Add threshold for rc sticks move for quitting auto mode

(Setting alpha = 1 efficiently disables the filter.)
Filtering does more harm than good in voltage monitoring.

.github/workflows/build.yml

@@ -27,6 +27,8 @@ jobs:
       run: make BOARD=esp32:esp32:esp32c3
     - name: Build firmware for ESP32-S3
       run: make BOARD=esp32:esp32:esp32s3
+    - 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
 
@@ -76,11 +78,6 @@ jobs:
       run: sudo apt-get install -y libsdl2-dev
     - name: Build simulator
       run: make build_simulator
-    - name: Run simulator
-      env:
-        GAZEBO_MODEL_PATH: ${{ github.workspace }}/gazebo/models
-        GAZEBO_PLUGIN_PATH: ${{ github.workspace }}/gazebo/build
-      run: timeout --preserve-status 120 gzserver --verbose gazebo/flix.world || [ $? -eq 143 ]
     - uses: actions/upload-artifact@v4
       with:
         name: gazebo-plugin-binary

.gitignore

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

.vscode/c_cpp_properties.json

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

.vscode/extensions.json

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

Makefile

@@ -1,24 +1,32 @@
 BOARD = esp32:esp32:d1_mini32
 PORT := $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-* /dev/cu.usbmodem*))
 
-build: .dependencies
-	arduino-cli compile --fqbn $(BOARD) flix
+export ARDUINO_NETWORK_CONNECTION_TIMEOUT := 1h
+
+build: .core .libs
+	arduino-cli compile --fqbn $(BOARD) --build-property "build.core_debug_level=1" flix
 
 upload: build
 	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" flix
 
+erase:
+	arduino-cli burn-bootloader --fqbn $(BOARD) -p "$(PORT)" -P esptool
+
 monitor:
 	arduino-cli monitor -p "$(PORT)" -c baudrate=115200
 
-dependencies .dependencies:
-	arduino-cli core update-index --config-file arduino-cli.yaml
-	arduino-cli core install esp32:esp32@3.3.6 --config-file arduino-cli.yaml
+core .core:
+	arduino-cli core update-index --additional-urls https://espressif.github.io/arduino-esp32/package_esp32_index.json
+	arduino-cli core install esp32:esp32@3.3.10 --additional-urls https://espressif.github.io/arduino-esp32/package_esp32_index.json
+	touch .core
+
+libs .libs:
 	arduino-cli lib update-index
 	arduino-cli lib install "FlixPeriph"
 	arduino-cli lib install "MAVLink"@2.0.25
-	touch .dependencies
+	touch .libs
 
-upload_proxy: .dependencies
+upload_proxy: .core .libs
 	arduino-cli compile --fqbn $(BOARD) tools/espnow-proxy
 	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" tools/espnow-proxy
 
@@ -26,7 +34,7 @@ gazebo/build cmake: gazebo/CMakeLists.txt
 	mkdir -p gazebo/build
 	cd gazebo/build && cmake ..
 
-build_simulator: .dependencies gazebo/build
+build_simulator: .libs gazebo/build
 	make -C gazebo/build
 
 simulator: build_simulator
@@ -41,6 +49,6 @@ plot:
 	plotjuggler -d $(shell ls -t tools/log/*.csv | head -n1)
 
 clean:
-	rm -rf gazebo/build flix/build flix/cache .dependencies
+	rm -rf gazebo/build flix/build flix/cache .core .libs
 
-.PHONY: build upload monitor dependencies cmake build_simulator simulator log clean
+.PHONY: build upload monitor core libs cmake build_simulator simulator log clean

README.md

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

arduino-cli.yaml

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

docs/firmware.md

@@ -79,6 +79,9 @@ To add a new parameter:
 
 See examples of adding new parameters in commits: [c434107](https://github.com/okalachev/flix/commit/c434107), [a687303](https://github.com/okalachev/flix/commit/a687303).
 
+> [!NOTE]
+> Since all the parameters are internally stored and passed as floats, the safe range for `int` parameters is -16777216 to 16777215.
+
 ## Adding a subsystem
 
 To add a new subsystem:

docs/usage.md

@@ -20,13 +20,14 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b
 
 1. Install [Arduino IDE](https://www.arduino.cc/en/software) (version 2 is recommended).
 2. *Windows users might need to install [USB to UART bridge driver from Silicon Labs](https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers).*
-3. Install ESP32 core, version 3.3.6. See the [official Espressif's instructions](https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#installing-using-arduino-ide) on installing ESP32 Core in Arduino IDE.
+3. Install ESP32 core, version 3.3.10. See the [official Espressif's instructions](https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#installing-using-arduino-ide) on installing ESP32 Core in Arduino IDE.
 4. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library):
    * `FlixPeriph`, the latest version.
    * `MAVLink`, version 2.0.25.
 5. Open the `flix/flix.ino` sketch from downloaded firmware sources in Arduino IDE.
-6. Connect your ESP32 board to the computer and choose correct board type in Arduino IDE (*WEMOS D1 MINI ESP32* for ESP32 Mini) and the port.
-7. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
+6. Connect your ESP32 board to the computer and choose correct board type in Arduino IDE (*WEMOS D1 MINI ESP32* for ESP32 Mini, *ESP32S3 Dev Module* for ESP32-S3 Super Mini) and the port.
+7. Set *Tools* ⇒ *Core Debug Level* to *Error* to see the errors in the serial console. Set *Tools* ⇒ *USB CDC on Boot* to *Enabled* for ESP32-S3/ESP32-C3 boards.
+8. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
 
 ### Command line (Windows, Linux, macOS)
 
@@ -57,6 +58,12 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b
    make upload monitor
    ```
 
+   For ESP32-S3/ESP32-C3 boards, set the appropriate [FQBN](https://docs.arduino.cc/arduino-cli/FAQ/#whats-the-fqbn-string) using `BOARD` parameter:
+
+   ```bash
+   make BOARD=esp32:esp32:esp32s3:FlashSize=4M,CDCOnBoot=cdc upload
+   ```
+
 See other available Make commands in [Makefile](../Makefile).
 
 > [!TIP]
@@ -69,8 +76,25 @@ See other available Make commands in [Makefile](../Makefile).
 In case if using different IMU model than MPU9250, change `imu` variable declaration in the `imu.ino`:
 
 ```cpp
-ICM20948 imu(SPI);  // For ICM-20948
-MPU6050 imu(Wire);  // For MPU-6050
+ICM20948 imu(SPI);  // For ICM-20948 via SPI
+// or
+MPU6050 imu(Wire);  // For MPU-6050 via I2C
+```
+
+If using non-default SPI pins, pass SCK, MISO, and MOSI pin numbers to `SPI.begin` call and SS pin to `imu` constructor like that:
+
+```cpp
+ICM20948(SPI, <SS>);
+// ...
+SPI.begin(<SCK>, <MISO>, <MOSI>);
+imu.begin();
+```
+
+If using non-default I2C pins, pass SDA and SCL pin numbers to `Wire.setPins` call like that:
+
+```cpp
+Wire.begin(<SDA>, <SCL>);
+imu.begin();
 ```
 
 ### Connect using QGroundControl
@@ -82,6 +106,9 @@ QGroundControl is a ground control station software that can be used to monitor
 3. Connect your computer or smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`).
 4. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
 
+> [!TIP]
+> If QGroundControl doesn't connect, try to disable the firewall and/or VPN on your computer, as they may block the connection.
+
 ### Access console
 
 The console is a command line interface (CLI) that allows to interact with the drone, change parameters, and perform various actions. There are two ways of accessing the console: using **serial port** or using **QGroundControl (wirelessly)**.
@@ -95,7 +122,7 @@ To access the console using serial port:
 To access the console using QGroundControl:
 
 1. Connect to the drone using QGroundControl app.
-2. Go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*.
+2. Go to the QGroundControl menu ⇒ *Analyze Tools* ⇒ *MAVLink Console*.
 
