Update website

Website
2026-06-28 05:56:44 +00:00 · 2024-06-17 10:13:04 +03:00 · 2024-03-04 03:18:04 +03:00
61 changed files with 413 additions and 3880 deletions
@@ -1,11 +0,0 @@
-root = true
-
-[*]
-end_of_line = lf
-insert_final_newline = true
-
-[*.{ino,cpp,c,h,hpp,sdf,world}]
-charset = utf-8
-indent_style = tab
-tab_width = 4
-trim_trailing_whitespace = true
@@ -1,64 +0,0 @@
-name: Build
-
-on:
-  push:
-    branches: [ '*' ]
-  pull_request:
-    branches: [ master ]
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v3
-    - name: Install Arduino CLI
-      uses: arduino/setup-arduino-cli@v1.1.1
-    - name: Build firmware
-      run: make
-
-  build_macos:
-    runs-on: macos-latest
-    steps:
-    - uses: actions/checkout@v3
-    - name: Install Arduino CLI
-      run: brew install arduino-cli
-    - name: Build firmware
-      run: make
-
-  build_windows:
-    runs-on: windows-latest
-    steps:
-    - uses: actions/checkout@v3
-    - name: Install Arduino CLI
-      run: choco install arduino-cli
-    - name: Install Make
-      run: choco install make
-    - name: Build firmware
-      run: make
-
-  build_simulator:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v3
-    - name: Install Gazebo
-      run: curl -sSL http://get.gazebosim.org | sh
-    - name: Install SDL2
-      run: sudo apt-get install libsdl2-dev
-    - name: Build simulator
-      run: make build_simulator
-    - uses: actions/upload-artifact@v3
-      with:
-        name: gazebo-plugin-binary
-        path: gazebo/build/*.so
-        retention-days: 1
-
-  # build_simulator_macos:
-  #   runs-on: macos-latest
-  #   steps:
-  #   - uses: actions/checkout@v3
-  #   - name: Install Gazebo
-  #     run: brew tap osrf/simulation && brew install gazebo11
-  #   - name: Install SDL2
-  #     run: brew install sdl2
-  #   - name: Build simulator
-  #     run: make build_simulator
@@ -1,5 +0,0 @@
-*.hex
-*.elf
-gazebo/build/
-tools/log/
-.dependencies
@@ -0,0 +1 @@
+quadcopter.dev
@@ -1,45 +0,0 @@
-BOARD = esp32:esp32:d1_mini32
-PORT := $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP2104_USB_to_UART_Bridge_Controller_* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-*)
-PORT := $(strip $(PORT))
-
-build: .dependencies
-	arduino-cli compile --fqbn $(BOARD) flix
-
-upload: build
-	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" flix
-
-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@2.0.11 --config-file arduino-cli.yaml
-	arduino-cli lib install "Bolder Flight Systems SBUS"@1.0.1
-	arduino-cli lib install --git-url https://github.com/okalachev/MPU9250.git --config-file arduino-cli.yaml
-	touch .dependencies
-
-gazebo/build cmake: gazebo/CMakeLists.txt
-	mkdir -p gazebo/build
-	cd gazebo/build && cmake ..
-
-build_simulator: gazebo/build
-	make -C gazebo/build
-
-simulator: build_simulator
-	GAZEBO_MODEL_PATH=$$GAZEBO_MODEL_PATH:${CURDIR}/gazebo/models \
-	GAZEBO_PLUGIN_PATH=$$GAZEBO_PLUGIN_PATH:${CURDIR}/gazebo/build \
-	gazebo --verbose ${CURDIR}/gazebo/flix.world
-
-log:
-	PORT=$(PORT) tools/grab_log.py
-
-plot:
-	plotjuggler -d $(shell ls -t tools/log/*.csv | head -n1)
-
-docs:
-	for FILE in docs/*.d2; do d2 $$FILE; done
-
-clean:
-	rm -rf gazebo/build flix/build flix/cache .dependencies
-
-.PHONY: build upload monitor dependencies cmake build_simulator simulator log clean
@@ -1,58 +0,0 @@
-# flix
-
-**flix** (*flight + X*) — making an open source ESP32-based quadcopter from scratch.
-
-<img src="docs/img/flix.jpg" width=500>
-
-## Features
-
-* Simple and clear Arduino based source code.
-* Acro and Stabilized flight using remote control.
-* Precise simulation using Gazebo.
-* In-RAM logging.
-* Command line interface through USB port.
-* Wi-Fi support.
-* ESCs with reverse mode support.
-* *Textbook and videos for students on writing a flight controller\*.*
-* *MAVLink support\*.*
-* *Completely 3D-printed frame*.*
-* *Position control and autonomous flights using external camera\**.
-* [Building and running instructions](docs/build.md).
-
-*\* — planned.*
-
-## It actually flies
-
-<a href="https://youtu.be/8GzzIQ3C6DQ"><img width=500 src="https://i3.ytimg.com/vi/8GzzIQ3C6DQ/maxresdefault.jpg"></a>
-
-See YouTube demo video: https://youtu.be/8GzzIQ3C6DQ.
-
-## Simulation
-
-Simulation in Gazebo using a plugin that runs original Arduino code is implemented:
-
-<img src="docs/img/simulator.png" width=500>
-
-## Schematics
-
-<img src="docs/img/schematics.svg" width=800>
-
-## Version 0
-
-### Components
-
-|Component|Type|Image|Quantity|
-|-|-|-|-|
-|ESP32 Mini|Microcontroller board|<img src="docs/img/esp32.jpg" width=100>|1|
-|GY-91|IMU+LDO+barometer board|<img src="docs/img/gy-91.jpg" width=100>|1|
-|K100|Quadcopter frame|<img src="docs/img/frame.jpg" width=100>|1|
-|8520 3.7V brushed motor|Motor|<img src="docs/img/motor.jpeg" width=100>|4|
-|Hubsan 55 mm| Propeller|<img src="docs/img/prop.jpg" width=100>|4|
-|2.7A 1S Dual Way Micro Brush ESC|Motor ESC|<img src="docs/img/esc.jpg" width=100>|4|
-|KINGKONG TINY X8|RC transmitter|<img src="docs/img/tx.jpg" width=100>|1|
-|DF500 (SBUS)|RC receiver|<img src="docs/img/rx.jpg" width=100>|1|
-||SBUS inverter|<img src="docs/img/inv.jpg" width=100>|1|
-|3.7 Li-Po 850 MaH 60C|Battery|||
-||Battery charger|<img src="docs/img/charger.jpg" width=100>|1|
-||Wires, connectors, tape, ...||
-||3D-printed frame parts||
@@ -1,5 +0,0 @@
-board_manager:
-  additional_urls:
-    - https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
-library:
-  enable_unsafe_install: true
@@ -1,86 +0,0 @@
-# Building and running
-
-## Simulation
-
-Dependencies are [Gazebo Classic simulator](https://classic.gazebosim.org) and [SDL2](https://www.libsdl.org) library.
-
-### Ubuntu
-
-1. Install Gazebo 11:
-
-   ```bash
-   curl -sSL http://get.gazebosim.org | sh
-   ```
-
-   Set up your Gazebo environment variables:
-
-   ```bash
-   echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
-   source ~/.bashrc
-   ```
-
-2. Install SDL2:
-
-   ```bash
-   sudo apt-get install libsdl2-dev
-   ```
-
-3. Run the simulation:
-
-   ```bash
-   make simulator
-   ```
-
-### macOS
-
-1. Install Homebrew package manager, if you don't have it installed:
-
-   ```bash
-   /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
-   ```
-
-2. Install Gazebo 11 and SDL2:
-
-   ```bash
-   brew tap osrf/simulation
-   brew install gazebo11
-   brew install sdl2
-   ```
-
-3. Run the simulation:
-
-   ```bash
-   make simulator
-   ```
-
-## Firmware
-
-### Arduino IDE (Windows, Linux, macOS)
-
-1. Install [Arduino IDE](https://www.arduino.cc/en/software).
-2. Install ESP32 core using [Boards Manager](https://docs.arduino.cc/learn/starting-guide/cores).
-3. Build and upload the firmware using Arduino IDE.
-
-### Command line (Windows, Linux, macOS)
-
-1. [Install Arduino CLI](https://arduino.github.io/arduino-cli/installation/).
-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. Compile the firmware using `make`. Arduino dependencies will be installed automatically:
-
-   ```bash
-   make
-   ```
-
-   You can flash the firmware to the board using command:
-
-   ```bash
-   make upload
-   ```
-
-   You can also compile the firmware, upload it and start serial port monitoring using command:
-
-   ```bash
-   make upload monitor
-   ```
-
-See other available Make commands in the [Makefile](../Makefile).
