EDGE_LOOP('',(#47,#48,#49,#50));
-#24=EDGE_LOOP('',(#51,#52,#53,#54));
-#25=EDGE_LOOP('',(#55));
-#26=EDGE_LOOP('',(#56));
-#27=EDGE_LOOP('',(#57));
-#28=EDGE_LOOP('',(#58));
-#29=LINE('',#112,#31);
-#30=LINE('',#118,#32);
-#31=VECTOR('',#93,1.7);
-#32=VECTOR('',#100,2.7);
-#33=CIRCLE('',#80,1.7);
-#34=CIRCLE('',#81,1.7);
-#35=CIRCLE('',#83,2.7);
-#36=CIRCLE('',#84,2.7);
-#37=VERTEX_POINT('',#109);
-#38=VERTEX_POINT('',#111);
-#39=VERTEX_POINT('',#115);
-#40=VERTEX_POINT('',#117);
-#41=EDGE_CURVE('',#37,#37,#33,.T.);
-#42=EDGE_CURVE('',#37,#38,#29,.T.);
-#43=EDGE_CURVE('',#38,#38,#34,.T.);
-#44=EDGE_CURVE('',#39,#39,#35,.T.);
-#45=EDGE_CURVE('',#39,#40,#30,.T.);
-#46=EDGE_CURVE('',#40,#40,#36,.T.);
-#47=ORIENTED_EDGE('',*,*,#41,.F.);
-#48=ORIENTED_EDGE('',*,*,#42,.T.);
-#49=ORIENTED_EDGE('',*,*,#43,.T.);
-#50=ORIENTED_EDGE('',*,*,#42,.F.);
-#51=ORIENTED_EDGE('',*,*,#44,.F.);
-#52=ORIENTED_EDGE('',*,*,#45,.T.);
-#53=ORIENTED_EDGE('',*,*,#46,.T.);
-#54=ORIENTED_EDGE('',*,*,#45,.F.);
-#55=ORIENTED_EDGE('',*,*,#44,.T.);
-#56=ORIENTED_EDGE('',*,*,#41,.T.);
-#57=ORIENTED_EDGE('',*,*,#46,.F.);
-#58=ORIENTED_EDGE('',*,*,#43,.F.);
-#59=CYLINDRICAL_SURFACE('',#79,1.7);
-#60=CYLINDRICAL_SURFACE('',#82,2.7);
-#61=ADVANCED_FACE('',(#19),#59,.F.);
-#62=ADVANCED_FACE('',(#20),#60,.T.);
-#63=ADVANCED_FACE('',(#21,#15),#17,.T.);
-#64=ADVANCED_FACE('',(#22,#16),#18,.F.);
-#65=CLOSED_SHELL('',(#61,#62,#63,#64));
-#66=DERIVED_UNIT_ELEMENT(#68,1.);
-#67=DERIVED_UNIT_ELEMENT(#127,-3.);
-#68=(
-MASS_UNIT()
-NAMED_UNIT(*)
-SI_UNIT(.KILO.,.GRAM.)
-);
-#69=DERIVED_UNIT((#66,#67));
-#70=MEASURE_REPRESENTATION_ITEM('density measure',
-POSITIVE_RATIO_MEASURE(7850.),#69);
-#71=PROPERTY_DEFINITION_REPRESENTATION(#76,#73);
-#72=PROPERTY_DEFINITION_REPRESENTATION(#77,#74);
-#73=REPRESENTATION('material name',(#75),#124);
-#74=REPRESENTATION('density',(#70),#124);
-#75=DESCRIPTIVE_REPRESENTATION_ITEM('Steel','Steel');
-#76=PROPERTY_DEFINITION('material property','material name',#134);
-#77=PROPERTY_DEFINITION('material property','density of part',#134);
-#78=AXIS2_PLACEMENT_3D('',#107,#87,#88);
-#79=AXIS2_PLACEMENT_3D('',#108,#89,#90);
-#80=AXIS2_PLACEMENT_3D('',#110,#91,#92);
-#81=AXIS2_PLACEMENT_3D('',#113,#94,#95);
-#82=AXIS2_PLACEMENT_3D('',#114,#96,#97);
-#83=AXIS2_PLACEMENT_3D('',#116,#98,#99);
-#84=AXIS2_PLACEMENT_3D('',#119,#101,#102);
-#85=AXIS2_PLACEMENT_3D('',#120,#103,#104);
-#86=AXIS2_PLACEMENT_3D('',#121,#105,#106);
-#87=DIRECTION('axis',(0.,0.,1.));
-#88=DIRECTION('refdir',(1.,0.,0.));
-#89=DIRECTION('center_axis',(0.,0.,1.));
-#90=DIRECTION('ref_axis',(1.,0.,0.));
-#91=DIRECTION('center_axis',(0.,0.,-1.));
-#92=DIRECTION('ref_axis',(1.,0.,0.));
-#93=DIRECTION('',(0.,0.,-1.));
-#94=DIRECTION('center_axis',(0.,0.,-1.));
-#95=DIRECTION('ref_axis',(1.,0.,0.));
-#96=DIRECTION('center_axis',(0.,0.,1.));
-#97=DIRECTION('ref_axis',(1.,0.,0.));
-#98=DIRECTION('center_axis',(0.,0.,1.));
-#99=DIRECTION('ref_axis',(1.,0.,0.));
-#100=DIRECTION('',(0.,0.,-1.));
-#101=DIRECTION('center_axis',(0.,0.,1.));
-#102=DIRECTION('ref_axis',(1.,0.,0.));
-#103=DIRECTION('center_axis',(0.,0.,1.));
-#104=DIRECTION('ref_axis',(1.,0.,0.));
-#105=DIRECTION('center_axis',(0.,0.,1.));
-#106=DIRECTION('ref_axis',(1.,0.,0.));
-#107=CARTESIAN_POINT('',(0.,0.,0.));
-#108=CARTESIAN_POINT('Origin',(0.,0.,0.));
-#109=CARTESIAN_POINT('',(-1.7,-2.0818995585505E-16,2.));
-#110=CARTESIAN_POINT('Origin',(0.,0.,2.));
-#111=CARTESIAN_POINT('',(-1.7,-2.0818995585505E-16,0.));
-#112=CARTESIAN_POINT('',(-1.7,-2.0818995585505E-16,0.));
-#113=CARTESIAN_POINT('Origin',(0.,0.,0.));
-#114=CARTESIAN_POINT('Origin',(0.,0.,0.));
-#115=CARTESIAN_POINT('',(-2.7,-3.30654635769785E-16,2.));
-#116=CARTESIAN_POINT('Origin',(0.,0.,2.));
-#117=CARTESIAN_POINT('',(-2.7,-3.30654635769785E-16,0.));
-#118=CARTESIAN_POINT('',(-2.7,-3.30654635769785E-16,0.));
-#119=CARTESIAN_POINT('Origin',(0.,0.,0.));
-#120=CARTESIAN_POINT('Origin',(0.,0.,2.));
-#121=CARTESIAN_POINT('Origin',(0.,0.,0.));
-#122=UNCERTAINTY_MEASURE_WITH_UNIT(LENGTH_MEASURE(0.01),#126,
-'DISTANCE_ACCURACY_VALUE',
-'Maximum model space distance between geometric entities at asserted c
-onnectivities');
-#123=UNCERTAINTY_MEASURE_WITH_UNIT(LENGTH_MEASURE(0.01),#126,
-'DISTANCE_ACCURACY_VALUE',
-'Maximum model space distance between geometric entities at asserted c
-onnectivities');
-#124=(
-GEOMETRIC_REPRESENTATION_CONTEXT(3)
-GLOBAL_UNCERTAINTY_ASSIGNED_CONTEXT((#122))
-GLOBAL_UNIT_ASSIGNED_CONTEXT((#126,#128,#129))
-REPRESENTATION_CONTEXT('','3D')
-);
-#125=(
-GEOMETRIC_REPRESENTATION_CONTEXT(3)
-GLOBAL_UNCERTAINTY_ASSIGNED_CONTEXT((#123))
-GLOBAL_UNIT_ASSIGNED_CONTEXT((#126,#128,#129))
-REPRESENTATION_CONTEXT('','3D')
-);
-#126=(
-LENGTH_UNIT()
-NAMED_UNIT(*)
-SI_UNIT(.MILLI.,.METRE.)
-);
-#127=(
-LENGTH_UNIT()
-NAMED_UNIT(*)
-SI_UNIT($,.METRE.)
-);
-#128=(
-NAMED_UNIT(*)
-PLANE_ANGLE_UNIT()
-SI_UNIT($,.RADIAN.)
-);
-#129=(
-NAMED_UNIT(*)
-SI_UNIT($,.STERADIAN.)
-SOLID_ANGLE_UNIT()
-);
-#130=SHAPE_DEFINITION_REPRESENTATION(#131,#132);
-#131=PRODUCT_DEFINITION_SHAPE('',$,#134);
-#132=SHAPE_REPRESENTATION('',(#78),#124);
-#133=PRODUCT_DEFINITION_CONTEXT('part definition',#138,'design');
-#134=PRODUCT_DEFINITION('washer-m3','washer-m3',#135,#133);
-#135=PRODUCT_DEFINITION_FORMATION('',$,#140);
-#136=PRODUCT_RELATED_PRODUCT_CATEGORY('washer-m3','washer-m3',(#140));
-#137=APPLICATION_PROTOCOL_DEFINITION('international standard',
-'automotive_design',2009,#138);
-#138=APPLICATION_CONTEXT(
-'Core Data for Automotive Mechanical Design Process');
-#139=PRODUCT_CONTEXT('part definition',#138,'mechanical');
-#140=PRODUCT('washer-m3','washer-m3',$,(#139));
-#141=PRESENTATION_STYLE_ASSIGNMENT((#142));
-#142=SURFACE_STYLE_USAGE(.BOTH.,#143);
-#143=SURFACE_SIDE_STYLE('',(#144));
-#144=SURFACE_STYLE_FILL_AREA(#145);
-#145=FILL_AREA_STYLE('Steel - Satin',(#146));
-#146=FILL_AREA_STYLE_COLOUR('Steel - Satin',#147);
-#147=COLOUR_RGB('Steel - Satin',0.627450980392157,0.627450980392157,0.627450980392157);
-ENDSEC;
-END-ISO-10303-21;
--- a/docs/assets/washer-m3.stl
+++ b/docs/assets/washer-m3.stl
--- a/docs/book.css
+++ b/docs/book.css
@@ -1,110 +0,0 @@
-.sidebar-resize-handle { display: none !important; }
-
-footer {
-	contain: content;
-	border-top: 3px solid #f4f4f4;
-}
-
-footer a.telegram, footer a.github {
-	display: block;
-	margin-bottom: 10px;
-	margin-top: 10px;
-	display: flex;
-	align-items: center;
-	text-decoration: none;
-}
-
-.content .github, .content .telegram {
-	display: flex;
-	align-items: center;
-	text-align: center;
-	justify-content: center;
-}
-
-.telegram::before, .github::before {
-	font-family: FontAwesome;
-	margin-right: 0.3em;
-	font-size: 1.6em;
-	color: black;
-}
-
-.github::before {
-	content: "\f09b";
-}
-
-.telegram::before {
-	font-size: 1.4em;
-	color: #0084c5;
-	content: "\f2c6";
-}
-
-.content hr {
-	border: none;
-	border-top: 2px solid #c9c9c9;
-	margin: 2em 0;
-}
-
-.content img {
-	display: block;
-	margin: 0 auto;
-}
-
-.content img.border {
-	border: 1px solid #c9c9c9;
-}
-
-.firmware {
-	position: relative;
-	margin: 20px 0;
-	padding: 20px 20px;
-	padding-left: 60px;
-	color: var(--fg);
-	background-color: var(--quote-bg);
-	border-block-start: .1em solid var(--quote-border);
-	border-block-end: .1em solid var(--quote-border);
-}
-
-.firmware::before {
-	font-family: FontAwesome;
-	font-size: 1.5em;
-	content: "\f15b";
-	position: absolute;
-	width: 20px;
-	text-align: center;
-	left: 20px;
-}
-
-.alert {
-	margin-top: 20px;
-	margin-bottom: 20px;
-	position: relative;
-	border-left: 2px solid #0a69da;
-	padding: 20px;
-	padding-left: 60px;
-}
-
-.alert::before {
-	font-family: FontAwesome;
-	font-size: 1.5em;
-	color: #0a69da;
-	content: "\f05a";
-	position: absolute;
-	width: 20px;
-	text-align: center;
-	left: 20px;
-}
-
-.alert-tip { border-left-color: #1b7f37; }
-.alert-tip::before { color: #1b7f37; content: '\f0eb'; }
-
-.alert-caution { border-left-color: #cf212e; }
-.alert-caution::before { color: #cf212e; content: '\f071'; }
-
-.alert-important { border-left-color: #8250df; }
-.alert-important::before { color: #8250df; content: '\f06a'; }
-
-.alert-warning { border-left-color: #f0ad4e; }
-.alert-warning::before { color: #f0ad4e; content: '\f071'; }
-
-.alert-code { border-left-color: #333; }
-.alert-code::before { color: #333; content: '\f121'; }
--- a/docs/book.toml
+++ b/docs/book.toml
@@ -1,22 +0,0 @@
-[book]
-authors = ["Oleg Kalachev"]
-language = "ru"
-multilingual = false
-src = "book"
-title = "Полетный контроллер с нуля"
-description = "Учебник по разработке полетного контроллера квадрокоптера"
-
-[build]
-build-dir = "build"
-
-[output.html]
-additional-css = ["book.css", "zoom.css"]
-additional-js = ["zoom.js", "js.js"]
-edit-url-template = "https://github.com/okalachev/flix/blob/master/docs/{path}?plain=1"
-mathjax-support = true
-
-[output.html.code.hidelines]
-cpp = "//~"
-
-[preprocessor.alerts]
-command = "python3 alerts.py"
--- a/docs/book/README.md
+++ b/docs/book/README.md
@@ -1,10 +0,0 @@
-# Flix
-
-> [!IMPORTANT]
-> Flix — это проект по созданию открытого квадрокоптера на базе ESP32 с нуля и учебника по разработке полетных контроллеров.
-
-<img src="img/flix1.jpg" class="border" width=500 alt="Flix quadcopter">
-
-<p class="github">GitHub:&nbsp;<a href="https://github.com/okalachev/flix">github.com/okalachev/flix</a>.</p>
-
-<p class="telegram">Telegram-канал:&nbsp;<a href="https://t.me/opensourcequadcopter">@opensourcequadcopter</a>.</p>
--- a/docs/book/SUMMARY.md
+++ b/docs/book/SUMMARY.md
@@ -1,22 +0,0 @@
-<!-- markdownlint-disable MD041 -->
-<!-- markdownlint-disable MD042 -->
-
-[Главная](./README.md)
-
-* [Архитектура прошивки](firmware.md)
-
-# Учебник
-
-* [Основы]()
-* [Светодиод]()
-* [Моторы]()
-* [Радиоуправление]()
-* [Гироскоп](gyro.md)
-* [Акселерометр]()s
-* [Оценка состояния]()
-* [PID-регулятор]()
-* [Режим ACRO]()
-* [Режим STAB]()
-* [Wi-Fi]()
-* [MAVLink]()
-* [Симуляция]()
--- a/docs/book/firmware.md
+++ b/docs/book/firmware.md
@@ -1,32 +0,0 @@
-# Архитектура прошивки
-
-<img src="img/dataflow.svg" width=800 alt="Firmware dataflow diagram">
-
-Главный цикл работает на частоте 1000 Гц. Передача данных между подсистемами происходит через глобальные переменные:
-
-* `t` *(float)* — текущее время шага, *с*.
-* `dt` *(float)* — дельта времени между текущим и предыдущим шагами, *с*.
-* `gyro` *(Vector)* — данные с гироскопа, *рад/с*.
-* `acc` *(Vector)* — данные с акселерометра, *м/с<sup>2</sup>*.
-* `rates` *(Vector)* — отфильтрованные угловые скорости, *рад/с*.
-* `attitude` *(Quaternion)* — оценка ориентации (положения) дрона.
-* `controls` *(float[])* — пользовательские управляющие сигналы с пульта, нормализованные в диапазоне [-1, 1].
-* `motors` *(float[])* — выходные сигналы на моторы, нормализованные в диапазоне [-1, 1] (возможно вращение в обратную сторону).
-
-## Исходные файлы
-
-Исходные файлы прошивки находятся в директории `flix`. Ключевые файлы:
-
-* [`flix.ino`](https://github.com/okalachev/flix/blob/canonical/flix/flix.ino) — основной входной файл, скетч Arduino. Включает определение глобальных переменных и главный цикл.
-* [`imu.ino`](https://github.com/okalachev/flix/blob/canonical/flix/imu.ino) — чтение данных с датчика IMU (гироскоп и акселерометр), калибровка IMU.
-* [`rc.ino`](https://github.com/okalachev/flix/blob/canonical/flix/rc.ino) — чтение данных с RC-приемника, калибровка RC.
-* [`mavlink.ino`](https://github.com/okalachev/flix/blob/canonical/flix/mavlink.ino) — взаимодействие с QGroundControl через MAVLink.
-* [`estimate.ino`](https://github.com/okalachev/flix/blob/canonical/flix/estimate.ino) — оценка ориентации дрона, комплементарный фильтр.
-* [`control.ino`](https://github.com/okalachev/flix/blob/canonical/flix/control.ino) — управление ориентацией и угловыми скоростями дрона, трехмерный двухуровневый каскадный PID-регулятор.
-* [`motors.ino`](https://github.com/okalachev/flix/blob/canonical/flix/motors.ino) — управление выходными сигналами на моторы через ШИМ.
-
-Вспомогательные файлы включают:
-
-* [`vector.h`](https://github.com/okalachev/flix/blob/canonical/flix/vector.h), [`quaternion.h`](https://github.com/okalachev/flix/blob/canonical/flix/quaternion.h) — реализация библиотек векторов и кватернионов проекта.
-* [`pid.h`](https://github.com/okalachev/flix/blob/canonical/flix/pid.h) — реализация общего ПИД-регулятора.
-* [`lpf.h`](https://github.com/okalachev/flix/blob/canonical/flix/lpf.h) — реализация общего фильтра нижних частот.
--- a/docs/book/gyro.md
+++ b/docs/book/gyro.md
@@ -1,262 +0,0 @@
-# Гироскоп
-
-<div class="firmware">
-	<strong>Файл прошивки Flix:</strong>
-	<a href="https://github.com/okalachev/flix/blob/canonical/flix/imu.ino"><code>imu.ino</code></a> <small>(каноничная версия)</small>.<br>
-	Текущая версия: <a href="https://github.com/okalachev/flix/blob/master/flix/imu.ino"><code>imu.ino</code></a>.
-</div>
-
-Поддержание стабильного полета квадрокоптера невозможно без датчиков обратной связи. Важнейший из них — это **MEMS-гироскоп**. MEMS-гироскоп это микроэлектромеханический аналог классического механического гироскопа.
-
-Механический гироскоп состоит из вращающегося диска, который сохраняет свою ориентацию в пространстве. Благодаря этому эффекту возможно определить ориентацию объекта в пространстве.
-
-В MEMS-гироскопе нет вращающихся частей, и он помещается в крошечную микросхему. Он может измерять только текущую угловую скорость вращения объекта вокруг трех осей: X, Y и Z.
-
-|Механический гироскоп|MEMS-гироскоп|
-|-|-|
-|<img src="img/gyroscope.jpg" width="300" alt="Механический гироскоп">|<img src="img/mpu9250.jpg" width="100" alt="MEMS-гироскоп MPU-9250">|
-
-MEMS-гироскоп обычно интегрирован в инерциальный модуль (IMU), в котором также находятся акселерометр и магнитометр. Модуль IMU часто называют 9-осевым датчиком, потому что он измеряет:
-
-* Угловую скорость вращения по трем осям (гироскоп).
-* Ускорение по трем осям (акселерометр).
-* Магнитное поле по трем осям (магнитометр).