 <img src="img/cli.png" width="400">
 
@@ -188,7 +215,7 @@ After this setup, you should see the battery voltage in QGroundControl top panel
 
 ## Setup remote control
 
-There are several ways to control the drone's flight: using **smartphone** (Wi-Fi), using **SBUS remote control**, or using **USB remote control** (Wi-Fi).
+There are several ways to control the drone's flight: using **smartphone** (Wi-Fi), using **SBUS remote control**, or using **USB remote control** (Wi-Fi/ESP-NOW).
 
 ### Control with a smartphone
 
@@ -233,7 +260,7 @@ If your drone doesn't have RC receiver installed, you can use USB remote control
 3. Power up the drone.
 4. Connect your computer to the appeared `flix` Wi-Fi network (password: `flixwifi`).
 5. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
-6. Go the the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate you USB remote control there.
+6. Go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate your USB remote control there.
 7. Use the USB remote control to fly the drone!
 
 ## Flight
@@ -323,13 +350,13 @@ To setup ESP-NOW communication:
 
 1. Flash the second ESP32 board with ESP-NOW proxy sketch: [`tools/espnow-proxy/espnow-proxy.ino`](../tools/espnow-proxy/espnow-proxy.ino). Use Arduino IDE or command line: `make upload_proxy`.
 
-2. Open Serial Monitor or use `make monitor` command. The ESP32 will print its MAC address and generated encryption key, for example:
+2. Open Serial Monitor in Arduino IDE or use `make monitor` command. The ESP32 will print its MAC address and generated encryption key, for example:
 
    ```
    espnow 7a:c8:e3:eb:bf:e9 &PiuSysxP9+$L&5E
    ```
 
-   Run this line as a console command on each drone you want to bind to this proxy board. [The maximum number](https://github.com/espressif/esp-idf/blob/e95cab4be8fd293e3f3323181e7a2280874da6f7/components/esp_wifi/include/esp_now.h#L32-L33) of simultaneously connected drones is 20 (unencrypted) io 6 (encrypted).
+   Run this line as a console command on each drone you want to bind to this proxy board. [The maximum number](https://github.com/espressif/esp-idf/blob/e95cab4be8fd293e3f3323181e7a2280874da6f7/components/esp_wifi/include/esp_now.h#L32-L33) of simultaneously connected drones is 20 (unencrypted) or 6 (encrypted).
 
 3. Set the `WIFI_MODE` parameter to `3` on the drone:
 
@@ -342,11 +369,14 @@ To setup ESP-NOW communication:
    * Type: Serial.
    * Serial Port: choose the port of the proxy ESP32 board, e. g. `/dev/cu.usbserial-0001`.
    * Baud Rate: 115200.
-5. Click *Save*. QGroundControl should connect to the drone using ESP-NOW and begin showing the telemetry.
+5. Click *Save*, click *Connect*. QGroundControl should connect to the drone using ESP-NOW and begin showing the telemetry.
+
+> [!TIP]
+> Make sure Arduino IDE is not running when using ESP-NOW proxy board, as it may block it.
 