@@ -1,782 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<!-- Created with Inkscape (http://www.inkscape.org/) -->
-
-<svg
-   version="1.1"
-   id="svg1"
-   width="2560"
-   height="1440"
-   viewBox="0 0 2560 1440"
-   xmlns:xlink="http://www.w3.org/1999/xlink"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:svg="http://www.w3.org/2000/svg">
-  <defs
-     id="defs1">
-    <color-profile
-       name="sRGB-IEC61966-2.1"
-       xlink:href="data:application/vnd.iccprofile;base64,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"
-       id="color-profile2" />
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath2">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         id="path2" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath4">
-      <path
-         d="m 735.7776,400.7546 h 448.4447 V 726.5893 H 735.7776 Z"
-         transform="matrix(1,0,0,-1,-877.16305,540.06451)"
-         id="path4" />
-    </clipPath>
-    <color-profile
-       name="Display-P3"
-       xlink:href="data:application/vnd.iccprofile;base64,AAACGGxjbXMEAAAAbW50clJHQiBYWVogB+YAAQABAAAAAAAAYWNzcEFQUEwAAAAAQVBQTAAAAAAAAAAAAAAAAAAAAAAAAPbWAAEAAAAA0y1sY21z7P2jjjiFR8NttL1PetoYLwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAKZGVzYwAAAPwAAAAwY3BydAAAASwAAABQd3RwdAAAAXwAAAAUclhZWgAAAZAAAAAUZ1hZWgAAAaQAAAAUYlhZWgAAAbgAAAAUclRSQwAAAcwAAAAgY2hhZAAAAewAAAAsYlRSQwAAAcwAAAAgZ1RSQwAAAcwAAAAgbWx1YwAAAAAAAAABAAAADGVuVVMAAAAUAAAAHABEAGkAcwBwAGwAYQB5ACAAUAAzbWx1YwAAAAAAAAABAAAADGVuVVMAAAA0AAAAHABDAG8AcAB5AHIAaQBnAGgAdAAgAEEAcABwAGwAZQAgAEkAbgBjAC4ALAAgADIAMAAyADJYWVogAAAAAAAA9tUAAQAAAADTLFhZWiAAAAAAAACD3wAAPb////+7WFlaIAAAAAAAAEq/AACxNwAACrlYWVogAAAAAAAAKDgAABELAADIuXBhcmEAAAAAAAMAAAACZmYAAPKnAAANWQAAE9AAAApbc2YzMgAAAAAAAQxCAAAF3v//8yYAAAeTAAD9kP//+6L///2jAAAD3AAAwG4="
-       id="color-profile3" />
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath6">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-84.355832,687.17702)"
-         id="path6" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath8">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-84.355832,230.07061)"
-         id="path8" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath9">
-      <path
-         d="m 69.25037,77.53967 h 445.3672 v 152.5309 H 69.25037 Z"
-         transform="matrix(1,0,0,-1,-134.2582,129.9201)"
-         id="path9" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath11">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-752.42814,230.07061)"
-         id="path11" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath12">
-      <path
-         d="m 737.3226,77.53967 h 445.3672 v 152.5309 H 737.3226 Z"
-         transform="matrix(1,0,0,-1,-774.39594,130.08053)"
-         id="path12" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath14">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-502.51162,523.78481)"
-         id="path14" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath16">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         id="path16" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath17">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-580.02442,458.62641)"
-         id="path17" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath19">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-975.72865,400.75401)"
-         id="path19" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath21">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-866.79025,301.17428)"
-         id="path21" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath23">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-502.51111,133.32953)"
-         id="path23" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath25">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-562.46581,156.45998)"
-         id="path25" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath27">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-1166.116,543.19631)"
-         id="path27" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath29">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-1236.025,558.75382)"
-         id="path29" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath31">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-1603.7991,484.40641)"
-         id="path31" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath33">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-1450.2771,343.00021)"
-         id="path33" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath35">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-183.9595,646.56341)"
-         id="path35" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath36">
-      <path
-         d="M 176.4655,540.4207 H 407.3902 V 646.5634 H 176.4655 Z"
-         transform="matrix(1,0,0,-1,-208.1755,599.41831)"
-         id="path36" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath37">
-      <path
-         d="M 176.4655,540.4207 H 407.3902 V 646.5634 H 176.4655 Z"
-         transform="matrix(1,0,0,-1,-276.56905,599.41831)"
-         id="path37" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath38">
-      <path
-         d="M 176.4655,540.4207 H 407.3902 V 646.5634 H 176.4655 Z"
-         transform="matrix(1,0,0,-1,-315.94406,599.41831)"
-         id="path38" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath39">
-      <path
-         d="M 176.4655,540.4207 H 407.3902 V 646.5634 H 176.4655 Z"
-         transform="matrix(1,0,0,-1,-263.67901,563.28652)"
-         id="path39" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath40">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-171.24471,470.09881)"
-         id="path40" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath42">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-401.39651,599.29651)"
-         id="path42" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath44">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-581.82901,621.43931)"
-         id="path44" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath46">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-752.42814,1002.46)"
-         id="path46" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath47">
-      <path
-         d="m 737.3226,849.9294 h 445.3672 v 152.5309 H 737.3226 Z"
-         transform="matrix(1,0,0,-1,-865.05512,902.30993)"
-         id="path47" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath49">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-327.87531,885.82422)"
-         id="path49" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath51">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         id="path51" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath52">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-398.91041,812.44552)"
-         id="path52" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath54">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-1170.5841,918.51212)"
-         id="path54" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath56">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-1396.2291,882.18742)"
-         id="path56" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath58">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-1420.5,230.07061)"
-         id="path58" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath59">
-      <path
-         d="m 1405.395,77.53967 h 445.3672 v 152.5309 H 1405.395 Z"
-         transform="matrix(1,0,0,-1,-1507.956,129.9201)"
-         id="path59" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath60">
-      <path
-         d="m 1405.395,77.53967 h 445.3672 v 152.5309 H 1405.395 Z"
-         transform="matrix(1,0,0,-1,-1706.5596,129.9201)"
-         id="path60" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath62">
-      <path
-         d="M 0,0 H 1920 V 1080 H 0 Z"
-         transform="matrix(1,0,0,-1,-1420.5,639.93742)"
-         id="path62" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath63">
-      <path
-         d="m 1405.395,487.4065 h 445.3672 V 639.9374 H 1405.395 Z"
-         transform="matrix(1,0,0,-1,-1546.321,539.78701)"
-         id="path63" />
-    </clipPath>
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath64">
-      <path
-         d="m 1405.395,487.4065 h 445.3672 V 639.9374 H 1405.395 Z"
-         transform="matrix(1,0,0,-1,-1668.196,539.78701)"
-         id="path64" />
-    </clipPath>
-  </defs>
-  <g
-     id="g1">
-    <path
-       id="path1"
-       d="M 0,0 H 1920 V 1080 H 0 Z"
-       style="fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none"
-       transform="matrix(1.3333333,0,0,-1.3333333,0,1440)"
-       clip-path="url(#clipPath2)" />
-    <g
-       id="g2">
-      <path
-         id="path3"
-         d="m 782.3957,726.5893 h 355.2083 c 8.367,0 13.387,0 16.734,-1.3973 4.825,-1.756 8.626,-5.5566 10.382,-10.3813 1.397,-3.3468 1.397,-8.367 1.397,-16.7341 V 429.2673 c 0,-8.367 0,-13.3872 -1.397,-16.734 -1.756,-4.8248 -5.557,-8.6254 -10.382,-10.3814 -3.347,-1.3973 -8.367,-1.3973 -16.734,-1.3973 H 782.3957 c -8.367,0 -13.3872,0 -16.734,1.3973 -4.8247,1.756 -8.6253,5.5566 -10.3814,10.3814 -1.3972,3.3468 -1.3972,8.367 -1.3972,16.734 v 268.8093 c 0,8.3671 0,13.3873 1.3972,16.7341 1.7561,4.8247 5.5567,8.6253 10.3814,10.3813 3.3468,1.3973 8.367,1.3973 16.734,1.3973 z"
-         style="fill:#0076ba;fill-opacity:1;fill-rule:nonzero;stroke:none"
-         transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" />
-    </g>
-    <g
-       id="g3">
-      <text
-         id="text3"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,1169.5507,719.914)"
-         clip-path="url(#clipPath4)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:60px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 33.66 67.085999 100.164 132.918"
-           y="0"
-           id="tspan3">ESP32</tspan></text>
-    </g>
-    <g
-       id="g4">
-      <path
-         id="path5"
-         d="M 22.77821,0 H 392.3655 c 6.6843,0 10.6948,0 13.3685,1.116234 3.8544,1.402875 6.8906,4.43911 8.2935,8.293479 1.1162,2.673697 1.1162,6.684247 1.1162,13.368497 V 230.8406 c 0,6.6843 0,10.6948 -1.1162,13.3685 -1.4029,3.8544 -4.4391,6.8906 -8.2935,8.2935 -2.6737,1.1162 -6.6842,1.1162 -13.3685,1.1162 H 22.77821 c -6.68425,0 -10.6948,0 -13.368497,-1.1162 C 5.555344,251.0997 2.519109,248.0635 1.116234,244.2091 0,241.5354 0,237.5249 0,230.8406 V 22.77821 C 0,16.09396 0,12.08341 1.116234,9.409713 2.519109,5.555344 5.555344,2.519109 9.409713,1.116234 12.08341,0 16.09396,0 22.77821,0 Z"
-         style="fill:none;stroke:#0076ba;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-         transform="matrix(1.3333333,0,0,1.3333333,112.47444,523.764)"