-
-Flix поддерживает следующие модели IMU:
-
-* InvenSense MPU-9250.
-* InvenSense MPU-6500.
-* InvenSense ICM-20948.
-
-> [!NOTE]
-> MEMS-гироскоп измеряет угловую скорость вращения объекта.
-
-## Интерфейс подключения
-
-Большинство модулей IMU подключаются к микроконтроллеру через интерфейсы I²C и SPI. Оба этих интерфейса являются *шинами данных*, то есть позволяют подключить к одному микроконтроллеру несколько устройств.
-
-**Интерфейс I²C** использует два провода для передачи данных и тактового сигнала. Выбор устройства для коммуникации происходит при помощи передачи адреса устройства на шину. Разные устройства имеют разные адреса, и микроконтроллер может последовательно общаться с несколькими устройствами.
-
-**Интерфейс SPI** использует два провода для передачи данных, еще один для тактового сигнала и еще один для выбора устройства. При этом для каждого устройства на шине выделяется отдельный GPIO-пин для выбора. В разных реализациях этот пин называется CS/NCS (Chip Select) или SS (Slave Select). Когда CS-пин устройства активен (напряжение на нем низкое), устройство выбрано для общения.
-
-В полетных контроллерах IMU обычно подключают через SPI, потому что он обеспечивает значительно бо́льшую скорость передачи данных и меньшую задержку. Подключение IMU через интерфейс I²C (например, в случае нехватки пинов микроконтроллера) возможно, но не рекомендуется.
-
-Подключение IMU к микроконтроллеру ESP32 через интерфейс SPI выглядит так:
-
-|Пин платы IMU|Пин ESP32|
-|-|-|
-|VCC/3V3|3V3|
-|GND|GND|
-|SCL|IO18|
-|SDA *(MOSI)*|IO23|
-|SAO/AD0 *(MISO)*|IO19|
-|NCS|IO5|
-
-Кроме того, многие IMU могут «будить» микроконтроллер при наличии новых данных. Для этого используется пин INT, который подключается к любому GPIO-пину микроконтроллера. При такой конфигурации можно использовать прерывания для обработки новых данных с IMU, вместо периодического опроса датчика. Это позволяет снизить нагрузку на микроконтроллер в сложных алгоритмах управления.
-
-> [!WARNING]
-> На некоторых платах IMU, например, на ICM-20948, отсутствует стабилизатор напряжения, поэтому их нельзя подключать к пину VIN ESP32, который подает напряжение 5 В. Допустимо питание только от пина 3V3.
-
-## Работа с гироскопом
-
-Для взаимодействия с IMU, включая работу с гироскопом, в Flix используется библиотека *FlixPeriph*. Библиотека устанавливается через менеджер библиотек Arduino IDE:
-
-<img src="img/flixperiph.png" width="300">
-
-Чтобы работать с IMU, используется класс, соответствующий модели IMU: `MPU9250`, `MPU6500` или `ICM20948`. Классы для работы с разными IMU имеют единообразный интерфейс для основных операций, поэтому возможно легко переключаться между разными моделями IMU. Датчик MPU-6500 практически полностью совместим с MPU-9250, поэтому фактически класс `MPU9250` поддерживает обе модели.
-
-## Ориентация осей гироскопа
-
-Данные с гироскопа представляют собой угловую скорость вокруг трех осей: X, Y и Z. Ориентацию этих осей у IMU InvenSense можно легко определить по небольшой точке в углу чипа. Оси координат и направление вращения для измерений гироскопа обозначены на диаграмме:
-
-<img src="img/imu-axes.svg" width="300" alt="Оси координат IMU">
-
-Расположение осей координат в популярных платах IMU:
-
-|GY-91|MPU-92/65|ICM-20948|
-|-|-|-|
-|<img src="https://github.com/okalachev/flixperiph/raw/refs/heads/master/img/gy91-axes.svg" width="200" alt="Оси координат платы GY-91">|<img src="https://github.com/okalachev/flixperiph/raw/refs/heads/master/img/mpu9265-axes.svg" width="200" alt="Оси координат платы MPU-9265">|<img src="https://github.com/okalachev/flixperiph/raw/refs/heads/master/img/icm20948-axes.svg" width="200" alt="Оси координат платы ICM-20948">|
-
-Магнитометр IMU InvenSense обычно является отдельным устройством, интегрированным в чип, поэтому его оси координат могут отличаться. Библиотека FlixPeriph скрывает это различие и приводит данные с магнитометра к системе координат гироскопа и акселерометра.
-
-## Чтение данных
-
-Интерфейс библиотеки FlixPeriph соответствует стилю, принятому в Arduino. Для начала работы с IMU необходимо создать объект соответствующего класса и вызвать метод `begin()`. В конструктор класса передается интерфейс, по которому подключен IMU (SPI или I²C):
-
-```cpp
-#include <FlixPeriph.h>
-#include <SPI.h>
-
-MPU9250 IMU(SPI);
-
-void setup() {
-	Serial.begin(115200);
-	bool success = IMU.begin();
-	if (!success) {
-		Serial.println("Failed to initialize IMU");
-	}
-}
-```
-
-Для однократного считывания данных используется метод `read()`. Затем данные с гироскопа получаются при помощи метода `getGyro(x, y, z)`. Этот метод записывает в переменные `x`, `y` и `z` угловые скорости вокруг соответствующих осей в радианах в секунду.
-
-Если нужно гарантировать, что будут считаны новые данные, можно использовать метод `waitForData()`. Этот метод блокирует выполнение программы до тех пор, пока в IMU не появятся новые данные. Метод `waitForData()` позволяет привязать частоту главного цикла `loop` к частоте обновления данных IMU. Это удобно для организации главного цикла управления квадрокоптером.
-
-Программа для чтения данных с гироскопа и вывода их в консоль для построения графиков в Serial Plotter выглядит так:
-
-```cpp
-#include <FlixPeriph.h>
-#include <SPI.h>
-
-MPU9250 IMU(SPI);
-
-void setup() {
-	Serial.begin(115200);
-	bool success = IMU.begin();
-	if (!success) {
-		Serial.println("Failed to initialize IMU");
-	}
-}
-
-void loop() {
-	IMU.waitForData();
-
-	float gx, gy, gz;
-	IMU.getGyro(gx, gy, gz);
-
-	Serial.printf("gx:%f gy:%f gz:%f\n", gx, gy, gz);
-	delay(50); // замедление вывода
-}
-```
-
-После запуска программы в Serial Plotter можно увидеть графики угловых скоростей. Например, при вращениях IMU вокруг вертикальной оси Z графики будут выглядеть так:
-
-<img src="img/gyro-plotter.png">
-
-## Конфигурация гироскопа
-
-В коде Flix настройка IMU происходит в функции `configureIMU`. В этой функции настраиваются три основных параметра гироскопа: диапазон измерений, частота сэмплов и частота LPF-фильтра.
-
-### Частота сэмплов
-
-Большинство IMU могут обновлять данные с разной частотой. В полетных контроллерах обычно используется частота обновления от 500 Гц до 8 кГц. Чем выше частота сэмплов, тем выше точность управления полетом, но и больше нагрузка на микроконтроллер. В Flix используется частота сэмплов 1 кГц.
-
-Частота сэмплов устанавливается методом `setSampleRate()`. В Flix используется частота 1 кГц:
-
-```cpp
-IMU.setRate(IMU.RATE_1KHZ_APPROX);
-```
-
-Поскольку не все поддерживаемые IMU могут работать строго на частоте 1 кГц, в библиотеке FlixPeriph существует возможность приближенной настройки частоты сэмплов. Например, у IMU ICM-20948 при такой настройке реальная частота сэмплирования будет равна 1125 Гц.
-
-Другие доступные для установки в библиотеке FlixPeriph частоты сэмплирования:
-
-* `RATE_MIN` — минимальная частота сэмплов для конкретного IMU.
-* `RATE_50HZ_APPROX` — значение, близкое к 50 Гц.
-* `RATE_1KHZ_APPROX`  — значение, близкое к 1 кГц.
-* `RATE_8KHZ_APPROX` — значение, близкое к 8 кГц.
-* `RATE_MAX` — максимальная частота сэмплов для конкретного IMU.
-
-#### Диапазон измерений
-
-Большинство MEMS-гироскопов поддерживают несколько диапазонов измерений угловой скорости. Главное преимущество выбора меньшего диапазона — бо́льшая чувствительность. В полетных контроллерах обычно выбирается максимальный диапазон измерений от –2000 до 2000 градусов в секунду, чтобы обеспечить возможность динамичных маневров.
-
-В библиотеке FlixPeriph диапазон измерений гироскопа устанавливается методом `setGyroRange()`:
-
-```cpp
-IMU.setGyroRange(IMU.GYRO_RANGE_2000DPS);
-```
-
-### LPF-фильтр
-
-IMU InvenSense могут фильтровать измерения на аппаратном уровне при помощи фильтра нижних частот (LPF). Flix реализует собственный фильтр для гироскопа, чтобы иметь больше гибкости при поддержке разных IMU. Поэтому для встроенного LPF устанавливается максимальная частота среза:
-
-```cpp
-IMU.setDLPF(IMU.DLPF_MAX);
-```
-
-## Калибровка гироскопа
-
-Как и любое измерительное устройство, гироскоп вносит искажения в измерения. Наиболее простая модель этих искажений делит их на статические смещения (*bias*) и случайный шум (*noise*):
-
-\\[ gyro_{xyz}=rates_{xyz}+bias_{xyz}+noise \\]
-
-Для качественной работы подсистемы оценки ориентации и управления дроном необходимо оценить *bias* гироскопа и учесть его в вычислениях. Для этого при запуске программы производится калибровка гироскопа, которая реализована в функции `calibrateGyro()`. Эта функция считывает данные с гироскопа в состоянии покоя 1000 раз и усредняет их. Полученные значения считаются *bias* гироскопа и в дальнейшем вычитаются из измерений.
-
-Программа для вывода данных с гироскопа с калибровкой:
-
-```cpp
-#include <FlixPeriph.h>
-#include <SPI.h>
-
-MPU9250 IMU(SPI);
-
-float gyroBiasX, gyroBiasY, gyroBiasZ; // bias гироскопа
-
-void setup() {
-	Serial.begin(115200);
-	bool success = IMU.begin();
-	if (!success) {
-		Serial.println("Failed to initialize IMU");
-	}
-	calibrateGyro();
-}
-
-void loop() {
-	float gx, gy, gz;
-	IMU.waitForData();
-	IMU.getGyro(gx, gy, gz);
-
-	// Устранение bias гироскопа
-	gx -= gyroBiasX;
-	gy -= gyroBiasY;
-	gz -= gyroBiasZ;
-
-	Serial.printf("gx:%f gy:%f gz:%f\n", gx, gy, gz);
-	delay(50); // замедление вывода
-}
-
-void calibrateGyro() {
-	const int samples = 1000;
-	Serial.println("Calibrating gyro, stand still");
-
-	gyroBiasX = 0;
-	gyroBiasY = 0;
-	gyroBiasZ = 0;
-
-	// Получение 1000 измерений гироскопа
-	for (int i = 0; i < samples; i++) {
-		IMU.waitForData();
-		float gx, gy, gz;
-		IMU.getGyro(gx, gy, gz);
-		gyroBiasX += gx;
-		gyroBiasY += gy;
-		gyroBiasZ += gz;
-	}
-
-	// Усреднение значений
-	gyroBiasX = gyroBiasX / samples;
-	gyroBiasY = gyroBiasY / samples;
-	gyroBiasZ = gyroBiasZ / samples;
-
-	Serial.printf("Gyro bias X: %f\n", gyroBiasX);
-	Serial.printf("Gyro bias Y: %f\n", gyroBiasY);
-	Serial.printf("Gyro bias Z: %f\n", gyroBiasZ);
-}
-```
-
-График данных с гироскопа в состоянии покоя без калибровки. Можно увидеть статическую ошибку каждой из осей:
-
-<img src="img/gyro-uncalibrated-plotter.png">
-
-График данных с гироскопа в состоянии покоя после калибровки:
-
-<img src="img/gyro-calibrated-plotter.png">
-
-Откалиброванные данные с гироскопа вместе с данными с акселерометра поступают в *подсистему оценки состояния*.
-
-## Дополнительные материалы
-
-* [MPU-9250 datasheet](https://invensense.tdk.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf).
-* [MPU-6500 datasheet](https://invensense.tdk.com/wp-content/uploads/2020/06/PS-MPU-6500A-01-v1.3.pdf).
-* [ICM-20948 datasheet](https://invensense.tdk.com/wp-content/uploads/2016/06/DS-000189-ICM-20948-v1.3.pdf).
--- a/docs/book/img
+++ b/docs/book/img
@@ -1 +0,0 @@
-../img
--- a/docs/build.md
+++ b/docs/build.md
@@ -9,14 +9,12 @@ cd flix

 ## Simulation

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

 1. Install Arduino CLI:

   ```bash
-   curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh
+   curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh
   ```

 2. Install Gazebo 11:
@@ -80,35 +78,19 @@ The latest version of Ubuntu supported by Gazebo 11 simulator is 20.04. If you h
   make simulator
   ```

-### Setup and flight
+### Flight

-#### Control with smartphone
-
-1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone.
-2. Connect your smartphone to the same Wi-Fi network as the machine running the simulator.
-3. If you're using a virtual machine, make sure that its network is set to the **bridged** mode with Wi-Fi adapter selected.
-4. Run the simulation.
-5. Open QGroundControl app. It should connect and begin showing the virtual drone's telemetry automatically.
-6. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
-7. Use the virtual joystick to fly the drone!
-
-#### Control with USB remote control
-
-1. Connect your USB remote control to the machine running the simulator.
-2. Run the simulation.
-3. Calibrate the RC using `cr` command in the command line interface.
-4. Run the simulation again.
-5. Use the USB remote control to fly the drone!
+Use USB remote control or QGroundControl mobile app (with *Virtual Joystick* setting enabled) to control the drone. *Auto-Center Throttle* setting **should be disabled**.

 ## Firmware

 ### Arduino IDE (Windows, Linux, macOS)

 1. Install [Arduino IDE](https://www.arduino.cc/en/software) (version 2 is recommended).
-2. Install ESP32 core, version 3.0.7 (version 2.x is not supported). See the [official Espressif's instructions](https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#installing-using-arduino-ide) on installing ESP32 Core in Arduino IDE.
+2. Install ESP32 core using [Boards Manager](https://docs.arduino.cc/learn/starting-guide/cores).
 3. 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 2.0.12.
+   * `FlixPeriph`.
+   * `MAVLink`, version 2.0.1.
 4. Clone the project using git or [download the source code as a ZIP archive](https://codeload.github.com/okalachev/flix/zip/refs/heads/master).
 5. Open the downloaded Arduino sketch `flix/flix.ino` in Arduino IDE.
 6. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
@@ -137,34 +119,12 @@ The latest version of Ubuntu supported by Gazebo 11 simulator is 20.04. If you h

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

-### Setup and flight
-
-Before flight you need to calibrate the accelerometer:
-
-1. Open Serial Monitor in Arduino IDE (use use `make monitor` command in the command line).
-2. Type `ca` command there and follow the instructions.
-
-#### Control with smartphone
-
-1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone.
-2. Power the drone using the battery.
-3. Connect your smartphone to the appeared `flix` Wi-Fi network.
-4. Open QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
-5. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
-6. Use the virtual joystick to fly the drone!
-
-#### Control with remote control
-
-Before flight using remote control, you need to calibrate it:
-
-1. Open Serial Monitor in Arduino IDE (use use `make monitor` command in the command line).
-2. Type `cr` command there and follow the instructions.
-
-Then you can use your remote control to fly the drone!
-
-> [!NOTE]
-> If something goes wrong, go to the [Troubleshooting](troubleshooting.md) article.
-
 ### Firmware code structure

 See [firmware overview](firmware.md) for more details.
+
+## Setup
+
+Before flight in simulation and on the real drone, you need to calibrate your remote control. Use drone's command line interface (`make monitor` on the real drone) and type `cr` command. Copy calibration results to the source code (`flix/rc.ino` and/or `gazebo/joystick.h`).
+
+On the real drone, you also need to calibrate the accelerometer and the gyroscope. Use `ca` and `cg` commands for that. Copy calibration results to the source code (`flix/imu.ino`).
