Make some variables static

.github/workflows/build.yml

@@ -76,11 +76,6 @@ 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

.vscode/c_cpp_properties.json

@@ -17,21 +17,7 @@
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
 				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h"
-				"${workspaceFolder}/flix/cli.ino",
-				"${workspaceFolder}/flix/control.ino",
-				"${workspaceFolder}/flix/estimate.ino",
-				"${workspaceFolder}/flix/flix.ino",
-				"${workspaceFolder}/flix/imu.ino",
-				"${workspaceFolder}/flix/led.ino",
-				"${workspaceFolder}/flix/log.ino",
-				"${workspaceFolder}/flix/mavlink.ino",
-				"${workspaceFolder}/flix/motors.ino",
-				"${workspaceFolder}/flix/rc.ino",
-				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino",
-				"${workspaceFolder}/flix/safety.ino"
 			],
 			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
@@ -64,21 +50,7 @@
 			"forcedInclude": [
 				"${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/esp32/3.3.6/variants/d1_mini32/pins_arduino.h"
-				"${workspaceFolder}/flix/flix.ino",
-				"${workspaceFolder}/flix/cli.ino",
-				"${workspaceFolder}/flix/control.ino",
-				"${workspaceFolder}/flix/estimate.ino",
-				"${workspaceFolder}/flix/imu.ino",
-				"${workspaceFolder}/flix/led.ino",
-				"${workspaceFolder}/flix/log.ino",
-				"${workspaceFolder}/flix/mavlink.ino",
-				"${workspaceFolder}/flix/motors.ino",
-				"${workspaceFolder}/flix/rc.ino",
-				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino",
-				"${workspaceFolder}/flix/safety.ino"
 			],
 			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
@@ -112,21 +84,7 @@
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
 				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h"
-				"${workspaceFolder}/flix/cli.ino",
-				"${workspaceFolder}/flix/control.ino",
-				"${workspaceFolder}/flix/estimate.ino",
-				"${workspaceFolder}/flix/flix.ino",
-				"${workspaceFolder}/flix/imu.ino",
-				"${workspaceFolder}/flix/led.ino",
-				"${workspaceFolder}/flix/log.ino",
-				"${workspaceFolder}/flix/mavlink.ino",
-				"${workspaceFolder}/flix/motors.ino",
-				"${workspaceFolder}/flix/rc.ino",
-				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino",
-				"${workspaceFolder}/flix/safety.ino"
 			],
 			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++.exe",
 			"cStandard": "c11",

README.md

@@ -47,14 +47,6 @@ See the [user builds gallery](docs/user.md):
 
 <a href="docs/user.md"><img src="docs/img/user/user.jpg" width=500></a>
 
-### PCB
-
-The official PCB *(Flix2)* is in development now. Follow the [project's channel](https://t.me/opensourcequadcopter) to track the progress.
-
-Outdoor flights demo video of the current prototype:
-
-<a href="https://youtu.be/KXlNmvUTi4g"><img width=300 src="https://i3.ytimg.com/vi/KXlNmvUTi4g/maxresdefault.jpg"></a>
-
 ## Simulation
 
 The simulator is implemented using Gazebo and runs the original Arduino code:
@@ -81,7 +73,7 @@ Additional articles:
 |-|-|:-:|:-:|
 |Microcontroller board|ESP32 Mini.<br>ESP32-S3/ESP32-C3 boards are also supported.|<img src="docs/img/esp32.jpg" width=100>|1|
 |IMU (and barometer¹) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)<br>ICM20948V2 (ICM‑20948)<br>GY-521 (MPU-6050)|<img src="docs/img/gy-91.jpg" width=90 align=center><br><img src="docs/img/icm-20948.jpg" width=100><br><img src="docs/img/gy-521.jpg" width=100>|1|
-|*Boost converter (optional, for more stable power supply)*|*5V output*|<img src="docs/img/buck-boost.jpg" width=100>|1|
+|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|

docs/troubleshooting.md

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

docs/usage.md

@@ -329,7 +329,7 @@ To setup ESP-NOW communication:
    espnow 7a:c8:e3:eb:bf:e9 &PiuSysxP9+$L&5E
    ```
 
-   Run this line as a console command on each drone you want to bind to this proxy board. [The maximum number](https://github.com/espressif/esp-idf/blob/e95cab4be8fd293e3f3323181e7a2280874da6f7/components/esp_wifi/include/esp_now.h#L32-L33) of simultaneously connected drones is 20 (unencrypted) io 6 (encrypted).
+   Run this line as a console command on each drone you want to bind to this proxy board.
 