-         clip-path="url(#clipPath6)" />
-    </g>
-    <g
-       id="g6">
-      <path
-         id="path7"
-         d="M 25.43947,0 H 389.7043 c 7.4652,0 11.9443,0 14.9304,1.246647 4.3046,1.566779 7.6956,4.957749 9.2624,9.262433 1.2466,2.98608 1.2466,7.4652 1.2466,14.93039 V 127.0915 c 0,7.4652 0,11.9443 -1.2466,14.9304 -1.5668,4.3046 -4.9578,7.6956 -9.2624,9.2624 -2.9861,1.2466 -7.4652,1.2466 -14.9304,1.2466 H 25.43947 c -7.46519,0 -11.94431,0 -14.93039,-1.2466 C 6.204396,149.7175 2.813426,146.3265 1.246647,142.0219 0,139.0358 0,134.5567 0,127.0915 V 25.43947 C 0,17.97428 0,13.49516 1.246647,10.50908 2.813426,6.204396 6.204396,2.813426 10.50908,1.246647 13.49516,0 17.97428,0 25.43947,0 Z"
-         style="fill:none;stroke:#0076ba;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-         transform="matrix(1.3333333,0,0,1.3333333,112.47444,1133.2392)"
-         clip-path="url(#clipPath8)" />
-    </g>
-    <g
-       id="g8">
-      <text
-         id="text8"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,179.01093,1266.7732)"
-         clip-path="url(#clipPath9)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:60px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 37.236 73.272003 92.028 128.18401 159.78 187.476 219.07201 232.78799 262.224 293.82001"
-           y="0"
-           id="tspan8">RC Receiver</tspan></text>
-    </g>
-    <g
-       id="g9">
-      <path
-         id="path10"
-         d="M 25.43947,0 H 389.7043 c 7.4652,0 11.9443,0 14.9304,1.246647 4.3046,1.566779 7.6956,4.957749 9.2624,9.262433 1.2466,2.98608 1.2466,7.4652 1.2466,14.93039 V 127.0915 c 0,7.4652 0,11.9443 -1.2466,14.9304 -1.5668,4.3046 -4.9578,7.6956 -9.2624,9.2624 -2.9861,1.2466 -7.4652,1.2466 -14.9304,1.2466 H 25.43947 c -7.46519,0 -11.94431,0 -14.93039,-1.2466 C 6.204396,149.7175 2.813426,146.3265 1.246647,142.0219 0,139.0358 0,134.5567 0,127.0915 V 25.43947 C 0,17.97428 0,13.49516 1.246647,10.50908 2.813426,6.204396 6.204396,2.813426 10.50908,1.246647 13.49516,0 17.97428,0 25.43947,0 Z"
-         style="fill:none;stroke:#0076ba;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-         transform="matrix(1.3333333,0,0,1.3333333,1003.2375,1133.2392)"
-         clip-path="url(#clipPath11)" />
-    </g>
-    <g
-       id="g11">
-      <text
-         id="text11"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,1032.5279,1266.5593)"
-         clip-path="url(#clipPath12)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:60px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 33.425999 68.772003 108.138 141.564 160.28999 182.37601 215.32201 244.728 276.29401 297.89999 317.94601 349.51199"
-           y="0"
-           id="tspan11">SBUS Inverter</tspan></text>
-    </g>
-    <g
-       id="g12">
-      <path
-         id="path13"
-         d="M 0,3.168352 C 74.57495,10.14042 150.4092,9.923605 227.5027,2.517898 l 2.9842,-0.314811"
-         style="fill:none;stroke:#d5d5d5;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-         transform="matrix(1.3333333,0,0,1.3333333,670.01547,741.62027)"
-         clip-path="url(#clipPath14)" />
-      <path
-         id="path15"
-         d="m 731.274,509.3332 22.6086,14.4516 -25.1264,9.416 z"
-         style="fill:#d5d5d5;fill-opacity:1;fill-rule:nonzero;stroke:none"
-         transform="matrix(1.3333333,0,0,-1.3333333,0,1440)"
-         clip-path="url(#clipPath16)" />
-    </g>
-    <g
-       id="g16" />
-    <g
-       id="g17">
-      <text
-         id="text17"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,773.36587,828.49813)"
-         clip-path="url(#clipPath17)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 22.284 44.327999"
-           y="0"
-           id="tspan17">SPI</tspan></text>
-    </g>
-    <g
-       id="g18">
-      <path
-         id="path18"
-         d="M 0,167.6836 C 6.83206,120.8451 9.566947,72.94383 8.20466,23.9797 L 8.080895,20.98212"
-         style="fill:none;stroke:#d5d5d5;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-         transform="matrix(1.3333333,0,0,1.3333333,1300.9715,905.66133)"
-         clip-path="url(#clipPath19)" />
-      <path
-         id="path20"
-         d="M 995.923,377.2695 982.9432,400.754 971.9435,376.2794 Z"
-         style="fill:#d5d5d5;fill-opacity:1;fill-rule:nonzero;stroke:none"
-         transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" />
-    </g>
-    <g
-       id="g20" />
-    <g
-       id="g21">
-      <text
-         id="text21"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,1155.7203,1038.4343)"
-         clip-path="url(#clipPath21)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 26.035999 50.032001 73.788002"
-           y="0"
-           id="tspan21">UART</tspan></text>
-    </g>
-    <g
-       id="g22">
-      <path
-         id="path22"
-         d="M 0,0.9506769 C 72.79023,4.65132 147.106,4.743867 222.9474,1.22832 l 2.9963,-0.153549"
-         style="fill:none;stroke:#d5d5d5;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-         transform="matrix(1.3333333,0,0,1.3333333,670.0148,1262.2273)"
-         clip-path="url(#clipPath23)" />
-      <path
-         id="path24"
-         d="m 726.0729,120.1169 23.3544,13.2126 -24.5827,10.7559 z"
-         style="fill:#d5d5d5;fill-opacity:1;fill-rule:nonzero;stroke:none"
-         transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" />
-    </g>
-    <g
-       id="g24" />
-    <g
-       id="g25">
-      <text
-         id="text25"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,749.9544,1231.3867)"
-         clip-path="url(#clipPath25)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 22.284 45.848 72.092003"
-           y="0"
-           id="tspan25">SBUS</tspan></text>
-    </g>
-    <g
-       id="g26">
-      <path
-         id="path26"
-         d="m 0,0.718922 c 74.2163,3.9271 150.0213,4.096899 227.4149,0.509398 l 2.9963,-0.153548"
-         style="fill:none;stroke:#d5d5d5;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-         transform="matrix(1.3333333,0,0,1.3333333,1554.8213,715.73827)"
-         clip-path="url(#clipPath27)" />
-      <path
-         id="path28"
-         d="m 1394.145,529.9837 23.355,13.2126 -24.583,10.756 z"
-         style="fill:#d5d5d5;fill-opacity:1;fill-rule:nonzero;stroke:none"
-         transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" />
-    </g>
-    <g
-       id="g28" />
-    <g
-       id="g29">
-      <text
-         id="text29"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,1648.0333,694.99493)"
-         clip-path="url(#clipPath29)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 22.052 58.144001"
-           y="0"
-           id="tspan29">PWM</tspan></text>
-    </g>
-    <g
-       id="g30">
-      <path
-         id="path30"
-         d="M 8.544339,0 C -2.139819,73.24743 -2.804077,149.0941 6.551564,227.5399 l 0.391861,2.9755"
-         style="fill:none;stroke:#d5d5d5;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-         transform="matrix(1.3333333,0,0,1.3333333,2138.3987,794.1248)"
-         clip-path="url(#clipPath31)" />
-      <path
-         id="path32"
-         d="m 1598.454,255.2985 15.031,-22.2277 8.763,25.3614 z"
-         style="fill:#d5d5d5;fill-opacity:1;fill-rule:nonzero;stroke:none"
-         transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" />
-    </g>
-    <g
-       id="g32" />
-    <g
-       id="g33">
-      <text
-         id="text33"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,1933.7027,982.6664)"
-         clip-path="url(#clipPath33)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 22.032 43.751999 52.972 66.351997 87.348 109.456"
-           y="0"
-           id="tspan33">Voltage</tspan></text>
-    </g>
-    <g
-       id="g34">
-      <path
-         id="path34"
-         d="M 15.17917,0 H 200.7573 c 4.4543,0 7.1269,0 8.9086,0.7438468 2.5686,0.9348622 4.5919,2.9581782 5.5267,5.5266902 0.7439,1.781727 0.7439,4.454313 0.7439,8.908633 v 75.78435 c 0,4.45431 0,7.1269 -0.7439,8.90863 -0.9348,2.56855 -2.9581,4.59185 -5.5267,5.52665 -1.7817,0.7439 -4.4543,0.7439 -8.9086,0.7439 H 15.17917 c -4.45432,0 -7.126906,0 -8.908633,-0.7439 C 3.702025,104.464 1.678709,102.4407 0.7438468,99.87215 0,98.09042 0,95.41783 0,90.96352 V 15.17917 C 0,10.72485 0,8.052264 0.7438468,6.270537 1.678709,3.702025 3.702025,1.678709 6.270537,0.7438468 8.052264,0 10.72485,0 15.17917,0 Z"
-         style="fill:none;stroke:#0076ba;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-         transform="matrix(1.3333333,0,0,1.3333333,245.27933,577.91547)"
-         clip-path="url(#clipPath35)" />
-    </g>
-    <g
-       id="g35">
-      <text
-         id="text35"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,277.56733,640.7756)"
-         clip-path="url(#clipPath36)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:30px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 16.377001 24.743999 41.120998 59.028"
-           y="0"
-           id="tspan35">3.7V </tspan></text>
-      <text
-         id="text36"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,368.75873,640.7756)"
-         clip-path="url(#clipPath37)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:30px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0"
-           y="0"
-           id="tspan36">→</tspan></text>
-      <text
-         id="text37"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,421.25873,640.7756)"
-         clip-path="url(#clipPath38)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:30px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 16.365 25.440001 41.805 59.700001"
-           y="0"
-           id="tspan37">3.3V </tspan></text>
-      <text
-         id="text38"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,351.572,688.95133)"
-         clip-path="url(#clipPath39)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:30px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 14.928 35.285999"
-           y="0"
-           id="tspan38">LDO</tspan></text>
-    </g>
-    <g
-       id="g39" />
-    <g
-       id="g40">
-      <text
-         id="text40"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,228.32627,813.2016)"
-         clip-path="url(#clipPath40)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:60px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 22.379999 68.610001 107.958 126.708 166.758 197.49001 219.28799 252.04201"
-           y="0"
-           id="tspan40">IMU GY-91</tspan></text>
-    </g>
-    <g
-       id="g41">
-      <path
-         id="path41"
-         d="M 0,0.9074655 C 105.6857,-1.737837 215.2075,1.400243 328.5653,10.32171 l 2.9904,0.24547"