--- a/docs/img/100n03a.jpg
+++ b/docs/img/100n03a.jpg
--- a/docs/img/battery.jpg
+++ b/docs/img/battery.jpg
--- a/docs/img/esp32-holder.jpg
+++ b/docs/img/esp32-holder.jpg
--- a/docs/img/flight-video.jpg
+++ b/docs/img/flight-video.jpg
--- a/docs/img/flightplot.png
+++ b/docs/img/flightplot.png
--- a/docs/img/flix1.jpg
+++ b/docs/img/flix1.jpg
--- a/docs/img/flixperiph.png
+++ b/docs/img/flixperiph.png
--- a/docs/img/foxglove.png
+++ b/docs/img/foxglove.png
--- a/docs/img/frame1.jpg
+++ b/docs/img/frame1.jpg
--- a/docs/img/gy91-lfd.svg
+++ b/docs/img/gy91-lfd.svg
--- a/docs/img/gyro-calibrated-plotter.png
+++ b/docs/img/gyro-calibrated-plotter.png
--- a/docs/img/gyro-plotter.png
+++ b/docs/img/gyro-plotter.png
--- a/docs/img/gyro-uncalibrated-plotter.png
+++ b/docs/img/gyro-uncalibrated-plotter.png
--- a/docs/img/gyroscope.jpg
+++ b/docs/img/gyroscope.jpg
--- a/docs/img/icm-20948.jpg
+++ b/docs/img/icm-20948.jpg
--- a/docs/img/imu-axes.svg
+++ b/docs/img/imu-axes.svg
@@ -1,119 +0,0 @@
-<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 544.13 637.15">
-  <defs>
-    <style>
-      .a {
-        fill: #dbe1e2;
-      }
-
-      .b {
-        fill: #c2c1c0;
-      }
-
-      .c {
-        fill: #c6c6c5;
-      }
-
-      .d {
-        fill: #ec7d23;
-      }
-
-      .e {
-        font-size: 50px;
-        font-family: Tahoma;
-      }
-
-      .e, .n {
-        fill: #010101;
-      }
-
-      .f {
-        opacity: 0.8;
-      }
-
-      .g, .i, .k, .m {
-        fill: none;
-        stroke-width: 10px;
-      }
-
-      .g {
-        stroke: #0577ba;
-      }
-
-      .g, .i, .k {
-        stroke-linejoin: bevel;
-      }
-
-      .h {
-        fill: #0577ba;
-      }
-
-      .i {
-        stroke: #76c043;
-      }
-
-      .j {
-        fill: #76c043;
-      }
-
-      .k {
-        stroke: #d71f26;
-      }
-
-      .l {
-        fill: #d71f26;
-      }
-
-      .m {
-        stroke: #010101;
-        stroke-miterlimit: 10;
-      }
-    </style>
-  </defs>
-  <g>
-    <g>
-      <rect class="a" x="51.25" y="538.09" width="111.96" height="44.06"/>
-      <polygon class="b" points="204.47 515.98 163.21 582.15 163.21 538.09 204.47 471.91 204.47 515.98"/>
-      <polygon class="c" points="163.21 538.19 51.25 538.19 92.46 471.91 204.42 471.91 163.21 538.19"/>
-      <ellipse class="d" cx="101.09" cy="480" rx="7.45" ry="3.7" transform="translate(-117.09 40.67) rotate(-14.52)"/>
-    </g>
-    <text class="e" transform="translate(166.62 107.43)">Z</text>
-    <g class="f">
-      <g>
-        <line class="g" x1="127.84" y1="505.05" x2="127.84" y2="70.04"/>
-        <polygon class="h" points="145.79 75.3 127.84 44.21 109.89 75.3 145.79 75.3"/>
-      </g>
-    </g>
-    <g class="f">
-      <g>
-        <line class="i" x1="127.84" y1="505.05" x2="315.74" y2="203.61"/>
-        <polygon class="j" points="328.2 217.57 329.41 181.69 297.73 198.57 328.2 217.57"/>
-      </g>
-    </g>
-    <text class="e" transform="translate(338.14 279.7)">Y</text>
-    <g class="f">
-      <g>
-        <line class="k" x1="127.94" y1="504.62" x2="467.04" y2="504.62"/>
-        <polygon class="l" points="461.79 522.58 492.87 504.62 461.79 486.67 461.79 522.58"/>
-      </g>
-    </g>
-    <text class="e" transform="translate(438.99 582.15)">X</text>
-    <g class="f">
-      <g>
-        <path class="m" d="M80,98.74a52.66,52.66,0,1,0,98.43,36.72"/>
-        <polygon class="n" points="190.29 140.9 180.45 116.91 164.59 137.41 190.29 140.9"/>
-      </g>
-    </g>
-    <g class="f">
-      <g>
-        <path class="m" d="M474,467.75a52.66,52.66,0,1,0-59.23,86.77"/>
-        <polygon class="n" points="406.68 564.7 432.32 560.9 416.21 540.59 406.68 564.7"/>
-      </g>
-    </g>
-    <g class="f">
-      <g>
-        <path class="m" d="M222.38,257.69a52.66,52.66,0,1,1,93.83,47.25"/>
-        <polygon class="n" points="308.22 293.44 303.95 319.01 328.23 309.93 308.22 293.44"/>
-      </g>
-    </g>
-  </g>
-</svg>
--- a/docs/img/mosfet-connection.png
+++ b/docs/img/mosfet-connection.png
--- a/docs/img/mpu9250.jpg
+++ b/docs/img/mpu9250.jpg
--- a/docs/img/plotjuggler.png
+++ b/docs/img/plotjuggler.png
--- a/docs/img/resistor10k.jpg
+++ b/docs/img/resistor10k.jpg
--- a/docs/img/schematics1.svg
+++ b/docs/img/schematics1.svg
@@ -1,256 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
-	 viewBox="0 0 1920 1080" style="enable-background:new 0 0 1920 1080;" xml:space="preserve">
-<style type="text/css">
-	.st0{clip-path:url(#SVGID_00000116955662310502408250000008996271717606231736_);fill:#FFFFFF;}
-	.st1{clip-path:url(#SVGID_00000116955662310502408250000008996271717606231736_);fill:#0076BA;}
-	.st2{clip-path:url(#SVGID_00000116955662310502408250000008996271717606231736_);fill:none;stroke:#0076BA;stroke-width:6;}
-	.st3{clip-path:url(#SVGID_00000055674346191406539380000013421132283630177205_);}
-	.st4{fill:#FFFFFF;}
-	.st5{font-family:'Tahoma';}
-	.st6{font-size:60px;}
-	.st7{clip-path:url(#SVGID_00000057846011469822040540000011754501750068092081_);fill:none;stroke:#0076BA;stroke-width:6;}
-	
-		.st8{clip-path:url(#SVGID_00000057846011469822040540000011754501750068092081_);fill:none;stroke:#0076BA;stroke-width:6;stroke-dasharray:12,12;}
-	.st9{clip-path:url(#SVGID_00000031912132892401345140000018376817810309323944_);}
-	.st10{letter-spacing:-1;}
-	.st11{clip-path:url(#SVGID_00000096022444481931167570000018189382621257791423_);fill:none;stroke:#D5D5D5;stroke-width:6;}
-	.st12{clip-path:url(#SVGID_00000096022444481931167570000018189382621257791423_);fill:#D5D5D5;}
-	.st13{clip-path:url(#SVGID_00000096022444481931167570000018189382621257791423_);}
-	.st14{font-size:40px;}
-	
-		.st15{clip-path:url(#SVGID_00000096022444481931167570000018189382621257791423_);fill:none;stroke:#D5D5D5;stroke-width:6;stroke-dasharray:12,12;}
-	.st16{letter-spacing:-3;}
-	.st17{clip-path:url(#SVGID_00000096022444481931167570000018189382621257791423_);fill:none;stroke:#0076BA;stroke-width:6;}
-	.st18{clip-path:url(#SVGID_00000178923025368094801390000008109591059568692644_);}
-	.st19{clip-path:url(#SVGID_00000170245726615134129150000014803823133490835355_);fill:none;stroke:#D5D5D5;stroke-width:6;}
-	.st20{clip-path:url(#SVGID_00000170245726615134129150000014803823133490835355_);fill:#D5D5D5;}
-	.st21{clip-path:url(#SVGID_00000170245726615134129150000014803823133490835355_);}
-	.st22{clip-path:url(#SVGID_00000170245726615134129150000014803823133490835355_);fill:none;stroke:#FF9300;stroke-width:6;}
-	.st23{clip-path:url(#SVGID_00000137829079020238483810000004945639728221863820_);}
-	.st24{clip-path:url(#SVGID_00000127742992435002359440000017943924755103710901_);fill:none;stroke:#0076BA;stroke-width:6;}
-	.st25{clip-path:url(#SVGID_00000172413095142863711730000006643673940354901182_);}
-	.st26{fill:#333333;}
-	.st27{clip-path:url(#SVGID_00000057841300642942441540000015331613196773382808_);fill:none;stroke:#0076BA;stroke-width:3;}
-	.st28{clip-path:url(#SVGID_00000015346235126698654330000007941041458912523396_);}
-	.st29{font-size:30px;}
-</style>
-<g>
-	<defs>
-		<rect id="SVGID_1_" width="1920" height="1080"/>
-	</defs>
-	<clipPath id="SVGID_00000171677823290121104880000004951624621648774806_">
-		<use xlink:href="#SVGID_1_"  style="overflow:visible;"/>
-	</clipPath>
-	
-		<rect style="clip-path:url(#SVGID_00000171677823290121104880000004951624621648774806_);fill:#FFFFFF;" width="1920" height="1080"/>
-	<path style="clip-path:url(#SVGID_00000171677823290121104880000004951624621648774806_);fill:#0076BA;" d="M781,353.4h358
-		c8.4,0,13.4,0,16.7,1.4c4.8,1.8,8.6,5.6,10.4,10.4c1.4,3.3,1.4,8.4,1.4,16.7v268.8c0,8.4,0,13.4-1.4,16.7
-		c-1.8,4.8-5.6,8.6-10.4,10.4c-3.3,1.4-8.4,1.4-16.7,1.4H781c-8.4,0-13.4,0-16.7-1.4c-4.8-1.8-8.6-5.6-10.4-10.4
-		c-1.4-3.3-1.4-8.4-1.4-16.7V381.9c0-8.4,0-13.4,1.4-16.7c1.8-4.8,5.6-8.6,10.4-10.4C767.6,353.4,772.6,353.4,781,353.4z"/>
-	
-		<path style="clip-path:url(#SVGID_00000171677823290121104880000004951624621648774806_);fill:none;stroke:#0076BA;stroke-width:6;" d="
-		M781,353.4h358c8.4,0,13.4,0,16.7,1.4c4.8,1.8,8.6,5.6,10.4,10.4c1.4,3.3,1.4,8.4,1.4,16.7v268.8c0,8.4,0,13.4-1.4,16.7
-		c-1.8,4.8-5.6,8.6-10.4,10.4c-3.3,1.4-8.4,1.4-16.7,1.4H781c-8.4,0-13.4,0-16.7-1.4c-4.8-1.8-8.6-5.6-10.4-10.4
-		c-1.4-3.3-1.4-8.4-1.4-16.7V381.9c0-8.4,0-13.4,1.4-16.7c1.8-4.8,5.6-8.6,10.4-10.4C767.6,353.4,772.6,353.4,781,353.4z"/>
-</g>
-<g>
-	<defs>
-		<rect id="SVGID_00000039115730048533150280000004801426134829330596_" x="737.4" y="353.4" width="445.2" height="325.8"/>
-	</defs>
-	<clipPath id="SVGID_00000016774010820287457580000002865762276517841055_">
-		<use xlink:href="#SVGID_00000039115730048533150280000004801426134829330596_"  style="overflow:visible;"/>
-	</clipPath>
-	<g style="clip-path:url(#SVGID_00000016774010820287457580000002865762276517841055_);">
-		<text transform="matrix(1 0 0 1 877.1631 540.0012)" class="st4 st5 st6">ESP32</text>
-	</g>
-</g>
-<g>
-	<defs>
-		<rect id="SVGID_00000075151113810300876960000013536007874996673433_" width="1920" height="1080"/>
-	</defs>
-	<clipPath id="SVGID_00000107586269070498659130000000925674275700912771_">
-		<use xlink:href="#SVGID_00000075151113810300876960000013536007874996673433_"  style="overflow:visible;"/>
-	</clipPath>
-	
-		<path style="clip-path:url(#SVGID_00000107586269070498659130000000925674275700912771_);fill:none;stroke:#0076BA;stroke-width:6;" d="
-		M107.1,424.9h369.6c6.7,0,10.7,0,13.4,1.1c3.9,1.4,6.9,4.4,8.3,8.3c1.1,2.7,1.1,6.7,1.1,13.4v153.2c0,6.7,0,10.7-1.1,13.4
-		c-1.4,3.9-4.4,6.9-8.3,8.3c-2.7,1.1-6.7,1.1-13.4,1.1H107.1c-6.7,0-10.7,0-13.4-1.1c-3.9-1.4-6.9-4.4-8.3-8.3
-		c-1.1-2.7-1.1-6.7-1.1-13.4V447.6c0-6.7,0-10.7,1.1-13.4c1.4-3.9,4.4-6.9,8.3-8.3C96.4,424.9,100.4,424.9,107.1,424.9z"/>
-	
-		<path style="clip-path:url(#SVGID_00000107586269070498659130000000925674275700912771_);fill:none;stroke:#0076BA;stroke-width:6;stroke-dasharray:12,12;" d="
-		M777.9,846.9h364.3c7.5,0,11.9,0,14.9,1.2c4.3,1.6,7.7,5,9.3,9.3c1.2,3,1.2,7.5,1.2,14.9V974c0,7.5,0,11.9-1.2,14.9
-		c-1.6,4.3-5,7.7-9.3,9.3c-3,1.2-7.5,1.2-14.9,1.2H777.9c-7.5,0-11.9,0-14.9-1.2c-4.3-1.6-7.7-5-9.3-9.3c-1.2-3-1.2-7.5-1.2-14.9
-		V872.4c0-7.5,0-11.9,1.2-14.9c1.6-4.3,5-7.7,9.3-9.3C765.9,846.9,770.4,846.9,777.9,846.9z"/>
-</g>
-<g>
-	<defs>
-		<rect id="SVGID_00000128454988870213717900000008065144461254055839_" x="737.3" y="846.9" width="445.4" height="152.5"/>
-	</defs>
-	<clipPath id="SVGID_00000124119398570885020400000016506660910002275730_">
-		<use xlink:href="#SVGID_00000128454988870213717900000008065144461254055839_"  style="overflow:visible;"/>
-	</clipPath>
-	<g style="clip-path:url(#SVGID_00000124119398570885020400000016506660910002275730_);">
-		<text transform="matrix(1 0 0 1 802.3304 947.0799)"><tspan x="0" y="0" class="st5 st6">RC </tspan><tspan x="92" y="0" class="st5 st6 st10">R</tspan><tspan x="128.2" y="0" class="st5 st6">ecei</tspan><tspan x="232.7" y="0" class="st5 st6">v</tspan><tspan x="262.2" y="0" class="st5 st6">er</tspan></text>
-	</g>
-</g>
-<g>
-	<defs>
-		<rect id="SVGID_00000130607252134697782620000007941153577788369085_" width="1920" height="1080"/>
-	</defs>
-	<clipPath id="SVGID_00000168829390248542060830000011029723519784449157_">
-		<use xlink:href="#SVGID_00000130607252134697782620000007941153577788369085_"  style="overflow:visible;"/>
-	</clipPath>
-	
-		<path style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:none;stroke:#D5D5D5;stroke-width:6;" d="
-		M429.1,526.4c96.1,19.6,194.9,26.9,296.4,22l3-0.2"/>
-	<polygon style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:#D5D5D5;" points="726.2,560.4 
-		749.5,547.1 724.8,536.5 	"/>
-	<g style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);">
-		<text transform="matrix(1 0 0 1 571.0244 599.9149)" class="st5 st14">SPI</text>
-	</g>
-	
-		<path style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:none;stroke:#D5D5D5;stroke-width:6;stroke-dasharray:12,12;" d="
-		M991.9,843.9c7.9-38.5,9.3-84.5,4.4-137.8l-0.3-3"/>
-	<polygon style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:#D5D5D5;" points="1008.2,704.8 
-		993.7,682.3 984.4,707.4 	"/>
-	<g style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);">
-		<text transform="matrix(1 0 0 1 746.5599 778.8257)"><tspan x="0" y="0" class="st5 st14">SBUS (</tspan><tspan x="122.2" y="0" class="st5 st14">U</tspan><tspan x="148.3" y="0" class="st5 st14">A</tspan><tspan x="172.2" y="0" class="st5 st14 st10">R</tspan><tspan x="196" y="0" class="st5 st14">T</tspan><tspan x="219.8" y="0" class="st5 st14">)</tspan></text>
-	</g>
-	
-		<path style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:none;stroke:#D5D5D5;stroke-width:6;" d="
-		M1170.5,537.8c72.8,3.7,147.2,3.8,223,0.3l3-0.2"/>
-	<polygon style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:#D5D5D5;" points="1394.1,550 
-		1417.5,536.8 1392.9,526 	"/>
-	<g style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);">
-		<text transform="matrix(1 0 0 1 1236.025 523.2462)" class="st5 st14">PWM</text>
-	</g>
-	
-		<path style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:none;stroke:#D5D5D5;stroke-width:6;" d="
-		M1612.3,595.6c-10.7,73.2-11.3,149.1-2,227.5l0.4,3"/>
-	<polygon style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:#D5D5D5;" points="1598.5,824.7 
-		1613.5,846.9 1622.2,821.6 	"/>
-	<g style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);">
-		<text transform="matrix(1 0 0 1 1450.277 736.9998)"><tspan x="0" y="0" class="st5 st14 st10">V</tspan><tspan x="22.1" y="0" class="st5 st14">o</tspan><tspan x="43.8" y="0" class="st5 st14">l</tspan><tspan x="53" y="0" class="st5 st14">tage</tspan></text>
-	</g>
-	<g style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);">
-		<text transform="matrix(1 0 0 1 212.8847 595.784)"><tspan x="0" y="0" class="st5 st6">G</tspan><tspan x="40" y="0" class="st5 st6 st16">Y</tspan><tspan x="70.8" y="0" class="st5 st6">-91</tspan></text>
-	</g>
-	
-		<path style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:none;stroke:#0076BA;stroke-width:6;" d="
-		M777.9,77.5h364.3c7.5,0,11.9,0,14.9,1.2c4.3,1.6,7.7,5,9.3,9.3c1.2,3,1.2,7.5,1.2,14.9v101.7c0,7.5,0,11.9-1.2,14.9
-		c-1.6,4.3-5,7.7-9.3,9.3c-3,1.2-7.5,1.2-14.9,1.2H777.9c-7.5,0-11.9,0-14.9-1.2c-4.3-1.6-7.7-5-9.3-9.3c-1.2-3-1.2-7.5-1.2-14.9
-		V103c0-7.5,0-11.9,1.2-14.9c1.6-4.3,5-7.7,9.3-9.3C765.9,77.5,770.4,77.5,777.9,77.5z"/>
-</g>
-<g>
-	<defs>
-		<rect id="SVGID_00000137820956330754408580000017691839315522467728_" x="737.3" y="77.5" width="445.4" height="152.5"/>
-	</defs>
-	<clipPath id="SVGID_00000016789657776342930330000013964875638603798149_">
-		<use xlink:href="#SVGID_00000137820956330754408580000017691839315522467728_"  style="overflow:visible;"/>
-	</clipPath>
-	<g style="clip-path:url(#SVGID_00000016789657776342930330000013964875638603798149_);">
-		<text transform="matrix(1 0 0 1 865.0551 177.6901)"><tspan x="0" y="0" class="st5 st6">B</tspan><tspan x="35.6" y="0" class="st5 st6">a</tspan><tspan x="67.1" y="0" class="st5 st6">t</tspan><tspan x="86.7" y="0" class="st5 st6">tery</tspan></text>
-	</g>
-</g>
-<g>
-	<defs>
-		<rect id="SVGID_00000016756559387490335270000000552908433054081441_" width="1920" height="1080"/>
-	</defs>
-	<clipPath id="SVGID_00000171720285722730791730000010936644841389779363_">
-		<use xlink:href="#SVGID_00000016756559387490335270000000552908433054081441_"  style="overflow:visible;"/>
-	</clipPath>
-	
-		<path style="clip-path:url(#SVGID_00000171720285722730791730000010936644841389779363_);fill:none;stroke:#D5D5D5;stroke-width:6;" d="
-		M925.7,233.1c-5.3,27.2-6.8,58.4-4.3,93.4l0.3,3"/>
-	<polygon style="clip-path:url(#SVGID_00000171720285722730791730000010936644841389779363_);fill:#D5D5D5;" points="909.4,327.6 
-		923.5,350.4 933.3,325.4 	"/>
-	<g style="clip-path:url(#SVGID_00000171720285722730791730000010936644841389779363_);">
-		<text transform="matrix(1 0 0 1 937.7745 299.4789)"><tspan x="0" y="0" class="st5 st14">&gt;3</tspan><tspan x="50.9" y="0" class="st5 st14">.</tspan><tspan x="62.1" y="0" class="st5 st14">7V</tspan></text>
-	</g>
-	
-		<path style="clip-path:url(#SVGID_00000171720285722730791730000010936644841389779363_);fill:none;stroke:#D5D5D5;stroke-width:6;" d="
-		M1170.6,161.5c228,25.6,371.6,110,430.8,253.1l1.1,2.8"/>
-	<polygon style="clip-path:url(#SVGID_00000171720285722730791730000010936644841389779363_);fill:#D5D5D5;" points="1590.2,418.8 
-		1609.8,437.1 1612.6,410.4 	"/>
-	<g style="clip-path:url(#SVGID_00000171720285722730791730000010936644841389779363_);">
-		<text transform="matrix(1 0 0 1 1396.229 204.8126)"><tspan x="0" y="0" class="st5 st14">&gt;3</tspan><tspan x="50.9" y="0" class="st5 st14">.</tspan><tspan x="62.1" y="0" class="st5 st14">7V</tspan></text>
-	</g>
-	
-		<path style="clip-path:url(#SVGID_00000171720285722730791730000010936644841389779363_);fill:none;stroke:#FF9300;stroke-width:6;" d="
-		M1445.9,849.9h364.3c7.5,0,11.9,0,14.9,1.2c4.3,1.6,7.7,5,9.3,9.3c1.2,3,1.2,7.5,1.2,14.9V977c0,7.5,0,11.9-1.2,14.9
-		c-1.6,4.3-5,7.7-9.3,9.3c-3,1.2-7.5,1.2-14.9,1.2h-364.3c-7.5,0-11.9,0-14.9-1.2c-4.3-1.6-7.7-5-9.3-9.3c-1.2-3-1.2-7.5-1.2-14.9
-		V875.4c0-7.5,0-11.9,1.2-14.9c1.6-4.3,5-7.7,9.3-9.3C1434,849.9,1438.5,849.9,1445.9,849.9z"/>
-</g>
-<g>
-	<defs>
-		<rect id="SVGID_00000125590519588794066770000004908208256101094292_" x="1405.4" y="849.9" width="445.4" height="152.5"/>
-	</defs>
-	<clipPath id="SVGID_00000020367246295901477730000005237269270844408247_">
-		<use xlink:href="#SVGID_00000125590519588794066770000004908208256101094292_"  style="overflow:visible;"/>
-	</clipPath>
-	<g style="clip-path:url(#SVGID_00000020367246295901477730000005237269270844408247_);">
-		<text transform="matrix(1 0 0 1 1507.9561 950.0799)" class="st5 st6">Motors </text>
-	</g>
-	<g style="clip-path:url(#SVGID_00000020367246295901477730000005237269270844408247_);">
-		<text transform="matrix(1 0 0 1 1706.5596 950.0799)" class="st5 st14">x4</text>
-	</g>
-</g>
-<g>
-	<defs>
-		<rect id="SVGID_00000078757851010072822240000012642622956562684587_" width="1920" height="1080"/>
-	</defs>
-	<clipPath id="SVGID_00000132802581807603645050000011682039405646066589_">
-		<use xlink:href="#SVGID_00000078757851010072822240000012642622956562684587_"  style="overflow:visible;"/>
-	</clipPath>
-	
-		<path style="clip-path:url(#SVGID_00000132802581807603645050000011682039405646066589_);fill:none;stroke:#0076BA;stroke-width:6;" d="
-		M1445.9,440.1h364.3c7.5,0,11.9,0,14.9,1.2c4.3,1.6,7.7,5,9.3,9.3c1.2,3,1.2,7.5,1.2,14.9v101.7c0,7.5,0,11.9-1.2,14.9
-		c-1.6,4.3-5,7.7-9.3,9.3c-3,1.2-7.5,1.2-14.9,1.2h-364.3c-7.5,0-11.9,0-14.9-1.2c-4.3-1.6-7.7-5-9.3-9.3c-1.2-3-1.2-7.5-1.2-14.9
-		V465.5c0-7.5,0-11.9,1.2-14.9c1.6-4.3,5-7.7,9.3-9.3C1434,440.1,1438.5,440.1,1445.9,440.1z"/>
-</g>
-<g>
-	<defs>
-		<rect id="SVGID_00000121968229548182703620000008187702022402881724_" x="1405.4" y="440.1" width="445.4" height="152.5"/>
-	</defs>
-	<clipPath id="SVGID_00000130637550574198708210000000321319364498620830_">
-		<use xlink:href="#SVGID_00000121968229548182703620000008187702022402881724_"  style="overflow:visible;"/>
-	</clipPath>
-	<g style="clip-path:url(#SVGID_00000130637550574198708210000000321319364498620830_);">
-		<text transform="matrix(1 0 0 1 1486.833 540.213)" class="st5 st6">MOSFE</text>
-	</g>
-	<g style="clip-path:url(#SVGID_00000130637550574198708210000000321319364498620830_);">
-		<text transform="matrix(1 0 0 1 1673.8936 540.213)" class="st26 st5 st6">T</text>
-	</g>
-	<g style="clip-path:url(#SVGID_00000130637550574198708210000000321319364498620830_);">
-		<text transform="matrix(1 0 0 1 1708.9326 540.213)" class="st5 st6"> </text>
-	</g>
-	<g style="clip-path:url(#SVGID_00000130637550574198708210000000321319364498620830_);">
-		<text transform="matrix(1 0 0 1 1727.6826 540.213)" class="st5 st14">x4</text>
-	</g>
-</g>
-<g>
-	<defs>
-		<rect id="SVGID_00000038395453607794357290000016650519059911045024_" width="1920" height="1080"/>
-	</defs>
-	<clipPath id="SVGID_00000077303055156502403190000000114138446408493755_">
-		<use xlink:href="#SVGID_00000038395453607794357290000016650519059911045024_"  style="overflow:visible;"/>
-	</clipPath>
-	
-		<path style="clip-path:url(#SVGID_00000077303055156502403190000000114138446408493755_);fill:none;stroke:#0076BA;stroke-width:3;" d="
-		M167.8,451H416c4.5,0,7.1,0,8.9,0.7c2.6,0.9,4.6,3,5.5,5.5c0.7,1.8,0.7,4.5,0.7,8.9v46.6c0,4.5,0,7.1-0.7,8.9
-		c-0.9,2.6-3,4.6-5.5,5.5c-1.8,0.7-4.5,0.7-8.9,0.7H167.8c-4.5,0-7.1,0-8.9-0.7c-2.6-0.9-4.6-3-5.5-5.5c-0.7-1.8-0.7-4.5-0.7-8.9
-		v-46.6c0-4.5,0-7.1,0.7-8.9c0.9-2.6,3-4.6,5.5-5.5C160.7,451,163.4,451,167.8,451z"/>
-</g>
-<g>
-	<defs>
-		<rect id="SVGID_00000077301502947632695740000005629016913768095395_" x="145.2" y="451" width="293.5" height="77"/>
-	</defs>
-	<clipPath id="SVGID_00000004518590643829462700000008680026774255780777_">
-		<use xlink:href="#SVGID_00000077301502947632695740000005629016913768095395_"  style="overflow:visible;"/>
-	</clipPath>
-	<g style="clip-path:url(#SVGID_00000004518590643829462700000008680026774255780777_);">
-		<text transform="matrix(1 0 0 1 197.8359 501.2101)" class="st5 st29">MPU9250 IMU</text>
-	</g>
-</g>
-</svg>
--- a/docs/img/screw-m1.4.jpg
+++ b/docs/img/screw-m1.4.jpg
--- a/docs/img/screw-m3.jpg
+++ b/docs/img/screw-m3.jpg
--- a/docs/img/washer-m3.jpg
+++ b/docs/img/washer-m3.jpg
--- a/docs/img/wire-28awg.jpg
+++ b/docs/img/wire-28awg.jpg
--- a/docs/js.js
+++ b/docs/js.js
@@ -1,7 +0,0 @@
-// Enable zoom on images larger than 300px
-document.querySelectorAll('.content img').forEach(function (img) {
-	var width = img.getAttribute('width');
-	if (!width || width >= 300) {
-		img.setAttribute('data-action', 'zoom');
-	}
-});
--- a/docs/log.md
+++ b/docs/log.md
@@ -1,72 +0,0 @@
-# Log analysis
-
-Flix quadcopter uses RAM to store flight log data. The default log capacity is 10 seconds at 100 Hz. This configuration can be adjusted in the `log.ino` file.