 ## Flight log
 
-After the flight, you can download the flight log for analysis wirelessly. Use the following command on your computer for that:
+After the flight, you can download the flight log wirelessly for analysis. Use the following command on your computer for that:
 
 ```bash
 make log

docs/user.md

@@ -4,6 +4,46 @@ This page contains user-built drones based on the Flix project. Publish your pro
 
 ---
 
+Author: Alican Erüst.<br>
+Description: QX95 mm frame, 55 mm propellers, 3.7 V 25C 1050 mAh LiPo battery, MPU6050 IMU, Logitech F310 gamepad controller, with a total quadcopter weight of 66 g.
+
+<img src="img/user/alicanerus/1.jpg" height=200> <img src="img/user/alicanerus/2.jpg" height=200> <img src="img/user/alicanerus/3.jpg" height=200>
+
+[Flight video](https://drive.google.com/file/d/1k0WeWTKnCAfaugkX7LcmNxsUuq79RL8Z/view?usp=sharing).
+
+---
+
+Author: [Неруш Михаил](https://t.me/NerushMV).<br>
+Description: custom frame made of 4 mm plywood, 8520 brushed motors, 75 mm propellers, MPU-6500. FlySky FS-i6X with ESP32-based adapter for ESP-NOW communication (using PPM output).<br>
+Sources and materials: [link](https://drive.google.com/drive/folders/1uWiDcuorLrtVs_IIR7Y13omij-7Q1nx8).
+
+<img src="img/user/nerush/1.jpg" height=200> <img src="img/user/nerush/2.jpg" height=200>
+
+[Flight video](https://drive.google.com/file/d/1jRXeGx34lJpUfw0GKLQeIzkWZvooQJSE/view?usp=sharing).
+
+---
+
+Author: [Konstantinos Paraskevas](https://github.com/Frapais).<br>
+Description: drone with a custom single-boarded airframe, extending the [Sprig-C3 module](https://github.com/Frapais/Sprig-C3).
+ESP32-C3 microcontroller, ICM-20948 IMU, on-board fuel-gauge, status LED indicator.<br>
+Repository with all the code and PCB sources: https://github.com/Frapais/Sprig-Drone.
+
+<img src="img/user/kostas/1.jpg" height=150> <img src="img/user/kostas/2.jpg" height=150>
+
+Detailed video about making the drone:
+
+<a href="https://youtu.be/82Q-uBq6s48"><img width=400 src="https://i3.ytimg.com/vi/82Q-uBq6s48/maxresdefault.jpg"></a>
+
+---
+
+Author: [Awab Anas](http://t.me/AW_VENOM).<br>
+Description: ESP32 D1 Mini, MPU-6050, 8520 3.7V brushed motors, 55 mm propellers, battery li-po 1200 mAh, controlling via [Mavlink Joystick app](https://github.com/goldarte/mavlink-joystick/releases/latest).<br>
+[Flight validation](https://drive.google.com/file/d/12z0jfctZDBA6b5UKCG0Uje5rAxj6DhF-/view?usp=sharing).
+
+<img src="img/user/aw_venom/1.jpg" height=200>
+
+---
+
 Author: [Ina Tix](https://t.me/ina_tix).<br>
 Description: XR2981 based DC-DC converter, ELRS MINI 2.4GHz RX SX1280 receiver (SBUS interface), Radiomaster TX12 remote control.<br>
 [Flight validation](https://drive.google.com/file/d/1yqkKNuz4R_yxGqUNQxVpixJbXqEEcUSj/view?usp=share_link).
@@ -57,6 +97,17 @@ Author: [goldarte](https://t.me/goldarte).<br>
 
 ---
 
+Author: [malagis](https://oshwhub.com/malagis).<br>
+
+A Chinese custom PCB version of Flix with a big community of users, lots of materials and modifications.
+
+Main project's page: https://oshwhub.com/malagis/esp32-mini-plane.<br>
+Video about the project: https://www.bilibili.com/video/BV14vyqBFEJn/.
+
+<img src="img/user/malagis/1.jpg" height=200> <img src="img/user/malagis/2.jpg" height=200> <img src="img/user/malagis/3.jpg" height=200>
+
+---
+
 ## School 548 course
 
 Special course on quadcopter design and engineering took place in october-november 2025 in School 548, Moscow. The course included UAV control theory, electronics, drone assembly and setup practice, using the Flix project.

flix/cli.ino

@@ -6,7 +6,7 @@
 #include "pid.h"
 #include "vector.h"
 #include "util.h"
-#include "lpf.h"
+#include "filter.h"
 
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
 extern const int RAW, ACRO, STAB, AUTO;
@@ -31,33 +31,39 @@ const char* motd =
 "Commands:\n\n"
 "help - show help\n"
 "p - show all parameters\n"
-"p <name> - show parameter\n"
+"p <str> - show parameters starting with str\n"
 "p <name> <value> - set parameter\n"
 "preset - reset parameters\n"
 "time - show time info\n"
-"ps - show pitch/roll/yaw\n"
-"psq - show attitude quaternion\n"
 "imu - show IMU data\n"
+"ca - calibrate accel\n"
+"st - show state estimation\n"
 "arm - arm the drone\n"
 "disarm - disarm the drone\n"
 "raw/stab/acro/auto - set mode\n"
 "rc - show RC data\n"
+"cr - calibrate RC\n"
 "pw - show power info\n"
 "wifi - show Wi-Fi info\n"
-"ap <ssid> <password> - setup Wi-Fi access point\n"
-"sta <ssid> <password> - setup Wi-Fi client mode\n"
-"espnow <mac> [<key>] - setup ESP-NOW peer\n"
+"wifi ap/sta/espnow/off - set Wi-Fi mode\n"
+"ap <ssid> <password> - configure Wi-Fi access point\n"
+"sta <ssid> <password> - configure Wi-Fi client mode\n"
+"espnow <mac> [<key>] - configure ESP-NOW peer\n"
 "mot - show motor output\n"
+"mfr/mfl/mrr/mrl [<thrust>] - test motor (remove props)\n"
 "log [dump] - print log header [and data]\n"
-"cr - calibrate RC\n"
-"ca - calibrate accel\n"
-"mfr, mfl, mrr, mrl - test motor (remove props)\n"
+"log - show log info\n"
+"log header - show log header\n"
+"log reset - reset log\n"
+"log <name> <rate> - setup log topic rate\n"
+"l <str> - show log values starting with str\n"
+"l expose <name> - expose log value to telemetry\n"
 "sys - show system info\n"
 "reset - reset drone's state\n"
 "reboot - reboot the drone\n";
 
 void print(const char* format, ...) {
-	char buf[1000];
+	char buf[3000];
 	va_list args;
 	va_start(args, format);
 	vsnprintf(buf, sizeof(buf), format, args);
@@ -92,10 +98,8 @@ void doCommand(String str, bool echo = false) {
 	// execute command
 	if (command == "help" || command == "motd") {
 		print("%s\n", motd);
-	} else if (command == "p" && arg0 == "") {
-		printParameters();
-	} else if (command == "p" && arg0 != "" && arg1 == "") {
-		print("%s = %g\n", arg0.c_str(), getParameter(arg0.c_str()));
+	} else if (command == "p" && arg1 == "") {
+		printParameters(arg0.c_str());
 	} else if (command == "p") {
 		bool success = setParameter(arg0.c_str(), arg1.toFloat());
 		if (success) {
@@ -109,15 +113,15 @@ void doCommand(String str, bool echo = false) {
 		print("Time: %f\n", t);
 		print("Loop rate: %.0f\n", loopRate);
 		print("dt: %f\n", dt);
-	} else if (command == "ps") {
-		Vector a = attitude.toEuler();
-		print("roll: %f pitch: %f yaw: %f\n", degrees(a.x), degrees(a.y), degrees(a.z));
-	} else if (command == "psq") {
-		print("qw: %f qx: %f qy: %f qz: %f\n", attitude.w, attitude.x, attitude.y, attitude.z);
 	} else if (command == "imu") {
 		printIMUInfo();
 		printIMUCalibration();
 		print("landed: %d\n", landed);
+	} else if (command == "st") {
+		print("rates: %g %g %g\n", rates.x, rates.y, rates.z);
+		print("attitude: %g %g %g %g\n", attitude.w, attitude.x, attitude.y, attitude.z);
+		print("roll: %g° pitch: %g° yaw: %g°\n", degrees(attitude.getRoll()), degrees(attitude.getPitch()), degrees(attitude.getYaw()));
+		print("landed: %d\n", landed);
 	} else if (command == "arm") {
 		armed = true;
 	} else if (command == "disarm") {
@@ -142,8 +146,10 @@ void doCommand(String str, bool echo = false) {
 		print("armed: %d\n", armed);
 	} else if (command == "pw") {
 		print("Voltage: %.1f V\n", voltage);
-	} else if (command == "wifi") {
+	} else if (command == "wifi" && arg0 == "") {
 		printWiFiInfo();
+	} else if (command == "wifi") {
+		setWiFiMode(arg0);
 	} else if (command == "ap") {
 		configWiFi(W_AP, arg0.c_str(), arg1.c_str());
 	} else if (command == "sta") {
@@ -153,29 +159,41 @@ void doCommand(String str, bool echo = false) {
