Disable Wi-Fi code

.github/workflows/build.yml

@@ -13,7 +13,7 @@ jobs:
     env:
         ARDUINO_SKETCH_ALWAYS_EXPORT_BINARIES: 1
     steps:
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v4
     - 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 for ESP32
@@ -28,20 +28,22 @@ jobs:
       run: make BOARD=esp32:esp32:esp32s3:CDCOnBoot=cdc,PSRAM=opi EXTRA=--output-dir=flix/build/esp32.esp32.esp32s3.opi
     - name: Build firmware for Flix2
       run: make BOARD=esp32:esp32:esp32s3:FlashSize=4M,CDCOnBoot=cdc,PSRAM=opi EXTRA='--build-property "compiler.cpp.extra_flags=-DFLIX2" --output-dir=flix/build/esp32.esp32.flix2'
+    - name: Build firmware for STM32F4
+      run: |
+        arduino-cli core install STMicroelectronics:stm32 --additional-urls https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json  
+        make BOARD=STMicroelectronics:stm32:GenF4
     - name: Upload binaries
-      uses: actions/upload-artifact@v7
+      uses: actions/upload-artifact@v4
       with:
         name: firmware-binary
         path: flix/build
-    - name: Build espnow-proxy
-      run: arduino-cli compile --fqbn esp32:esp32:esp32 tools/espnow-proxy
     - name: Check c_cpp_properties.json
       run: tools/check_c_cpp_properties.py
 
   build_macos:
     runs-on: macos-latest
     steps:
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v4
     - name: Install Arduino CLI
       run: brew install arduino-cli
     - name: Build firmware
@@ -52,7 +54,7 @@ jobs:
   build_windows:
     runs-on: windows-latest
     steps:
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v4
     - name: Install Arduino CLI
       run: choco install arduino-cli
     - name: Install Make
@@ -73,7 +75,7 @@ jobs:
         DEBIAN_FRONTEND=noninteractive apt-get install -y curl wget build-essential cmake g++ pkg-config gnupg2 lsb-release sudo
     - name: Install Arduino CLI
       run: curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v4
     - name: Install Gazebo
       run: |
         sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
@@ -84,16 +86,7 @@ jobs:
       run: sudo apt-get install -y libsdl2-dev
     - name: Build simulator
       run: make build_simulator
-    - name: Run simulator
+    - uses: actions/upload-artifact@v4
-      env:
-        GAZEBO_MODEL_PATH: ${{ github.workspace }}/gazebo/models
-        GAZEBO_PLUGIN_PATH: ${{ github.workspace }}/gazebo/build
-      run: |
-        OUT=$(timeout -k 10s 120s gzserver --verbose gazebo/flix.world 2>&1 | tee /dev/stderr)
-        if echo "$OUT" | grep -Pq "\[Err\](?! \[RenderEngine)"; then
-          exit 1
-        fi
-    - uses: actions/upload-artifact@v7
       with:
         name: gazebo-plugin-binary
         path: gazebo/build/*.so
@@ -105,7 +98,7 @@ jobs:
     steps:
     - name: Install Arduino CLI
       run: brew install arduino-cli
-    - uses: actions/checkout@v7
+    - 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*

.github/workflows/docs.yml

@@ -16,7 +16,7 @@ jobs:
   markdownlint:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v4
     - name: Install markdownlint
       run: npm install -g markdownlint-cli2
     - name: Run markdownlint
@@ -25,16 +25,13 @@ jobs:
   build_book:
     runs-on: ubuntu-latest
     needs: markdownlint
-    env:
-      BINARIES: ${{ github.event_name == 'push' && (github.ref_name == 'master' || github.ref_name == 'dev') && github.repository == 'okalachev/flix' }}
     steps:
-    - uses: actions/checkout@v7
+    - 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: Wait for Build to complete
-      if: ${{ env.BINARIES }}
       uses: lewagon/wait-on-check-action@v1.9.1
       with:
         ref: ${{ github.sha }}
@@ -42,7 +39,6 @@ jobs:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         wait-interval: 30
     - name: Find firmware binaries
-      if: ${{ env.BINARIES }}
       id: build_run
       run: |
         RUN_ID=$(gh api "repos/${{ github.repository }}/actions/workflows/build.yml/runs?head_sha=${{ github.sha }}&per_page=1" --jq '.workflow_runs[0].id')
@@ -50,8 +46,7 @@ jobs:
       env:
         GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
     - name: Download firmware binaries
-      if: ${{ env.BINARIES }}
+      uses: actions/download-artifact@v4
-      uses: actions/download-artifact@v7
       with:
         github-token: ${{ secrets.GITHUB_TOKEN }}
         repository: ${{ github.repository }}
@@ -59,7 +54,6 @@ jobs:
         name: firmware-binary
         path: docs/build
     - name: Create shortcuts for firmware binaries
-      if: ${{ env.BINARIES }}
       working-directory: docs/build
       run: |
         for FQBN in esp32.esp32.*; do
@@ -70,12 +64,12 @@ jobs:
           ln -s "$FQBN/flix.ino.bootloader.bin" "flix.$BOARD.bootloader.bin"
         done
     - name: Upload artifact
-      uses: actions/upload-pages-artifact@v5
+      uses: actions/upload-pages-artifact@v3
       with:
         path: docs/build
 
   deploy:
-    if: ${{ github.event_name == 'push' && github.ref_name == 'master' }}
+    if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
     concurrency:
       group: "pages"
       cancel-in-progress: true
@@ -87,4 +81,4 @@ jobs:
     steps:
       - name: Deploy to GitHub Pages
         id: deployment
-        uses: actions/deploy-pages@v5
+        uses: actions/deploy-pages@v4