-
-To perform log analysis, you need to download the log right after the flight without powering off the drone. Then you can use several tools to analyze the log data.
-
-## Log download
-
-To download the log, connect the ESP32 using USB right after the flight and run the following command:
-
-```bash
-make log
-```
-
-Logs are stored in `tools/log/*.csv` files.
-
-## Analysis
-
-### PlotJuggler
-
-The recommended tool for log analysis is PlotJuggler.
-
-<img src="img/plotjuggler.png" width="500">
-
-1. Install PlotJuggler using the [official instructions](https://github.com/facontidavide/PlotJuggler?tab=readme-ov-file#installation).
-
-2. Run PlotJuggler and drag'n'drop the downloaded log file there. Choose `t` column to be used as X axis.
-
-   You can open the most recent downloaded file using the command:
-
-   ```bash
-   make plot
-   ```
-
-   You can perform both log download and run PlotJuggler in one command:
-
-   ```bash
-   make log plot
-   ```
-
-### FlightPlot
-
-FlightPlot is a powerful tool for analyzing logs in [ULog format](https://docs.px4.io/main/en/dev_log/ulog_file_format.html). This format is used in PX4 and ArduPilot flight software.
-
-<img src="img/flightplot.png" width="500">
-
-1. [Install FlightPlot](https://github.com/PX4/FlightPlot).
-2. Flix repository contains a tool for converting CSV logs to ULog format. Build the tool using [the instructions](../tools/csv_to_ulog/README.md) and convert the log you want to analyze.
-3. Run FlightPlot and drag'n'drop the converted ULog-file there.
-
-### Foxglove Studio
-
-Foxglove is a tool for visualizing and analyzing robotics data with very rich functionality. It can import various formats, but mainly focuses on its own format, called [MCAP](https://mcap.dev).
-
-<img src="img/foxglove.png" width="500">
-
-1. Install Foxglove Studio from the [official website](https://foxglove.dev/download).
-
-2. Flix repository contains a tool for converting CSV logs to MCAP format. First, install its dependencies:
-
-   ```bash
-   cd tools
-   pip install -r requirements.txt
-   ```
-
-3. Convert the log you want to analyze:
-
-   ```bash
-   csv_to_mcap.py log_file.csv
-   ```
-
-4. Open the log in Foxglove Studio using *Open local file* command.
--- a/docs/theme/index.hbs
+++ b/docs/theme/index.hbs
@@ -1,336 +0,0 @@
-<!DOCTYPE HTML>
-<html lang="{{ language }}" class="{{ default_theme }} sidebar-visible" dir="{{ text_direction }}">
-    <head>
-        <!-- Book generated using mdBook -->
-        <meta charset="UTF-8">
-        <title>{{ title }}</title>
-        {{#if is_print }}
-        <meta name="robots" content="noindex">
-        {{/if}}
-        {{#if base_url}}
-        <base href="{{ base_url }}">
-        {{/if}}
-
-
-        <!-- Custom HTML head -->
-        {{> head}}
-
-        <meta name="description" content="{{ description }}">
-        <meta name="viewport" content="width=device-width, initial-scale=1">
-        <meta name="theme-color" content="#ffffff">
-
-        {{#if favicon_svg}}
-        <link rel="icon" href="{{ path_to_root }}favicon.svg">
-        {{/if}}
-        {{#if favicon_png}}
-        <link rel="shortcut icon" href="{{ path_to_root }}favicon.png">
-        {{/if}}
-        <link rel="stylesheet" href="{{ path_to_root }}css/variables.css">
-        <link rel="stylesheet" href="{{ path_to_root }}css/general.css">
-        <link rel="stylesheet" href="{{ path_to_root }}css/chrome.css">
-        {{#if print_enable}}
-        <link rel="stylesheet" href="{{ path_to_root }}css/print.css" media="print">
-        {{/if}}
-
-        <!-- Fonts -->
-        <link rel="stylesheet" href="{{ path_to_root }}FontAwesome/css/font-awesome.css">
-        {{#if copy_fonts}}
-        <link rel="stylesheet" href="{{ path_to_root }}fonts/fonts.css">
-        {{/if}}
-
-        <!-- Highlight.js Stylesheets -->
-        <link rel="stylesheet" href="{{ path_to_root }}highlight.css">
-        <link rel="stylesheet" href="{{ path_to_root }}tomorrow-night.css">
-        <link rel="stylesheet" href="{{ path_to_root }}ayu-highlight.css">
-
-        <!-- Custom theme stylesheets -->
-        {{#each additional_css}}
-        <link rel="stylesheet" href="{{ ../path_to_root }}{{ this }}">
-        {{/each}}
-
-        {{#if mathjax_support}}
-        <!-- MathJax -->
-        <script async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js?config=TeX-AMS-MML_HTMLorMML"></script>
-        {{/if}}
-
-        <!-- Provide site root to javascript -->
-        <script>
-            var path_to_root = "{{ path_to_root }}";
-            var default_theme = window.matchMedia("(prefers-color-scheme: dark)").matches ? "{{ preferred_dark_theme }}" : "{{ default_theme }}";
-        </script>
-        <!-- Start loading toc.js asap -->
-        <script src="{{ path_to_root }}toc.js"></script>
-
-        <!-- Yandex.Metrika counter -->
-        <script type="text/javascript" > (function(m,e,t,r,i,k,a){m[i]=m[i]||function(){(m[i].a=m[i].a||[]).push(arguments)}; m[i].l=1*new Date(); for (var j = 0; j < document.scripts.length; j++) {if (document.scripts[j].src === r) { return; }} k=e.createElement(t),a=e.getElementsByTagName(t)[0],k.async=1,k.src=r,a.parentNode.insertBefore(k,a)}) (window, document, "script", "https://mc.yandex.ru/metrika/tag.js", "ym"); ym(97589916, "init", { clickmap:true, trackLinks:true, accurateTrackBounce:true }); </script> <noscript><div><img src="https://mc.yandex.ru/watch/97589916" style="position:absolute; left:-9999px;" alt="" /></div></noscript> <!-- /Yandex.Metrika counter -->
-    </head>
-    <body>
-    <div id="body-container">
-        <!-- Work around some values being stored in localStorage wrapped in quotes -->
-        <script>
-            try {
-                var theme = localStorage.getItem('mdbook-theme');
-                var sidebar = localStorage.getItem('mdbook-sidebar');
-
-                if (theme.startsWith('"') && theme.endsWith('"')) {
-                    localStorage.setItem('mdbook-theme', theme.slice(1, theme.length - 1));
-                }
-
-                if (sidebar.startsWith('"') && sidebar.endsWith('"')) {
-                    localStorage.setItem('mdbook-sidebar', sidebar.slice(1, sidebar.length - 1));
-                }
-            } catch (e) { }
-        </script>
-
-        <!-- Set the theme before any content is loaded, prevents flash -->
-        <script>
-            var theme;
-            try { theme = localStorage.getItem('mdbook-theme'); } catch(e) { }
-            if (theme === null || theme === undefined) { theme = default_theme; }
-            const html = document.documentElement;
-            html.classList.remove('{{ default_theme }}')
-            html.classList.add(theme);
-            html.classList.add("js");
-        </script>
-
-        <input type="checkbox" id="sidebar-toggle-anchor" class="hidden">
-
-        <!-- Hide / unhide sidebar before it is displayed -->
-        <script>
-            var sidebar = null;
-            var sidebar_toggle = document.getElementById("sidebar-toggle-anchor");
-            if (document.body.clientWidth >= 1080) {
-                try { sidebar = localStorage.getItem('mdbook-sidebar'); } catch(e) { }
-                sidebar = sidebar || 'visible';
-            } else {
-                sidebar = 'hidden';
-            }
-            sidebar_toggle.checked = sidebar === 'visible';
-            html.classList.remove('sidebar-visible');
-            html.classList.add("sidebar-" + sidebar);
-        </script>
-
-        <nav id="sidebar" class="sidebar" aria-label="Table of contents">
-            <!-- populated by js -->
-            <mdbook-sidebar-scrollbox class="sidebar-scrollbox">
-                <footer>
-                    <a href="https://github.com/okalachev/flix" class="github">GitHub</a>
-                    <a href="https://t.me/opensourcequadcopter" class="telegram">Telegram-канал</a>
-                    💰 Поддержать проект:
-                    <iframe style="margin-top: 0.4em;" src="https://yoomoney.ru/quickpay/fundraise/button?billNumber=16U9OH2S4IT.241205&" width="330" height="50" frameborder="0" allowtransparency="true" scrolling="no"></iframe>
-                    &copy; 2024 Олег Калачев
-                </footer>
-            </mdbook-sidebar-scrollbox>
-            <noscript>
-                <iframe class="sidebar-iframe-outer" src="{{ path_to_root }}toc.html"></iframe>
-            </noscript>
-            <div id="sidebar-resize-handle" class="sidebar-resize-handle">
-                <div class="sidebar-resize-indicator"></div>
-            </div>
-        </nav>
-
-        <div id="page-wrapper" class="page-wrapper">
-
-            <div class="page">
-                {{> header}}
-                <div id="menu-bar-hover-placeholder"></div>
-                <div id="menu-bar" class="menu-bar sticky">
-                    <div class="left-buttons">
-                        <label id="sidebar-toggle" class="icon-button" for="sidebar-toggle-anchor" title="Toggle Table of Contents" aria-label="Toggle Table of Contents" aria-controls="sidebar">
-                            <i class="fa fa-bars"></i>
-                        </label>
-                        <button id="theme-toggle" class="icon-button" type="button" title="Change theme" aria-label="Change theme" aria-haspopup="true" aria-expanded="false" aria-controls="theme-list">
-                            <i class="fa fa-paint-brush"></i>
-                        </button>
-                        <ul id="theme-list" class="theme-popup" aria-label="Themes" role="menu">
-                            <li role="none"><button role="menuitem" class="theme" id="light">Light</button></li>
-                            <li role="none"><button role="menuitem" class="theme" id="rust">Rust</button></li>
-                            <li role="none"><button role="menuitem" class="theme" id="coal">Coal</button></li>
-                            <li role="none"><button role="menuitem" class="theme" id="navy">Navy</button></li>
-                            <li role="none"><button role="menuitem" class="theme" id="ayu">Ayu</button></li>
-                        </ul>
-                        {{#if search_enabled}}
-                        <button id="search-toggle" class="icon-button" type="button" title="Search. (Shortkey: s)" aria-label="Toggle Searchbar" aria-expanded="false" aria-keyshortcuts="S" aria-controls="searchbar">
-                            <i class="fa fa-search"></i>
-                        </button>
-                        {{/if}}
-                    </div>
-
-                    <h1 class="menu-title">{{ book_title }}</h1>
-
-                    <div class="right-buttons">
-                        {{#if print_enable}}
-                        <a href="{{ path_to_root }}print.html" title="Print this book" aria-label="Print this book">
-                            <i id="print-button" class="fa fa-print"></i>
-                        </a>
-                        {{/if}}
-                        {{#if git_repository_url}}
-                        <a href="{{git_repository_url}}" title="Git repository" aria-label="Git repository">
-                            <i id="git-repository-button" class="fa {{git_repository_icon}}"></i>
-                        </a>
-                        {{/if}}
-                        {{#if git_repository_edit_url}}
-                        <a href="{{git_repository_edit_url}}" title="Suggest an edit" aria-label="Suggest an edit">
-                            <i id="git-edit-button" class="fa fa-edit"></i>
-                        </a>
-                        {{/if}}
-
-                    </div>
-                </div>
-
-                {{#if search_enabled}}
-                <div id="search-wrapper" class="hidden">
-                    <form id="searchbar-outer" class="searchbar-outer">
-                        <input type="search" id="searchbar" name="searchbar" placeholder="Search this book ..." aria-controls="searchresults-outer" aria-describedby="searchresults-header">
-                    </form>
-                    <div id="searchresults-outer" class="searchresults-outer hidden">
-                        <div id="searchresults-header" class="searchresults-header"></div>
-                        <ul id="searchresults">
-                        </ul>
-                    </div>
-                </div>
-                {{/if}}
-
-                <!-- Apply ARIA attributes after the sidebar and the sidebar toggle button are added to the DOM -->
-                <script>
-                    document.getElementById('sidebar-toggle').setAttribute('aria-expanded', sidebar === 'visible');
-                    document.getElementById('sidebar').setAttribute('aria-hidden', sidebar !== 'visible');
-                    Array.from(document.querySelectorAll('#sidebar a')).forEach(function(link) {
-                        link.setAttribute('tabIndex', sidebar === 'visible' ? 0 : -1);
-                    });
-                </script>
-
-                <div id="content" class="content">
-                    <main>
-                        {{{ content }}}
-                    </main>
-
-                    <nav class="nav-wrapper" aria-label="Page navigation">
-                        <!-- Mobile navigation buttons -->
-                        {{#previous}}
-                            <a rel="prev" href="{{ path_to_root }}{{link}}" class="mobile-nav-chapters previous" title="Previous chapter" aria-label="Previous chapter" aria-keyshortcuts="Left">
-                                <i class="fa fa-angle-left"></i>
-                            </a>
-                        {{/previous}}
-
-                        {{#next}}
-                            <a rel="next prefetch" href="{{ path_to_root }}{{link}}" class="mobile-nav-chapters next" title="Next chapter" aria-label="Next chapter" aria-keyshortcuts="Right">
-                                <i class="fa fa-angle-right"></i>
-                            </a>
-                        {{/next}}
-
-                        <div style="clear: both"></div>
-                    </nav>
-                </div>
-            </div>
-
-            <nav class="nav-wide-wrapper" aria-label="Page navigation">
-                {{#previous}}
-                    <a rel="prev" href="{{ path_to_root }}{{link}}" class="nav-chapters previous" title="Previous chapter" aria-label="Previous chapter" aria-keyshortcuts="Left">
-                        <i class="fa fa-angle-left"></i>
-                    </a>
-                {{/previous}}
-
-                {{#next}}
-                    <a rel="next prefetch" href="{{ path_to_root }}{{link}}" class="nav-chapters next" title="Next chapter" aria-label="Next chapter" aria-keyshortcuts="Right">
-                        <i class="fa fa-angle-right"></i>
-                    </a>
-                {{/next}}
-            </nav>
-
-        </div>
-
-        {{#if live_reload_endpoint}}
-        <!-- Livereload script (if served using the cli tool) -->
-        <script>
-            const wsProtocol = location.protocol === 'https:' ? 'wss:' : 'ws:';
-            const wsAddress = wsProtocol + "//" + location.host + "/" + "{{{live_reload_endpoint}}}";
-            const socket = new WebSocket(wsAddress);
-            socket.onmessage = function (event) {
-                if (event.data === "reload") {
-                    socket.close();
-                    location.reload();
-                }
-            };
-
-            window.onbeforeunload = function() {
-                socket.close();
-            }
-        </script>
-        {{/if}}
-
-        {{#if google_analytics}}
-        <!-- Google Analytics Tag -->
-        <script>
-            var localAddrs = ["localhost", "127.0.0.1", ""];
-
-            // make sure we don't activate google analytics if the developer is
-            // inspecting the book locally...