 3. Set the `WIFI_MODE` parameter to `3` on the drone:
 

flix/cli.cpp

@@ -3,6 +3,8 @@
 
 // Implementation of command line interface
 
+#include <Arduino.h>
+#include "flix.h"
 #include "pid.h"
 #include "vector.h"
 #include "util.h"
@@ -76,7 +78,7 @@ void pause(float duration) {
 	}
 }
 
-void doCommand(String str, bool echo = false) {
+void doCommand(String str, bool echo) {
 	// parse command
 	String command, arg0, arg1;
 	splitString(str, command, arg0, arg1);

flix/config.h

@@ -0,0 +1,55 @@
+// Wi-Fi
+#define WIFI_ENABLED 1
+#define WIFI_SSID "flix"
+#define WIFI_PASSWORD "flixwifi"
+#define WIFI_UDP_PORT 14550
+#define WIFI_UDP_REMOTE_PORT 14550
+#define WIFI_UDP_REMOTE_ADDR "255.255.255.255"
+
+// Motors
+#define MOTOR_0_PIN 12 // rear left
+#define MOTOR_1_PIN 13 // rear right
+#define MOTOR_2_PIN 14 // front right
+#define MOTOR_3_PIN 15 // front left
+#define PWM_FREQUENCY 78000
+#define PWM_RESOLUTION 10
+#define PWM_STOP 0
+#define PWM_MIN 0
+#define PWM_MAX 1000000 / PWM_FREQUENCY
+
+// Control
+#define PITCHRATE_P 0.05
+#define PITCHRATE_I 0.2
+#define PITCHRATE_D 0.001
+#define PITCHRATE_I_LIM 0.3
+#define ROLLRATE_P PITCHRATE_P
+#define ROLLRATE_I PITCHRATE_I
+#define ROLLRATE_D PITCHRATE_D
+#define ROLLRATE_I_LIM PITCHRATE_I_LIM
+#define YAWRATE_P 0.3
+#define YAWRATE_I 0.0
+#define YAWRATE_D 0.0
+#define YAWRATE_I_LIM 0.3
+#define ROLL_P 6
+#define ROLL_I 0
+#define ROLL_D 0
+#define PITCH_P ROLL_P
+#define PITCH_I ROLL_I
+#define PITCH_D ROLL_D
+#define YAW_P 3
+#define PITCHRATE_MAX radians(360)
+#define ROLLRATE_MAX radians(360)
+#define YAWRATE_MAX radians(300)
+#define TILT_MAX radians(30)
+#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz
+
+// Estimation
+#define WEIGHT_ACC 0.003
+#define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz
+
+// MAVLink
+#define SYSTEM_ID 1
+
+// Safety
+#define RC_LOSS_TIMEOUT 1
+#define DESCEND_TIME 10

flix/control.cpp

@@ -3,38 +3,16 @@
 
 // Flight control
 
+#include "config.h"
+#include "flix.h"
 #include "vector.h"
 #include "quaternion.h"
 #include "pid.h"
 #include "lpf.h"
 #include "util.h"
 
-#define PITCHRATE_P 0.05
+extern const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes
-#define PITCHRATE_I 0.2
-#define PITCHRATE_D 0.001
-#define PITCHRATE_I_LIM 0.3
-#define ROLLRATE_P PITCHRATE_P
-#define ROLLRATE_I PITCHRATE_I
-#define ROLLRATE_D PITCHRATE_D
-#define ROLLRATE_I_LIM PITCHRATE_I_LIM
-#define YAWRATE_P 0.3
-#define YAWRATE_I 0.0
-#define YAWRATE_D 0.0
-#define YAWRATE_I_LIM 0.3
-#define ROLL_P 6
-#define ROLL_I 0
-#define ROLL_D 0
-#define PITCH_P ROLL_P
-#define PITCH_I ROLL_I
-#define PITCH_D ROLL_D
-#define YAW_P 3
-#define PITCHRATE_MAX radians(360)
-#define ROLLRATE_MAX radians(360)
-#define YAWRATE_MAX radians(300)
-#define TILT_MAX radians(30)
-#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz
 