 	} else if (command == "mot") {
 		print("front-right %g front-left %g rear-right %g rear-left %g\n",
 			motors[MOTOR_FRONT_RIGHT], motors[MOTOR_FRONT_LEFT], motors[MOTOR_REAR_RIGHT], motors[MOTOR_REAR_LEFT]);
-	} else if (command == "log") {
+	} else if (command == "log" && arg0 == "") {
+		printLogInfo();
+	} else if (command == "log" && arg1 != "") {
+		configLogThrottle(arg0.c_str(), arg1.toFloat());
+	} else if (command == "log" && arg0 == "header") {
 		printLogHeader();
-		if (arg0 == "dump") printLogData();
+	} else if (command == "log" && arg0 == "reset") {
+		resetLog();
+	} else if (command == "l" && arg0 == "expose" && arg1 != "") {
+		exposeLogValue(arg1.c_str());
+	} else if (command == "l") {
+		printLogValues(arg0.c_str());
 	} else if (command == "cr") {
 		calibrateRC();
 	} else if (command == "ca") {
 		calibrateAccel();
 	} else if (command == "mfr") {
-		testMotor(MOTOR_FRONT_RIGHT);
+		testMotor(MOTOR_FRONT_RIGHT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
 	} else if (command == "mfl") {
-		testMotor(MOTOR_FRONT_LEFT);
+		testMotor(MOTOR_FRONT_LEFT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
 	} else if (command == "mrr") {
-		testMotor(MOTOR_REAR_RIGHT);
+		testMotor(MOTOR_REAR_RIGHT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
 	} else if (command == "mrl") {
-		testMotor(MOTOR_REAR_LEFT);
+		testMotor(MOTOR_REAR_LEFT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
 	} else if (command == "sys") {
 #ifdef ESP32
 		print("Chip: %s\n", ESP.getChipModel());
 		print("Temperature: %.1f °C\n", temperatureRead());
-		print("Free heap: %d\n", ESP.getFreeHeap());
+		print("Total RAM: %d KB\n", ESP.getHeapSize() / 1024);
+		print("Free heap: %d KB\n", ESP.getFreeHeap() / 1024);
+		print("PSRAM: %d KB\n", ESP.getPsramSize() / 1024);
+		print("Free PSRAM: %d KB\n", ESP.getFreePsram() / 1024);
 		print("Firmware: " __DATE__ " " __TIME__ "\n");
 		// Print tasks table
-		print("Num  Task                Stack  Prio  Core  CPU%%\n");
+		print("Num  Task                MinSt  Prio  Core  CPU%%\n");
 		int taskCount = uxTaskGetNumberOfTasks();
 		TaskStatus_t *systemState = new TaskStatus_t[taskCount];
 		uint32_t totalRunTime;
@@ -209,7 +227,7 @@ void handleInput() {
 
 	while (Serial.available()) {
 		char c = Serial.read();
-		if (c == '\n') {
+		if (c == '\n' || c == '\r') {
 			doCommand(input);
 			input.clear();
 		} else {

flix/control.ino

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

flix/estimate.ino

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

flix/filter.h

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

flix/flix.ino

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

flix/imu.ino

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

flix/log.ino

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

flix/lpf.h

@@ -1,34 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Low pass filter implementation
-
-#pragma once
-
-template <typename T> // Using template to make the filter usable for scalar and vector values
-class LowPassFilter {
-public:
-	float alpha; // smoothing constant, 1 means filter disabled
-	T output;
-
-	LowPassFilter(float alpha): alpha(alpha) {};
-
-	T update(const T input) {
-		if (!init) {
-			init = true;
-			return output = input;
-		}
-		return output += alpha * (input - output);
-	}
-
-	void setCutOffFrequency(float cutOffFreq, float dt) {
-		alpha = 1 - exp(-2 * PI * cutOffFreq * dt);
-	}
-
-	void reset() {
-		init = false;
-	}
-
-private:
-	bool init = false;
-};

flix/mavlink.ino

@@ -10,8 +10,13 @@ extern float controlTime;
 extern float voltage;
 
 int mavlinkSysId = 1;
-Rate telemetryFast(10);
+
 Rate telemetrySlow(2);
+Rate telemetryAttitude(20);
+Rate telemetryRC(10);
+Rate telemetryMotors(10);
+Rate telemetryIMU(15);
+Rate telemetryTopic(10);
 
 bool mavlinkConnected = false;
 String mavlinkPrintBuffer;
@@ -34,42 +39,58 @@ void sendMavlink() {
 			((mode == AUTO) ? MAV_MODE_FLAG_AUTO_ENABLED : MAV_MODE_FLAG_MANUAL_INPUT_ENABLED),
 			mode, MAV_STATE_STANDBY);
 		sendMessage(&msg);
+	}
 
 	if (!mavlinkConnected) return; // send only heartbeat until connected
 
+	if (telemetrySlow) {
 		mavlink_msg_extended_sys_state_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
 			MAV_VTOL_STATE_UNDEFINED, landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR);
 		sendMessage(&msg);
+	}
 
+	if (telemetrySlow && valid(voltage)) {
 		uint16_t voltages[] = {(uint16_t)(voltage * 1000), UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX};
 		uint16_t voltagesExt[] = {0, 0, 0, 0};
 		float remaining = constrain(mapf(voltage, 3.4, 4.2, 0, 1), 0, 1);
 		mavlink_msg_battery_status_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, MAV_BATTERY_FUNCTION_ALL,
 			MAV_BATTERY_TYPE_LIPO, INT16_MAX, voltages, -1, -1, -1, remaining * 100, 0, MAV_BATTERY_CHARGE_STATE_OK, voltagesExt, 0, 0);
-		if (valid(voltage)) sendMessage(&msg);
+		sendMessage(&msg);
 	}
 
-	if (telemetryFast && mavlinkConnected) {
+	if (telemetryAttitude) {
 		const float offset[] = {0, 0, 0, 0};
 		mavlink_msg_attitude_quaternion_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
 			time, attitude.w, attitude.x, -attitude.y, -attitude.z, rates.x, -rates.y, -rates.z, offset); // convert to frd
 		sendMessage(&msg);
+	}
 
+	if (telemetryRC && channels[0]) { // 0 means no RC input
 		mavlink_msg_rc_channels_raw_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0,
 			channels[0], channels[1], channels[2], channels[3], channels[4], channels[5], channels[6], channels[7], UINT8_MAX);
-		if (channels[0] != 0) sendMessage(&msg); // 0 means no RC input
+		sendMessage(&msg);
+	}
 
+	if (telemetryMotors) {
 		float controls[8];
 		memcpy(controls, motors, sizeof(motors));
 		mavlink_msg_actuator_control_target_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time, 0, controls);
 		sendMessage(&msg);
+	}
 
+	if (telemetryIMU) {
 		mavlink_msg_scaled_imu_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time,
 			acc.x / ONE_G * 1000, -acc.y / ONE_G * 1000, -acc.z / ONE_G * 1000, // convert to frd
 			gyro.x * 1000, -gyro.y * 1000, -gyro.z * 1000,
 			0, 0, 0, 0);
 		sendMessage(&msg);
 	}
+
+	if (telemetryTopic && logExposed != nullptr) {
+		mavlink_msg_named_value_float_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
+			time, logExposed->name, logExposed->value.get());
+		sendMessage(&msg);
+	}
 }
 
 void sendMessage(const void *msg) {
@@ -78,16 +99,36 @@ void sendMessage(const void *msg) {
 	sendWiFi(buf, len);
 }
 
+static uint8_t mavlinkBatch[ESP_NOW_MAX_DATA_LEN_V2];
+static int mavlinkBatchSize = 0;
+
+void batchMessage(const void *msg) {
+	uint8_t buf[MAVLINK_MAX_PACKET_LEN];
+	int len = mavlink_msg_to_send_buffer(buf, (mavlink_message_t *)msg);
+
+	if (mavlinkBatchSize + len > sizeof(mavlinkBatch)) {
+		sendWiFi(mavlinkBatch, mavlinkBatchSize);
+		mavlinkBatchSize = 0;
+	}
+	memcpy(mavlinkBatch + mavlinkBatchSize, buf, len);
+	mavlinkBatchSize += len;
+}
+
+void flushBatchMessages() {
+	sendWiFi(mavlinkBatch, mavlinkBatchSize);
+	mavlinkBatchSize = 0;
+}
+
 void receiveMavlink() {
 	uint8_t buf[MAVLINK_MAX_PACKET_LEN];
 	int len = receiveWiFi(buf, MAVLINK_MAX_PACKET_LEN);
-	if (len) mavlinkConnected = true;
 
 	// New packet, parse it
 	mavlink_message_t msg;
 	mavlink_status_t status;
 	for (int i = 0; i < len; i++) {
 		if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status)) {
+			mavlinkConnected = true;
 			handleMavlink(&msg);
 		}
 	}
@@ -182,18 +223,24 @@ void handleMavlink(const void *_msg) {