-            if (localAddrs.indexOf(document.location.hostname) === -1) {
-                (function(i,s,o,g,r,a,m){i['GoogleAnalyticsObject']=r;i[r]=i[r]||function(){
-                (i[r].q=i[r].q||[]).push(arguments)},i[r].l=1*new Date();a=s.createElement(o),
-                m=s.getElementsByTagName(o)[0];a.async=1;a.src=g;m.parentNode.insertBefore(a,m)
-                })(window,document,'script','https://www.google-analytics.com/analytics.js','ga');
-
-                ga('create', '{{google_analytics}}', 'auto');
-                ga('send', 'pageview');
-            }
-        </script>
-        {{/if}}
-
-        {{#if playground_line_numbers}}
-        <script>
-            window.playground_line_numbers = true;
-        </script>
-        {{/if}}
-
-        {{#if playground_copyable}}
-        <script>
-            window.playground_copyable = true;
-        </script>
-        {{/if}}
-
-        {{#if playground_js}}
-        <script src="{{ path_to_root }}ace.js"></script>
-        <script src="{{ path_to_root }}editor.js"></script>
-        <script src="{{ path_to_root }}mode-rust.js"></script>
-        <script src="{{ path_to_root }}theme-dawn.js"></script>
-        <script src="{{ path_to_root }}theme-tomorrow_night.js"></script>
-        {{/if}}
-
-        {{#if search_js}}
-        <script src="{{ path_to_root }}elasticlunr.min.js"></script>
-        <script src="{{ path_to_root }}mark.min.js"></script>
-        <script src="{{ path_to_root }}searcher.js"></script>
-        {{/if}}
-
-        <script src="{{ path_to_root }}clipboard.min.js"></script>
-        <script src="{{ path_to_root }}highlight.js"></script>
-        <script src="{{ path_to_root }}book.js"></script>
-
-        <!-- Custom JS scripts -->
-        {{#each additional_js}}
-        <script src="{{ ../path_to_root }}{{this}}"></script>
-        {{/each}}
-
-        {{#if is_print}}
-        {{#if mathjax_support}}
-        <script>
-        window.addEventListener('load', function() {
-            MathJax.Hub.Register.StartupHook('End', function() {
-                window.setTimeout(window.print, 100);
-            });
-        });
-        </script>
-        {{else}}
-        <script>
-        window.addEventListener('load', function() {
-            window.setTimeout(window.print, 100);
-        });
-        </script>
-        {{/if}}
-        {{/if}}
-
-    </div>
-    </body>
-</html>
--- a/docs/troubleshooting.md
+++ b/docs/troubleshooting.md
@@ -1,33 +0,0 @@
-# Troubleshooting
-
-## The sketch doesn't compile
-
-Do the following:
-
-* **Check ESP32 core is installed**. Check if the version matches the one used in the [tutorial](build.md#firmware).
-* **Check libraries**. Install all the required libraries from the tutorial. Make sure there are no MPU9250 or other peripherals libraries that may conflict with the ones used in the tutorial.
-
-## The drone doesn't fly
-
-Do the following:
-
-* **Check the battery voltage**. Use a multimeter to measure the battery voltage. It should be in range of 3.7-4.2 V.
-* **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button to make sure you see the whole ESP32 output.
-* **Make sure correct IMU model is chosen**. If using ICM-20948 board, change `MPU9250` to `ICM20948` everywhere in the `imu.ino` file.
-* **Check if the CLI is working**. Perform `help` command in Serial Monitor. You should see the list of available commands.
-* **Configure QGroundControl correctly before connecting to the drone** if you use it to control the drone. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
-* **Make sure you're not moving the drone several seconds after the power on**. The drone calibrates its gyroscope on the start so it should stay still for a while.
-* **Check the IMU sample rate**. Perform `imu` command. The `rate` field should be about 1000 (Hz).
-* **Check the IMU data**. Perform `imu` command, check raw accelerometer and gyro output. The output should change as you move the drone.
-* **Calibrate the accelerometer.** if is wasn't done before. Type `ca` command in Serial Monitor and follow the instructions.
-* **Check the attitude estimation**. Connect to the drone using QGroundControl. Rotate the drone in different orientations and check if the attitude estimation shown in QGroundControl is correct.
-* **Check the IMU orientation is set correctly**. If the attitude estimation is rotated, make sure `rotateIMU` function is defined correctly in `imu.ino` file.
-* **Check the motors**. Perform the following commands using Serial Monitor:
-  * `mfr` — should rotate front right motor (counter-clockwise).
-  * `mfl` — should rotate front left motor (clockwise).
-  * `mrl` — should rotate rear left motor (counter-clockwise).
-  * `mrr` — should rotate rear right motor (clockwise).
-* **Calibrate the RC** if you use it. Type `cr` command in Serial Monitor and follow the instructions.
-* **Check the RC data** if you use it. Use `rc` command, `Control` should show correct values between -1 and 1, and between 0 and 1 for the throttle.
-* **Check the IMU output using QGroundControl**. Connect to the drone using QGroundControl on your computer. Go to the *Analyze* tab, *MAVLINK Inspector*. Plot the data from the `SCALED_IMU` message. The gyroscope and accelerometer data should change according to the drone movement.
-* **Check the gyroscope only attitude estimation**. Comment out `applyAcc();` line in `estimate.ino` and check if the attitude estimation in QGroundControl. It should be stable, but only drift very slowly.
--- a/docs/version0.md
+++ b/docs/version0.md
@@ -1,30 +0,0 @@
-# Flix version 0
-
-Flix version 0 (obsolete):
-
-<img src="img/flix.jpg" width=500 alt="Flix quadcopter">
-
-## Components list
-
-|Type|Part|Image|Quantity|
-|-|-|-|-|
-|Microcontroller board|ESP32 Mini|<img src="img/esp32.jpg" width=100>|1|
-|IMU and barometer² board|GY-91 (or other MPU-9250 board)|<img src="img/gy-91.jpg" width=100>|1|
-|Quadcopter frame|K100|<img src="img/frame.jpg" width=100>|1|
-|Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)|<img src="img/motor.jpeg" width=100>|4|
-|Propeller|Hubsan 55 mm|<img src="img/prop.jpg" width=100>|4|
-|Motor ESC|2.7A 1S Dual Way Micro Brush ESC|<img src="img/esc.jpg" width=100>|4|
-|RC transmitter|KINGKONG TINY X8|<img src="img/tx.jpg" width=100>|1|
-|RC receiver|DF500 (SBUS)|<img src="img/rx.jpg" width=100>|1|
-|~~SBUS inverter~~*||<img src="img/inv.jpg" width=100>|~~1~~|
-|Battery|3.7 Li-Po 850 MaH 60C|||
-|Battery charger||<img src="img/charger.jpg" width=100>|1|
-|Wires, connectors, tape, ...||||
-
-*\* — not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).*
-
-## Schematics
-
-<img src="img/schematics.svg" width=800 alt="Flix schematics">
-
-You can also check a user contributed [variant of complete circuit diagram](https://miro.com/app/board/uXjVN-dTjoo=/) of the drone.
--- a/docs/zoom.css
+++ b/docs/zoom.css
@@ -1,31 +0,0 @@
-img[data-action="zoom"] {
-  cursor: zoom-in;
-}
-.zoom-img,
-.zoom-img-wrap {
-  position: relative;
-  z-index: 666;
-  transition: all 300ms;
-}
-img.zoom-img {
-  cursor: zoom-out;
-}
-.zoom-overlay {
-  cursor: zoom-out;
-  z-index: 420;
-  background: #fff;
-  position: fixed;
-  top: 0;
-  left: 0;
-  right: 0;
-  bottom: 0;
-  filter: "alpha(opacity=0)";
-  opacity: 0;
-  transition:      opacity 300ms;
-}
-.zoom-overlay-open .zoom-overlay {
-  filter: "alpha(opacity=100)";
-  opacity: 1;
-}
-
-/*# sourceMappingURL=data:application/json;base64,eyJ2ZXJzaW9uIjozLCJzb3VyY2VzIjpbIi4uL2Nzcy96b29tLmNzcyJdLCJuYW1lcyI6W10sIm1hcHBpbmdzIjoiQUFBQTtFQUNFLGdCQUFnQjtDQUNqQjtBQUNEOztFQUVFLG1CQUFtQjtFQUNuQixhQUFhO0VBQ2Isc0JBQXNCO0NBQ3ZCO0FBQ0Q7RUFDRSxpQkFBaUI7Q0FDbEI7QUFDRDtFQUNFLGlCQUFpQjtFQUNqQixhQUFhO0VBQ2IsaUJBQWlCO0VBQ2pCLGdCQUFnQjtFQUNoQixPQUFPO0VBQ1AsUUFBUTtFQUNSLFNBQVM7RUFDVCxVQUFVO0VBQ1YsMkJBQTJCO0VBQzNCLFdBQVc7RUFDWCwrQkFBK0I7Q0FDaEM7QUFDRDtFQUNFLDZCQUE2QjtFQUM3QixXQUFXO0NBQ1oiLCJmaWxlIjoiem9vbS5jc3MiLCJzb3VyY2VzQ29udGVudCI6WyJpbWdbZGF0YS1hY3Rpb249XCJ6b29tXCJdIHtcbiAgY3Vyc29yOiB6b29tLWluO1xufVxuLnpvb20taW1nLFxuLnpvb20taW1nLXdyYXAge1xuICBwb3NpdGlvbjogcmVsYXRpdmU7XG4gIHotaW5kZXg6IDY2NjtcbiAgdHJhbnNpdGlvbjogYWxsIDMwMG1zO1xufVxuaW1nLnpvb20taW1nIHtcbiAgY3Vyc29yOiB6b29tLW91dDtcbn1cbi56b29tLW92ZXJsYXkge1xuICBjdXJzb3I6IHpvb20tb3V0O1xuICB6LWluZGV4OiA0MjA7XG4gIGJhY2tncm91bmQ6ICNmZmY7XG4gIHBvc2l0aW9uOiBmaXhlZDtcbiAgdG9wOiAwO1xuICBsZWZ0OiAwO1xuICByaWdodDogMDtcbiAgYm90dG9tOiAwO1xuICBmaWx0ZXI6IFwiYWxwaGEob3BhY2l0eT0wKVwiO1xuICBvcGFjaXR5OiAwO1xuICB0cmFuc2l0aW9uOiAgICAgIG9wYWNpdHkgMzAwbXM7XG59XG4uem9vbS1vdmVybGF5LW9wZW4gLnpvb20tb3ZlcmxheSB7XG4gIGZpbHRlcjogXCJhbHBoYShvcGFjaXR5PTEwMClcIjtcbiAgb3BhY2l0eTogMTtcbn1cbiJdfQ== */
--- a/docs/zoom.js
+++ b/docs/zoom.js
@@ -1,281 +0,0 @@
-/* https://github.com/spinningarrow/zoom-vanilla.js
-
-The MIT License
-
-Permission is hereby granted, free of charge, to any person obtaining
-a copy of this software and associated documentation files (the
-"Software"), to deal in the Software without restriction, including
-without limitation the rights to use, copy, modify, merge, publish,
-distribute, sublicense, and/or sell copies of the Software, and to
-permit persons to whom the Software is furnished to do so, subject to
-the following conditions:
-
-The above copyright notice and this permission notice shall be
-included in all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
-LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
-OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
-WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-*/
-
-+function () { "use strict";
-	var OFFSET = 80
-
-	// From http://youmightnotneedjquery.com/#offset
-	function offset(element) {
-		var rect = element.getBoundingClientRect()
-		var scrollTop = window.pageYOffset ||
-			document.documentElement.scrollTop ||
-			document.body.scrollTop ||
-			0
-		var scrollLeft = window.pageXOffset ||
-			document.documentElement.scrollLeft ||
-			document.body.scrollLeft ||
-			0
-		return {
-			top: rect.top + scrollTop,
-			left: rect.left + scrollLeft
-		}
-	}
-
-	function zoomListener() {
-		var activeZoom = null
-		var initialScrollPosition = null
-		var initialTouchPosition = null
-
-		function listen() {
-			document.body.addEventListener('click', function (event) {
-				if (event.target.getAttribute('data-action') !== 'zoom' ||
-					event.target.tagName !== 'IMG') return
-
-				zoom(event)
-			})
-		}
-
-		function zoom(event) {
-			event.stopPropagation()
-
-			if (document.body.classList.contains('zoom-overlay-open')) return
-
-			if (event.metaKey || event.ctrlKey) return openInNewWindow()
-
-			closeActiveZoom({ forceDispose: true })
-
-			activeZoom = vanillaZoom(event.target)
-			activeZoom.zoomImage()
-
-			addCloseActiveZoomListeners()
-		}
-
-		function openInNewWindow() {
-			window.open(event.target.getAttribute('data-original') ||
-				event.target.currentSrc ||
-				event.target.src,
-				'_blank')
-		}
-
-		function closeActiveZoom(options) {
-			options = options || { forceDispose: false }
-			if (!activeZoom) return
-
-			activeZoom[options.forceDispose ? 'dispose' : 'close']()
-			removeCloseActiveZoomListeners()
-			activeZoom = null
-		}
-
-		function addCloseActiveZoomListeners() {
-			// todo(fat): probably worth throttling this
-			window.addEventListener('scroll', handleScroll)
-			document.addEventListener('click', handleClick)
-			document.addEventListener('keyup', handleEscPressed)
-			document.addEventListener('touchstart', handleTouchStart)
-			document.addEventListener('touchend', handleClick)
-		}
-
-		function removeCloseActiveZoomListeners() {
-			window.removeEventListener('scroll', handleScroll)
-			document.removeEventListener('keyup', handleEscPressed)
-			document.removeEventListener('click', handleClick)
-			document.removeEventListener('touchstart', handleTouchStart)
-			document.removeEventListener('touchend', handleClick)
-		}
-
-		function handleScroll(event) {
-			if (initialScrollPosition === null) initialScrollPosition = window.pageYOffset
-			var deltaY = initialScrollPosition - window.pageYOffset
-			if (Math.abs(deltaY) >= 40) closeActiveZoom()
-		}
-
-		function handleEscPressed(event) {
-			if (event.keyCode == 27) closeActiveZoom()
-		}
-
-		function handleClick(event) {
-			event.stopPropagation()
-			event.preventDefault()
-			closeActiveZoom()
-		}
-
-		function handleTouchStart(event) {
-			initialTouchPosition = event.touches[0].pageY
-			event.target.addEventListener('touchmove', handleTouchMove)
-		}
-
-		function handleTouchMove(event) {
-			if (Math.abs(event.touches[0].pageY - initialTouchPosition) <= 10) return
-			closeActiveZoom()
-			event.target.removeEventListener('touchmove', handleTouchMove)
-		}
-
-		return { listen: listen }
-	}
-
-	var vanillaZoom = (function () {
-		var fullHeight = null
-		var fullWidth = null
-		var overlay = null
-		var imgScaleFactor = null
-
-		var targetImage = null
-		var targetImageWrap = null
-		var targetImageClone = null
-
-		function zoomImage() {
-			var img = document.createElement('img')
-			img.onload = function () {
-				fullHeight = Number(img.height)
-				fullWidth = Number(img.width)
-				zoomOriginal()
-			}
-			img.src = targetImage.currentSrc || targetImage.src
-		}
-
-		function zoomOriginal() {
-			targetImageWrap = document.createElement('div')
-			targetImageWrap.className = 'zoom-img-wrap'
-			targetImageWrap.style.position = 'absolute'
-			targetImageWrap.style.top = offset(targetImage).top + 'px'
-			targetImageWrap.style.left = offset(targetImage).left + 'px'
-
-			targetImageClone = targetImage.cloneNode()
-			targetImageClone.style.visibility = 'hidden'
-
-			targetImage.style.width = targetImage.offsetWidth + 'px'
-			targetImage.parentNode.replaceChild(targetImageClone, targetImage)
-
-			document.body.appendChild(targetImageWrap)
-			targetImageWrap.appendChild(targetImage)
-
-			targetImage.classList.add('zoom-img')
-			targetImage.setAttribute('data-action', 'zoom-out')
-
-			overlay = document.createElement('div')
-			overlay.className = 'zoom-overlay'
-
-			document.body.appendChild(overlay)
-
-			calculateZoom()
-			triggerAnimation()
-		}
-
-		function calculateZoom() {
-			targetImage.offsetWidth // repaint before animating
-
-			var originalFullImageWidth  = fullWidth
-			var originalFullImageHeight = fullHeight
-
-			var maxScaleFactor = originalFullImageWidth / targetImage.width
-
-			var viewportHeight = window.innerHeight - OFFSET
-			var viewportWidth  = window.innerWidth - OFFSET
-
-			var imageAspectRatio    = originalFullImageWidth / originalFullImageHeight
-			var viewportAspectRatio = viewportWidth / viewportHeight
-
-			if (originalFullImageWidth < viewportWidth && originalFullImageHeight < viewportHeight) {
-				imgScaleFactor = maxScaleFactor
-			} else if (imageAspectRatio < viewportAspectRatio) {
-				imgScaleFactor = (viewportHeight / originalFullImageHeight) * maxScaleFactor
-			} else {
-				imgScaleFactor = (viewportWidth / originalFullImageWidth) * maxScaleFactor
-			}
-		}
-
-		function triggerAnimation() {
-			targetImage.offsetWidth // repaint before animating
-
-			var imageOffset = offset(targetImage)
-			var scrollTop   = window.pageYOffset
-
-			var viewportY = scrollTop + (window.innerHeight / 2)
-			var viewportX = (window.innerWidth / 2)
-
-			var imageCenterY = imageOffset.top + (targetImage.height / 2)
-			var imageCenterX = imageOffset.left + (targetImage.width / 2)
-
-			var translateY = Math.round(viewportY - imageCenterY)
-			var translateX = Math.round(viewportX - imageCenterX)
-
-			var targetImageTransform = 'scale(' + imgScaleFactor + ')'
-			var targetImageWrapTransform =
-				'translate(' + translateX + 'px, ' + translateY + 'px) translateZ(0)'
-
-			targetImage.style.webkitTransform = targetImageTransform
-			targetImage.style.msTransform = targetImageTransform
-			targetImage.style.transform = targetImageTransform
-
-			targetImageWrap.style.webkitTransform = targetImageWrapTransform
-			targetImageWrap.style.msTransform = targetImageWrapTransform
-			targetImageWrap.style.transform = targetImageWrapTransform
-
-			document.body.classList.add('zoom-overlay-open')
-		}
-
-		function close() {
-			document.body.classList.remove('zoom-overlay-open')
-			document.body.classList.add('zoom-overlay-transitioning')
-
-			targetImage.style.webkitTransform = ''
-			targetImage.style.msTransform = ''
-			targetImage.style.transform = ''
-
-			targetImageWrap.style.webkitTransform = ''
-			targetImageWrap.style.msTransform = ''
-			targetImageWrap.style.transform = ''
-
-			if (!'transition' in document.body.style) return dispose()
-
-			targetImageWrap.addEventListener('transitionend', dispose)
-			targetImageWrap.addEventListener('webkitTransitionEnd', dispose)
-		}
-
-		function dispose() {
-			targetImage.removeEventListener('transitionend', dispose)
-			targetImage.removeEventListener('webkitTransitionEnd', dispose)
-
-			if (!targetImageWrap || !targetImageWrap.parentNode) return
-
-			targetImage.classList.remove('zoom-img')
-			targetImage.style.width = ''
-			targetImage.setAttribute('data-action', 'zoom')
-
-			targetImageClone.parentNode.replaceChild(targetImage, targetImageClone)
-			targetImageWrap.parentNode.removeChild(targetImageWrap)
-			overlay.parentNode.removeChild(overlay)
-
-			document.body.classList.remove('zoom-overlay-transitioning')
-		}
-
-		return function (target) {
-			targetImage = target
-			return { zoomImage: zoomImage, close: close, dispose: dispose }
-		}
-	}())
-
-	zoomListener().listen()
-}()
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -19,50 +19,61 @@ const char* motd =
 "|__|     |_______||__| /__/ \\__\\\n\n"
 "Commands:\n\n"
 "help - show help\n"
-"p - show all parameters\n"
-"p <name> - show parameter\n"
-"p <name> <value> - set parameter\n"
-"preset - reset parameters\n"
+"show - show all parameters\n"
+"<name> <value> - set parameter\n"
 "ps - show pitch/roll/yaw\n"
 "psq - show attitude quaternion\n"
 "imu - show IMU data\n"
 "rc - show RC data\n"
-"mot - show motor output\n"
+"mot - show motor data\n"
 "log - dump in-RAM log\n"
 "cr - calibrate RC\n"
 "cg - calibrate gyro\n"
 "ca - calibrate accel\n"
-"mfr, mfl, mrr, mrl - test motor (remove props)\n"
-"reset - reset drone's state\n"
-"reboot - reboot the drone\n";
+"mfr, mfl, mrr, mrl - test appropriate motor\n"
+"fullmot <n> - full motor test\n"