-const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes
 int mode = STAB;
 bool armed = false;
 

flix/estimate.cpp

@@ -3,6 +3,8 @@
 
 // Attitude estimation using gyro and accelerometer
 
+#include "config.h"
+#include "flix.h"
 #include "quaternion.h"
 #include "vector.h"
 #include "lpf.h"

flix/flix.h

@@ -0,0 +1,95 @@
+// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
+// Repository: https://github.com/okalachev/flix
+
+// All-in-one header file
+
+#pragma once
+
+#include <Arduino.h>
+#include "vector.h"
+#include "quaternion.h"
+
+extern float t, dt;
+extern float loopRate;
+extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
+extern Vector gyro, acc;
+extern Vector rates;
+extern Quaternion attitude;
+extern bool landed;
+extern int mode;
+extern bool armed;
+extern Quaternion attitudeTarget;
+extern Vector ratesTarget, ratesExtra, torqueTarget;
+extern float thrustTarget;
+extern float motors[4];
+
+void print(const char* format, ...);
+void pause(float duration);
+void doCommand(String str, bool echo = false);
+void handleInput();
+void control();
+void interpretControls();
+void controlAttitude();
+void controlRates();
+void controlTorque();
+void desaturate(float& a, float& b, float& c, float& d);
+const char *getModeName();
+void estimate();
+void applyGyro();
+void applyAcc();
+void applyLevel();
+void setupIMU();
+void configureIMU();
+void readIMU();
+void rotateIMU(Vector& data);
+void calibrateGyroOnce();
+void calibrateAccel();
+void calibrateAccelOnce();
+void printIMUCalibration();
+void printIMUInfo();
+void setupLED();
+void setLED(bool on);
+void blinkLED();
+void prepareLogData();
+void logData();
+void printLogHeader();
+void printLogData();
+void processMavlink();
+void sendMavlink();
+void sendMessage(const void *msg);
+void receiveMavlink();
+void printWiFiInfo();
+void configWiFi(int mode, const char *first, const char *second);
+void handleMavlink(const void *_msg);
+void mavlinkPrint(const char* str);
+void sendMavlinkPrint();
+void setupMotors();
+int getDutyCycle(float value);
+void sendMotors();
+bool motorsActive();
+void testMotor(int n);
+void setupParameters();
+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 syncParameters();
+void printParameters();
+void resetParameters();
+void setupRC();
+bool readRC();
+void normalizeRC();
+void calibrateRC();
+void calibrateRCChannel(int *channel, uint16_t in[16], uint16_t out[16], const char *str);
+void printRCCalibration();
+void setupPower();
+void failsafe();
+void rcLossFailsafe();
+void descend();
+void autoFailsafe();
+void step();
+void computeLoopRate();
+void setupWiFi();
+void sendWiFi(const uint8_t *buf, int len);
+int receiveWiFi(uint8_t *buf, int len);

flix/flix.ino

@@ -3,17 +3,11 @@
 
 // Main firmware file
 
+#include "config.h"
 #include "vector.h"
 #include "quaternion.h"
 #include "util.h"
-
+#include "flix.h"
-extern float t, dt;
-extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
-extern Vector gyro, acc;
-extern Vector rates;
-extern Quaternion attitude;
-extern bool landed;
-extern float motors[4];
 
 void setup() {
 	Serial.begin(115200);

flix/led.cpp

@@ -3,6 +3,8 @@
 
 // Board's LED control
 
+#include <Arduino.h>
+
 #define BLINK_PERIOD 500000
 
 #ifndef LED_BUILTIN

flix/log.cpp

@@ -3,6 +3,7 @@
 
 // In-RAM logging
 
+#include "flix.h"
 #include "vector.h"
 #include "util.h"
 

flix/lpf.h

@@ -5,6 +5,8 @@
 
 #pragma once
 
+#include <Arduino.h>
+
 template <typename T> // Using template to make the filter usable for scalar and vector values
 class LowPassFilter {
 public:

flix/mavlink.cpp

@@ -3,18 +3,22 @@
 
 // MAVLink communication
 
+#include <Arduino.h>
 #include <MAVLink.h>
+#include "config.h"
 #include "util.h"
 