.github/workflows/tools.yml

@@ -10,7 +10,7 @@ jobs:
   csv_to_ulog:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v7
+    - 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
@@ -22,13 +22,13 @@ jobs:
   pyflix:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v4
     - name: Install Python build tools
       run: pip install build
     - name: Build pyflix
       run: python3 -m build tools
     - name: Upload artifacts
-      uses: actions/upload-artifact@v7
+      uses: actions/upload-artifact@v4
       with:
         name: pyflix
         path: |
@@ -37,7 +37,7 @@ jobs:
   python_tools:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v4
     - name: Install Python dependencies
       run: pip install -r tools/requirements.txt
     - name: Test csv_to_mcap tool
@@ -46,23 +46,3 @@ jobs:
         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
-  sloc:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v7
-    - run: sudo apt-get install -y cloc jq
-    - name: Print source lines of code
-      run: cloc --by-file-by-lang flix
-    - name: Checkout previous revision
-      uses: actions/checkout@v7
-      with:
-        ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.base.sha || github.event.before }}
-        path: prev
-    - name: Annotate total source lines
-      run: |
-        SLOC_CURR=$(cloc flix --json | jq -r '.SUM.code')
-        SLOC_PREV=$(cloc prev/flix --json | jq -r '.SUM.code')
-        DIFF=$(printf '%+d' "$((SLOC_CURR - SLOC_PREV))")
-        echo "* Current SLOC: $SLOC_CURR" >> $GITHUB_STEP_SUMMARY
-        echo "* Previous SLOC: $SLOC_PREV" >> $GITHUB_STEP_SUMMARY
-        echo "* Diff: $DIFF" >> $GITHUB_STEP_SUMMARY

Makefile

@@ -4,10 +4,10 @@ PORT := $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/
 export ARDUINO_NETWORK_CONNECTION_TIMEOUT := 1h
 
 build: .core .libs
-	arduino-cli compile flix --fqbn $(BOARD) --build-property "build.core_debug_level=1" $(EXTRA)
+	arduino-cli compile --fqbn $(BOARD) --build-property "build.core_debug_level=1" flix $(EXTRA)
 
 upload: build
-	arduino-cli upload flix --fqbn $(BOARD) -p "$(PORT)"
+	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" flix
 
 erase:
 	arduino-cli burn-bootloader --fqbn $(BOARD) -p "$(PORT)" -P esptool
@@ -27,8 +27,8 @@ libs .libs:
 	touch .libs
 
 upload_proxy: .core .libs
-	arduino-cli compile tools/espnow-proxy --fqbn $(BOARD)
+	arduino-cli compile --fqbn $(BOARD) tools/espnow-proxy
-	arduino-cli upload tools/espnow-proxy --fqbn $(BOARD) -p "$(PORT)"
+	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" tools/espnow-proxy
 
 gazebo/build cmake: gazebo/CMakeLists.txt
 	mkdir -p gazebo/build

docs/book/firmware.md

@@ -31,7 +31,7 @@
 
 * [`vector.h`](https://github.com/okalachev/flix/blob/master/flix/vector.h), [`quaternion.h`](https://github.com/okalachev/flix/blob/master/flix/quaternion.h) — библиотеки векторов и кватернионов.
 * [`pid.h`](https://github.com/okalachev/flix/blob/master/flix/pid.h) — ПИД-регулятор.
-* [`filter.h`](https://github.com/okalachev/flix/blob/master/flix/filter.h) — фильтр нижних частот.
+* [`lpf.h`](https://github.com/okalachev/flix/blob/master/flix/lpf.h) — фильтр нижних частот.
 
 ### Подсистема управления
 

docs/firmware.md

@@ -34,7 +34,7 @@ Utility files:
 
 * [`vector.h`](../flix/vector.h), [`quaternion.h`](../flix/quaternion.h) — vector and quaternion libraries.
 * [`pid.h`](../flix/pid.h) — generic PID controller.
-* [`filter.h`](../flix/filter.h) — generic low-pass filter.
+* [`lpf.h`](../flix/lpf.h) — generic low-pass filter.
 