 		mavlink_msg_set_attitude_target_decode(&msg, &m);
 		if (m.target_system && m.target_system != mavlinkSysId) return;
 
-		// copy attitude, rates and thrust targets
-		ratesTarget.x = m.body_roll_rate;
-		ratesTarget.y = -m.body_pitch_rate; // convert to flu
-		ratesTarget.z = -m.body_yaw_rate;
+		if (!(m.type_mask & ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE)) {
+			// Attitude control
 			attitudeTarget.w = m.q[0];
 			attitudeTarget.x = m.q[1];
 			attitudeTarget.y = -m.q[2];
 			attitudeTarget.z = -m.q[3];
-		thrustTarget = m.thrust;
-		ratesExtra = Vector(0, 0, 0);
+			ratesExtra.x = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE ? 0 : m.body_roll_rate;
+			ratesExtra.y = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE ? 0 : -m.body_pitch_rate; // convert to flu
+			ratesExtra.z = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE ? 0 : -m.body_yaw_rate;
+		} else {
+			// Rates control
+			attitudeTarget.invalidate();
+			ratesTarget.x = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE ? ratesTarget.x : m.body_roll_rate;
+			ratesTarget.y = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE ? ratesTarget.y : -m.body_pitch_rate;
+			ratesTarget.z = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE ? ratesTarget.z : -m.body_yaw_rate;
+		}
 
-		if (m.type_mask & ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE) attitudeTarget.invalidate();
+		thrustTarget = valid(m.thrust) ? m.thrust : thrustTarget;
 		armed = m.thrust > 0;
 	}
 
@@ -211,18 +258,29 @@ void handleMavlink(const void *_msg) {
 		armed = motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0;
 	}
 
+	if (msg.msgid == MAVLINK_MSG_ID_LOG_REQUEST_LIST) {
+		const uint32_t qgcEpoch = 1262304000; // qgc accepts only timestamps after 2010-01-01
+		mavlink_message_t response;
+		mavlink_msg_log_entry_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &response,
+			0, 1, 0, qgcEpoch + t * 60, logLength); // put fake unique date to make qgc happy with saving logs
+		sendMessage(&response);
+	}
+
 	if (msg.msgid == MAVLINK_MSG_ID_LOG_REQUEST_DATA) {
 		mavlink_log_request_data_t m;
 		mavlink_msg_log_request_data_decode(&msg, &m);
 		if (m.target_system && m.target_system != mavlinkSysId) return;
 
-		// Send all log records
-		for (int i = 0; i < sizeof(logBuffer) / sizeof(logBuffer[0]); i++) {
-			mavlink_message_t msg;
-			mavlink_msg_log_data_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, i,
-				sizeof(logBuffer[0]), (uint8_t *)logBuffer[i]);
-			sendMessage(&msg);
+		for (int i = 0; i < m.count; i += MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN) {
+			int chunkSize = min(MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN, (int)(m.count - i));
+			mavlink_message_t response;
+			uint8_t data[MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN];
+			readLog(data, m.ofs + i, chunkSize);
+			mavlink_msg_log_data_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &response,
+				m.id, m.ofs + i, chunkSize, data);
+			batchMessage(&response);
 		}
+		flushBatchMessages();
 	}
 
 	// Handle commands

flix/motors.ino

@@ -7,7 +7,7 @@
 
 float motors[4]; // normalized motor thrusts in range [0..1]
 
-int motorPins[4] = {12, 13, 14, 15}; // default pin numbers
+int motorPins[4] = {-1, -1, -1, -1}; // default pin numbers
 int pwmFrequency = 78000;
 int pwmResolution = 10;
 int pwmStop = 0;
@@ -17,24 +17,26 @@ int pwmMax = -1; // -1 means duty cycle mode
 const int MOTOR_REAR_LEFT = 0, MOTOR_REAR_RIGHT = 1, MOTOR_FRONT_RIGHT = 2, MOTOR_FRONT_LEFT = 3;
 
 void setupMotors() {
-	print("Setup Motors\n");
-	// configure pins
+	print("Setup motors\n");
+	// Configure pins
 	for (int i = 0; i < 4; i++) {
+		if (motorPins[i] < 0) continue; // skip unassigned motors
 		ledcAttach(motorPins[i], pwmFrequency, pwmResolution);
 		pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // when reconfiguring
 	}
 	sendMotors();
-	print("Motors initialized\n");
 }
 
 void sendMotors() {
 	for (int i = 0; i < 4; i++) {
+		if (motorPins[i] < 0) continue; // skip unassigned motors
 		ledcWrite(motorPins[i], getDutyCycle(motors[i]));
 	}
 }
 
 int getDutyCycle(float value) {
 	value = constrain(value, 0, 1);
+
 	if (pwmMax >= 0) { // pwm mode
 		float pwm = mapf(value, 0, 1, pwmMin, pwmMax);
 		if (value == 0) pwm = pwmStop;
@@ -49,9 +51,9 @@ bool motorsActive() {
 	return motors[0] != 0 || motors[1] != 0 || motors[2] != 0 || motors[3] != 0;
 }
 
-void testMotor(int n) {
+void testMotor(int n, float thrust) {
 	print("Testing motor %d\n", n);
-	motors[n] = 0.2;
+	motors[n] = thrust;
 	delay(50); // ESP32 may need to wait until the end of the current cycle to change duty https://github.com/espressif/arduino-esp32/issues/5306
 	sendMotors();
 	pause(3);

flix/parameters.ino

@@ -10,7 +10,7 @@ extern int channelZero[16], channelMax[16];
 extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
 extern int rcRxPin, voltagePin;
 extern int wifiMode, wifiLongRange, udpLocalPort, udpRemotePort, espnowChannel;
-extern float rcLossTimeout, descendTime;
+extern float rcLossTimeout, descendTime, disarmTilt;
 extern float voltageScale;
 extern LowPassFilter<float> voltageFilter;
 
@@ -20,6 +20,7 @@ struct Parameter {
 	const char *name; // max length is 15
 	bool integer;
 	union { float *f; int *i; }; // pointer to the variable
+	float inital; // default value
 	float cache; // what's stored in flash
 	void (*callback)(); // called after parameter change
 	Parameter(const char *name, float *variable, void (*callback)() = nullptr) : name(name), integer(false), f(variable), callback(callback) {};
@@ -73,6 +74,8 @@ Parameter parameters[] = {
 	{"EST_ACC_WEIGHT", &accWeight},
 	{"EST_LVL_WEIGHT", &levelWeight},
 	{"EST_RATES_LPF_A", &ratesFilter.alpha},
+	{"EST_RATES_NF_F", &ratesNotch.frequency, setupEstimate},
+	{"EST_RATES_NF_BW", &ratesNotch.bandwidth, setupEstimate},
 	// motors
 	{"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT], setupMotors},
 	{"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT], setupMotors},
@@ -116,7 +119,26 @@ Parameter parameters[] = {
 	// mavlink
 	{"MAV_SYS_ID", &mavlinkSysId},
 	{"MAV_RATE_SLOW", &telemetrySlow.rate},
-	{"MAV_RATE_FAST", &telemetryFast.rate},
+	{"MAV_RATE_ATT", &telemetryAttitude.rate},
+	{"MAV_RATE_RC", &telemetryRC.rate},
+	{"MAV_RATE_MOT", &telemetryMotors.rate},
+	{"MAV_RATE_IMU", &telemetryIMU.rate},
+	{"MAV_RATE_TOPIC", &telemetryTopic.rate},
+	// log
+	{"LOG_MEMORY", &logMemory, setupLog},
+	{"LOG_USAGE", &logUsage, setupLog},
+	{"LOG_RATE_000", &logTopics[0].throttle},
+	{"LOG_RATE_001", &logTopics[1].throttle},
+	{"LOG_RATE_002", &logTopics[2].throttle},
+	{"LOG_RATE_003", &logTopics[3].throttle},
+	{"LOG_RATE_004", &logTopics[4].throttle},
+	{"LOG_RATE_005", &logTopics[5].throttle},
+	{"LOG_RATE_006", &logTopics[6].throttle},
+	{"LOG_RATE_007", &logTopics[7].throttle},
+	{"LOG_RATE_008", &logTopics[8].throttle},
+	{"LOG_RATE_009", &logTopics[9].throttle},
+	{"LOG_RATE_010", &logTopics[10].throttle},
+	{"LOG_RATE_011", &logTopics[11].throttle},
 	// power
 	{"PWR_VOLT_PIN", &voltagePin, setupPower},
 	{"PWR_VOLT_SCALE", &voltageScale},
@@ -124,6 +146,7 @@ Parameter parameters[] = {
 	// safety
 	{"SF_RC_LOSS_TIME", &rcLossTimeout},
 	{"SF_DESCEND_TIME", &descendTime},
+	{"SF_DISARM_TILT", &disarmTilt}
 };
 
 void setupParameters() {
@@ -131,10 +154,10 @@ void setupParameters() {
 	storage.begin("flix");
 	// Read parameters from storage
 	for (auto &parameter : parameters) {