+extern const int RAW, ACRO, STAB, AUTO;
 extern float controlTime;
 extern float voltage;
+extern uint16_t channels[16];
 
 int mavlinkSysId = 1;
 Rate telemetryFast(10);
 Rate telemetrySlow(2);
 
 bool mavlinkConnected = false;
-String mavlinkPrintBuffer;
+static String mavlinkPrintBuffer;
 
 void processMavlink() {
 	sendMavlink();
@@ -41,7 +45,7 @@ void sendMavlink() {
 			MAV_VTOL_STATE_UNDEFINED, landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR);
 		sendMessage(&msg);
 
-		uint16_t voltages[] = {(uint16_t)(voltage * 1000), UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX};
+		uint16_t voltages[] = {voltage * 1000, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX};
 		uint16_t voltagesExt[] = {0, 0, 0, 0};
 		float remaining = constrain(mapf(voltage, 3.4, 4.2, 0, 1), 0, 1);
 		mavlink_msg_battery_status_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, MAV_BATTERY_FUNCTION_ALL,
@@ -211,6 +215,7 @@ void handleMavlink(const void *_msg) {
 		armed = motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0;
 	}
 
+	/* TODO:
 	if (msg.msgid == MAVLINK_MSG_ID_LOG_REQUEST_DATA) {
 		mavlink_log_request_data_t m;
 		mavlink_msg_log_request_data_decode(&msg, &m);
@@ -224,6 +229,7 @@ void handleMavlink(const void *_msg) {
 			sendMessage(&msg);
 		}
 	}
+	*/
 
 	// Handle commands
 	if (msg.msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
@@ -241,7 +247,7 @@ void handleMavlink(const void *_msg) {
 		}
 
 		if (m.command == MAV_CMD_COMPONENT_ARM_DISARM) {
-			if (m.param1 == 1 && controlThrottle > 0.05) return; // don't arm if throttle is not low
+			if (m.param1 && controlThrottle > 0.05) return; // don't arm if throttle is not low
 			accepted = true;
 			armed = m.param1 == 1;
 		}

flix/motors.cpp

@@ -3,6 +3,9 @@
 
 // PWM control for motors
 
+#include <Arduino.h>
+#include "config.h"
+#include "flix.h"
 #include "util.h"
 
 float motors[4]; // normalized motor thrusts in range [0..1]
@@ -14,7 +17,7 @@ int pwmStop = 0;
 int pwmMin = 0;
 int pwmMax = -1; // -1 means duty cycle mode
 
-const int MOTOR_REAR_LEFT = 0, MOTOR_REAR_RIGHT = 1, MOTOR_FRONT_RIGHT = 2, MOTOR_FRONT_LEFT = 3;
+extern const int MOTOR_REAR_LEFT = 0, MOTOR_REAR_RIGHT = 1, MOTOR_FRONT_RIGHT = 2, MOTOR_FRONT_LEFT = 3;
 
 void setupMotors() {
 	print("Setup Motors\n");

flix/parameters.cpp

@@ -4,15 +4,32 @@
 // Parameters storage in flash memory
 
 #include <Preferences.h>
+#include "flix.h"
+#include "pid.h"
+#include "lpf.h"
 #include "util.h"
 
-extern int channelZero[16], channelMax[16];
+extern float channelZero[16], channelMax[16];
-extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
+extern float rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
+extern float tiltMax;
+extern int flightModes[3];
+extern PID rollPID, pitchPID, yawPID;
+extern PID rollRatePID, pitchRatePID, yawRatePID;
+extern Vector maxRate;
+extern Vector imuRotation;
+extern Vector accBias, accScale;
+extern float accWeight, levelWeight;
+extern LowPassFilter<Vector> gyroBiasFilter, ratesFilter, voltageFilter;
 extern int rcRxPin, voltagePin;
+extern int motorPins[4];
+extern int pwmFrequency, pwmResolution, pwmStop, pwmMin, pwmMax;
 extern int wifiMode, wifiLongRange, udpLocalPort, udpRemotePort, espnowChannel;
+extern int mavlinkSysId;
+extern Rate telemetrySlow, telemetryFast;
 extern float rcLossTimeout, descendTime;
+extern int voltagePin;
 extern float voltageScale;
-extern LowPassFilter<float> voltageFilter;
+extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
 