-         style="fill:none;stroke:#d5d5d5;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-         transform="matrix(1.3333333,0,0,1.3333333,535.19533,640.938)"
-         clip-path="url(#clipPath42)" />
-      <path
-         id="path43"
-         d="m 728.9806,577.015 24.9013,9.9963 -22.9378,13.9233 z"
-         style="fill:#d5d5d5;fill-opacity:1;fill-rule:nonzero;stroke:none"
-         transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" />
-    </g>
-    <g
-       id="g43" />
-    <g
-       id="g44">
-      <text
-         id="text44"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,775.772,611.41427)"
-         clip-path="url(#clipPath44)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 21.836 33.952 55.787998"
-           y="0"
-           id="tspan44">3.3V</tspan></text>
-    </g>
-    <g
-       id="g45">
-      <path
-         id="path45"
-         d="M 25.43947,0 H 389.7043 c 7.4652,0 11.9443,0 14.9304,1.246647 4.3046,1.566779 7.6956,4.957749 9.2624,9.262433 1.2466,2.98608 1.2466,7.4652 1.2466,14.93039 V 127.0915 c 0,7.4652 0,11.9443 -1.2466,14.9304 -1.5668,4.3046 -4.9578,7.6956 -9.2624,9.2624 -2.9861,1.2466 -7.4652,1.2466 -14.9304,1.2466 H 25.43947 c -7.46519,0 -11.94431,0 -14.93039,-1.2466 C 6.204396,149.7175 2.813426,146.3265 1.246647,142.0219 0,139.0358 0,134.5567 0,127.0915 V 25.43947 C 0,17.97428 0,13.49516 1.246647,10.50908 2.813426,6.204396 6.204396,2.813426 10.50908,1.246647 13.49516,0 17.97428,0 25.43947,0 Z"
-         style="fill:none;stroke:#0076ba;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-         transform="matrix(1.3333333,0,0,1.3333333,1003.2375,103.38667)"
-         clip-path="url(#clipPath46)" />
-    </g>
-    <g
-       id="g46">
-      <text
-         id="text46"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,1153.4068,236.92013)"
-         clip-path="url(#clipPath47)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:60px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 35.652 67.164001 86.736 106.788 138.36 159.972"
-           y="0"
-           id="tspan46">Battery</tspan></text>
-    </g>
-    <g
-       id="g47">
-      <path
-         id="path48"
-         d="M 421.5528,0 C 235.366,47.76378 99.90873,120.8197 15.1811,219.1677 l -1.89962,2.3266"
-         style="fill:none;stroke:#d5d5d5;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-         transform="matrix(1.3333333,0,0,1.3333333,437.16707,258.90107)"
-         clip-path="url(#clipPath49)" />
-      <path
-         id="path50"
-         d="m 333.7589,674.2432 -5.8836,-26.1798 24.474,11.001 z"
-         style="fill:#d5d5d5;fill-opacity:1;fill-rule:nonzero;stroke:none"
-         transform="matrix(1.3333333,0,0,-1.3333333,0,1440)"
-         clip-path="url(#clipPath51)" />
-    </g>
-    <g
-       id="g51" />
-    <g
-       id="g52">
-      <text
-         id="text52"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,531.88053,356.73933)"
-         clip-path="url(#clipPath52)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 29.1 50.919998 62.060001 83.879997"
-           y="0"
-           id="tspan52">&gt;3.7V</tspan></text>
-    </g>
-    <g
-       id="g53">
-      <path
-         id="path53"
-         d="m 0,0 c 227.9607,25.58255 371.5626,109.9501 430.8056,253.1027 l 1.0572,2.8138"
-         style="fill:none;stroke:#d5d5d5;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-         transform="matrix(1.3333333,0,0,1.3333333,1560.7787,215.3172)"
-         clip-path="url(#clipPath54)" />
-      <path
-         id="path55"
-         d="m 1590.159,661.1831 19.675,-18.2457 2.791,26.6872 z"
-         style="fill:#d5d5d5;fill-opacity:1;fill-rule:nonzero;stroke:none"
-         transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" />
-    </g>
-    <g
-       id="g55" />
-    <g
-       id="g56">
-      <text
-         id="text56"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,1861.6387,263.75013)"
-         clip-path="url(#clipPath56)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 29.1 50.919998 62.060001 83.879997"
-           y="0"
-           id="tspan56">&gt;3.7V</tspan></text>
-    </g>
-    <g
-       id="g57">
-      <path
-         id="path57"
-         d="M 25.43947,0 H 389.7043 c 7.4652,0 11.9443,0 14.9304,1.246647 4.3046,1.566779 7.6956,4.957749 9.2624,9.262433 1.2466,2.98608 1.2466,7.4652 1.2466,14.93039 V 127.0915 c 0,7.4652 0,11.9443 -1.2466,14.9304 -1.5668,4.3046 -4.9578,7.6956 -9.2624,9.2624 -2.9861,1.2466 -7.4652,1.2466 -14.9304,1.2466 H 25.43947 c -7.46519,0 -11.94431,0 -14.93039,-1.2466 C 6.204396,149.7175 2.813426,146.3265 1.246647,142.0219 0,139.0358 0,134.5567 0,127.0915 V 25.43947 C 0,17.97428 0,13.49516 1.246647,10.50908 2.813426,6.204396 6.204396,2.813426 10.50908,1.246647 13.49516,0 17.97428,0 25.43947,0 Z"
-         style="fill:none;stroke:#ff9300;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-         transform="matrix(1.3333333,0,0,1.3333333,1894,1133.2392)"
-         clip-path="url(#clipPath58)" />
-    </g>
-    <g
-       id="g58">
-      <text
-         id="text58"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,2010.608,1266.7732)"
-         clip-path="url(#clipPath59)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:60px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 46.23 78.809998 98.879997 131.46001 153.084 179.862"
-           y="0"
-           id="tspan58">Motors </tspan></text>
-      <text
-         id="text59"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,2275.4127,1266.7732)"
-         clip-path="url(#clipPath60)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 19.804001"
-           y="0"
-           id="tspan59">x4</tspan></text>
-    </g>
-    <g
-       id="g60">
-      <path
-         id="path61"
-         d="M 25.43947,0 H 389.7043 c 7.4652,0 11.9443,0 14.9304,1.246647 4.3046,1.566779 7.6956,4.957749 9.2624,9.262433 1.2466,2.98608 1.2466,7.4652 1.2466,14.93039 V 127.0915 c 0,7.4652 0,11.9443 -1.2466,14.9304 -1.5668,4.3046 -4.9578,7.6956 -9.2624,9.2624 -2.9861,1.2466 -7.4652,1.2466 -14.9304,1.2466 H 25.43947 c -7.46519,0 -11.94431,0 -14.93039,-1.2466 C 6.204396,149.7175 2.813426,146.3265 1.246647,142.0219 0,139.0358 0,134.5567 0,127.0915 V 25.43947 C 0,17.97428 0,13.49516 1.246647,10.50908 2.813426,6.204396 6.204396,2.813426 10.50908,1.246647 13.49516,0 17.97428,0 25.43947,0 Z"
-         style="fill:none;stroke:#0076ba;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
-         transform="matrix(1.3333333,0,0,1.3333333,1894,586.75013)"
-         clip-path="url(#clipPath62)" />
-    </g>
-    <g
-       id="g62">
-      <text
-         id="text62"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,2061.7613,720.284)"
-         clip-path="url(#clipPath63)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:60px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 33.66 67.085999 103.122"
-           y="0"
-           id="tspan62">ESC </tspan></text>
-      <text
-         id="text63"
-         xml:space="preserve"
-         transform="matrix(1.3333333,0,0,1.3333333,2224.2613,720.284)"
-         clip-path="url(#clipPath64)"><tspan
-           style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
-           x="0 19.804001"
-           y="0"
-           id="tspan63">x4</tspan></text>
-    </g>
-  </g>
-</svg>
@@ -1,169 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Implementation of command line interface
-
-#include "pid.h"
-#include "vector.h"
-
-extern PID rollRatePID, pitchRatePID, yawRatePID, rollPID, pitchPID;
-extern LowPassFilter<Vector> ratesFilter;
-
-const char* motd =
-"\nWelcome to\n"
-" _______  __       __  ___   ___\n"
-"|   ____||  |     |  | \\  \\ /  /\n"
-"|  |__   |  |     |  |  \\  V  /\n"
-"|   __|  |  |     |  |   >   <\n"
-"|  |     |  `----.|  |  /  .  \\\n"
-"|__|     |_______||__| /__/ \\__\\\n\n"
-"Commands:\n\n"
-"help - show help\n"
-"show - show all parameters\n"
-"<name> <value> - set parameter\n"
-"ps - show pitch/roll/yaw\n"
-"psq - show attitude quaternion\n"
-"imu - show IMU data\n"
-"rc - show RC data\n"
-"mot - show motor data\n"
-"log - dump in-RAM log\n"
-"cg - calibrate gyro\n"
-"ca - calibrate accel\n"
-"fullmot <n> - test motor on all signals\n"
-"reset - reset drone's state\n";
-
-const struct Param {
-	const char* name;
-	float* value;
-	float* value2;
-} params[] = {
-	{"rp", &rollRatePID.p, &pitchRatePID.p},
-	{"ri", &rollRatePID.i, &pitchRatePID.i},
-	{"rd", &rollRatePID.d, &pitchRatePID.d},
-
-	{"ap", &rollPID.p, &pitchPID.p},
-	{"ai", &rollPID.i, &pitchPID.i},
-	{"ad", &rollPID.d, &pitchPID.d},
-
-	{"yp", &yawRatePID.p, nullptr},
-	{"yi", &yawRatePID.i, nullptr},
-	{"yd", &yawRatePID.d, nullptr},
-
-	{"lpr", &ratesFilter.alpha, nullptr},
-	{"lpd", &rollRatePID.lpf.alpha, &pitchRatePID.lpf.alpha},
-
-	{"ss", &loopFreq, nullptr},
-	{"dt", &dt, nullptr},
-	{"t", &t, nullptr},
-};
-
-void doCommand(String& command, String& value)
-{
-	if (command == "help" || command == "motd") {
-		Serial.println(motd);
-	} else if (command == "show") {
-		showTable();
-	} else if (command == "ps") {
-		Vector a = attitude.toEulerZYX();
-		Serial.printf("roll: %f pitch: %f yaw: %f\n", a.x * RAD_TO_DEG, a.y * RAD_TO_DEG, a.z * RAD_TO_DEG);
-	} else if (command == "psq") {
-		Serial.printf("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w);
-	} else if (command == "imu") {
-		Serial.printf("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
-		Serial.printf("acc: %f %f %f\n", acc.x, acc.y, acc.z);
-		printIMUCal();
-	} else if (command == "rc") {
-		Serial.printf("Raw: throttle %d yaw %d pitch %d roll %d aux %d mode %d\n",
-			channels[RC_CHANNEL_THROTTLE], channels[RC_CHANNEL_YAW], channels[RC_CHANNEL_PITCH],
-			channels[RC_CHANNEL_ROLL], channels[RC_CHANNEL_AUX], channels[RC_CHANNEL_MODE]);
-		Serial.printf("Control: throttle %f yaw %f pitch %f roll %f aux %f mode %f\n",
-			controls[RC_CHANNEL_THROTTLE], controls[RC_CHANNEL_YAW], controls[RC_CHANNEL_PITCH],
-			controls[RC_CHANNEL_ROLL], controls[RC_CHANNEL_AUX], controls[RC_CHANNEL_MODE]);
-		Serial.printf("Mode: %s\n", getModeName());
-	} else if (command == "mot") {
-		Serial.printf("MOTOR front-right %f front-left %f rear-right %f rear-left %f\n",
-			motors[MOTOR_FRONT_RIGHT], motors[MOTOR_FRONT_LEFT], motors[MOTOR_REAR_RIGHT], motors[MOTOR_REAR_LEFT]);
-	} else if (command == "log") {
-		dumpLog();
-	} else if (command == "cg") {
-		calibrateGyro();
-	} else if (command == "ca") {
-		calibrateAccel();
-	} else if (command == "mfr") {
-		cliTestMotor(MOTOR_FRONT_RIGHT);
-	} else if (command == "mfl") {
-		cliTestMotor(MOTOR_FRONT_LEFT);
-	} else if (command == "mrr") {
-		cliTestMotor(MOTOR_REAR_RIGHT);