 ### Control subsystem
 

flix/cli.ino

@@ -6,7 +6,7 @@
 #include "pid.h"
 #include "vector.h"
 #include "util.h"
-#include "filter.h"
+#include "lpf.h"
 
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
 extern const int RAW, ACRO, STAB, AUTO;

flix/control.ino

@@ -6,7 +6,7 @@
 #include "vector.h"
 #include "quaternion.h"
 #include "pid.h"
-#include "filter.h"
+#include "lpf.h"
 #include "util.h"
 
 const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes

flix/estimate.ino

@@ -5,7 +5,7 @@
 
 #include "quaternion.h"
 #include "vector.h"
-#include "filter.h"
+#include "lpf.h"
 #include "util.h"
 
 Vector rates; // estimated angular rates, rad/s

flix/imu.ino

@@ -7,7 +7,7 @@
 #include <Wire.h>
 #include <FlixPeriph.h>
 #include "vector.h"
-#include "filter.h"
+#include "lpf.h"
 #include "util.h"
 
 IMU *imu;

flix/motors.ino

@@ -19,18 +19,27 @@ const int MOTOR_REAR_LEFT = 0, MOTOR_REAR_RIGHT = 1, MOTOR_FRONT_RIGHT = 2, MOTO
 void setupMotors() {
 	print("Setup motors\n");
 	// Configure pins
+#ifdef ESP32
 	for (int i = 0; i < 4; i++) {
 		if (motorPins[i] < 0) continue; // skip unassigned motors
 		ledcAttach(motorPins[i], pwmFrequency, pwmResolution);
 		pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // when reconfiguring
 	}
+#else
+	analogWriteResolution(pwmResolution);
+	analogWriteFrequency(pwmFrequency);
+#endif
 	sendMotors();
 }
 
 void sendMotors() {
 	for (int i = 0; i < 4; i++) {
 		if (motorPins[i] < 0) continue; // skip unassigned motors
+#ifdef ESP32
 		ledcWrite(motorPins[i], getDutyCycle(motors[i]));
+#else
+		analogWrite(motorPins[i], getDutyCycle(motors[i]));
+#endif
 	}
 }
 

flix/parameters.ino

@@ -3,7 +3,7 @@
 
 // Parameters storage in flash memory
 
-#include <Preferences.h>
+#include "prefs.h"
 #include "util.h"
 
 extern int channelZero[16], channelMax[16];
@@ -22,7 +22,7 @@ struct Parameter {
 	const char *name; // max length is 15
 	bool integer;
 	union { float *f; int *i; }; // pointer to the variable
-	float initial; // default value
+	float inital; // default value
 	float cache; // what's stored in flash
 	void (*callback)(); // called after parameter change
 	Parameter(const char *name, float *variable, void (*callback)() = nullptr) : name(name), integer(false), f(variable), callback(callback) {};
@@ -150,7 +150,7 @@ void setupParameters() {
 	storage.begin("flix");
 	// Read parameters from storage
 	for (auto &parameter : parameters) {
-		parameter.initial = parameter.getValue();
+		parameter.inital = parameter.getValue();
 		if (storage.isKey(parameter.name)) {
 			parameter.setValue(storage.getFloat(parameter.name));
 		}
@@ -211,10 +211,10 @@ void printParameters(const char *filter) {
 	for (auto &parameter : parameters) {
 		if (strncasecmp(parameter.name, filter, strlen(filter))) continue;
 
-		if (floatEquals(parameter.getValue(), parameter.initial)) { // parameter changed
+		if (floatEquals(parameter.getValue(), parameter.inital)) { // parameter changed
 			print("%-15s  %-13g\n", parameter.name, parameter.getValue());
 		} else {
-			print("%-15s  %-13g  [%g]\n", parameter.name, parameter.getValue(), parameter.initial);
+			print("%-15s  %-13g  [%g]\n", parameter.name, parameter.getValue(), parameter.inital);
 		}
 	}
 }

flix/pid.h

@@ -5,7 +5,7 @@
 
 #pragma once
 
-#include "filter.h"
+#include "lpf.h"
 
 class PID {
 public:
@@ -18,7 +18,7 @@ public:
 
 	LowPassFilter<float> lpf; // low pass filter for derivative term
 
-	PID(float p, float i = 0, float d = 0, float windup = INFINITY, float dAlpha = 1, float dtMax = 0.1) :
+	PID(float p, float i = 0, float d = 0, float windup = 0, float dAlpha = 1, float dtMax = 0.1) :
 		p(p), i(i), d(d), windup(windup), lpf(dAlpha), dtMax(dtMax) {}
 
 	float update(float error) {

flix/power.ino

@@ -3,9 +3,11 @@
 
 // Power management
 
+#ifdef ESP32
 #include <soc/soc.h>
 #include <soc/rtc_cntl_reg.h>
-#include "filter.h"
+#endif
+#include "lpf.h"
 #include "util.h"
 
 float voltage = NAN;
@@ -14,7 +16,9 @@ int voltagePin = -1;
 float voltageScale = 2;
 
 void setupPower() {
+#ifdef ESP32
 	REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA); // disable reset on low voltage
+#endif
 	if (digitalPinToAnalogChannel(voltagePin) == -1) voltagePin = -1; // test ADC pin
 }
 