-		if (!storage.isKey(parameter.name)) {
-			storage.putFloat(parameter.name, parameter.getValue()); // store default value
+		parameter.inital = parameter.getValue();
+		if (storage.isKey(parameter.name)) {
+			parameter.setValue(storage.getFloat(parameter.name));
 		}
-		parameter.setValue(storage.getFloat(parameter.name, 0));
 		parameter.cache = parameter.getValue();
 	}
 }
@@ -180,17 +203,23 @@ void syncParameters() {
 	if (motorsActive()) return; // don't use flash while flying, it may cause a delay
 
 	for (auto &parameter : parameters) {
-		if (parameter.getValue() == parameter.cache) continue; // no change
-		if (isnan(parameter.getValue()) && isnan(parameter.cache)) continue; // both are NAN
+		if (floatEquals(parameter.getValue(), parameter.cache)) continue; // no change
 
 		storage.putFloat(parameter.name, parameter.getValue());
 		parameter.cache = parameter.getValue(); // update cache
 	}
 }
 
-void printParameters() {
+void printParameters(const char *filter) {
+	print("Name             Value          [Default]\n");
 	for (auto &parameter : parameters) {
-		print("%s = %g\n", parameter.name, parameter.getValue());
+		if (strncasecmp(parameter.name, filter, strlen(filter))) continue;
+
+		if (floatEquals(parameter.getValue(), parameter.inital)) { // parameter changed
+			print("%-15s  %-13g\n", parameter.name, parameter.getValue());
+		} else {
+			print("%-15s  %-13g  [%g]\n", parameter.name, parameter.getValue(), parameter.inital);
+		}
 	}
 }
 

flix/pid.h

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

flix/power.ino

@@ -5,11 +5,11 @@
 
 #include <soc/soc.h>
 #include <soc/rtc_cntl_reg.h>
-#include "lpf.h"
+#include "filter.h"
 #include "util.h"
 
 float voltage = NAN;
-LowPassFilter<float> voltageFilter(0.2);
+LowPassFilter<float> voltageFilter(1);
 int voltagePin = -1;
 float voltageScale = 2;
 
@@ -20,6 +20,7 @@ void setupPower() {
 
 void readVoltage() {
 	if (voltagePin < 0) return;
+
 	static Rate rate(10);
 	if (!rate) return;
 

flix/rc.ino

@@ -27,15 +27,13 @@ void setupRC() {
 
 bool readRC() {
 	if (rcRxPin < 0) return false;
-	if (rc.read()) {
-		SBUSData data = rc.data();
-		for (int i = 0; i < 16; i++) channels[i] = data.ch[i]; // copy channels data
+	if (!rc.read()) return false;
+
+	rc.getChannels(channels);
 	normalizeRC();
 	controlTime = t;
 	return true;
 }
-	return false;
-}
 
 void normalizeRC() {
 	float controls[16];
@@ -55,6 +53,7 @@ void calibrateRC() {
 		print("RC_RX_PIN = %d, set the RC pin!\n", rcRxPin);
 		return;
 	}
+
 	uint16_t zero[16]; // for zero positions
 	uint16_t center[16]; // for center positions
 	uint16_t _[16]; // for unused data

flix/safety.ino

@@ -8,10 +8,12 @@ extern float controlRoll, controlPitch, controlThrottle, controlYaw;
 
 float rcLossTimeout = 1;
 float descendTime = 10;
+float disarmTilt = radians(120);
 
 void failsafe() {
 	rcLossFailsafe();
 	autoFailsafe();
+	tiltFailsafe();
 }
 
 // RC loss failsafe
@@ -36,7 +38,7 @@ void descend() {
 // Allow pilot to interrupt automatic flight
 void autoFailsafe() {
 	static float roll, pitch, yaw, throttle;
-	if (roll != controlRoll || pitch != controlPitch || yaw != controlYaw || abs(throttle - controlThrottle) > 0.05) {
+	if (abs(roll - controlRoll) > 0.05 || abs(pitch - controlPitch) > 0.05 || abs(yaw - controlYaw) > 0.05 || abs(throttle - controlThrottle) > 0.05) {
 		// controls changed and mode switch is not configured
 		if (mode == AUTO && invalid(controlMode)) mode = STAB; // regain control by the pilot
 	}
@@ -45,3 +47,15 @@ void autoFailsafe() {
 	yaw = controlYaw;
 	throttle = controlThrottle;
 }
+
+// Disarm if tilted too much
+void tiltFailsafe() {
+	if (!armed) return;
+	if (mode != STAB) return;
+
+	Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude);
+	float tilt = acos(up.z);
+	if (disarmTilt && tilt > disarmTilt) {
+		armed = false;
+	}
+}

flix/util.h

@@ -23,6 +23,12 @@ bool valid(float x) {
 	return isfinite(x);
 }
 
+bool floatEquals(float a, float b, float epsilon = 0) {
+	if (isnan(a) && isnan(b)) return true;
+	if (a == b) return true;
+	return fabsf(a - b) <= epsilon;
+}
+
 // Wrap angle to [-PI, PI)
 float wrapAngle(float angle) {
 	angle = fmodf(angle, 2 * PI);
@@ -47,16 +53,60 @@ void splitString(String& str, String& token0, String& token1, String& token2) {
 	if (token2.c_str() == NULL) token2 = "";
 }
 
-// Simplified ESP-NOW Serial without tx buffering and resends
+// Simplified ESP-NOW Serial without resends
 class ESPNOWSerial : public ESP_NOW_Serial_Class {
 public:
+	int lost = 0;
 	using ESP_NOW_Serial_Class::ESP_NOW_Serial_Class;
-	void onSent(bool success) override {} // disable resends
-	size_t write(const uint8_t *data, size_t len) override {
-		return ESP_NOW_Peer::send(data, len); // pure send without buffering
+	void onSent(bool success) override {
+		if (!success) lost++;
+		ESP_NOW_Serial_Class::onSent(true); // always report success to avoid resends
 	}
 };
 
+// Simple variant type for logging and parameters
+struct Value {
+	enum { EMPTY, FLOAT, INT, BOOL, FLOAT_FN, INT_FN, BOOL_FN } type;
+	union {
+		void *pointer;
+		float *_float;
+		int *_int;
+		bool *_bool;
+		float (*floatFn)();
+		int (*intFn)();
+		bool (*boolFn)();
+	};
+
+	Value() : type(EMPTY), pointer(nullptr) {};
+	Value(float *pt) : type(FLOAT), _float(pt) {};
+	Value(int *pt) : type(INT), _int(pt) {};
+	Value(bool *pt) : type(BOOL), _bool(pt) {};
+	Value(float (*fn)()) : type(FLOAT_FN), floatFn(fn) {};
+	Value(int (*fn)()) : type(INT_FN), intFn(fn) {};
+	Value(bool (*fn)()) : type(BOOL_FN), boolFn(fn) {};
+
+	float get() const {
+		switch (type) {
+			case FLOAT: return *_float;
+			case INT: return *_int;
+			case BOOL: return *_bool ? 1 : 0;
+			case FLOAT_FN: return floatFn();
+			case INT_FN: return intFn();
+			case BOOL_FN: return boolFn() ? 1 : 0;
+			default: return NAN;
+		}
+	};
+
+	void set(float value) const {
+		switch (type) {
+			case FLOAT: *_float = value; break;
+			case INT: *_int = value; break;
+			case BOOL: *_bool = (value != 0); break;
+			default: break;
+		}
+	};
+};
+
 // Rate limiter
 class Rate {
 public:
@@ -65,6 +115,9 @@ public:
 	Rate(float rate) : rate(rate) {}
 
 	operator bool() {
+		if (t == last) {
+			return true; // the same step
+		}
 		if (t - last >= 1 / rate) {
 			last = t;
 			return true;

flix/wifi.ino

@@ -56,8 +56,9 @@ void setupWiFi() {
 void sendWiFi(const uint8_t *buf, int len) {
 	if (espnow) {
 		espnow.write(buf, len);
+
 		static Rate discovery(2);
-		if (discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device
+		if (espnow.isEncrypted() && discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device
 		return;
 	}
 
@@ -88,7 +89,8 @@ void printWiFiInfo() {
 		print("MAC: %s\n", WiFi.softAPmacAddress().c_str());
 		print("Peer MAC: %s\n", MacAddress(espnow.addr()).toString().c_str());
 		print("Encrypted: %d\n", espnow.isEncrypted());
-		print("Channel: %d\n", espnow.getChannel());
+		print("Channel: %d\n", WiFi.channel());
+		print("Lost packets: %d\n", espnow.lost);
 	} else if (WiFi.getMode() == WIFI_MODE_AP) {
 		print("Mode: Access Point (AP)\n");
 		print("MAC: %s\n", WiFi.softAPmacAddress().c_str());
@@ -131,3 +133,20 @@ void configWiFi(int mode, const char *first, const char *second) {
 	}
 	print("✓ Reboot to apply new settings\n");
 }
+
+void setWiFiMode(const String& mode) {
+	if (mode == "ap") {
+		wifiMode = W_AP;
+	} else if (mode == "sta") {
+		wifiMode = W_STA;
+	} else if (mode == "espnow") {
+		wifiMode = W_ESPNOW;
+	} else if (mode == "off") {
+		wifiMode = W_DISABLED;