+"reset - reset drone's state\n";

-void doCommand(String& command, String& arg0, String& arg1) {
+const struct Param {
+	const char* name;
+	float* value;
+	float* value2;
+} params[] = {
+	{"rp", &rollRatePID.p, &pitchRatePID.p},
+	{"ri", &rollRatePID.i, &pitchRatePID.i},
+	{"rd", &rollRatePID.d, &pitchRatePID.d},
+
+	{"ap", &rollPID.p, &pitchPID.p},
+	{"ai", &rollPID.i, &pitchPID.i},
+	{"ad", &rollPID.d, &pitchPID.d},
+
+	{"yp", &yawRatePID.p, nullptr},
+	{"yi", &yawRatePID.i, nullptr},
+	{"yd", &yawRatePID.d, nullptr},
+
+	{"lpr", &ratesFilter.alpha, nullptr},
+	{"lpd", &rollRatePID.lpf.alpha, &pitchRatePID.lpf.alpha},
+
+	{"ss", &loopFreq, nullptr},
+	{"dt", &dt, nullptr},
+	{"t", &t, nullptr},
+};
+
+void doCommand(String& command, String& value) {
 	if (command == "help" || command == "motd") {
 		Serial.println(motd);
-	} else if (command == "p" && arg0 == "") {
-		printParameters();
-	} else if (command == "p" && arg0 != "" && arg1 == "") {
-		Serial.printf("%s = %g\n", arg0.c_str(), getParameter(arg0.c_str()));
-	} else if (command == "p") {
-		bool success = setParameter(arg0.c_str(), arg1.toFloat());
-		if (success) {
-			Serial.printf("%s = %g\n", arg0.c_str(), arg1.toFloat());
-		} else {
-			Serial.printf("Parameter not found: %s\n", arg0.c_str());
-		}
-	} else if (command == "preset") {
-		resetParameters();
+	} else if (command == "show") {
+		showTable();
 	} else if (command == "ps") {
 		Vector a = attitude.toEulerZYX();
 		Serial.printf("roll: %f pitch: %f yaw: %f\n", a.x * RAD_TO_DEG, a.y * RAD_TO_DEG, a.z * RAD_TO_DEG);
 	} else if (command == "psq") {
 		Serial.printf("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w);
 	} else if (command == "imu") {
-		printIMUInfo();
 		Serial.printf("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
 		Serial.printf("acc: %f %f %f\n", acc.x, acc.y, acc.z);
 		printIMUCal();
-		Serial.printf("rate: %f\n", loopRate);
+		Serial.printf("frequency: %f\n", loopFreq);
 	} else if (command == "rc") {
 		Serial.printf("Raw: throttle %d yaw %d pitch %d roll %d armed %d mode %d\n",
 			channels[RC_CHANNEL_THROTTLE], channels[RC_CHANNEL_YAW], channels[RC_CHANNEL_PITCH],
@@ -90,23 +101,41 @@ void doCommand(String& command, String& arg0, String& arg1) {
 		cliTestMotor(MOTOR_REAR_RIGHT);
 	} else if (command == "mrl") {
 		cliTestMotor(MOTOR_REAR_LEFT);
+	} else if (command == "fullmot") {
+		fullMotorTest(value.toInt(), false);
 	} else if (command == "reset") {
 		attitude = Quaternion();
-	} else if (command == "reboot") {
-		ESP.restart();
-	} else if (command == "") {
-		// do nothing
 	} else {
+		float val = value.toFloat();
+		// TODO: on error returns 0, check invalid value
+
+		for (uint8_t i = 0; i < sizeof(params) / sizeof(params[0]); i++) {
+			if (command == params[i].name) {
+				*params[i].value = val;
+				if (params[i].value2 != nullptr) *params[i].value2 = val;
+				Serial.print(command);
+				Serial.print(" = ");
+				Serial.println(val, 4);
+				return;
+			}
+		}
 		Serial.println("Invalid command: " + command);
 	}
 }

+void showTable() {
+	for (uint8_t i = 0; i < sizeof(params) / sizeof(params[0]); i++) {
+		Serial.print(params[i].name);
+		Serial.print(" ");
+		Serial.println(*params[i].value, 5);
+	}
+}
+
 void cliTestMotor(uint8_t n) {
 	Serial.printf("Testing motor %d\n", n);
 	motors[n] = 1;
-	delay(50); // ESP32 may need to wait until the end of the current cycle to change duty https://github.com/espressif/arduino-esp32/issues/5306
 	sendMotors();
-	delay(3000);
+	delay(5000);
 	motors[n] = 0;
 	sendMotors();
 	Serial.println("Done");
@@ -114,7 +143,9 @@ void cliTestMotor(uint8_t n) {

 void parseInput() {
 	static bool showMotd = true;
-	static String input;
+	static String command;
+	static String value;
+	static bool parsingCommand = true;

 	if (showMotd) {
 		Serial.println(motd);
@@ -124,21 +155,16 @@ void parseInput() {
 	while (Serial.available()) {
 		char c = Serial.read();
 		if (c == '\n') {
-			char chars[input.length() + 1];
-			input.toCharArray(chars, input.length() + 1);
-			String command = stringToken(chars, " ");
-			String arg0 = stringToken(NULL, " ");
-			String arg1 = stringToken(NULL, "");
-			doCommand(command, arg0, arg1);
-			input.clear();
+			parsingCommand = true;
+			if (!command.isEmpty()) {
+				doCommand(command, value);
+			}
+			command.clear();
+			value.clear();
+		} else if (c == ' ') {
+			parsingCommand = false;
 		} else {
-			input += c;
+			(parsingCommand ? command : value) += c;
 		}
 	}
 }
-
-// Helper function for parsing input
-String stringToken(char* str, const char* delim) {
-	char* token = strtok(str, delim);
-	return token == NULL ? "" : token;
-}
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -52,7 +52,6 @@ float thrustTarget;

 void control() {
 	interpretRC();
-	failsafe();
 	if (mode == STAB) {
 		controlAttitude();
 		controlRate();
@@ -82,22 +81,22 @@ void interpretRC() {
 	if (mode == ACRO) {
 		yawMode = YAW_RATE;
 		ratesTarget.x = controls[RC_CHANNEL_ROLL] * ROLLRATE_MAX;
-		ratesTarget.y = controls[RC_CHANNEL_PITCH] * PITCHRATE_MAX;
-		ratesTarget.z = -controls[RC_CHANNEL_YAW] * YAWRATE_MAX; // positive yaw stick means clockwise rotation in FLU
+		ratesTarget.y = -controls[RC_CHANNEL_PITCH] * PITCHRATE_MAX; // up pitch stick means tilt clockwise in frd
+		ratesTarget.z = controls[RC_CHANNEL_YAW] * YAWRATE_MAX;

 	} else if (mode == STAB) {
 		yawMode = controls[RC_CHANNEL_YAW] == 0 ? YAW : YAW_RATE;

 		attitudeTarget = Quaternion::fromEulerZYX(Vector(
 			controls[RC_CHANNEL_ROLL] * MAX_TILT,
-			controls[RC_CHANNEL_PITCH] * MAX_TILT,
+			-controls[RC_CHANNEL_PITCH] * MAX_TILT,
 			attitudeTarget.getYaw()));
-		ratesTarget.z = -controls[RC_CHANNEL_YAW] * YAWRATE_MAX; // positive yaw stick means clockwise rotation in FLU
+		ratesTarget.z = controls[RC_CHANNEL_YAW] * YAWRATE_MAX;

 	} else if (mode == MANUAL) {
 		// passthrough mode
 		yawMode = YAW_RATE;
-		torqueTarget = Vector(controls[RC_CHANNEL_ROLL], controls[RC_CHANNEL_PITCH], -controls[RC_CHANNEL_YAW]) * 0.01;
+		torqueTarget = Vector(controls[RC_CHANNEL_ROLL], -controls[RC_CHANNEL_PITCH], controls[RC_CHANNEL_YAW]) * 0.01;
 	}

 	if (yawMode == YAW_RATE || !motorsActive()) {
@@ -114,7 +113,7 @@ void controlAttitude() {
 		return;
 	}

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

@@ -124,8 +123,7 @@ void controlAttitude() {
 	ratesTarget.y = pitchPID.update(error.y, dt);

 	if (yawMode == YAW) {
-		float yawError = wrapAngle(attitudeTarget.getYaw() - attitude.getYaw());
-		ratesTarget.z = yawPID.update(yawError, dt);
+		ratesTarget.z = yawPID.update(wrapAngle(attitudeTarget.getYaw() - attitude.getYaw()), dt);
 	}
 }

@@ -151,10 +149,10 @@ void controlTorque() {
 		return;
 	}

-	motors[MOTOR_FRONT_LEFT] = thrustTarget + torqueTarget.x - torqueTarget.y + torqueTarget.z;
-	motors[MOTOR_FRONT_RIGHT] = thrustTarget - torqueTarget.x - torqueTarget.y - torqueTarget.z;
-	motors[MOTOR_REAR_LEFT] = thrustTarget + torqueTarget.x + torqueTarget.y - torqueTarget.z;
-	motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.x + torqueTarget.y + torqueTarget.z;
+	motors[MOTOR_FRONT_LEFT] = thrustTarget + torqueTarget.x + torqueTarget.y - torqueTarget.z;
+	motors[MOTOR_FRONT_RIGHT] = thrustTarget - torqueTarget.x + torqueTarget.y + torqueTarget.z;
+	motors[MOTOR_REAR_LEFT] = thrustTarget + torqueTarget.x - torqueTarget.y + torqueTarget.z;
+	motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.x - torqueTarget.y - torqueTarget.z;

 	motors[0] = constrain(motors[0], 0, 1);
 	motors[1] = constrain(motors[1], 0, 1);
--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -7,6 +7,7 @@
 #include "vector.h"
 #include "lpf.h"

+#define ONE_G 9.807f
 #define WEIGHT_ACC 0.5f
 #define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz

@@ -15,6 +16,7 @@ LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
 void estimate() {
 	applyGyro();
 	applyAcc();
+	signalizeHorizontality();
 }

 void applyGyro() {
@@ -31,14 +33,18 @@ void applyAcc() {
 	float accNorm = acc.norm();
 	bool landed = !motorsActive() && abs(accNorm - ONE_G) < ONE_G * 0.1f;

-	setLED(landed);
 	if (!landed) return;

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

 	// apply correction
 	attitude *= Quaternion::fromAngularRates(correction);
 	attitude.normalize();
 }
+
+void signalizeHorizontality() {
+	float angle = Vector::angleBetweenVectors(attitude.rotate(Vector(0, 0, -1)), Vector(0, 0, -1));
+	setLED(angle < radians(15));
+}
--- a/flix/failsafe.ino
+++ b/flix/failsafe.ino
@@ -1,23 +0,0 @@
-// Copyright (c) 2024 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Fail-safe for RC loss
-
-#define RC_LOSS_TIMEOUT 0.2
-#define DESCEND_TIME 3.0 // time to descend from full throttle to zero
-
-void failsafe() {
-	if (t - controlsTime > RC_LOSS_TIMEOUT) {
-		descend();
-	}
-}
-
-void descend() {
-	// Smooth descend on RC lost
-	mode = STAB;
-	controls[RC_CHANNEL_ROLL] = 0;
-	controls[RC_CHANNEL_PITCH] = 0;
-	controls[RC_CHANNEL_YAW] = 0;
-	controls[RC_CHANNEL_THROTTLE] -= dt / DESCEND_TIME;
-	if (controls[RC_CHANNEL_THROTTLE] < 0) controls[RC_CHANNEL_THROTTLE] = 0;
-}
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -8,9 +8,9 @@

 #define SERIAL_BAUDRATE 115200

-#define WIFI_ENABLED 1
+#define WIFI_ENABLED 0

-#define RC_CHANNELS 16
+#define RC_CHANNELS 6
 #define RC_CHANNEL_ROLL 0
 #define RC_CHANNEL_PITCH 1
 #define RC_CHANNEL_THROTTLE 2
@@ -23,26 +23,21 @@
 #define MOTOR_FRONT_RIGHT 2
 #define MOTOR_FRONT_LEFT 3

-#define ONE_G 9.80665
-
 float t = NAN; // current step time, s
 float dt; // time delta from previous step, s
-float loopRate; // loop rate, Hz
-int16_t channels[RC_CHANNELS]; // raw rc channels
+float loopFreq; // loop frequency, Hz
+int16_t channels[16]; // raw rc channels
 float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
-float controlsTime; // time of the last controls update
 Vector gyro; // gyroscope data
 Vector acc; // accelerometer data, m/s/s
 Vector rates; // filtered angular rates, rad/s
 Quaternion attitude; // estimated attitude
-bool landed; // are we landed and stationary
 float motors[4]; // normalized motors thrust in range [-1..1]

 void setup() {
 	Serial.begin(SERIAL_BAUDRATE);
 	Serial.println("Initializing flix");
 	disableBrownOut();
-	setupParameters();
 	setupLED();
 	setupMotors();
 	setLED(true);
@@ -68,5 +63,4 @@ void loop() {
 	processMavlink();
 #endif
 	logData();
-	flushParameters();
 }
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -6,12 +6,15 @@
 #include <SPI.h>
 #include <MPU9250.h>

-MPU9250 IMU(SPI);
+#define ONE_G 9.80665

-Vector accBias;
-Vector gyroBias;
+// NOTE: use 'ca' command to calibrate the accelerometer and put the values here
+Vector accBias(0, 0, 0);
 Vector accScale(1, 1, 1);

+MPU9250 IMU(SPI);
+Vector gyroBias;
+
 void setupIMU() {
 	Serial.println("Setup IMU");
 	bool status = IMU.begin();
@@ -21,42 +24,23 @@ void setupIMU() {
 			delay(1000);
 		}
 	}
-	configureIMU();
-	// calibrateGyro();
+	calibrateGyro();
 }

 void configureIMU() {
 	IMU.setAccelRange(IMU.ACCEL_RANGE_4G);
 	IMU.setGyroRange(IMU.GYRO_RANGE_2000DPS);
-	IMU.setDLPF(IMU.DLPF_MAX);
-	IMU.setRate(IMU.RATE_1KHZ_APPROX);
+	IMU.setDlpfBandwidth(IMU.DLPF_BANDWIDTH_184HZ);
+	IMU.setSrd(0); // set sample rate to 1000 Hz
 }

 void readIMU() {
 	IMU.waitForData();
 	IMU.getGyro(gyro.x, gyro.y, gyro.z);
 	IMU.getAccel(acc.x, acc.y, acc.z);
-	calibrateGyroOnce();
 	// apply scale and bias
 	acc = (acc - accBias) / accScale;
 	gyro = gyro - gyroBias;
-	// rotate
-	rotateIMU(acc);
-	rotateIMU(gyro);
-}
-
-void rotateIMU(Vector& data) {
-	// Rotate from LFD to FLU
-	// NOTE: In case of using other IMU orientation, change this line:
-	data = Vector(data.y, data.x, -data.z);
-	// Axes orientation for various boards: https://github.com/okalachev/flixperiph#imu-axes-orientation
-}
-
-void calibrateGyroOnce() {
-	if (!landed) return;
-	static float samples = 0; // overflows after 49 days at 1000 Hz
-	samples++;
-	gyroBias = gyroBias + (gyro - gyroBias) / samples; // running average
 }

 void calibrateGyro() {
@@ -79,6 +63,8 @@ void calibrateGyro() {
 void calibrateAccel() {
 	Serial.println("Calibrating accelerometer");
 	IMU.setAccelRange(IMU.ACCEL_RANGE_2G); // the most sensitive mode
+	IMU.setDlpfBandwidth(IMU.DLPF_BANDWIDTH_20HZ);
+	IMU.setSrd(19);

 	Serial.setTimeout(60000);
 	Serial.print("Place level [enter] "); Serial.readStringUntil('\n');
@@ -99,7 +85,7 @@ void calibrateAccel() {
 }

 void calibrateAccelOnce() {
-	const int samples = 1000;
+	const int samples = 100;
 	static Vector accMax(-INFINITY, -INFINITY, -INFINITY);
 	static Vector accMin(INFINITY, INFINITY, INFINITY);

@@ -129,12 +115,7 @@ void calibrateAccelOnce() {
 }

 void printIMUCal() {
-	Serial.printf("gyro bias: %f, %f, %f\n", gyroBias.x, gyroBias.y, gyroBias.z);
-	Serial.printf("accel bias: %f, %f, %f\n", accBias.x, accBias.y, accBias.z);
-	Serial.printf("accel scale: %f, %f, %f\n", accScale.x, accScale.y, accScale.z);
-}
-
-void printIMUInfo() {
-	Serial.printf("model: %s\n", IMU.getModel());
-	Serial.printf("who am I: 0x%02X\n", IMU.whoAmI());
+	Serial.printf("gyro bias: %f %f %f\n", gyroBias.x, gyroBias.y, gyroBias.z);
+	Serial.printf("accel bias: %f %f %f\n", accBias.x, accBias.y, accBias.z);
+	Serial.printf("accel scale: %f %f %f\n", accScale.x, accScale.y, accScale.z);
 }
--- a/flix/led.ino
+++ b/flix/led.ino
@@ -1,7 +1,7 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix

-// Board's LED control
+// Main LED control

 #define BLINK_PERIOD 500000

@@ -14,12 +14,7 @@ void setupLED() {
 }

 void setLED(bool on) {
-	static bool state = false;
-	if (on == state) {
-		return; // don't call digitalWrite if the state is the same
-	}
 	digitalWrite(LED_BUILTIN, on ? HIGH : LOW);
-	state = on;
 }

 void blinkLED() {
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -38,9 +38,8 @@ void sendMavlink() {
 		lastFast = t;

 		const float zeroQuat[] = {0, 0, 0, 0};
-		Quaternion attitudeFRD = FLU2FRD(attitude); // MAVLink uses FRD coordinate system
 		mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
-			time, attitudeFRD.w, attitudeFRD.x, attitudeFRD.y, attitudeFRD.z, rates.x, rates.y, rates.z, zeroQuat);
+			time, attitude.w, attitude.x, attitude.y, attitude.z, rates.x, rates.y, rates.z, zeroQuat);
 		sendMessage(&msg);

 		mavlink_msg_rc_channels_scaled_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time, 0,
@@ -84,7 +83,6 @@ void receiveMavlink() {

 void handleMavlink(const void *_msg) {
 	mavlink_message_t *msg = (mavlink_message_t *)_msg;
-
 	if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
 		mavlink_manual_control_t manualControl;
 		mavlink_msg_manual_control_decode(msg, &manualControl);
@@ -94,77 +92,9 @@ void handleMavlink(const void *_msg) {
 		controls[RC_CHANNEL_YAW] = manualControl.r / 1000.0f * MAVLINK_CONTROL_SCALE;
 		controls[RC_CHANNEL_MODE] = 1; // STAB mode
 		controls[RC_CHANNEL_ARMED] = 1; // armed
-		controlsTime = t;

 		if (abs(controls[RC_CHANNEL_YAW]) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controls[RC_CHANNEL_YAW] = 0;
 	}
-
-	if (msg->msgid == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) {
-		mavlink_message_t msg;
-		for (int i = 0; i < parametersCount(); i++) {
-			mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
-				getParameterName(i), getParameter(i), MAV_PARAM_TYPE_REAL32, parametersCount(), i);
-			sendMessage(&msg);
-		}
-	}
-
-	if (msg->msgid == MAVLINK_MSG_ID_PARAM_REQUEST_READ) {
-		mavlink_param_request_read_t paramRequestRead;
-		mavlink_msg_param_request_read_decode(msg, &paramRequestRead);
-		char name[16 + 1];
-		strlcpy(name, paramRequestRead.param_id, sizeof(name)); // param_id might be not null-terminated
-		float value = strlen(name) == 0 ? getParameter(paramRequestRead.param_index) : getParameter(name);
-		if (paramRequestRead.param_index != -1) {
-			memcpy(name, getParameterName(paramRequestRead.param_index), 16);
-		}
-		mavlink_message_t msg;
-		mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
-			name, value, MAV_PARAM_TYPE_REAL32, parametersCount(), paramRequestRead.param_index);
-		sendMessage(&msg);
-	}
-
-	if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) {
-		mavlink_param_set_t paramSet;
-		mavlink_msg_param_set_decode(msg, &paramSet);
-		char name[16 + 1];
-		strlcpy(name, paramSet.param_id, sizeof(name)); // param_id might be not null-terminated
-		setParameter(name, paramSet.param_value);
-		// send ack
-		mavlink_message_t msg;
-		mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
-			paramSet.param_id, paramSet.param_value, MAV_PARAM_TYPE_REAL32, parametersCount(), 0); // index is unknown
-		sendMessage(&msg);
-	}
-
-	if (msg->msgid == MAVLINK_MSG_ID_MISSION_REQUEST_LIST) { // handle to make qgc happy
-		mavlink_message_t msg;
-		mavlink_msg_mission_count_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, 0, 0, 0, MAV_MISSION_TYPE_MISSION, 0);
-		sendMessage(&msg);
-	}
-
-	// Handle commands
-	if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
-		mavlink_command_long_t commandLong;
-		mavlink_msg_command_long_decode(msg, &commandLong);
-		mavlink_message_t ack;
-		mavlink_message_t response;
-
-		if (commandLong.command == MAV_CMD_REQUEST_MESSAGE && commandLong.param1 == MAVLINK_MSG_ID_AUTOPILOT_VERSION) {
-			mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, commandLong.command, MAV_RESULT_ACCEPTED, UINT8_MAX, 0, msg->sysid, msg->compid);
-			sendMessage(&ack);
-			mavlink_msg_autopilot_version_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &response,
-				MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | MAV_PROTOCOL_CAPABILITY_MAVLINK2, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0);
-			sendMessage(&response);
-		} else {
-			mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, commandLong.command, MAV_RESULT_UNSUPPORTED, UINT8_MAX, 0, msg->sysid, msg->compid);
-			sendMessage(&ack);
-		}
-	}
-}
-
-// Convert Forward-Left-Up to Forward-Right-Down quaternion
-inline Quaternion FLU2FRD(const Quaternion &q) {
-	return Quaternion(q.w, q.x, -q.y, -q.z);
 }

 #endif
--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -1,39 +1,69 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix

-// Motors output control using MOSFETs
-// In case of using ESC, use this version of the code: https://gist.github.com/okalachev/8871d3a94b6b6c0a298f41a4edd34c61.