flix/prefs.h

@@ -0,0 +1,283 @@
+#ifdef ESP32
+#include <Preferences.h>
+#else
+
+#include <Arduino.h>
+#include <EEPROM.h>
+#include <string.h>
+
+class Preferences {
+public:
+	Preferences() = default;
+	~Preferences() = default;
+
+	bool begin(const char *name, bool readOnly = false, const char *partition_label = NULL) {
+		(void)name;
+		(void)readOnly;
+		(void)partition_label;
+		load();
+		started = true;
+		return true;
+	}
+
+	void end() {
+		started = false;
+	}
+
+	bool clear() {
+		if (!started) return false;
+		for (auto &entry : entries) {
+			entry = Entry();
+		}
+		return save();
+	}
+
+	size_t putFloat(const char *key, float value) {
+		if (!started) return 0;
+		int index = ensureKey(key);
+		if (index < 0) return 0;
+		entries[index].hasFloat = true;
+		entries[index].hasString = false;
+		entries[index].stringValue = "";
+		entries[index].floatValue = value;
+		if (!save()) return 0;
+		return sizeof(float);
+	}
+
+	float getFloat(const char *key, float defaultValue = NAN) {
+		if (!started) return defaultValue;
+		int index = findKey(key);
+		if (index < 0 || !entries[index].hasFloat) return defaultValue;
+		return entries[index].floatValue;
+	}
+
+	size_t putString(const char *key, const char *value) {
+		if (!started) return 0;
+		int index = ensureKey(key);
+		if (index < 0) return 0;
+		if (!value) value = "";
+		if (strlen(value) > MAX_STRING_LEN) return 0;
+
+		entries[index].hasString = true;
+		entries[index].hasFloat = false;
+		entries[index].stringValue = value;
+		if (!save()) return 0;
+		return entries[index].stringValue.length();
+	}
+
+	size_t putString(const char *key, String value) {
+		return putString(key, value.c_str());
+	}
+
+	String getString(const char *key, String defaultValue = String()) {
+		if (!started) return defaultValue;
+		int index = findKey(key);
+		if (index < 0 || !entries[index].hasString) return defaultValue;
+		return entries[index].stringValue;
+	}
+
+	bool isKey(const char *key) {
+		if (!started) return false;
+		return findKey(key) >= 0;
+	}
+
+private:
+	static const int MAX_ENTRIES = 128;
+	static const int MAX_KEY_LEN = 15;
+	static const int MAX_STRING_LEN = 95;
+	static const uint32_t MAGIC = 0x46504B56; // "VKPF"
+	static const uint8_t VERSION = 1;
+	static const uint8_t TYPE_FLOAT = 1;
+	static const uint8_t TYPE_STRING = 2;
+	static const int STORAGE_SIZE = 4096;
+
+	struct Entry {
+		bool used = false;
+		char key[MAX_KEY_LEN + 1] = {};
+		bool hasFloat = false;
+		float floatValue = NAN;
+		bool hasString = false;
+		String stringValue;
+	};
+
+	bool started = false;
+	Entry entries[MAX_ENTRIES];
+
+	static void writeU16(uint8_t *dst, uint16_t value) {
+		dst[0] = static_cast<uint8_t>(value & 0xFF);
+		dst[1] = static_cast<uint8_t>((value >> 8) & 0xFF);
+	}
+
+	static void writeU32(uint8_t *dst, uint32_t value) {
+		dst[0] = static_cast<uint8_t>(value & 0xFF);
+		dst[1] = static_cast<uint8_t>((value >> 8) & 0xFF);
+		dst[2] = static_cast<uint8_t>((value >> 16) & 0xFF);
+		dst[3] = static_cast<uint8_t>((value >> 24) & 0xFF);
+	}
+
+	static uint16_t readU16(const uint8_t *src) {
+		return static_cast<uint16_t>(src[0]) |
+			(static_cast<uint16_t>(src[1]) << 8);
+	}
+
+	static uint32_t readU32(const uint8_t *src) {
+		return static_cast<uint32_t>(src[0]) |
+			(static_cast<uint32_t>(src[1]) << 8) |
+			(static_cast<uint32_t>(src[2]) << 16) |
+			(static_cast<uint32_t>(src[3]) << 24);
+	}
+
+	int availableStorageSize() {
+		int n = STORAGE_SIZE;
+		if (EEPROM.length() > 0 && EEPROM.length() < n) n = EEPROM.length();
+		return n;
+	}
+
+	bool save() {
+		const int storageSize = availableStorageSize();
+		if (storageSize < 16) return false;
+
+		uint8_t buffer[STORAGE_SIZE] = {};
+		int pos = 0;
+		writeU32(buffer + pos, MAGIC);
+		pos += 4;
+		buffer[pos++] = VERSION;
+		buffer[pos++] = 0;