+	} else {
+		print("Invalid Wi-Fi mode\n");
+		return;
+	}
+	static const char *modes[] = {"Disabled", "Access Point (AP)", "Client (STA)", "ESP-NOW"};
+	print("✓ Wi-Fi mode set to %s, reboot to apply\n", modes[wifiMode]);
+}

gazebo/Arduino.h

@@ -20,6 +20,10 @@
 #define radians(deg) ((deg)*DEG_TO_RAD)
 #define degrees(rad) ((rad)*RAD_TO_DEG)
 
+#define MALLOC_CAP_SPIRAM (1<<10)
+#define MALLOC_CAP_8BIT (1<<2)
+#define ESP_NOW_MAX_DATA_LEN_V2 1470
+
 #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
 template<typename T> T max(T a, T b) { return a > b ? a : b; }
 template<typename T> T min(T a, T b) { return a < b ? a : b; }
@@ -156,6 +160,8 @@ HardwareSerial Serial, Serial1, Serial2;
 class EspClass {
 public:
 	void restart() { Serial.println("Ignore reboot in simulation"); }
+	uint32_t getFreeHeap() { return 300 * 1024; } // assume 300 KB free heap
+	uint32_t getFreePsram() { return 8 * 1024 * 1024; } // assume 8 MB free PSRAM
 } ESP;
 
 unsigned long __delayTime = 0;
@@ -165,11 +171,16 @@ void delay(uint32_t ms) {
 	__delayTime += ms * 1000;
 }
 
+void *heap_caps_calloc(size_t n, size_t size, uint32_t caps) {
+	return calloc(n, size);
+}
+
 bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; }
 bool ledcWrite(uint8_t pin, uint32_t duty) { return true; }
 uint32_t ledcChangeFrequency(uint8_t pin, uint32_t freq, uint8_t resolution) { return freq; }
 int8_t digitalPinToAnalogChannel(uint8_t pin) { return -1; }
 uint32_t analogReadMilliVolts(uint8_t pin) { return 0; }
+float temperatureRead() { return 0; }
 
 unsigned long __micros;
 unsigned long __resetTime = 0;

gazebo/SBUS.h

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

gazebo/flix.h

@@ -9,7 +9,7 @@
 #include "quaternion.h"
 #include "Arduino.h"
 #include "wifi.h"
-#include "lpf.h"
+#include "filter.h"
 
 extern float t, dt;
 extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
@@ -38,7 +38,7 @@ const char* getModeName();
 void sendMotors();
 int getDutyCycle(float value);
 bool motorsActive();
-void testMotor(int n);
+void testMotor(int, float);
 void print(const char* format, ...);
 void pause(float duration);
 void doCommand(String str, bool echo);
@@ -48,8 +48,17 @@ void normalizeRC();
 void calibrateRC();
 void calibrateRCChannel(int*, uint16_t[16], uint16_t[16], const char*);
 void printRCCalibration();
+void loopLog();
+void resetLog();
+void writeLog(const void *data, size_t size);
+void readLog(void *data, size_t position, size_t size);
+bool isTopicUpdated(const uint8_t topic);
+void printLogInfo();
+int estimateLogDuration();
 void printLogHeader();
-void printLogData();
+void printLogValues(const char *filter);
+void configLogThrottle(const char *name, float throttle);
+void exposeLogValue(const char *name);
 void processMavlink();
 void sendMavlink();
 void sendMessage(const void *msg);
@@ -63,19 +72,25 @@ void failsafe();
 void rcLossFailsafe();
 void descend();
 void autoFailsafe();
+void tiltFailsafe();
 int parametersCount();
 const char *getParameterName(int index);
 float getParameter(int index);
 float getParameter(const char *name);
 bool setParameter(const char *name, const float value);
-void printParameters();
+void printParameters(const char *filter);
 void resetParameters();
 
 // mocks
 void setLED(bool on) {};
-void calibrateGyro() { print("Skip gyro calibrating\n"); };
 void calibrateAccel() { print("Skip accel calibrating\n"); };
 void printIMUCalibration() { print("cal: N/A\n"); };
 void printIMUInfo() {};
 void printWiFiInfo() {};
 void configWiFi(bool, const char*, const char*) { print("Skip WiFi config\n"); };
+void setWiFiMode(const String& mode) { print("Skip WiFi mode set\n"); };
+
+class IMU {
+public:
+	float getTemp() { return 0; }
+} imu;

gazebo/simulator.cpp

@@ -23,7 +23,7 @@
 #include "estimate.ino"
 #include "safety.ino"
 #include "log.ino"
-#include "lpf.h"
+#include "filter.h"
 #include "mavlink.ino"
 #include "motors.ino"
 #include "parameters.ino"
@@ -55,6 +55,8 @@ public:
 		initNode();
 		Serial.begin(0);
 		setupParameters();
+		setupLog();
+		rcRxPin = 1; // set rc pin to enable rc reading
 		gzmsg << "Flix plugin loaded" << endl;
 	}
 
@@ -87,7 +89,7 @@ public:
 
 		applyMotorForces();
 		publishTopics();
-		logData();
+		loopLog();
 		syncParameters();
 	}
 

gazebo/wifi.h

@@ -14,7 +14,7 @@
 // Mocks
 int wifiMode = 1;
 int wifiLongRange = 0;
-// int espnowChannel = 6;
+int espnowChannel = 6;
 const int W_DISABLED = 0, W_AP = 1, W_STA = 2, W_ESPNOW = 3;
 
 int udpLocalPort = 14580;

tools/csv_to_mcap.py

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

tools/espnow-proxy/espnow-proxy.ino

@@ -11,18 +11,22 @@
 #include <Preferences.h>
 #include "../../flix/util.h"
 
-const int CHANNEL = 6;
+const bool DISABLE_SWARM = true;
+const int CHANNEL = -1; // -1 means auto search
 char key[ESP_NOW_KEY_LEN + 1] = {0}; // with trailing null
 
 Preferences storage;
 
 std::vector<ESPNOWSerial *> peers;
+bool stop = false;
 
 void onNewPeer(const esp_now_recv_info_t *info, const uint8_t *data, int len, void *arg) {
 	if (len != 4 || memcmp(data, "flix", 4) != 0) return; // check if discovery message
 
+	if (stop) return;
+
 	Serial.printf("New peer: " MACSTR "\n", MAC2STR(info->src_addr));
-	ESPNOWSerial *link = new ESPNOWSerial(info->src_addr, CHANNEL, WIFI_IF_AP);
+	ESPNOWSerial *link = new ESPNOWSerial(info->src_addr, WiFi.channel(), WIFI_IF_STA);
 	link->begin();
 	link->setKey((const uint8_t *)key);
 	peers.push_back(link);
@@ -30,9 +34,8 @@ void onNewPeer(const esp_now_recv_info_t *info, const uint8_t *data, int len, vo
 
 void setup() {
 	Serial.begin(115200);
-	WiFi.mode(WIFI_AP);
+	WiFi.mode(WIFI_STA);
 	WiFi.setSleep(false);
-	WiFi.setChannel(CHANNEL);
 
 	ESP_NOW.onNewPeer(onNewPeer, NULL);
 	ESP_NOW.begin();
@@ -43,12 +46,6 @@ void setup() {
 		storage.putString("key", key);
 	}
 	strcpy(key, storage.getString("key").c_str());
-
-	// Discover the first peer
-	while (peers.empty()) {
-		Serial.printf("espnow %s %s\n", WiFi.softAPmacAddress().c_str(), key);
-		delay(500);
-	}
 }
 
 void generateRandomKey() {
@@ -61,6 +58,20 @@ void generateRandomKey() {
 void loop() {
 	uint8_t buf[5000];
 
+	static int channelIndex = 0;
+	static const int channels[] = {6, 11, 1, 2, 6, 11, 3, 4, 5, 6, 1, 11, 8, 6, 9, 10, 11, 6, 1, 12, 13}; // 6, 1 and 11 are most common
+
+	static unsigned long last = 0;
+	if (!stop && millis() - last > 500) {
+		// Change search channel
+		last = millis();
+		channelIndex = (channelIndex + 1) % (sizeof(channels) / sizeof(channels[0]));
+		int channel = CHANNEL < 0 ? channels[channelIndex] : CHANNEL;
+		Serial.printf("Run on Flix: espnow %s %s\n", WiFi.STA.macAddress().c_str(), key);
+		Serial.printf("Searching channel %d\n", channel);
+		WiFi.setChannel(channel);
+	}
+
 	// Send from Serial to ESP-NOW
 	while (Serial.available() > 0) {
 		int b = Serial.read();
@@ -81,6 +92,15 @@ void loop() {
 	// Send from ESP-NOW to Serial
 	for (ESPNOWSerial *link : peers) {
 		int len = link->read(buf, sizeof(buf));
+		if (!stop) {
+			for (int i = 0; i < len; i++) {
+				if (buf[i] == MAVLINK_STX) {
+					// Got MAVLink message, stop discovery
+					Serial.printf("Received MAVLink from " MACSTR "\n", MAC2STR(link->addr()));
+					if (DISABLE_SWARM) stop = true;
+				}
+			}
+		}
 		if (len > 0) {
 			Serial.write(buf, len);
 		}

tools/log_to_csv.py

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

tools/pyflix/README.md

@@ -28,6 +28,8 @@ from pyflix import Flix
 flix = Flix()  # create a Flix object and wait for connection
 ```
 