-	} else if (command == "mrl") {
-		cliTestMotor(MOTOR_REAR_LEFT);
-	} else if (command == "fullmot") {
-		fullMotorTest(value.toInt(), false);
-	} else if (command == "reset") {
-		attitude = Quaternion();
-	} else {
-		float val = value.toFloat();
-		// TODO: on error returns 0, check invalid value
-
-		for (uint8_t i = 0; i < sizeof(params) / sizeof(params[0]); i++) {
-			if (command == params[i].name) {
-				*params[i].value = val;
-				if (params[i].value2 != nullptr) *params[i].value2 = val;
-				Serial.print(command);
-				Serial.print(" = ");
-				Serial.println(val, 4);
-				return;
-			}
-		}
-		Serial.println("Invalid command: " + command);
-	}
-}
-
-void showTable()
-{
-	for (uint8_t i = 0; i < sizeof(params) / sizeof(params[0]); i++) {
-		Serial.print(params[i].name);
-		Serial.print(" ");
-		Serial.println(*params[i].value, 5);
-	}
-}
-
-void cliTestMotor(uint8_t n)
-{
-	Serial.printf("Testing motor %d\n", n);
-	motors[n] = 1;
-	sendMotors();
-	delay(5000);
-	motors[n] = 0;
-	sendMotors();
-	Serial.println("Done");
-}
-
-void parseInput()
-{
-	static bool showMotd = true;
-	static String command;
-	static String value;
-	static bool parsingCommand = true;
-
-	if (showMotd) {
-		Serial.println(motd);
-		showMotd = false;
-	}
-
-	while (Serial.available()) {
-		char c = Serial.read();
-		if (c == '\n') {
-			parsingCommand = true;
-			if (!command.isEmpty()) {
-				doCommand(command, value);
-			}
-			command.clear();
-			value.clear();
-		} else if (c == ' ') {
-			parsingCommand = false;
-		} else {
-			(parsingCommand ? command : value) += c;
-		}
-	}
-}
@@ -1,181 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Flight control
-
-#include "vector.h"
-#include "quaternion.h"
-#include "pid.h"
-#include "lpf.h"
-
-#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 4.5
-#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 360 * DEG_TO_RAD
-#define ROLLRATE_MAX 360 * DEG_TO_RAD
-#define YAWRATE_MAX 360 * DEG_TO_RAD
-#define MAX_TILT 30 * DEG_TO_RAD
-
-#define RATES_LFP_ALPHA 0.8 // cutoff frequency ~ 250 Hz
-#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz
-
-enum { MANUAL, ACRO, STAB } mode = STAB;
-enum { YAW, YAW_RATE } yawMode = YAW;
-bool armed = false;
-
-PID rollRatePID(ROLLRATE_P, ROLLRATE_I, ROLLRATE_D, ROLLRATE_I_LIM, RATES_D_LPF_ALPHA);
-PID pitchRatePID(PITCHRATE_P, PITCHRATE_I, PITCHRATE_D, PITCHRATE_I_LIM, RATES_D_LPF_ALPHA);
-PID yawRatePID(YAWRATE_P, YAWRATE_I, YAWRATE_D);
-PID rollPID(ROLL_P, ROLL_I, ROLL_D);
-PID pitchPID(PITCH_P, PITCH_I, PITCH_D);
-PID yawPID(YAW_P, 0, 0);
-
-LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
-
-Quaternion attitudeTarget;
-Vector ratesTarget;
-Vector torqueTarget;
-float thrustTarget;
-
-void control()
-{
-	interpretRC();
-	if (mode == STAB) {
-		controlAttitude();
-		controlRate();
-		controlTorque();
-	} else if (mode == ACRO) {
-		controlRate();
-		controlTorque();
-	} else if (mode == MANUAL) {
-		controlTorque();
-	}
-}
-
-void interpretRC()
-{
-	if (controls[RC_CHANNEL_MODE] < 0.25) {
-		mode = MANUAL;
-	} else if (controls[RC_CHANNEL_MODE] < 0.75) {
-		mode = ACRO;
-	} else {
-		mode = STAB;
-	}
-
-	armed = controls[RC_CHANNEL_THROTTLE] >= 0.05 && controls[RC_CHANNEL_AUX] >= 0.5;
-	thrustTarget = controls[RC_CHANNEL_THROTTLE];
-
-	if (mode == ACRO) {
-		yawMode = YAW_RATE;
-		ratesTarget.x = controls[RC_CHANNEL_ROLL] * ROLLRATE_MAX;
-		ratesTarget.y = -controls[RC_CHANNEL_PITCH] * PITCHRATE_MAX; // up pitch stick means tilt clockwise in frd
-		ratesTarget.z = controls[RC_CHANNEL_YAW] * YAWRATE_MAX;
-
-	} else if (mode == STAB) {
-		yawMode = controls[RC_CHANNEL_YAW] == 0 ? YAW : YAW_RATE;
-
-		attitudeTarget = Quaternion::fromEulerZYX(
-			controls[RC_CHANNEL_ROLL] * MAX_TILT,
-			-controls[RC_CHANNEL_PITCH] * MAX_TILT,
-			attitudeTarget.getYaw());
-		ratesTarget.z = controls[RC_CHANNEL_YAW] * YAWRATE_MAX;
-
-	} else if (mode == MANUAL) {
-		// passthrough mode
-		yawMode = YAW_RATE;
-		torqueTarget = Vector(controls[RC_CHANNEL_ROLL], -controls[RC_CHANNEL_PITCH], controls[RC_CHANNEL_YAW]) * 0.01;
-	}
-
-	if (yawMode == YAW_RATE || !motorsActive()) {
-		// update yaw target as we don't have control over the yaw
-		attitudeTarget.setYaw(attitude.getYaw());
-	}
-}
-
-void controlAttitude()
-{
-	if (!armed) {
-		rollPID.reset();
-		pitchPID.reset();
-		yawPID.reset();
-		return;
-	}
-
-	const Vector up(0, 0, -1);
-	Vector upActual = attitude.rotate(up);
-	Vector upTarget = attitudeTarget.rotate(up);
-
-	Vector error = Vector::angularRatesBetweenVectors(upTarget, upActual);
-
-	ratesTarget.x = rollPID.update(error.x, dt);
-	ratesTarget.y = pitchPID.update(error.y, dt);
-
-	if (yawMode == YAW) {
-		ratesTarget.z = yawPID.update(wrapAngle(attitudeTarget.getYaw() - attitude.getYaw()), dt);
-	}
-}
-
-void controlRate()
-{
-	if (!armed) {
-		rollRatePID.reset();
-		pitchRatePID.reset();
-		yawRatePID.reset();
-		return;
-	}
-
-	Vector ratesFiltered = ratesFilter.update(rates);
-
-	torqueTarget.x = rollRatePID.update(ratesTarget.x - ratesFiltered.x, dt); // un-normalized "torque"
-	torqueTarget.y = pitchRatePID.update(ratesTarget.y - ratesFiltered.y, dt);
-	torqueTarget.z = yawRatePID.update(ratesTarget.z - ratesFiltered.z, dt);
-}
-
-void controlTorque()
-{
-	if (!armed) {
-		memset(motors, 0, sizeof(motors));
-		return;
-	}
-
-	motors[MOTOR_FRONT_LEFT] = thrustTarget + torqueTarget.y + torqueTarget.x - torqueTarget.z;
-	motors[MOTOR_FRONT_RIGHT] = thrustTarget + torqueTarget.y - torqueTarget.x + torqueTarget.z;
-	motors[MOTOR_REAR_LEFT] = thrustTarget - torqueTarget.y + torqueTarget.x + torqueTarget.z;
-	motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.y - torqueTarget.x - torqueTarget.z;
-
-	motors[0] = constrain(motors[0], 0, 1);
-	motors[1] = constrain(motors[1], 0, 1);
-	motors[2] = constrain(motors[2], 0, 1);
-	motors[3] = constrain(motors[3], 0, 1);
-}
-
-bool motorsActive()
-{
-	return motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0;
-}
-
-const char* getModeName()
-{
-	switch (mode) {
-		case MANUAL: return "MANUAL";
-		case ACRO: return "ACRO";
-		case STAB: return "STAB";
-		default: return "UNKNOWN";
-	}
-}
@@ -1,49 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Attitude estimation from gyro and accelerometer
-
-#include "quaternion.h"
-#include "vector.h"
-
-#define ONE_G 9.807f
-#define ACC_MIN 0.9f
-#define ACC_MAX 1.1f
-#define WEIGHT_ACC 0.5f
-
-void estimate()
-{
-	applyGyro();
-	applyAcc();
-	signalizeHorizontality();
-}
-
-void applyGyro()
-{
-	// applying gyro
-	attitude *= Quaternion::fromAngularRates(rates * dt);
-	attitude.normalize();
-}
-
-void applyAcc()
-{
-	// test should we apply accelerometer gravity correction
-	float accNorm = acc.norm();
-	bool landed = !motorsActive() && abs(accNorm - ONE_G) < ONE_G * 0.1f;
-
-	if (!landed) return;
-
-	// calculate accelerometer correction
-	Vector up = attitude.rotate(Vector(0, 0, -1));
-	Vector correction = Vector::angularRatesBetweenVectors(acc, up) * dt * WEIGHT_ACC;
-
-	// apply correction
-	attitude *= Quaternion::fromAngularRates(correction);
-	attitude.normalize();
-}
-
-void signalizeHorizontality()
-{
-	float angle = Vector::angleBetweenVectors(attitude.rotate(Vector(0, 0, -1)), Vector(0, 0, -1));
-	setLED(angle < 15 * DEG_TO_RAD);
-}
@@ -1,67 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Main firmware file
-
-#include "vector.h"
-#include "quaternion.h"
-
-#define SERIAL_BAUDRATE 115200
-
-#define WIFI_ENABLED 0
-
-#define RC_CHANNELS 6
-#define RC_CHANNEL_THROTTLE 2
-#define RC_CHANNEL_YAW 3
-#define RC_CHANNEL_PITCH 1
-#define RC_CHANNEL_ROLL 0
-#define RC_CHANNEL_AUX 4
-#define RC_CHANNEL_MODE 5
-
-#define MOTOR_REAR_LEFT 0
-#define MOTOR_FRONT_LEFT 3
-#define MOTOR_FRONT_RIGHT 2
-#define MOTOR_REAR_RIGHT 1
-
-float t = NAN; // current step time, s
-float dt; // time delta from previous step, s
-float loopFreq; // loop frequency, Hz
-uint16_t channels[16]; // raw rc channels
-float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
-Vector rates; // angular rates, rad/s
-Vector acc; // accelerometer data, m/s/s
-Quaternion attitude; // estimated attitude
-float motors[4]; // normalized motors thrust in range [-1..1]
-
-void setup()
-{
-	Serial.begin(SERIAL_BAUDRATE);
-	Serial.println("Initializing flix");
-	setupLED();
-	setupMotors();
-	setLED(true);
-#if WIFI_ENABLED == 1
-	setupWiFi();
-#endif
-	setupIMU();
-	setupRC();
-
-	setLED(false);
-	Serial.println("Initializing complete");
-}
-
-void loop()
-{
-	if (!readIMU()) return;
-
-	step();
-	readRC();
-	estimate();
-	control();
-	sendMotors();
-	parseInput();
-#if WIFI_ENABLED == 1
-	sendMavlink();
-#endif
-	logData();
-}
@@ -1,105 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Work with the IMU sensor
-
-#include <SPI.h>
-#include <MPU9250.h>
-
-#define IMU_CS_PIN 4 // chip-select pin for IMU SPI connection
-#define CALIBRATE_GYRO_ON_START true
-
-MPU9250 IMU(SPI, IMU_CS_PIN);
-
-void setupIMU()
-{
-	Serial.println("Setup IMU");
-
-	auto status = IMU.begin();
-	if (status < 0) {
-		while (true) {
-			Serial.printf("IMU begin error: %d\n", status);
-			delay(1000);
-		}
-	}
-
-	if (CALIBRATE_GYRO_ON_START) {
-		calibrateGyro();
-	} else {
-		loadGyroCal();
-	}
-
-	loadAccelCal();
-
-	IMU.setSrd(0); // set sample rate to 1000 Hz
-	// NOTE: very important, without the above the rate would be terrible 50 Hz
-}
-
-bool readIMU()
-{
-	if (IMU.readSensor() < 0) {
-		Serial.println("IMU read error");
-		return false;
-	}
-
-	auto lastRates = rates;
-
-	rates.x = IMU.getGyroX_rads();
-	rates.y = IMU.getGyroY_rads();
-	rates.z = IMU.getGyroZ_rads();
-	acc.x = IMU.getAccelX_mss();
-	acc.y = IMU.getAccelY_mss();
-	acc.z = IMU.getAccelZ_mss();
-
-	return rates != lastRates;
-}
-
-void calibrateGyro()
-{
-	Serial.println("Calibrating gyro, stand still");
-	delay(500);
-	int status = IMU.calibrateGyro();
-	Serial.printf("Calibration status: %d\n", status);
-	IMU.setSrd(0);
-	printIMUCal();
-}
-
-void calibrateAccel()
-{
-	Serial.println("Cal accel: place level"); delay(3000);
-	IMU.calibrateAccel();
-	Serial.println("Cal accel: place nose up"); delay(3000);
-	IMU.calibrateAccel();
-	Serial.println("Cal accel: place nose down"); delay(3000);
-	IMU.calibrateAccel();
-	Serial.println("Cal accel: place on right side"); delay(3000);
-	IMU.calibrateAccel();
-	Serial.println("Cal accel: place on left side"); delay(3000);
-	IMU.calibrateAccel();
-	Serial.println("Cal accel: upside down"); delay(300);
-	IMU.calibrateAccel();
-	printIMUCal();
-}
-
-void loadAccelCal()
-{
-	// NOTE: this should be changed to the actual values
-	IMU.setAccelCalX(-0.0048542023, 1.0008112192);
-	IMU.setAccelCalY(0.0521845818, 0.9985780716);