+		int lengthPos = pos;
+		pos += 2;
+
+		for (int i = 0; i < MAX_ENTRIES; i++) {
+			if (!entries[i].used) continue;
+			if (!entries[i].hasFloat && !entries[i].hasString) continue;
+
+			const uint8_t keyLen = static_cast<uint8_t>(strnlen(entries[i].key, MAX_KEY_LEN));
+			if (keyLen == 0) continue;
+
+			if (entries[i].hasFloat) {
+				const int recordSize = 3 + keyLen + 4;
+				if (pos + recordSize > storageSize) return false;
+
+				buffer[pos++] = TYPE_FLOAT;
+				buffer[pos++] = keyLen;
+				buffer[pos++] = 4;
+				memcpy(buffer + pos, entries[i].key, keyLen);
+				pos += keyLen;
+				float value = entries[i].floatValue;
+				memcpy(buffer + pos, &value, sizeof(value));
+				pos += sizeof(value);
+			} else if (entries[i].hasString) {
+				const uint8_t valueLen = static_cast<uint8_t>(entries[i].stringValue.length());
+				const int recordSize = 3 + keyLen + valueLen;
+				if (pos + recordSize > storageSize) return false;
+
+				buffer[pos++] = TYPE_STRING;
+				buffer[pos++] = keyLen;
+				buffer[pos++] = valueLen;
+				memcpy(buffer + pos, entries[i].key, keyLen);
+				pos += keyLen;
+				if (valueLen > 0) {
+					memcpy(buffer + pos, entries[i].stringValue.c_str(), valueLen);
+					pos += valueLen;
+				}
+			}
+		}
+
+		writeU16(buffer + lengthPos, static_cast<uint16_t>(pos));
+
+		for (int i = 0; i < storageSize; i++) {
+			EEPROM.write(i, buffer[i]);
+		}
+		EEPROM.commit();
+		return true;
+	}
+
+	void load() {
+		const int storageSize = availableStorageSize();
+		if (storageSize < 16) return;
+
+		for (auto &entry : entries) entry = Entry();
+
+		uint8_t buffer[STORAGE_SIZE] = {};
+		for (int i = 0; i < storageSize; i++) {
+			buffer[i] = EEPROM.read(i);
+		}
+
+		int pos = 0;
+		if (readU32(buffer + pos) != MAGIC) return;
+		pos += 4;
+		if (buffer[pos++] != VERSION) return;
+		pos++; // flags
+
+		const uint16_t totalLen = readU16(buffer + pos);
+		pos += 2;
+		if (totalLen < pos || totalLen > storageSize) return;
+
+		while (pos + 3 <= totalLen) {
+			const uint8_t type = buffer[pos++];
+			const uint8_t keyLen = buffer[pos++];
+			const uint8_t valueLen = buffer[pos++];
+			if (keyLen == 0 || keyLen > MAX_KEY_LEN) return;
+			if (pos + keyLen + valueLen > totalLen) return;
+
+			char key[MAX_KEY_LEN + 1] = {};
+			memcpy(key, buffer + pos, keyLen);
+			key[keyLen] = '\0';
+			pos += keyLen;
+
+			int index = ensureKey(key);
+			if (index < 0) return;
+
+			if (type == TYPE_FLOAT && valueLen == 4) {
+				float value = NAN;
+				memcpy(&value, buffer + pos, sizeof(value));
+				entries[index].hasFloat = true;
+				entries[index].hasString = false;
+				entries[index].stringValue = "";
+				entries[index].floatValue = value;
+			} else if (type == TYPE_STRING && valueLen <= MAX_STRING_LEN) {
+				char value[MAX_STRING_LEN + 1] = {};
+				if (valueLen > 0) memcpy(value, buffer + pos, valueLen);
+				value[valueLen] = '\0';
+				entries[index].hasString = true;
+				entries[index].hasFloat = false;
+				entries[index].stringValue = value;
+			}
+
+			pos += valueLen;
+		}
+	}
+
+	int findKey(const char *key) {
+		if (!key) return -1;
+		for (int i = 0; i < MAX_ENTRIES; i++) {
+			if (!entries[i].used) continue;
+			if (strncmp(entries[i].key, key, MAX_KEY_LEN + 1) == 0) return i;
+		}
+		return -1;
+	}
+
+	int ensureKey(const char *key) {
+		if (!key) return -1;
+		if (strlen(key) > MAX_KEY_LEN) return -1;
+
+		int index = findKey(key);
+		if (index >= 0) return index;
+
+		for (int i = 0; i < MAX_ENTRIES; i++) {
+			if (entries[i].used) continue;
+			entries[i].used = true;
+			entries[i].hasFloat = false;
+			entries[i].hasString = false;
+			entries[i].floatValue = NAN;
+			entries[i].stringValue = "";
+			strncpy(entries[i].key, key, MAX_KEY_LEN);
+			entries[i].key[MAX_KEY_LEN] = '\0';
+			return i;
+		}
+
+		return -1;
+	}
+};
+
+
+#endif