 Preferences storage;
 
@@ -28,7 +45,7 @@ struct Parameter {
 	void setValue(const float value) { if (integer) *i = value; else *f = value; };
 };
 
-Parameter parameters[] = {
+static Parameter parameters[] = {
 	// control
 	{"CTL_R_RATE_P", &rollRatePID.p},
 	{"CTL_R_RATE_I", &rollRatePID.i},

flix/pid.h

@@ -5,6 +5,8 @@
 
 #pragma once
 
+#include "Arduino.h"
+#include "flix.h"
 #include "lpf.h"
 
 class PID {

flix/quaternion.h

@@ -5,6 +5,7 @@
 
 #pragma once
 
+#include <Arduino.h>
 #include "vector.h"
 
 class Quaternion : public Printable {

flix/rc.cpp

@@ -6,7 +6,7 @@
 #include <SBUS.h>
 #include "util.h"
 
-SBUS rc(Serial1);
+static SBUS rc(Serial1);
 int rcRxPin = -1; // -1 means disabled
 
 uint16_t channels[16]; // raw rc channels

flix/safety.cpp

@@ -3,8 +3,12 @@
 
 // Fail-safe functions
 
+#include "config.h"
+#include "flix.h"
+#include "util.h"
+
 extern float controlTime;
-extern float controlRoll, controlPitch, controlThrottle, controlYaw;
+extern const int AUTO, STAB;
 
 float rcLossTimeout = 1;
 float descendTime = 10;

flix/time.cpp

@@ -3,6 +3,9 @@
 
 // Time related functions
 
+#include "Arduino.h"
+#include "flix.h"
+
 float t = NAN; // current time, s
 float dt; // time delta with the previous step, s
 float loopRate; // Hz

flix/util.h

@@ -7,24 +7,24 @@
 
 #include <math.h>
 #include <ESP32_NOW_Serial.h>
+#include "flix.h"
 
 const float ONE_G = 9.80665;
-extern float t;
 
-float mapf(float x, float in_min, float in_max, float out_min, float out_max) {
+inline float mapf(float x, float in_min, float in_max, float out_min, float out_max) {
 	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
 
-bool invalid(float x) {
+inline bool invalid(float x) {
 	return !isfinite(x);
 }
 
-bool valid(float x) {
+inline bool valid(float x) {
 	return isfinite(x);
 }
 
 // Wrap angle to [-PI, PI)
-float wrapAngle(float angle) {
+inline float wrapAngle(float angle) {
 	angle = fmodf(angle, 2 * PI);
 	if (angle > PI) {
 		angle -= 2 * PI;
@@ -35,7 +35,7 @@ float wrapAngle(float angle) {
 }
 
 // Trim and split string by spaces
-void splitString(String& str, String& token0, String& token1, String& token2) {
+inline void splitString(String& str, String& token0, String& token1, String& token2) {
 	str.trim();
 	if (str.isEmpty()) return;
 	char chars[str.length() + 1];

flix/vector.h

@@ -5,6 +5,8 @@
 
 #pragma once
 
+#include <Arduino.h>
+
 class Vector : public Printable {
 public:
 	float x, y, z;
@@ -136,5 +138,5 @@ public:
 	}
 };
 
-Vector operator * (const float a, const Vector& b) { return b * a; }
+inline Vector operator * (const float a, const Vector& b) { return b * a; }
-Vector operator + (const float a, const Vector& b) { return b + a; }
+inline Vector operator + (const float a, const Vector& b) { return b + a; }

flix/wifi.cpp

@@ -9,21 +9,24 @@
 #include <MacAddress.h>
 #include <ESP32_NOW_Serial.h>
 #include <Preferences.h>
+#include "config.h"
+#include "flix.h"
 #include "util.h"
 
 extern Preferences storage; // use the main preferences storage
+extern bool mavlinkConnected;
 