-	IMU.setAccelCalZ(0.5754694939, 1.0045746565);
-}
-
-void loadGyroCal()
-{
-	// NOTE: this should be changed to the actual values
-	IMU.setGyroBiasX_rads(-0.0185128022);
-	IMU.setGyroBiasY_rads(-0.0262369743);
-	IMU.setGyroBiasZ_rads(0.0163032326);
-}
-
-void printIMUCal()
-{
-	Serial.printf("gyro bias: %f %f %f\n", IMU.getGyroBiasX_rads(), IMU.getGyroBiasY_rads(), IMU.getGyroBiasZ_rads());
-	Serial.printf("accel bias: %f %f %f\n", IMU.getAccelBiasX_mss(), IMU.getAccelBiasY_mss(), IMU.getAccelBiasZ_mss());
-	Serial.printf("accel scale: %f %f %f\n", IMU.getAccelScaleFactorX(), IMU.getAccelScaleFactorY(), IMU.getAccelScaleFactorZ());
-}
@@ -1,21 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Main LED control
-
-#define BLINK_PERIOD 500000
-
-void setupLED()
-{
-	pinMode(LED_BUILTIN, OUTPUT);
-}
-
-void setLED(bool on)
-{
-	digitalWrite(LED_BUILTIN, on ? HIGH : LOW);
-}
-
-void blinkLED()
-{
-	setLED(micros() / BLINK_PERIOD % 2);
-}
@@ -1,54 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// In-RAM logging
-
-#define LOG_RATE 100
-#define LOG_DURATION 10
-#define LOG_PERIOD 1.0 / LOG_RATE
-#define LOG_SIZE LOG_DURATION * LOG_RATE
-#define LOG_COLUMNS 14
-
-float logBuffer[LOG_SIZE][LOG_COLUMNS]; // * 4 (float)
-int logPointer = 0;
-
-void logData()
-{
-	if (!armed) return;
-
-	static float logTime = 0;
-	if (t - logTime < LOG_PERIOD) return;
-	logTime = t;
-
-	logBuffer[logPointer][0] = t;
-	logBuffer[logPointer][1] = rates.x;
-	logBuffer[logPointer][2] = rates.y;
-	logBuffer[logPointer][3] = rates.z;
-	logBuffer[logPointer][4] = ratesTarget.x;
-	logBuffer[logPointer][5] = ratesTarget.y;
-	logBuffer[logPointer][6] = ratesTarget.z;
-	logBuffer[logPointer][7] = attitude.toEulerZYX().x;
-	logBuffer[logPointer][8] = attitude.toEulerZYX().y;
-	logBuffer[logPointer][9] = attitude.toEulerZYX().z;
-	logBuffer[logPointer][10] = attitudeTarget.toEulerZYX().x;
-	logBuffer[logPointer][11] = attitudeTarget.toEulerZYX().y;
-	logBuffer[logPointer][12] = attitudeTarget.toEulerZYX().z;
-	logBuffer[logPointer][13] = thrustTarget;
-
-	logPointer++;
-	if (logPointer >= LOG_SIZE) {
-		logPointer = 0;
-	}
-}
-
-void dumpLog()
-{
-	Serial.printf("t,rates.x,rates.y,rates.z,ratesTarget.x,ratesTarget.y,ratesTarget.z,"
-		"attitude.x,attitude.y,attitude.z,attitudeTarget.x,attitudeTarget.y,attitudeTarget.z,thrustTarget\n");
-	for (int i = 0; i < LOG_SIZE; i++) {
-		for (int j = 0; j < LOG_COLUMNS - 1; j++) {
-			Serial.printf("%f,", logBuffer[i][j]);
-		}
-		Serial.printf("%f\n", logBuffer[i][LOG_COLUMNS - 1]);
-	}
-}
@@ -1,42 +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 (alpha == 1) { // filter disabled
-			return input;
-		}
-
-		if (!initialized) {
-			output = input;
-			initialized = true;
-		}
-		return output = output * (1 - alpha) + input * alpha;
-	}
-
-	void setCutOffFrequency(float cutOffFreq, float dt)
-	{
-		alpha = 1 - exp(-2 * PI * cutOffFreq * dt);
-	}
-
-	void reset()
-	{
-		initialized = false;
-	}
-
-private:
-	bool initialized = false;
-};
@@ -1,65 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// MAVLink communication
-
-#if WIFI_ENABLED == 1
-
-#include "mavlink/common/mavlink.h"
-
-#define SYSTEM_ID 1
-#define PERIOD_SLOW 1.0
-#define PERIOD_FAST 0.1
-
-void sendMavlink()
-{
-	static float lastSlow = 0;
-	static float lastFast = 0;
-
-	mavlink_message_t msg;
-	uint32_t time = t * 1000;
-
-	if (t - lastSlow >= PERIOD_SLOW) {
-		lastSlow = t;
-
-		mavlink_msg_heartbeat_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_TYPE_QUADROTOR,
-			MAV_AUTOPILOT_GENERIC, MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | armed ? MAV_MODE_FLAG_SAFETY_ARMED : 0,
-			0, MAV_STATE_STANDBY);
-		sendMessage(&msg);
-	}
-
-	if (t - lastFast >= PERIOD_FAST) {
-		lastFast = t;
-
-		const float zeroQuat[] = {0, 0, 0, 0};
-		mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
-			time, attitude.w, attitude.x, attitude.y, attitude.z, rates.x, rates.y, rates.z, zeroQuat);
-		sendMessage(&msg);
-
-		mavlink_msg_rc_channels_scaled_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time, 0,
-			controls[0] * 10000, controls[1] * 10000, controls[2] * 10000,
-			controls[3] * 10000, controls[4] * 10000, controls[5] * 10000,
-			UINT16_MAX, UINT16_MAX, 255);
-		sendMessage(&msg);
-
-		float actuator[32];
-		memcpy(motors, actuator, 4 * sizeof(float));
-		mavlink_msg_actuator_output_status_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time, 4, actuator);
-		sendMessage(&msg);
-
-		mavlink_msg_scaled_imu_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time,
-			acc.x * 1000, acc.y * 1000, acc.z * 1000,
-			rates.x * 1000, rates.y * 1000, rates.z * 1000,
-			0, 0, 0, 0);
-		sendMessage(&msg);
-	}
-}
-
-inline void sendMessage(const void *msg)
-{
-	uint8_t buf[MAVLINK_MAX_PACKET_LEN];
-	uint16_t len = mavlink_msg_to_send_buffer(buf, (mavlink_message_t *)msg);
-	sendWiFi(buf, len);
-}
-
-#endif
@@ -1,75 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Motors output control
-// Motor: 8520 3.7V
-// ESC: KINGDUO Micro Mini 4A 1S Brushed Esc 3.6-6V
-
-#define MOTOR_0_PIN 12
-#define MOTOR_1_PIN 13
-#define MOTOR_2_PIN 14
-#define MOTOR_3_PIN 15
-
-#define PWM_FREQUENCY 200
-#define PWM_RESOLUTION 8
-
-#define PWM_NEUTRAL 1500
-
-const uint16_t pwmMin[] = {1600, 1600, 1600, 1600};
-const uint16_t pwmMax[] = {2300, 2300, 2300, 2300};
-const uint16_t pwmReverseMin[] = {1390, 1440, 1440, 1440};
-const uint16_t pwmReverseMax[] = {1100, 1100, 1100, 1100};
-
-void setupMotors() {
-	Serial.println("Setup Motors");
-
-	// configure PWM channels
-	ledcSetup(0, PWM_FREQUENCY, PWM_RESOLUTION);
-	ledcSetup(1, PWM_FREQUENCY, PWM_RESOLUTION);
-	ledcSetup(2, PWM_FREQUENCY, PWM_RESOLUTION);
-	ledcSetup(3, PWM_FREQUENCY, PWM_RESOLUTION);
-
-	// attach channels to motor pins
-	ledcAttachPin(MOTOR_0_PIN, 0);
-	ledcAttachPin(MOTOR_1_PIN, 1);
-	ledcAttachPin(MOTOR_2_PIN, 2);
-	ledcAttachPin(MOTOR_3_PIN, 3);
-
-	sendMotors();
-	Serial.println("Motors initialized");
-}
-
-uint16_t getPWM(float val, int n)
-{
-	if (val == 0) {
-		return PWM_NEUTRAL;
-	} else if (val > 0) {
-		return mapff(val, 0, 1, pwmMin[n], pwmMax[n]);
-	} else {
-		return mapff(val, 0, -1, pwmReverseMin[n], pwmReverseMax[n]);
-	}
-}
-
-uint8_t pwmToDutyCycle(uint16_t pwm) {
-	return map(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1);
-}
-
-void sendMotors()
-{
-	ledcWrite(0, pwmToDutyCycle(getPWM(motors[0], 0)));
-	ledcWrite(1, pwmToDutyCycle(getPWM(motors[1], 1)));
-	ledcWrite(2, pwmToDutyCycle(getPWM(motors[2], 2)));
-	ledcWrite(3, pwmToDutyCycle(getPWM(motors[3], 3)));
-}
-
-void fullMotorTest(int n, bool reverse)
-{
-	printf("Full test for motor %d\n", n);
-	for (int pwm = PWM_NEUTRAL; pwm <= 2300 && pwm >= 700; pwm += reverse ? -100 : 100) {
-		printf("Motor %d: %d\n", n, pwm);
-		ledcWrite(n, pwmToDutyCycle(pwm));
-		delay(3000);
-	}
-	printf("Motor %d: %d\n", n, PWM_NEUTRAL);
-	ledcWrite(n, pwmToDutyCycle(PWM_NEUTRAL));
-}
@@ -1,51 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// PID controller implementation
-
-#pragma once
-
-#include "lpf.h"
-
-class PID
-{
-public:
-	float p = 0;
-	float i = 0;
-	float d = 0;
-	float windup = 0;
-
-	float derivative = 0;
-	float integral = 0;
-
-	LowPassFilter<float> lpf; // low pass filter for derivative term
-
-	PID(float p, float i, float d, float windup = 0, float dAlpha = 1) : p(p), i(i), d(d), windup(windup), lpf(dAlpha) {};
-
-	float update(float error, float dt)
-	{
-		integral += error * dt;
-
-		if (isfinite(prevError) && dt > 0) {
-			// calculate derivative if both dt and prevError are valid
-			derivative = (error - prevError) / dt;
-
-			// apply low pass filter to derivative
-			derivative = lpf.update(derivative);
-		}
-
-		prevError = error;
-
-		return p * error + constrain(i * integral, -windup, windup) + d * derivative; // PID
-	}
-
-	void reset()
-	{
-		prevError = NAN;
-		integral = 0;
-		derivative = 0;
-	}
-
-private:
-	float prevError = NAN;
-};
@@ -1,191 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Lightweight rotation quaternion library
-
-#pragma once
-
-#include "vector.h"
-
-class Quaternion : public Printable {
-public:
-	float w, x, y, z;
-
-	Quaternion(): w(1), x(0), y(0), z(0) {};
-
-	Quaternion(float w, float x, float y, float z): w(w), x(x), y(y), z(z) {};
-
-	static Quaternion fromAxisAngle(float a, float b, float c, float angle)
-	{
-		float halfAngle = angle * 0.5;
-		float sin2 = sin(halfAngle);
-		float cos2 = cos(halfAngle);
-		float sinNorm = sin2 / sqrt(a * a + b * b + c * c);
-		return Quaternion(cos2, a * sinNorm, b * sinNorm, c * sinNorm);
-	}
-
-	static Quaternion fromAngularRates(float x, float y, float z)
-	{
-		return Quaternion::fromAxisAngle(x, y, z, sqrt(x * x + y * y + z * z));
-	}
-
-	static Quaternion fromAngularRates(const Vector& rates)
-	{
-		if (rates.zero()) {
-			return Quaternion();
-		}
-		return Quaternion::fromAxisAngle(rates.x, rates.y, rates.z, rates.norm());
-	}
-
-	static Quaternion fromEulerZYX(float x, float y, float z)
-	{
-		float cx = cos(x / 2);
-		float cy = cos(y / 2);
-		float cz = cos(z / 2);
-		float sx = sin(x / 2);
-		float sy = sin(y / 2);
-		float sz = sin(z / 2);
-
-		return Quaternion(
-			cx * cy * cz + sx * sy * sz,
-			sx * cy * cz - cx * sy * sz,
-			cx * sy * cz + sx * cy * sz,
-			cx * cy * sz - sx * sy * cz);
-	}
-
-	static Quaternion fromBetweenVectors(Vector u, Vector v)
-	{
-		float dot = u.x * v.x + u.y * v.y + u.z * v.z;
-		float w1 = u.y * v.z - u.z * v.y;
-		float w2 = u.z * v.x - u.x * v.z;
-		float w3 = u.x * v.y - u.y * v.x;
-
-		Quaternion ret(
-			dot + sqrt(dot * dot + w1 * w1 + w2 * w2 + w3 * w3),
-			w1,
-			w2,
-			w3);
-		ret.normalize();
-		return ret;
-	}
-
-	void toAxisAngle(float& a, float& b, float& c, float& angle)
-	{
-		angle = acos(w) * 2;
-		a = x / sin(angle / 2);
-		b = y / sin(angle / 2);
-		c = z / sin(angle / 2);
-	}
-
-	Vector toEulerZYX() const
-	{
-		return Vector(
-			atan2(2 * (w * x + y * z), 1 - 2 * (x * x + y * y)),
-			asin(2 * (w * y - z * x)),
-			atan2(2 * (w * z + x * y), 1 - 2 * (y * y + z * z)));
-	}
-
-	float getYaw() const
-	{
-		// https://github.com/ros/geometry2/blob/589caf083cae9d8fae7effdb910454b4681b9ec1/tf2/include/tf2/impl/utils.h#L122
-		float yaw;
-		float sqx = x * x;
-		float sqy = y * y;
-		float sqz = z * z;
-		float sqw = w * w;
-
-		double sarg = -2 * (x * z - w * y) / (sqx + sqy + sqz + sqw);
-
-		if (sarg <= -0.99999) {
-			yaw = -2 * atan2(y, x);
-		} else if (sarg >= 0.99999) {
-			yaw = 2 * atan2(y, x);
-		} else {
-			yaw = atan2(2 * (x * y + w * z), sqw + sqx - sqy - sqz);
-		}
-		return yaw;
-	}
-
-	void setYaw(float yaw)
-	{
-		// TODO: optimize?