flix/util.h

@@ -6,7 +6,11 @@
 #pragma once
 
 #include <math.h>
+#ifdef ESP32
+#include <soc/soc.h>
+#include <soc/rtc_cntl_reg.h>
 #include <ESP32_NOW_Serial.h>
+#endif
 
 const float ONE_G = 9.80665;
 extern float t;
@@ -53,6 +57,7 @@ void splitString(String& str, String& token0, String& token1, String& token2) {
 	if (token2.c_str() == NULL) token2 = "";
 }
 
+#ifdef ESP32
 // Simplified ESP-NOW Serial without resends
 class ESPNOWSerial : public ESP_NOW_Serial_Class {
 public:
@@ -63,6 +68,7 @@ public:
 		ESP_NOW_Serial_Class::onSent(true); // always report success to avoid resends
 	}
 };
+#endif
 
 // Rate limiter
 class Rate {

flix/wifi.ino

@@ -3,13 +3,13 @@
 
 // Wi-Fi and ESP-NOW communication
 
-#include <WiFi.h>
+// #include <WiFi.h>
-#include <WiFiAP.h>
+// #include <WiFiAP.h>
-#include <WiFiUdp.h>
+// #include <WiFiUdp.h>
-#include <MacAddress.h>
+// #include <MacAddress.h>
-#include <ESP32_NOW_Serial.h>
+// #include <ESP32_NOW_Serial.h>
-#include <Preferences.h>
+// #include "prefs.h"
-#include "util.h"
+// #include "util.h"
 
 extern Preferences storage; // use the main preferences storage
 
@@ -20,120 +20,121 @@ int wifiLongRange = 0;
 int wifiBroadcast = 0; // 0 - broadcast until connected, 1 - always broadcast
 int udpLocalPort = 14550;
 int udpRemotePort = 14550;
-IPAddress udpRemoteIP = "255.255.255.255";
+// IPAddress udpRemoteIP = "255.255.255.255";
-WiFiUDP udp;
+// WiFiUDP udp;
 
-ESPNOWSerial espnow(NULL, 0, WIFI_IF_AP);
+// ESPNOWSerial espnow(NULL, 0, WIFI_IF_AP);
-ESPNOWSerial espnowBroadcast(ESP_NOW.BROADCAST_ADDR, 0, WIFI_IF_AP);
+// ESPNOWSerial espnowBroadcast(ESP_NOW.BROADCAST_ADDR, 0, WIFI_IF_AP);
 int espnowChannel = 6;
 
 void setupWiFi() {
-	print("Setup Wi-Fi\n");
+	// print("Setup Wi-Fi\n");
-	WiFi.enableLongRange(wifiLongRange);
+	// WiFi.enableLongRange(wifiLongRange);
 
-	if (wifiMode == W_AP) {
+	// if (wifiMode == W_AP) {
-		WiFi.softAP(storage.getString("WIFI_AP_SSID", "flix").c_str(), storage.getString("WIFI_AP_PASS", "flixwifi").c_str());
+	// 	WiFi.softAP(storage.getString("WIFI_AP_SSID", "flix").c_str(), storage.getString("WIFI_AP_PASS", "flixwifi").c_str());
-		udp.begin(udpLocalPort);
+	// 	udp.begin(udpLocalPort);
-	}
+	// }
 
-	if (wifiMode == W_STA) {
+	// if (wifiMode == W_STA) {
-		WiFi.begin(storage.getString("WIFI_STA_SSID", "").c_str(), storage.getString("WIFI_STA_PASS", "").c_str());
+	// 	WiFi.begin(storage.getString("WIFI_STA_SSID", "").c_str(), storage.getString("WIFI_STA_PASS", "").c_str());
-		udp.begin(udpLocalPort);
+	// 	udp.begin(udpLocalPort);
-	}
+	// }
 
-	if (wifiMode == W_ESPNOW) {
+	// if (wifiMode == W_ESPNOW) {
-		WiFi.mode(WIFI_AP);
+	// 	WiFi.mode(WIFI_AP);
-		WiFi.setChannel(espnowChannel);
+	// 	WiFi.setChannel(espnowChannel);
-		espnow.addr(MacAddress(storage.getString("ESPNOW_PEER_MAC", "FF:FF:FF:FF:FF:FF").c_str()));
+	// 	espnow.addr(MacAddress(storage.getString("ESPNOW_PEER_MAC", "FF:FF:FF:FF:FF:FF").c_str()));
-		String key = storage.getString("ESPNOW_PEER_KEY", "");
+	// 	String key = storage.getString("ESPNOW_PEER_KEY", "");
-		espnow.setKey(key.isEmpty() ? nullptr : (const uint8_t *)key.c_str());
+	// 	espnow.setKey(key.isEmpty() ? nullptr : (const uint8_t *)key.c_str());
-		espnow.begin();
+	// 	espnow.begin();
-		espnowBroadcast.begin();
+	// 	espnowBroadcast.begin();
-	}
+	// }
 
-	WiFi.setSleep(false); // disable power save
+	// WiFi.setSleep(false); // disable power save
 }
 
 void sendWiFi(const uint8_t *buf, int len) {
-	if (espnow) {
+	// if (espnow) {
-		espnow.write(buf, len);
+	// 	espnow.write(buf, len);
 
-		static Rate discovery(2);
+	// 	static Rate discovery(2);
-		if (espnow.isEncrypted() && discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device
+	// 	if (espnow.isEncrypted() && discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device
-		return;
+	// 	return;
-	}
+	// }
 
-	if (WiFi.softAPgetStationNum() == 0 && !WiFi.isConnected()) return;
+	// if (WiFi.softAPgetStationNum() == 0 && !WiFi.isConnected()) return;
 
-	bool broadcast = wifiBroadcast || !(t - mavlinkTime < 5); // broadcast if lost connection
+	// bool broadcast = wifiBroadcast || !(t - mavlinkTime < 5); // broadcast if lost connection
-	udp.beginPacket(broadcast ? IPAddress(255, 255, 255, 255) : udpRemoteIP, udpRemotePort);
+	// udp.beginPacket(broadcast ? IPAddress(255, 255, 255, 255) : udpRemoteIP, udpRemotePort);
-	udp.write(buf, len);
+	// udp.write(buf, len);
-	udp.endPacket();
+	// udp.endPacket();
 }
 
 int receiveWiFi(uint8_t *buf, int len) {
-	if (espnow) {
+	// if (espnow) {
-		return espnow.read(buf, len);
+	// 	return espnow.read(buf, len);
-	}
+	// }
 