+// Motors output control
 // Motor: 8520 3.7V
+// ESC: KINGDUO Micro Mini 4A 1S Brushed Esc 3.6-6V

-#define MOTOR_0_PIN 12 // rear left
-#define MOTOR_1_PIN 13 // rear right
-#define MOTOR_2_PIN 14 // front right
-#define MOTOR_3_PIN 15 // front left
-
+#define MOTOR_0_PIN 12
+#define MOTOR_1_PIN 13
+#define MOTOR_2_PIN 14
+#define MOTOR_3_PIN 15
 #define PWM_FREQUENCY 200
 #define PWM_RESOLUTION 8
+#define PWM_NEUTRAL 1500
+#define PWM_MIN 1600
+#define PWM_MAX 2300
+#define PWM_REVERSE_MIN 1400
+#define PWM_REVERSE_MAX 700

 void setupMotors() {
 	Serial.println("Setup Motors");

-	// configure pins
-	ledcAttach(MOTOR_0_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
-	ledcAttach(MOTOR_1_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
-	ledcAttach(MOTOR_2_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
-	ledcAttach(MOTOR_3_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
+	// configure PWM channels
+	ledcSetup(0, PWM_FREQUENCY, PWM_RESOLUTION);
+	ledcSetup(1, PWM_FREQUENCY, PWM_RESOLUTION);
+	ledcSetup(2, PWM_FREQUENCY, PWM_RESOLUTION);
+	ledcSetup(3, PWM_FREQUENCY, PWM_RESOLUTION);
+
+	// attach channels to motor pins
+	ledcAttachPin(MOTOR_0_PIN, 0);
+	ledcAttachPin(MOTOR_1_PIN, 1);
+	ledcAttachPin(MOTOR_2_PIN, 2);
+	ledcAttachPin(MOTOR_3_PIN, 3);

 	sendMotors();
 	Serial.println("Motors initialized");
 }

-uint8_t signalToDutyCycle(float control) {
-	float duty = mapff(control, 0, 1, 0, (1 << PWM_RESOLUTION) - 1);
-	return round(constrain(duty, 0, (1 << PWM_RESOLUTION) - 1));
+uint16_t getPWM(float val, int n) {
+	if (val == 0) {
+		return PWM_NEUTRAL;
+	} else if (val > 0) {
+		return mapff(val, 0, 1, PWM_MIN, PWM_MAX);
+	} else {
+		return mapff(val, 0, -1, PWM_REVERSE_MIN, PWM_REVERSE_MAX);
+	}
+}
+
+uint8_t pwmToDutyCycle(uint16_t pwm) {
+	return map(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1);
 }

 void sendMotors() {
-	ledcWrite(MOTOR_0_PIN, signalToDutyCycle(motors[0]));
-	ledcWrite(MOTOR_1_PIN, signalToDutyCycle(motors[1]));
-	ledcWrite(MOTOR_2_PIN, signalToDutyCycle(motors[2]));
-	ledcWrite(MOTOR_3_PIN, signalToDutyCycle(motors[3]));
+	ledcWrite(0, pwmToDutyCycle(getPWM(motors[0], 0)));
+	ledcWrite(1, pwmToDutyCycle(getPWM(motors[1], 1)));
+	ledcWrite(2, pwmToDutyCycle(getPWM(motors[2], 2)));
+	ledcWrite(3, pwmToDutyCycle(getPWM(motors[3], 3)));
+}
+
+void fullMotorTest(int n, bool reverse) {
+	printf("Full test for motor %d\n", n);
+	for (int pwm = PWM_NEUTRAL; pwm <= 2300 && pwm >= 700; pwm += reverse ? -100 : 100) {
+		printf("Motor %d: %d\n", n, pwm);
+		ledcWrite(n, pwmToDutyCycle(pwm));
+		delay(3000);
+	}
+	printf("Motor %d: %d\n", n, PWM_NEUTRAL);
+	ledcWrite(n, pwmToDutyCycle(PWM_NEUTRAL));
 }
--- a/flix/parameters.ino
+++ b/flix/parameters.ino
@@ -1,133 +0,0 @@
-#pragma once
-
-#include <Preferences.h>
-#include <vector>
-
-extern float channelNeutral[RC_CHANNELS];
-extern float channelMax[RC_CHANNELS];
-
-Preferences storage;
-
-struct Parameter {
-	const char *name;
-	float *variable;
-	float value; // cache
-};
-
-Parameter parameters[] = {
-	// control
-	{"ROLLRATE_P", &rollRatePID.p},
-	{"ROLLRATE_I", &rollRatePID.i},
-	{"ROLLRATE_D", &rollRatePID.d},
-	{"ROLLRATE_I_LIM", &rollRatePID.windup},
-	{"PITCHRATE_P", &pitchRatePID.p},
-	{"PITCHRATE_I", &pitchRatePID.i},
-	{"PITCHRATE_D", &pitchRatePID.d},
-	{"PITCHRATE_I_LIM", &pitchRatePID.windup},
-	{"YAWRATE_P", &yawRatePID.p},
-	{"YAWRATE_I", &yawRatePID.i},
-	{"YAWRATE_D", &yawRatePID.d},
-	{"ROLL_P", &rollPID.p},
-	{"ROLL_I", &rollPID.i},
-	{"ROLL_D", &rollPID.d},
-	{"PITCH_P", &pitchPID.p},
-	{"PITCH_I", &pitchPID.i},
-	{"PITCH_D", &pitchPID.d},
-	{"YAW_P", &yawPID.p},
-	// imu
-	{"ACC_BIAS_X", &accBias.x},
-	{"ACC_BIAS_Y", &accBias.y},
-	{"ACC_BIAS_Z", &accBias.z},
-	{"ACC_SCALE_X", &accScale.x},
-	{"ACC_SCALE_Y", &accScale.y},
-	{"ACC_SCALE_Z", &accScale.z},
-	// {"GYRO_BIAS_X", &gyroBias.x},
-	// {"GYRO_BIAS_Y", &gyroBias.y},
-	// {"GYRO_BIAS_Z", &gyroBias.z},
-	// rc
-	{"RC_NEUTRAL_0", &channelNeutral[0]},
-	{"RC_NEUTRAL_1", &channelNeutral[1]},
-	{"RC_NEUTRAL_2", &channelNeutral[2]},
-	{"RC_NEUTRAL_3", &channelNeutral[3]},
-	{"RC_NEUTRAL_4", &channelNeutral[4]},
-	{"RC_NEUTRAL_5", &channelNeutral[5]},
-	{"RC_NEUTRAL_6", &channelNeutral[6]},
-	{"RC_NEUTRAL_7", &channelNeutral[7]},
-	{"RC_MAX_0", &channelMax[0]},
-	{"RC_MAX_1", &channelMax[1]},
-	{"RC_MAX_2", &channelMax[2]},
-	{"RC_MAX_3", &channelMax[3]},
-	{"RC_MAX_4", &channelMax[4]},
-	{"RC_MAX_5", &channelMax[5]},
-	{"RC_MAX_6", &channelMax[6]},
-	{"RC_MAX_7", &channelMax[7]}
-};
-
-void setupParameters() {
-	storage.begin("flix", false);
-	// Read parameters from storage
-	for (auto &parameter : parameters) {
-		if (!storage.isKey(parameter.name)) {
-			Serial.printf("Define new parameter %s = %f\n", parameter.name, *parameter.variable);
-			storage.putFloat(parameter.name, *parameter.variable);
-		}
-		*parameter.variable = storage.getFloat(parameter.name, *parameter.variable);
-		parameter.value = *parameter.variable;
-	}
-}
-
-int parametersCount() {
-	return sizeof(parameters) / sizeof(parameters[0]);
-}
-
-const char *getParameterName(int index) {
-	return parameters[index].name;
-}
-
-float getParameter(int index) {
-	return *parameters[index].variable;
-}
-
-float getParameter(const char *name) {
-	for (auto &parameter : parameters) {
-		if (strcmp(parameter.name, name) == 0) {
-			return *parameter.variable;
-		}
-	}
-	return NAN;
-}
-
-bool setParameter(const char *name, const float value) {
-	for (auto &parameter : parameters) {
-		if (strcmp(parameter.name, name) == 0) {
-			*parameter.variable = value;
-			return true;
-		}
-	}
-	return false;
-}
-
-void flushParameters() {
-	static float lastFlush = 0;
-	if (t - lastFlush < 1) return; // flush once per second
-	if (motorsActive()) return; // don't use flash while flying, it may cause a delay
-	lastFlush = t;
-
-	for (auto &parameter : parameters) {
-		if (parameter.value == *parameter.variable) continue;
-		if (isnan(parameter.value) && isnan(*parameter.variable)) continue; // handle NAN != NAN
-		storage.putFloat(parameter.name, *parameter.variable);
-		parameter.value = *parameter.variable;
-	}
-}
-
-void printParameters() {
-	for (auto &parameter : parameters) {
-		Serial.printf("%s = %g\n", parameter.name, *parameter.variable);
-	}
-}
-
-void resetParameters() {
-	storage.clear();
-	ESP.restart();
-}
--- a/flix/quaternion.h
+++ b/flix/quaternion.h
@@ -75,7 +75,7 @@ public:
 		float sqz = z * z;
 		float sqw = w * w;
 		// Cases derived from https://orbitalstation.wordpress.com/tag/quaternion/
-		float sarg = -2 * (x * z - w * y) / (sqx + sqy + sqz + sqw);
+		float sarg = -2 * (x * z - w * y) / (sqx + sqy + sqz + sqw); /* normalization added from urdfom_headers */
 		if (sarg <= -0.99999) {
 			euler.x = 0;
 			euler.y = -0.5 * PI;
--- a/flix/rc.ino
+++ b/flix/rc.ino
@@ -5,10 +5,11 @@

 #include <SBUS.h>

-float channelNeutral[RC_CHANNELS] = {NAN}; // first element NAN means not calibrated
-float channelMax[RC_CHANNELS];
+// NOTE: use 'cr' command to calibrate the RC and put the values here
+int channelNeutral[] = {995, 883, 200, 972, 512, 512};
+int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472};

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

 void setupRC() {
 	Serial.println("Setup RC");
@@ -20,12 +21,10 @@ void readRC() {
 		SBUSData data = RC.data();
 		memcpy(channels, data.ch, sizeof(channels)); // copy channels data
 		normalizeRC();
-		controlsTime = t;
 	}
 }

 void normalizeRC() {
-	if (isnan(channelNeutral[0])) return; // skip if not calibrated
 	for (uint8_t i = 0; i < RC_CHANNELS; i++) {
 		controls[i] = mapf(channels[i], channelNeutral[i], channelMax[i], 0, 1);
 	}
--- a/flix/time.ino
+++ b/flix/time.ino
@@ -12,16 +12,16 @@ void step() {
 		dt = 0; // assume dt to be zero on first step and on reset
 	}

-	computeLoopRate();
+	computeLoopFreq();
 }

-void computeLoopRate() {
+void computeLoopFreq() {
 	static float windowStart = 0;
-	static uint32_t rate = 0;
-	rate++;
+	static uint32_t freq = 0;
+	freq++;
 	if (t - windowStart >= 1) { // 1 second window
-		loopRate = rate;
+		loopFreq = freq;
 		windowStart = t;
-		rate = 0;
+		freq = 0;
 	}
 }
--- a/flix/util.ino
+++ b/flix/util.ino
@@ -15,6 +15,14 @@ float mapff(float x, float in_min, float in_max, float out_min, float out_max) {
 	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }

+int8_t sign(float x) {
+	return (x > 0) - (x < 0);
+}
+
+float randomFloat(float min, float max) {
+	return min + (max - min) * (float)rand() / RAND_MAX;
+}
+
 // Wrap angle to [-PI, PI)
 float wrapAngle(float angle) {
 	angle = fmodf(angle, 2 * PI);
--- a/gazebo/Arduino.h
+++ b/gazebo/Arduino.h
@@ -7,7 +7,6 @@

 #include <cmath>
 #include <string>
-#include <stdint.h>
 #include <stdio.h>
 #include <unistd.h>
 #include <sys/poll.h>
@@ -27,27 +26,15 @@ long map(long x, long in_min, long in_max, long out_min, long out_max) {
 	return (delta * rise) / run + out_min;
 }

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

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

 class Print;
@@ -129,7 +116,7 @@ public:
 	int read() {
 		if (available()) {
 			char c;
-			size_t res = ::read(STDIN_FILENO, &c, 1); // use raw read to avoid C++ buffering
+			::read(STDIN_FILENO, &c, 1); // use raw read to avoid C++ buffering
 			// https://stackoverflow.com/questions/45238997/does-getchar-function-has-its-own-buffer-to-store-remaining-input
 			return c;
 		}
@@ -141,18 +128,12 @@ public:

 HardwareSerial Serial, Serial2;

-class EspClass {
-public:
-	void restart() { Serial.println("Ignore reboot in simulation"); }
-} ESP;
-
 void delay(uint32_t ms) {
 	std::this_thread::sleep_for(std::chrono::milliseconds(ms));
 }

 unsigned long __micros;
-unsigned long __resetTime = 0;

 unsigned long micros() {
-	return __micros + __resetTime; // keep the time monotonic
+	return __micros;
 }
--- a/gazebo/CMakeLists.txt
+++ b/gazebo/CMakeLists.txt
@@ -15,7 +15,6 @@ set(CMAKE_BUILD_TYPE RelWithDebInfo)
 add_library(flix SHARED simulator.cpp)
 target_link_libraries(flix ${GAZEBO_LIBRARIES} ${SDL2_LIBRARIES})
 target_include_directories(flix PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-target_compile_options(flix PRIVATE -Wno-address-of-packed-member) # disable unneeded mavlink warnings

 # Include dir for MAVLink-Arduino library
 target_include_directories(flix PUBLIC $ENV{HOME}/Arduino/libraries/MAVLink)
--- a/gazebo/Preferences.h
+++ b/gazebo/Preferences.h
@@ -1,63 +0,0 @@
-// Copyright (c) 2024 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Partial implementation of the ESP32 Preferences library for the simulation
-
-#include <map>
-#include <fstream>
-#include "util.h"
-
-class Preferences {
-private:
-	std::map<std::string, float> storage;
-	std::string storagePath;
-
-	void readFromFile() {
-		std::ifstream file(storagePath);
-		std::string key;
-		float value;
-		while (file >> key >> value) {
-			storage[key] = value;
-		}
-	}
-
-	void writeToFile() {
-		std::ofstream file(storagePath);
-		for (auto &pair : storage) {
-			file << pair.first << " " << pair.second << std::endl;
-		}
-	}
-
-public:
-	bool begin(const char *name, bool readOnly = false, const char *partition_label = NULL) {
-		storagePath = getPluginPath().parent_path() / (std::string(name) + ".txt");
-		gzmsg << "Preferences initialized: " << storagePath << std::endl;
-		readFromFile();
-		return true;
-	}
-
-	void end();
-
-	bool isKey(const char *key) {
-		return storage.find(key) != storage.end();
-	}
-
-	size_t putFloat(const char *key, float value) {
-		storage[key] = value;
-		writeToFile();
-		return sizeof(value);
-	}
-
-	float getFloat(const char *key, float defaultValue = NAN) {
-		if (!isKey(key)) {
-			return defaultValue;
-		}
-		return storage[key];
-	}
-
-	bool clear() {
-		storage.clear();
-		writeToFile();
-		return true;
-	}
-};
--- a/gazebo/SBUS.h
+++ b/gazebo/SBUS.h
@@ -12,12 +12,13 @@ struct SBUSData {
 class SBUS {
 public:
 	SBUS(HardwareSerial& bus, const bool inv = true) {};
-	SBUS(HardwareSerial& bus, const int8_t rxpin, const int8_t txpin, const bool inv = true) {};
 	void begin() {};
-	bool read() { return joystickInitialized; };
+	bool read() { return joystickGet(); };
 	SBUSData data() {
 		SBUSData data;
-		joystickGet(data.ch);
+		for (uint8_t i = 0; i < 16; i++) {
+			data.ch[i] = channels[i];
+		}
 		return data;
 	};
 };
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -10,7 +10,7 @@
 #include "Arduino.h"
 #include "wifi.h"

-#define RC_CHANNELS 16
+#define RC_CHANNELS 6

 #define MOTOR_REAR_LEFT 0
 #define MOTOR_FRONT_LEFT 3
@@ -19,24 +19,22 @@

 #define WIFI_ENABLED 1

-#define ONE_G 9.80665
-
 float t = NAN;
 float dt;
-float loopRate;
+float loopFreq;
 float motors[4];
 int16_t channels[16]; // raw rc channels
 float controls[RC_CHANNELS];
-float controlsTime;
 Vector acc;
 Vector gyro;
 Vector rates;
 Quaternion attitude;

 // declarations
-void computeLoopRate();
+void computeLoopFreq();
 void applyGyro();
 void applyAcc();
+void signalizeHorizontality();
 void control();
 void interpretRC();
 void controlAttitude();
@@ -45,23 +43,17 @@ void controlTorque();
 void showTable();
 bool motorsActive();
 void cliTestMotor(uint8_t n);
-String stringToken(char* str, const char* delim);
-void normalizeRC();
 void printRCCal();
 void processMavlink();
 void sendMavlink();
 void sendMessage(const void *msg);
 void receiveMavlink();
 void handleMavlink(const void *_msg);
-void failsafe();
-void descend();
-inline Quaternion FLU2FRD(const Quaternion &q);

 // mocks
 void setLED(bool on) {};
 void calibrateGyro() { printf("Skip gyro calibrating\n"); };
 void calibrateAccel() { printf("Skip accel calibrating\n"); };
+void fullMotorTest(int n, bool reverse) { printf("Skip full motor test\n"); };
 void sendMotors() {};
 void printIMUCal() { printf("cal: N/A\n"); };
-void printIMUInfo() {};
-Vector accBias, gyroBias, accScale(1, 1, 1);
--- a/gazebo/flix.world
+++ b/gazebo/flix.world
@@ -9,7 +9,7 @@
 		</scene>
 		<gui>