-		Vector euler = toEulerZYX();
-		(*this) = Quaternion::fromEulerZYX(euler.x, euler.y, yaw);
-	}
-
-	Quaternion& operator *= (const Quaternion& q)
-	{
-		Quaternion ret(
-			w * q.w - x * q.x - y * q.y - z * q.z,
-			w * q.x + x * q.w + y * q.z - z * q.y,
-			w * q.y + y * q.w + z * q.x - x * q.z,
-			w * q.z + z * q.w + x * q.y - y * q.x);
-		return (*this = ret);
-	}
-
-	Quaternion operator * (const Quaternion& q)
-	{
-		return Quaternion(
-			w * q.w - x * q.x - y * q.y - z * q.z,
-			w * q.x + x * q.w + y * q.z - z * q.y,
-			w * q.y + y * q.w + z * q.x - x * q.z,
-			w * q.z + z * q.w + x * q.y - y * q.x);
-	}
-
-	Quaternion inversed() const
-	{
-		float normSqInv = 1 / (w * w + x * x + y * y + z * z);
-		return Quaternion(
-			w * normSqInv,
-			-x * normSqInv,
-			-y * normSqInv,
-			-z * normSqInv);
-	}
-
-	float norm() const
-	{
-		return sqrt(w * w + x * x + y * y + z * z);
-	}
-
-	void normalize()
-	{
-		float n = norm();
-		w /= n;
-		x /= n;
-		y /= n;
-		z /= n;
-	}
-
-	Vector conjugate(const Vector& v)
-	{
-		Quaternion qv(0, v.x, v.y, v.z);
-		Quaternion res = (*this) * qv * inversed();
-		return Vector(res.x, res.y, res.z);
-	}
-
-	Vector conjugateInversed(const Vector& v)
-	{
-		Quaternion qv(0, v.x, v.y, v.z);
-		Quaternion res = inversed() * qv * (*this);
-		return Vector(res.x, res.y, res.z);
-	}
-
-	inline Vector rotate(const Vector& v)
-	{
-		return conjugateInversed(v);
-	}
-
-	inline bool finite() const
-	{
-		return isfinite(w) && isfinite(x) && isfinite(y) && isfinite(z);
-	}
-
-	size_t printTo(Print& p) const {
-		size_t r = 0;
-		r += p.print(w, 15) + p.print(" ");
-		r += p.print(x, 15) + p.print(" ");
-		r += p.print(y, 15) + p.print(" ");
-		r += p.print(z, 15);
-		return r;
-	}
-};
@@ -1,33 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Work with the RC receiver
-
-#include <SBUS.h>
-
-const uint16_t channelNeutral[] = {995, 883, 200, 972, 512, 512};
-const uint16_t channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472};
-
-SBUS RC(Serial2);
-
-void setupRC()
-{
-	Serial.println("Setup RC");
-	RC.begin();
-}
-
-void readRC()
-{
-	bool failSafe, lostFrame;
-	if (RC.read(channels, &failSafe, &lostFrame)) {
-		if (failSafe) { return; } // TODO:
-		if (lostFrame) { return; }
-		normalizeRC();
-	}
-}
-
-static void normalizeRC() {
-	for (uint8_t i = 0; i < RC_CHANNELS; i++) {
-		controls[i] = mapf(channels[i], channelNeutral[i], channelMax[i], 0, 1);
-	}
-}
@@ -1,29 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Time related functions
-
-void step()
-{
-	float now = micros() / 1000000.0;
-	dt = now - t;
-	t = now;
-
-	if (!(dt > 0)) {
-		dt = 0; // assume dt to be zero on first step and on reset
-	}
-
-	computeLoopFreq();
-}
-
-void computeLoopFreq()
-{
-	static float windowStart = 0;
-	static uint32_t freq = 0;
-	freq++;
-	if (t - windowStart >= 1) { // 1 second window
-		loopFreq = freq;
-		windowStart = t;
-		freq = 0;
-	}
-}
@@ -1,38 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Utility functions
-
-#include "math.h"
-
-float mapf(long x, long in_min, long in_max, float out_min, float out_max)
-{
-	return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
-}
-
-float mapff(float x, float in_min, float in_max, float out_min, float out_max)
-{
-	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
-}
-
-int8_t sign(float x)
-{
-	return (x > 0) - (x < 0);
-}
-
-float randomFloat(float min, float max)
-{
-	return min + (max - min) * (float)rand() / RAND_MAX;
-}
-
-// wrap angle to [-PI, PI)
-float wrapAngle(float angle)
-{
-	angle = fmodf(angle, 2 * PI);
-	if (angle > PI) {
-		angle -= 2 * PI;
-	} else if (angle < -PI) {
-		angle += 2 * PI;
-	}
-	return angle;
-}
@@ -1,99 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Lightweight vector library
-
-#pragma once
-
-class Vector : public Printable
-{
-public:
-	float x, y, z;
-
-	Vector(): x(0), y(0), z(0) {};
-
-	Vector(float x, float y, float z): x(x), y(y), z(z) {};
-
-	float norm() const
-	{
-		return sqrt(x * x + y * y + z * z);
-	}
-
-	bool zero() const
-	{
-		return x == 0 && y == 0 && z == 0;
-	}
-
-	void normalize()
-	{
-		float n = norm();
-		x /= n;
-		y /= n;
-		z /= n;
-	}
-
-	Vector operator * (const float b) const
-	{
-		return Vector(x * b, y * b, z * b);
-	}
-
-	Vector operator / (const float b) const
-	{
-		return Vector(x / b, y / b, z / b);
-	}
-
-	Vector operator + (const Vector& b) const
-	{
-		return Vector(x + b.x, y + b.y, z + b.z);
-	}
-
-	Vector operator - (const Vector& b) const
-	{
-		return Vector(x - b.x, y - b.y, z - b.z);
-	}
-
-	inline bool operator == (const Vector& b) const
-	{
-		return x == b.x && y == b.y && z == b.z;
-	}
-
-	inline bool operator != (const Vector& b) const
-	{
-		return !(*this == b);
-	}
-
-	inline bool finite() const
-	{
-		return isfinite(x) && isfinite(y) && isfinite(z);
-	}
-
-	static float dot(const Vector& a, const Vector& b)
-	{
-		return a.x * b.x + a.y * b.y + a.z * b.z;
-	}
-
-	static Vector cross(const Vector& a, const Vector& b)
-	{
-		return Vector(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x);
-	}
-
-	static float angleBetweenVectors(const Vector& a, const Vector& b)
-	{
-		return acos(constrain(dot(a, b) / (a.norm() * b.norm()), -1, 1));
-	}
-
-	static Vector angularRatesBetweenVectors(const Vector& u, const Vector& v)
-	{
-		Vector direction = cross(u, v);
-		direction.normalize();
-		float angle = angleBetweenVectors(u, v);
-		return direction * angle;
-	}
-
-	size_t printTo(Print& p) const {
-		return
-			p.print(x, 15) + p.print(" ") +
-			p.print(y, 15) + p.print(" ") +
-			p.print(z, 15);
-	}
-};
@@ -1,35 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Wi-Fi support
-
-#if WIFI_ENABLED == 1
-
-#include <WiFi.h>
-#include <WiFiClient.h>
-#include <WiFiAP.h>
-#include "SBUS.h"
-#include "mavlink/common/mavlink.h"
-
-#define WIFI_SSID "flix"
-#define WIFI_PASSWORD "flixwifi"
-#define WIFI_UDP_IP "255.255.255.255"
-#define WIFI_UDP_PORT 14550
-
-WiFiUDP udp;
-
-void setupWiFi()
-{
-	Serial.println("Setup Wi-Fi");
-	WiFi.softAP(WIFI_SSID, WIFI_PASSWORD);
-	IPAddress myIP = WiFi.softAPIP();
-}
-
-inline void sendWiFi(const uint8_t *buf, size_t len)
-{
-	udp.beginPacket(WIFI_UDP_IP, WIFI_UDP_PORT);
-	udp.write(buf, len);
-	udp.endPacket();
-}
-
-#endif
@@ -1,141 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Partial implementation of Arduino API for simulation
-
-#pragma once
-
-#include <cmath>
-#include <string>
-#include <stdio.h>
-#include <unistd.h>
-#include <sys/poll.h>
-
-#define PI 3.1415926535897932384626433832795
-#define DEG_TO_RAD 0.017453292519943295769236907684886
-#define RAD_TO_DEG 57.295779513082320876798154814105
-
-#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
-
-long map(long x, long in_min, long in_max, long out_min, long out_max) {
-	const long run = in_max - in_min;
-	const long rise = out_max - out_min;
-	const long delta = x - in_min;
-	return (delta * rise) / run + out_min;
-}
-
-class __FlashStringHelper;
-
-// Arduino String partial implementation
-// https://www.arduino.cc/reference/en/language/variables/data-types/stringobject/
-class String: public std::string {
-public:
-	long toInt() const { return atol(this->c_str()); }
-	float toFloat() const { return atof(this->c_str()); }
-	bool isEmpty() const { return this->empty(); }
-};
-
-class Print;
-
-class Printable {
-public:
-	virtual size_t printTo(Print& p) const = 0;
-};
-
-class Print {
-public:
-	size_t printf(const char *format, ...)
-	{
-		va_list args;
-		va_start(args, format);
-		size_t result = vprintf(format, args);
-		va_end(args);
-		return result;
-	}
-
-	size_t print(float n, int digits = 2)
-	{
-		return printf("%.*f", digits, n);
-	}
-
-	size_t println(float n, int digits = 2)
-	{
-		return printf("%.*f\n", digits, n);
-	}
-
-	size_t print(const char* s)
-	{
-		return printf("%s", s);
-	}
-
-	size_t println()
-	{
-		return print("\n");
-	}
-
-	size_t println(const char* s)
-	{
-		return printf("%s\n", s);
-	}
-
-	size_t println(const Printable& p)
-	{
-		return p.printTo(*this) + print("\n");
-	}
-
-	size_t print(const String& s)
-	{
-		return printf("%s", s.c_str());
-	}
-
-	size_t println(const std::string& s)
-	{
-		return printf("%s\n", s.c_str());
-	}
-
-	size_t println(const String& s)
-	{
-		return printf("%s\n", s.c_str());
-	}
-};
-
-class HardwareSerial: public Print {
-public:
-	void begin(unsigned long baud) {
-		// server is running in background by default, so doesn't have access to stdin
-		// https://github.com/gazebosim/gazebo-classic/blob/d45feeb51f773e63960616880b0544770b8d1ad7/gazebo/gazebo_main.cc#L216
-		// set foreground process group to current process group to allow reading from stdin
-		// https://stackoverflow.com/questions/58918188/why-is-stdin-not-propagated-to-child-process-of-different-process-group
-		signal(SIGTTOU, SIG_IGN);
-		tcsetpgrp(STDIN_FILENO, getpgrp());
-		signal(SIGTTOU, SIG_DFL);
-	};
-
-	int available() {
-		// to implement for Windows, see https://stackoverflow.com/a/71992965/6850197
-		struct pollfd pfd = { .fd = STDIN_FILENO, .events = POLLIN };
-		return poll(&pfd, 1, 0) > 0;
-	}
-
-	int read() {
-		if (available()) {
-			char c;
-			::read(STDIN_FILENO, &c, 1); // use raw read to avoid C++ buffering
-			// https://stackoverflow.com/questions/45238997/does-getchar-function-has-its-own-buffer-to-store-remaining-input
-			return c;
-		}
-		return -1;
-	}
-};
-
-HardwareSerial Serial, Serial2;
-
-void delay(uint32_t ms) {
-	std::this_thread::sleep_for(std::chrono::milliseconds(ms));
-}
-
-unsigned long __micros;
-
-unsigned long micros() {
-	return __micros;
-}
@@ -1,18 +0,0 @@
-cmake_minimum_required(VERSION 3.0 FATAL_ERROR)
-project(flix_gazebo)
-
-# === gazebo plugin
-find_package(gazebo REQUIRED)
-find_package(SDL2 REQUIRED)
-include_directories(${GAZEBO_INCLUDE_DIRS})
-link_directories(${GAZEBO_LIBRARY_DIRS})
-list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}")
-
-set(FLIX_SOURCE_DIR ../flix)
-include_directories(${FLIX_SOURCE_DIR})
-file(GLOB_RECURSE FLIX_INO_FILES ${FLIX_SOURCE_DIR}/*.ino)
-
-set(CMAKE_BUILD_TYPE RelWithDebInfo)
-add_library(flix SHARED flix.cpp)
-target_link_libraries(flix ${GAZEBO_LIBRARIES} ${SDL2_LIBRARIES})
-target_include_directories(flix PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ -1,209 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Gazebo plugin for running Arduino code and simulating the drone
-
-#include <functional>
-#include <cmath>
-#include <gazebo/gazebo.hh>
-#include <gazebo/physics/physics.hh>
-#include <gazebo/rendering/rendering.hh>
-#include <gazebo/common/common.hh>
-#include <gazebo/sensors/sensors.hh>
-#include <gazebo/msgs/msgs.hh>
-#include <ignition/math/Vector3.hh>
-#include <ignition/math/Pose3.hh>
-#include <ignition/math/Quaternion.hh>
-#include <iostream>
-#include <fstream>
-
-#include "Arduino.h"
-#include "flix.h"
-#include "util.ino"
-#include "joystick.h"
-#include "time.ino"
-#include "estimate.ino"
-#include "control.ino"