-	if (WiFi.softAPgetStationNum() == 0 && !WiFi.isConnected()) return 0;
+	// if (WiFi.softAPgetStationNum() == 0 && !WiFi.isConnected()) return 0;
 
-	udp.parsePacket();
+	// udp.parsePacket();
-	if (udp.remoteIP()) udpRemoteIP = udp.remoteIP();
+	// if (udp.remoteIP()) udpRemoteIP = udp.remoteIP();
-	return udp.read(buf, len);
+	// return udp.read(buf, len);
+	return 0;
 }
 
 void printWiFiInfo() {
-	if (espnow) {
+	// if (espnow) {
-		print("Mode: ESP-NOW\n");
+	// 	print("Mode: ESP-NOW\n");
-		print("ESP-NOW version: %d\n", ESP_NOW.getVersion());
+	// 	print("ESP-NOW version: %d\n", ESP_NOW.getVersion());
-		print("Max packet size: %d\n", ESP_NOW.getMaxDataLen());
+	// 	print("Max packet size: %d\n", ESP_NOW.getMaxDataLen());
-		print("MAC: %s\n", WiFi.softAPmacAddress().c_str());
+	// 	print("MAC: %s\n", WiFi.softAPmacAddress().c_str());
-		print("Peer MAC: %s\n", MacAddress(espnow.addr()).toString().c_str());
+	// 	print("Peer MAC: %s\n", MacAddress(espnow.addr()).toString().c_str());
-		print("Encrypted: %d\n", espnow.isEncrypted());
+	// 	print("Encrypted: %d\n", espnow.isEncrypted());
-		print("Channel: %d\n", espnow.getChannel());
+	// 	print("Channel: %d\n", espnow.getChannel());
-		print("Lost packets: %d\n", espnow.lost);
+	// 	print("Lost packets: %d\n", espnow.lost);
-	} else if (WiFi.getMode() == WIFI_MODE_AP) {
+	// } else if (WiFi.getMode() == WIFI_MODE_AP) {
-		print("Mode: Access Point (AP)\n");
+	// 	print("Mode: Access Point (AP)\n");
-		print("MAC: %s\n", WiFi.softAPmacAddress().c_str());
+	// 	print("MAC: %s\n", WiFi.softAPmacAddress().c_str());
-		print("SSID: %s\n", WiFi.softAPSSID().c_str());
+	// 	print("SSID: %s\n", WiFi.softAPSSID().c_str());
-		print("Password: ***\n");
+	// 	print("Password: ***\n");
-		print("Channel: %d\n", WiFi.channel());
+	// 	print("Channel: %d\n", WiFi.channel());
-		print("Clients: %d\n", WiFi.softAPgetStationNum());
+	// 	print("Clients: %d\n", WiFi.softAPgetStationNum());
-		print("IP: %s\n", WiFi.softAPIP().toString().c_str());
+	// 	print("IP: %s\n", WiFi.softAPIP().toString().c_str());
-		print("Remote IP: %s\n", udpRemoteIP.toString().c_str());
+	// 	print("Remote IP: %s\n", udpRemoteIP.toString().c_str());
-	} else if (WiFi.getMode() == WIFI_MODE_STA) {
+	// } else if (WiFi.getMode() == WIFI_MODE_STA) {
-		print("Mode: Client (STA)\n");
+	// 	print("Mode: Client (STA)\n");
-		print("Connected: %d\n", WiFi.isConnected());
+	// 	print("Connected: %d\n", WiFi.isConnected());
-		print("MAC: %s\n", WiFi.macAddress().c_str());
+	// 	print("MAC: %s\n", WiFi.macAddress().c_str());
-		print("SSID: %s\n", WiFi.SSID().c_str());
+	// 	print("SSID: %s\n", WiFi.SSID().c_str());
-		print("Password: ***\n");
+	// 	print("Password: ***\n");
-		print("Channel: %d\n", WiFi.channel());
+	// 	print("Channel: %d\n", WiFi.channel());
-		print("RSSI: %d dBm\n", WiFi.RSSI());
+	// 	print("RSSI: %d dBm\n", WiFi.RSSI());
-		print("IP: %s\n", WiFi.localIP().toString().c_str());
+	// 	print("IP: %s\n", WiFi.localIP().toString().c_str());
-		print("Remote IP: %s\n", udpRemoteIP.toString().c_str());
+	// 	print("Remote IP: %s\n", udpRemoteIP.toString().c_str());
-	} else {
+	// } else {
-		print("Mode: Disabled\n");
+	// 	print("Mode: Disabled\n");
-	}
+	// }
-	print("MAVLink connected: %d\n", valid(mavlinkTime));
+	// print("MAVLink connected: %d\n", valid(mavlinkTime));
 }
 