+If using ESP-NOW connection, specify the proxy device name in `FLIX_DEVICE` environment variable or pass it to the constructor: `Flix(device='/dev/cu.usbserial-0001')`.
+
 ### Telemetry
 
 Basic telemetry is available through object properties. The property names generally match the corresponding variables in the firmware code:
@@ -220,6 +222,13 @@ The following scripts demonstrate how to use the library:
 * [`log.py`](../log.py) — download flight logs from the drone.
 * [`example.py`](../example.py) — a simple example, prints telemetry data and waits for events.
 
+> [!TIP]
+> Set `FLIX_DEVICE` environment variable to use these tools with ESP-NOW connection, for example:
+>
+> ```bash
+> FLIX_DEVICE=/dev/cu.usbserial-0001 tools/cli.py
+> ```
+
 ## Advanced usage
 
 ### MAVLink

tools/pyflix/flix.py

@@ -44,12 +44,17 @@ class Flix:
     _print_buffer: str = ''
     _modes = ['RAW', 'ACRO', 'STAB', 'AUTO']
 
-    def __init__(self, system_id: int=1, wait_connection: bool=True):
+    def __init__(self, system_id: int=1, wait_connection: bool=True, device=os.getenv('FLIX_DEVICE')):
         if not (0 <= system_id < 256):
             raise ValueError('system_id must be in range [0, 255]')
         self._setup_mavlink()
         self.system_id = system_id
         self._init_state()
+        if device is not None:
+            # User defined connection
+            logger.debug(f'Connecting to {device}')
+            self.connection: mavutil.mavfile = mavutil.mavlink_connection(device, source_system=255)  # type: ignore
+        else:
             try:
                 # Direct connection
                 logger.debug('Listening on port 14550')

tools/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "pyflix"
-version = "0.15"
+version = "0.16"
 description = "Python API for Flix drone"
 authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }]
 license = "MIT"