 			<camera name="user_camera">
-				<pose>-2.3 0 1.1 0 0.3 0</pose>
+				<pose>-2 -0.3 1.5 0 0.5 0.1</pose>
 			</camera>
 		</gui>
 		<physics type="ode">
@@ -23,7 +23,7 @@
 		</include>
 		<include>
 			<uri>model://flix</uri>
-			<pose>0 0 0.3 0 0 0</pose>
+			<pose>0 0 0.2 0 0 0</pose>
 		</include>
 	</world>
 </sdf>
--- a/gazebo/joystick.h
+++ b/gazebo/joystick.h
@@ -7,6 +7,10 @@
 #include <gazebo/gazebo.hh>
 #include <iostream>

+// simulation calibration overrides, NOTE: use `cr` command and replace with the actual values
+const int channelNeutralOverride[] = {-258, -258, -27349, 0, -27349, 0};
+const int channelMaxOverride[] = {27090, 27090, 27090, 27090, -5676, 1};
+
 #define RC_CHANNEL_ROLL 0
 #define RC_CHANNEL_PITCH 1
 #define RC_CHANNEL_THROTTLE 2
@@ -17,6 +21,8 @@
 SDL_Joystick *joystick;
 bool joystickInitialized = false, warnShown = false;

+void normalizeRC();
+
 void joystickInit() {
 	SDL_Init(SDL_INIT_JOYSTICK);
 	joystick = SDL_JoystickOpen(0);
@@ -27,9 +33,15 @@ void joystickInit() {
 		gzwarn << "Joystick not found, begin waiting for joystick..." << std::endl;
 		warnShown = true;
 	}
+
+	// apply calibration overrides
+	extern int channelNeutral[RC_CHANNELS];
+	extern int channelMax[RC_CHANNELS];
+	memcpy(channelNeutral, channelNeutralOverride, sizeof(channelNeutralOverride));
+	memcpy(channelMax, channelMaxOverride, sizeof(channelMaxOverride));
 }

-bool joystickGet(int16_t ch[16]) {
+bool joystickGet() {
 	if (!joystickInitialized) {
 		joystickInit();
 		return false;
@@ -37,8 +49,8 @@ bool joystickGet(int16_t ch[16]) {

 	SDL_JoystickUpdate();

-	for (uint8_t i = 0; i < sizeof(channels) / sizeof(channels[0]); i++) {
-		ch[i] = SDL_JoystickGetAxis(joystick, i);
+	for (uint8_t i = 0; i < 8; i++) {
+		channels[i] = SDL_JoystickGetAxis(joystick, i);
 	}
 	return true;
 }
--- a/gazebo/models/flix/flix0.dae
+++ b/gazebo/models/flix/flix0.dae
--- a/gazebo/models/flix/flix.sdf
+++ b/gazebo/models/flix/flix.sdf
@@ -13,10 +13,15 @@
 			<collision name="collision">
 				<geometry>
 					<box>
-						<size>0.095 0.095 0.0276</size>
+						<size>0.125711 0.125711 0.022</size>
 					</box>
 				</geometry>
 			</collision>
+			<visual name="body">
+				<geometry>
+					<mesh><uri>model://flix/flix.dae</uri></mesh>
+				</geometry>
+			</visual>
 			<sensor name="imu" type="imu">
 				<always_on>1</always_on>
 				<visualize>1</visualize>
@@ -58,37 +63,6 @@
 					</linear_acceleration>
 				</imu>
 			</sensor>
-			<visual name="body">
-				<geometry>
-					<mesh><uri>model://flix/flix.stl</uri></mesh>
-				</geometry>
-				<material>
-					<ambient>0.5 0.5 0.6 1</ambient>
-					<diffuse>0.5 0.5 0.6 1</diffuse>
-					<specular>0 0 0 1</specular>
-					<emissive>0 0 0 1</emissive>
-				</material>
-			</visual>
-			<visual name="prop0"><!-- rear left -->
-				<geometry><cylinder><radius>0.0275</radius><length>0</length></cylinder></geometry>
-				<pose>-0.04243 0.04243 0.0142 0 0 0</pose>
-				<material><ambient>0.8 0.3 0.3 0.5</ambient><diffuse>0.8 0.3 0.3 0.5</diffuse></material>
-			</visual>
-			<visual name="prop1"><!-- rear right -->
-				<geometry><cylinder><radius>0.0275</radius><length>0</length></cylinder></geometry>
-				<pose>-0.04243 -0.04243 0.0142 0 0 0</pose>
-				<material><ambient>0.8 0.3 0.3 0.5</ambient><diffuse>0.8 0.3 0.3 0.5</diffuse></material>
-			</visual>
-			<visual name="prop2"><!-- front right -->
-				<geometry><cylinder><radius>0.0275</radius><length>0</length></cylinder></geometry>
-				<pose>0.04243 -0.04243 0.0142 0 0 0</pose>
-				<material><ambient>1 1 1 0.5</ambient><diffuse>1 1 1 0.5</diffuse></material>
-			</visual>
-			<visual name="prop3"><!-- front left -->
-				<geometry><cylinder><radius>0.0275</radius><length>0</length></cylinder></geometry>
-				<pose>0.04243 0.04243 0.0142 0 0 0</pose>
-				<material><ambient>1 1 1 0.5</ambient><diffuse>1 1 1 0.5</diffuse></material>
-			</visual>
 		</link>
 		<plugin name="flix" filename="libflix.so"/>
 	</model>
--- a/gazebo/models/flix/flix.stl
+++ b/gazebo/models/flix/flix.stl
--- a/gazebo/simulator.cpp
+++ b/gazebo/simulator.cpp
@@ -17,16 +17,15 @@

 #include "Arduino.h"
 #include "flix.h"
+#include "util.h"
 #include "util.ino"
 #include "rc.ino"
 #include "time.ino"
 #include "estimate.ino"
 #include "control.ino"
 #include "log.ino"
-#include "parameters.ino"
 #include "cli.ino"
 #include "mavlink.ino"
-#include "failsafe.ino"
 #include "lpf.h"

 using ignition::math::Vector3d;
@@ -48,17 +47,15 @@ public:
 		this->model = _parent;
 		this->body = this->model->GetLink("body");
 		this->imu = dynamic_pointer_cast<sensors::ImuSensor>(sensors::get_sensor(model->GetScopedName(true) + "::body::imu")); // default::flix::body::imu
-		this->updateConnection = event::Events::ConnectWorldUpdateBegin(std::bind(&ModelFlix::OnUpdate, this));
-		this->resetConnection = event::Events::ConnectWorldReset(std::bind(&ModelFlix::OnReset, this));
+		this->updateConnection = event::Events::ConnectWorldUpdateBegin(bind(&ModelFlix::OnUpdate, this));
+		this->resetConnection = event::Events::ConnectWorldReset(bind(&ModelFlix::OnReset, this));
 		initNode();
 		Serial.begin(0);
-		setupParameters();
 		gzmsg << "Flix plugin loaded" << endl;
 	}

 	void OnReset() {
 		attitude = Quaternion(); // reset estimated attitude
-		__resetTime += __micros;
 		gzmsg << "Flix plugin reset" << endl;
 	}

@@ -66,9 +63,9 @@ public:
 		__micros = model->GetWorld()->SimTime().Double() * 1000000;
 		step();

-		// read virtual imu
-		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()));
+		// read imu
+		gyro = flu2frd(imu->AngularVelocity());
+		acc = this->accFilter.update(flu2frd(imu->LinearAcceleration()));

 		// read rc
 		readRC();
@@ -78,7 +75,7 @@ public:
 		estimate();

 		// correct yaw to the actual yaw
-		attitude.setYaw(this->model->WorldPose().Yaw());
+		attitude.setYaw(-this->model->WorldPose().Yaw());

 		control();
 		parseInput();
@@ -87,7 +84,6 @@ public:
 		applyMotorForces();
 		publishTopics();
 		logData();
-		flushParameters();
 	}

 	void applyMotorForces() {
--- a/gazebo/util.h
+++ b/gazebo/util.h
@@ -1,9 +1,14 @@
-#include <filesystem>
+#include <ignition/math/Vector3.hh>
+#include <ignition/math/Pose3.hh>

-std::filesystem::path getPluginPath() {
-	Dl_info dl_info;
-	if (dladdr((void*)&getPluginPath, &dl_info) == 0) {
-		throw std::runtime_error("Unable to determine plugin path using dladdr.");
-	}
-	return std::filesystem::path(dl_info.dli_fname);
+using ignition::math::Vector3d;
+using ignition::math::Pose3d;
+
+Pose3d flu2frd(const Pose3d& p) {
+	return ignition::math::Pose3d(p.Pos().X(), -p.Pos().Y(), -p.Pos().Z(),
+	                              p.Rot().W(), p.Rot().X(), -p.Rot().Y(), -p.Rot().Z());
+}
+
+Vector flu2frd(const Vector3d& v) {
+	return Vector(v.X(), -v.Y(), -v.Z());
 }
--- a/gazebo/wifi.h
+++ b/gazebo/wifi.h
@@ -18,7 +18,7 @@ int wifiSocket;

 void setupWiFi() {
 	wifiSocket = socket(AF_INET, SOCK_DGRAM, 0);
-	sockaddr_in addr; // local address
+	sockaddr_in addr;
 	addr.sin_family = AF_INET;
 	addr.sin_addr.s_addr = INADDR_ANY;
 	addr.sin_port = htons(WIFI_UDP_PORT_LOCAL);
@@ -30,7 +30,7 @@ void setupWiFi() {

 void sendWiFi(const uint8_t *buf, int len) {
 	if (wifiSocket == 0) setupWiFi();
-	sockaddr_in addr; // remote address
+	sockaddr_in addr;
 	addr.sin_family = AF_INET;
 	addr.sin_addr.s_addr = INADDR_BROADCAST; // send UDP broadcast
 	addr.sin_port = htons(WIFI_UDP_PORT_REMOTE);
--- a/tools/check_c_cpp_properties.py
+++ b/tools/check_c_cpp_properties.py
@@ -1,61 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import platform
-import json
-import re
-
-path = '.vscode/c_cpp_properties.json' if os.path.exists('./.vscode/c_cpp_properties.json') else '../.vscode/c_cpp_properties.json'
-txt = open(path).read()
-# remove comments
-txt = re.sub(r'//.*', '', txt)
-props = json.loads(txt)
-
-env = props.get('env', {})
-env['workspaceFolder'] = '.'
-
-def check_path(s):
-    source = s
-    # replace env
-    for key, value in env.items():
-        s = s.replace('${' + key + '}', value)
-    # remove globs from the end
-    if s.endswith('**'):
-        s = s[:-2]
-    elif s.endswith('*'):
-        s = s[:-1]
-    s = os.path.expanduser(s)
-    if s == '':
-        s = '.'
-    print('Check', source, '->', s)
-    assert os.path.exists(s), 'Path does not exist: ' + s
-
-# linux, macos or windows:
-platform = platform.system().lower()
-if platform == 'darwin':
-    platform = 'mac'
-elif platform == 'windows':
-    platform = 'win32'
-elif platform == 'linux':
-    pass
-else:
-    raise Exception('Unknown platform: ' + platform)
-
-for configuration in props['configurations']:
-    if platform not in configuration['name'].lower():
-        print('Skip configuration', configuration['name'])
-        continue
-
-    print('Check configuration', configuration['name'])
-
-    for include_path in configuration.get('includePath', []):
-        check_path(include_path)
-
-    for forced_include in configuration.get('forcedInclude', []):
-        check_path(forced_include)
-
-    for browse in configuration.get('browse', {}).get('path', []):
-        check_path(browse)
-
-    if 'compilerPath' in configuration:
-        check_path(configuration['compilerPath'])
--- a/tools/csv_to_mcap.py
+++ b/tools/csv_to_mcap.py
@@ -1,46 +0,0 @@
-#!/usr/bin/env python3
-
-"""Convert CSV log file to MCAP file.
-
-Usage:
-  csv_to_mcap.py <csv_file> [<mcap_file>]
-"""
-
-import csv
-import json
-import docopt
-from mcap.writer import Writer
-
-args = docopt.docopt(__doc__)
-input_file = args['<csv_file>']
-output_file = args['<mcap_file>'] or input_file.replace('.csv', '.mcap')
-if input_file == output_file:
-    raise ValueError('Input and output files are the same')
-
-csv_file = open(input_file, 'r')
-csv_reader = csv.reader(csv_file, delimiter=',')
-header = next(csv_reader)
-
-mcap_file = open(output_file, 'wb')
-writer = Writer(mcap_file)
-writer.start()
-
-properties = {key: {'type': 'number'} for key in header}
-schema_id = writer.register_schema(
-    name="state",
-    encoding="jsonschema",
-    data=json.dumps({"type": "object", "properties": properties}).encode(),
-)
-
-channel_id = writer.register_channel(
-    schema_id=schema_id,
-    topic="state",
-    message_encoding="json",
-)
-
-for row in csv_reader:
-    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,)
-
-writer.finish()
--- a/tools/csv_to_ulog/CMakeLists.txt
+++ b/tools/csv_to_ulog/CMakeLists.txt
@@ -1,23 +0,0 @@
-cmake_minimum_required(VERSION 3.15)
-project(csv_to_ulog)
-include(FetchContent)
-set(CMAKE_CXX_STANDARD 17)
-
-FetchContent_Declare(
-  ulog_cpp
-  GIT_REPOSITORY https://github.com/PX4/ulog_cpp.git
-  GIT_TAG cf24ec6
-)
-
-FetchContent_Declare(
-  rapidcsv
-  GIT_REPOSITORY https://github.com/d99kris/rapidcsv.git
-  GIT_TAG v8.82
-)
-
-FetchContent_MakeAvailable(ulog_cpp)
-FetchContent_MakeAvailable(rapidcsv)
-
-add_executable(csv_to_ulog csv_to_ulog.cpp)
-target_link_libraries(csv_to_ulog PUBLIC ulog_cpp::ulog_cpp)
-target_include_directories(csv_to_ulog PUBLIC ${rapidcsv_SOURCE_DIR}/src)
--- a/tools/csv_to_ulog/README.md
+++ b/tools/csv_to_ulog/README.md
@@ -1,20 +0,0 @@
-# csv_to_ulog
-
-Tool for converting CSV flight logs to ULog format so they can be analyzed using [FlightPlot](https://github.com/PX4/FlightPlot) software.
-
-To build, go to the `<flix>/tools/csv_to_ulog` directory and run:
-
-```bash
-mkdir build
-cd build
-cmake ..
-make
-```
-
-Convert a CSV file to ULog:
-
-```bash
-./csv_to_ulog log_file.csv
-```
-
-ULog file will be saved in the same directory.
--- a/tools/csv_to_ulog/csv_to_ulog.cpp
+++ b/tools/csv_to_ulog/csv_to_ulog.cpp
@@ -1,72 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Tool for conversion CSV log file to ULog format
-
-#include <ulog_cpp/simple_writer.hpp>
-#include <rapidcsv.h>
-#include <vector>
-#include <string>
-#include <filesystem>
-
-using std::vector;
-using std::string;
-
-struct Data {
-	uint64_t timestamp;
-	float values[30];
-};
-
-int main(int argc, char** argv)
-{
-	if (argc < 2) {
-		printf("Usage: %s file.csv [file.ulg]\n", argv[0]);
-		return -1;
-	}
-
-	// check input file exists
-	if (!std::filesystem::exists(argv[1])) {
-		printf("Input file \"%s\" does not exist\n", argv[1]);
-		return -1;
-	}
-
-	// open csv file
-	rapidcsv::Document csv(argv[1]);
-	auto columns = csv.GetColumnNames();
-
-
-	// open ulog file
-	string ulog_file;
-	if (argc < 3) {
-		ulog_file = std::filesystem::path(argv[1]).replace_extension(".ulg").string();
-	} else {
-		ulog_file = argv[2];
-	}
-	ulog_cpp::SimpleWriter writer(ulog_file.c_str(), 0);
-	writer.writeInfo("sys_name", "flix");
-
-	vector<ulog_cpp::Field> fields;
-	fields.push_back(ulog_cpp::Field("uint64_t", "timestamp"));
-	columns.erase(columns.begin()); // remove timestamp column
-	for (auto& column : columns) {
-		// Valid field name for ULog: [a-z0-9_]+
-		std::replace(column.begin(), column.end(), '.', '_'); // replace dots with underscores
-		std::transform(column.begin(), column.end(), column.begin(), [](unsigned char c) { return std::tolower(c); }); // lowercase column name
-		fields.push_back(ulog_cpp::Field("float", column));
-	}
-
-	const char* msg_name = "state";
-	writer.writeMessageFormat(msg_name, fields);
-	writer.headerComplete();
-
-	const uint16_t msg_id = writer.writeAddLoggedMessage(msg_name);
-
-	for (size_t i = 0; i < csv.GetRowCount(); i++) {
-		Data data;
-		data.timestamp = csv.GetCell<float>(0, i) * 1000000.0;
-		for (size_t j = 1; j <= columns.size(); j++) {
-			data.values[j - 1] = csv.GetCell<float>(j, i);
-		}
-		writer.writeData(msg_id, data);
-	}
-}
--- a/tools/requirements.txt
+++ b/tools/requirements.txt
@@ -1,3 +1,2 @@
 docopt
 matplotlib
-mcap
Author	SHA1	Message	Date
Oleg Kalachev	d0eb2dd9ba	Merge branch 'master' into run-sim	2024-05-24 22:35:36 +03:00
Oleg Kalachev	44ed3cf42c	Merge branch 'master' into run-sim	2024-01-31 17:23:07 +03:00
Oleg Kalachev	aa02e6344b	Test simulator run in CI	2024-01-25 23:53:08 +03:00