 void configWiFi(int mode, const char *first, const char *second) {
-	MacAddress mac;
+	// MacAddress mac;
-	if (mode == W_AP && strlen(first) > 0 && strlen(second) >= 8) {
+	// if (mode == W_AP && strlen(first) > 0 && strlen(second) >= 8) {
-		storage.putString("WIFI_AP_SSID", first);
+	// 	storage.putString("WIFI_AP_SSID", first);
-		storage.putString("WIFI_AP_PASS", second);
+	// 	storage.putString("WIFI_AP_PASS", second);
-	} else if (mode == W_STA && strlen(first) > 0 && strlen(second) >= 8) {
+	// } else if (mode == W_STA && strlen(first) > 0 && strlen(second) >= 8) {
-		storage.putString("WIFI_STA_SSID", first);
+	// 	storage.putString("WIFI_STA_SSID", first);
-		storage.putString("WIFI_STA_PASS", second);
+	// 	storage.putString("WIFI_STA_PASS", second);
-	} else if (mode == W_ESPNOW && mac.fromString(first)) {
+	// } else if (mode == W_ESPNOW && mac.fromString(first)) {
-		storage.putString("ESPNOW_PEER_MAC", first);
+	// 	storage.putString("ESPNOW_PEER_MAC", first);
-		storage.putString("ESPNOW_PEER_KEY", strlen(second) == ESP_NOW_KEY_LEN ? second : "");
+	// 	storage.putString("ESPNOW_PEER_KEY", strlen(second) == ESP_NOW_KEY_LEN ? second : "");
-	} else {
+	// } else {
-		print("Invalid configuration\n");
+	// 	print("Invalid configuration\n");
-		return;
+	// 	return;
-	}
+	// }
-	print("✓ Reboot to apply new settings\n");
+	// print("✓ Reboot to apply new settings\n");
 }
 
 void setWiFiMode(const String& mode) {

gazebo/flix.h

@@ -9,7 +9,7 @@
 #include "quaternion.h"
 #include "Arduino.h"
 #include "wifi.h"
-#include "filter.h"
+#include "lpf.h"
 
 extern float t, dt;
 extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;

gazebo/simulator.cpp

@@ -23,7 +23,7 @@
 #include "estimate.ino"
 #include "safety.ino"
 #include "log.ino"
-#include "filter.h"
+#include "lpf.h"
 #include "mavlink.ino"
 #include "motors.ino"
 #include "parameters.ino"

gazebo/wifi.h

@@ -14,7 +14,6 @@
 // Mocks
 int wifiMode = 1;
 int wifiLongRange = 0;
-int wifiBroadcast = 0;
 int espnowChannel = 6;
 const int W_DISABLED = 0, W_AP = 1, W_STA = 2, W_ESPNOW = 3;
 

tools/pyflix/flix.py

@@ -243,7 +243,7 @@ class Flix:
             time.sleep(1)
 
     @staticmethod
-    def _mavlink_to_flu(v: Sequence[float]) -> List[float]:
+    def _mavlink_to_flu(v: List[float]) -> List[float]:
         if len(v) == 3:  # vector
             return [v[0], -v[1], -v[2]]
         elif len(v) == 4:  # quaternion
@@ -252,8 +252,8 @@ class Flix:
             raise ValueError(f'List must have 3 (vector) or 4 (quaternion) elements')
 
     @staticmethod
-    def _flu_to_mavlink(v: Sequence[float]) -> List[float]:
+    def _flu_to_mavlink(v: List[float]) -> List[float]:
-        return Flix._mavlink_to_flu(v)  # flu to mavlink is the same as mavlink to flu
+        return Flix._mavlink_to_flu(v)
 
     def _command_send(self, command: int, params: Sequence[float]):
         if len(params) != 7:
@@ -320,13 +320,13 @@ class Flix:
     def set_armed(self, armed: bool):
         self._command_send(mavlink.MAV_CMD_COMPONENT_ARM_DISARM, (1 if armed else 0, 0, 0, 0, 0, 0, 0))
 
-    def set_position(self, position: Sequence[float], yaw: Optional[float] = None, wait: bool = False, tolerance: float = 0.1):
+    def set_position(self, position: List[float], yaw: Optional[float] = None, wait: bool = False, tolerance: float = 0.1):
         raise NotImplementedError('Position control is not implemented yet')
 
-    def set_velocity(self, velocity: Sequence[float], yaw: Optional[float] = None):
+    def set_velocity(self, velocity: List[float], yaw: Optional[float] = None):
         raise NotImplementedError('Velocity control is not implemented yet')
 
-    def set_attitude(self, attitude: Sequence[float], thrust: float):
+    def set_attitude(self, attitude: List[float], thrust: float):
         if len(attitude) == 3:
             attitude = Quaternion([attitude[0], attitude[1], attitude[2]]).q  # type: ignore
         elif len(attitude) != 4:
@@ -339,7 +339,7 @@ class Flix:
                 [attitude[0], attitude[1], attitude[2], attitude[3]],
                 0, 0, 0, thrust)
 
-    def set_rates(self, rates: Sequence[float], thrust: float):
+    def set_rates(self, rates: List[float], thrust: float):
         if len(rates) != 3:
             raise ValueError('Rates must be [roll_rate, pitch_rate, yaw_rate]')
         if not (0 <= thrust <= 1):
@@ -351,7 +351,7 @@ class Flix:
                 [1, 0, 0, 0],
                 rates[0], rates[1], rates[2], thrust)
 
-    def set_motors(self, motors: Sequence[float]):
+    def set_motors(self, motors: List[float]):
         if len(motors) != 4:
             raise ValueError('motors must have 4 values')
         if not all(0 <= m <= 1 for m in motors):