-const int W_DISABLED = 0, W_AP = 1, W_STA = 2, W_ESPNOW = 3;
+extern const int W_DISABLED = 0, W_AP = 1, W_STA = 2, W_ESPNOW = 3;
 int wifiMode = W_AP;
 
 int wifiLongRange = 0;
 int udpLocalPort = 14550;
 int udpRemotePort = 14550;
-IPAddress udpRemoteIP = "255.255.255.255";
+static IPAddress udpRemoteIP = "255.255.255.255";
-WiFiUDP udp;
+static WiFiUDP udp;
 
-ESPNOWSerial espnow(NULL, 0, WIFI_IF_AP);
+static ESPNOWSerial espnow(NULL, 0, WIFI_IF_AP);
-ESPNOWSerial espnowBroadcast(ESP_NOW.BROADCAST_ADDR, 0, WIFI_IF_AP);
+static ESPNOWSerial espnowBroadcast(ESP_NOW.BROADCAST_ADDR, 0, WIFI_IF_AP);
 int espnowChannel = 6;
 
 void setupWiFi() {
@@ -33,14 +36,10 @@ void setupWiFi() {
 	if (wifiMode == W_AP) {
 		WiFi.softAP(storage.getString("WIFI_AP_SSID", "flix").c_str(), storage.getString("WIFI_AP_PASS", "flixwifi").c_str());
 		udp.begin(udpLocalPort);
-	}
+	} else if (wifiMode == W_STA) {
-
-	if (wifiMode == W_STA) {
 		WiFi.begin(storage.getString("WIFI_STA_SSID", "").c_str(), storage.getString("WIFI_STA_PASS", "").c_str());
 		udp.begin(udpLocalPort);
-	}
+	} else if (wifiMode == W_ESPNOW) {
-
-	if (wifiMode == W_ESPNOW) {
 		WiFi.mode(WIFI_AP);
 		WiFi.setChannel(espnowChannel);
 		espnow.addr(MacAddress(storage.getString("ESPNOW_PEER_MAC", "FF:FF:FF:FF:FF:FF").c_str()));

gazebo/CMakeLists.txt

@@ -10,9 +10,23 @@ list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}")
 
 set(FLIX_SOURCE_DIR ../flix)
 include_directories(${FLIX_SOURCE_DIR})
+set(FLIX_SOURCE_DIR ../flix)
+include_directories(${FLIX_SOURCE_DIR})
+set(FLIX_SOURCES
+  ${FLIX_SOURCE_DIR}/cli.cpp
+  ${FLIX_SOURCE_DIR}/control.cpp
+  ${FLIX_SOURCE_DIR}/estimate.cpp
+  ${FLIX_SOURCE_DIR}/safety.cpp
+  ${FLIX_SOURCE_DIR}/log.cpp
+  ${FLIX_SOURCE_DIR}/mavlink.cpp
+  ${FLIX_SOURCE_DIR}/motors.cpp
+  ${FLIX_SOURCE_DIR}/parameters.cpp
+  ${FLIX_SOURCE_DIR}/rc.cpp
+  ${FLIX_SOURCE_DIR}/time.cpp
+)
 
 set(CMAKE_BUILD_TYPE RelWithDebInfo)
-add_library(flix SHARED simulator.cpp)
+add_library(flix SHARED simulator.cpp ${FLIX_SOURCES})
 target_link_libraries(flix ${GAZEBO_LIBRARIES} ${SDL2_LIBRARIES})
 target_include_directories(flix PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_compile_options(flix PRIVATE -Wno-address-of-packed-member) # disable unneeded mavlink warnings

gazebo/simulator.cpp

@@ -18,19 +18,6 @@
 #include "Arduino.h"
 #include "flix.h"
 
-#include "cli.ino"
-#include "control.ino"
-#include "estimate.ino"
-#include "safety.ino"
-#include "log.ino"
-#include "lpf.h"
-#include "mavlink.ino"
-#include "motors.ino"
-#include "parameters.ino"
-#include "power.ino"
-#include "rc.ino"
-#include "time.ino"
-
 using ignition::math::Vector3d;
 using namespace gazebo;
 using namespace std;

gazebo/wifi.h

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