-#include "log.ino"
-#include "cli.ino"
-#include "lpf.h"
-
-using ignition::math::Vector3d;
-using ignition::math::Pose3d;
-using namespace gazebo;
-using namespace std;
-
-Pose3d flu2frd(const Pose3d& p)
-{
-	return ignition::math::Pose3d(p.Pos().X(), -p.Pos().Y(), -p.Pos().Z(),
-	                              p.Rot().W(), p.Rot().X(), -p.Rot().Y(), -p.Rot().Z());
-}
-
-Vector flu2frd(const Vector3d& v)
-{
-	return Vector(v.X(), -v.Y(), -v.Z());
-}
-
-class ModelFlix : public ModelPlugin
-{
-private:
-	physics::ModelPtr model, estimateModel;
-	physics::LinkPtr body;
-	sensors::ImuSensorPtr imu;
-	event::ConnectionPtr updateConnection, resetConnection;
-	transport::NodePtr nodeHandle;
-	transport::PublisherPtr motorPub[4];
-	LowPassFilter<Vector> accFilter = LowPassFilter<Vector>(0.1);
-
-public:
-	void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
-	{
-		this->model = _parent;
-		this->body = this->model->GetLink("body");
-
-		this->imu = std::dynamic_pointer_cast<sensors::ImuSensor>(sensors::get_sensor(model->GetScopedName(true) + "::body::imu")); // default::flix::body::imu
-		if (imu == nullptr) {
-			gzerr << "IMU sensor not found" << std::endl;
-			return;
-		}
-
-		this->estimateModel = model->GetWorld()->ModelByName("flix_estimate");
-
-		this->updateConnection = event::Events::ConnectWorldUpdateBegin(
-			std::bind(&ModelFlix::OnUpdate, this));
-
-		this->resetConnection = event::Events::ConnectWorldReset(
-			std::bind(&ModelFlix::OnReset, this));
-
-		initNode();
-
-		Serial.begin(0);
-
-		gzmsg << "Flix plugin loaded" << endl;
-	}
-
-public:
-	void OnReset()
-	{
-		attitude = Quaternion();
-		gzmsg << "Flix plugin reset" << endl;
-	}
-
-	void OnUpdate()
-	{
-		__micros = model->GetWorld()->SimTime().Double() * 1000000;
-		step();
-
-		// read imu
-		rates = flu2frd(imu->AngularVelocity());
-		acc = this->accFilter.update(flu2frd(imu->LinearAcceleration()));
-
-		// read rc
-		joystickGet();
-		controls[RC_CHANNEL_MODE] = 1; // 0 acro, 1 stab
-		controls[RC_CHANNEL_AUX] = 1; // armed
-
-		estimate();
-
-		// correct yaw to the actual yaw
-		attitude.setYaw(-this->model->WorldPose().Yaw());
-
-		control();
-		parseInput();
-
-		applyMotorsThrust();
-		updateEstimatePose();
-		publishTopics();
-		logData();
-	}
-
-	void applyMotorsThrust()
-	{
-		// thrusts
-		const double d = 0.035355;
-		const double maxThrust = 0.03 * ONE_G; // 30 g, https://www.youtube.com/watch?v=VtKI4Pjx8Sk
-		// 65 mm prop ~40 g
-
-		const float scale0 = 1.0, scale1 = 1.1, scale2 = 0.9, scale3 = 1.05;
-		const float minThrustRel = 0;
-
-		// apply min thrust
-		float mfl = mapff(motors[MOTOR_FRONT_LEFT], 0, 1, minThrustRel, 1);
-		float mfr = mapff(motors[MOTOR_FRONT_RIGHT], 0, 1, minThrustRel, 1);
-		float mrl = mapff(motors[MOTOR_REAR_LEFT], 0, 1, minThrustRel, 1);
-		float mrr = mapff(motors[MOTOR_REAR_RIGHT], 0, 1, minThrustRel, 1);
-
-		if (motors[MOTOR_FRONT_LEFT] < 0.001) mfl = 0;
-		if (motors[MOTOR_FRONT_RIGHT] < 0.001) mfr = 0;
-		if (motors[MOTOR_REAR_LEFT] < 0.001) mrl = 0;
-		if (motors[MOTOR_REAR_RIGHT] < 0.001) mrr = 0;
-
-		// TODO: min_thrust
-
-		body->AddLinkForce(Vector3d(0.0, 0.0, scale0 * maxThrust * abs(mfl)), Vector3d(d, d, 0.0));
-		body->AddLinkForce(Vector3d(0.0, 0.0, scale1 * maxThrust * abs(mfr)), Vector3d(d, -d, 0.0));
-		body->AddLinkForce(Vector3d(0.0, 0.0, scale2 * maxThrust * abs(mrl)), Vector3d(-d, d, 0.0));
-		body->AddLinkForce(Vector3d(0.0, 0.0, scale3 * maxThrust * abs(mrr)), Vector3d(-d, -d, 0.0));
-
-		// TODO: indicate if > 1
-
-		// torque
-		const double maxTorque = 0.0023614413; // 24.08 g*cm
-		int direction = 1;
-		// z is counter clockwise, normal rotation direction is minus
-		body->AddRelativeTorque(Vector3d(0.0, 0.0, direction * scale0 * maxTorque * motors[MOTOR_FRONT_LEFT]));
-		body->AddRelativeTorque(Vector3d(0.0, 0.0, direction * scale1 * -maxTorque * motors[MOTOR_FRONT_RIGHT]));
-		body->AddRelativeTorque(Vector3d(0.0, 0.0, direction * scale2 * -maxTorque * motors[MOTOR_REAR_LEFT]));
-		body->AddRelativeTorque(Vector3d(0.0, 0.0, direction * scale3 * maxTorque * motors[MOTOR_REAR_RIGHT]));
-	}
-
-	void updateEstimatePose() {
-		if (estimateModel == nullptr) {
-			return;
-		}
-		if (!attitude.finite()) {
-			// gzerr << "attitude is nan" << std::endl;
-			return;
-		}
-		Pose3d pose(
-			model->WorldPose().Pos().X(), model->WorldPose().Pos().Y(), model->WorldPose().Pos().Z(),
-			attitude.w, attitude.x, -attitude.y, -attitude.z // frd to flu
-		);
-		// std::cout << pose.Pos().X() << " " << pose.Pos().Y() << " " << pose.Pos().Z() <<
-		// 	" " << pose.Rot().W() << " " << pose.Rot().X() << " " << pose.Rot().Y() << " " << pose.Rot().Z() << std::endl;
-
-		// calculate attitude estimation error
-
-		Quaternion groundtruthAttitude(estimateModel->WorldPose().Rot().W(), estimateModel->WorldPose().Rot().X(), -estimateModel->WorldPose().Rot().Y(), -estimateModel->WorldPose().Rot().Z());
-		float angle = Vector::angleBetweenVectors(attitude.rotate(Vector(0, 0, -1)), groundtruthAttitude.rotate(Vector(0, 0, -1)));
-		if (angle < 0.3) {
-			//gzwarn << "att err: " << angle << endl;
-			// TODO: warning
-			// position under the floor to make it invisible
-			pose.SetZ(-5);
-		}
-
-		estimateModel->SetWorldPose(pose);
-
-	}
-
-	void initNode() {
-		nodeHandle = transport::NodePtr(new transport::Node());
-		nodeHandle->Init();
-		string ns = "~/" + model->GetName();
-		motorPub[0] = nodeHandle->Advertise<msgs::Int>(ns + "/motor0");
-		motorPub[1] = nodeHandle->Advertise<msgs::Int>(ns + "/motor1");
-		motorPub[2] = nodeHandle->Advertise<msgs::Int>(ns + "/motor2");
-		motorPub[3] = nodeHandle->Advertise<msgs::Int>(ns + "/motor3");
-	}
-
-	void publishTopics() {
-		for (int i = 0; i < 4; i++) {
-			msgs::Int msg;
-			msg.set_data(static_cast<int>(std::round(motors[i] * 1000)));
-			motorPub[i]->Publish(msg);
-		}
-	}
-};
-
-GZ_REGISTER_MODEL_PLUGIN(ModelFlix)
@@ -1,49 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Declarations of some functions and variables in Arduino code
-
-#include <cmath>
-#include <stdio.h>
-#include "vector.h"
-#include "quaternion.h"
-#include "Arduino.h"
-
-#define RC_CHANNELS 6
-
-#define MOTOR_REAR_LEFT 0
-#define MOTOR_FRONT_LEFT 3
-#define MOTOR_FRONT_RIGHT 2
-#define MOTOR_REAR_RIGHT 1
-
-float t = NAN;
-float dt;
-float loopFreq;
-float motors[4];
-int16_t channels[16]; // raw rc channels WARNING: unsigned on hardware
-float controls[RC_CHANNELS];
-Vector acc;
-Vector rates;
-Quaternion attitude;
-
-// declarations
-void computeLoopFreq();
-void applyGyro();
-void applyAcc();
-void signalizeHorizontality();
-void control();
-void interpretRC();
-void controlAttitude();
-void controlRate();
-void controlTorque();
-void showTable();
-bool motorsActive();
-void cliTestMotor(uint8_t n);
-
-// mocks
-void setLED(bool on) {};
-void calibrateGyro() { printf("Skip gyro calibrating\n"); };
-void calibrateAccel() { printf("Skip accel calibrating\n"); };
-void fullMotorTest(int n, bool reverse) { printf("Skip full motor test\n"); };
-void sendMotors() {};
-void printIMUCal() { printf("cal: N/A\n"); };
@@ -1,42 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.4">
-	<world name="default">
-		<scene>
-			<ambient>1 1 1 1</ambient>
-			<sky/>
-			<origin_visual>false</origin_visual>
-			<grid>false</grid>
-		</scene>
-		<gui>
-			<camera name="user_camera">
-				<pose>-2 -0.3 1.5 0 0.5 0.1</pose>
-			</camera>
-		</gui>
-		<physics type="ode">
-			<max_step_size>0.001</max_step_size>
-		</physics>
-		<include>
-			<uri>model://floor</uri>
-		</include>
-		<include>
-			<uri>model://sun</uri>
-		</include>
-		<include>
-			<uri>model://flix</uri>
-			<pose>0 0 0.2 0 0 0</pose>
-		</include>
-		<model name="flix_estimate">
-			<static>true</static>
-			<link name="estimate">
-				<visual name="estimate">
-					<pose>0 0 0 0 0 1.57</pose>
-					<geometry>
-						<box>
-							<size>0.125711 0.125711 0.022</size>
-						</box>
-					</geometry>
-				</visual>
-			</link>
-		</model>
-	</world>
-</sdf>
@@ -1,70 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-// Joystick support for simulation
-
-#include <SDL2/SDL.h>
-#include <gazebo/gazebo.hh>
-#include <iostream>
-
-using namespace std;
-
-static const int16_t channelNeutralMin[] = {-1290,	-258,	-26833,	0,	0, 0};
-static const int16_t channelNeutralMax[] = {-1032,	-258,	-27348,	3353,	0, 0};
-
-static const int16_t channelMax[] =        {27090,	27090,	27090,	27090, 0, 0};
-
-#define RC_CHANNEL_ROLL 0
-#define RC_CHANNEL_PITCH 1
-#define RC_CHANNEL_THROTTLE 2
-#define RC_CHANNEL_YAW 3
-#define RC_CHANNEL_AUX 4
-#define RC_CHANNEL_MODE 5
-
-static SDL_Joystick *joystick;
-
-bool joystickInitialized = false, warnShown = false;
-
-void normalizeRC();
-
-void joystickInit()
-{
-	SDL_Init(SDL_INIT_JOYSTICK);
-	joystick = SDL_JoystickOpen(0);
-	if (joystick != NULL) {
-		joystickInitialized = true;
-		gzmsg << "Joystick initialized: " << SDL_JoystickNameForIndex(0) << endl;
-	} else if (!warnShown) {
-		gzwarn << "Joystick not found, begin waiting for joystick..." << endl;
-		warnShown = true;
-	}
-}
-
-void joystickGet()
-{
-	if (!joystickInitialized) {
-		joystickInit();
-		return;
-	}
-
-	SDL_JoystickUpdate();
-
-	for (uint8_t i = 0; i < 4; i++) {
-		channels[i] = SDL_JoystickGetAxis(joystick, i);
-	}
-	channels[RC_CHANNEL_MODE] = SDL_JoystickGetButton(joystick, 0) ? 1 : 0;
-	controls[RC_CHANNEL_MODE] = channels[RC_CHANNEL_MODE];
-
-	normalizeRC();
-}
-
-void normalizeRC() {
-	for (uint8_t i = 0; i < 4; i++) {
-		if (channels[i] >= channelNeutralMin[i] && channels[i] <= channelNeutralMax[i]) {
-			controls[i] = 0;
-		} else {
-			controls[i] = mapf(channels[i], (channelNeutralMin[i] + channelNeutralMax[i]) / 2, channelMax[i], 0, 1);
-		}
-	}
-	controls[RC_CHANNEL_THROTTLE] = constrain(controls[RC_CHANNEL_THROTTLE], 0, 1);
-}
@@ -1,69 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.5">
-	<model name="flix">
-		<link name="body">
-			<inertial>
-				<mass>0.065</mass>
-				<inertia>
-					<ixx>3.55E-5</ixx>
-					<iyy>4.23E-5</iyy>
-					<izz>7.47E-5</izz>
-				</inertia>
-			</inertial>
-			<collision name="collision">
-				<geometry>
-					<box>
-						<size>0.125711 0.125711 0.022</size>
-					</box>
-				</geometry>
-			</collision>
-			<visual name="body">
-				<geometry>
-					<mesh><uri>model://flix/flix.dae</uri></mesh>
-				</geometry>
-			</visual>
-			<sensor name="imu" type="imu">
-				<always_on>1</always_on>
-				<visualize>1</visualize>
-				<update_rate>1000</update_rate>
-				<imu>
-					<angular_velocity>
-						<x>
-							<noise type="gaussian">
-								<stddev>0.00174533</stddev><!-- 0.1 degrees per second -->
-							</noise>
-						</x>
-						<y>
-							<noise type="gaussian">
-								<stddev>0.00174533</stddev>
-							</noise>
-						</y>
-						<z>
-							<noise type="gaussian">
-								<stddev>0.00174533</stddev>
-							</noise>
-						</z>
-					</angular_velocity>
-					<linear_acceleration>
-						<x>
-							<noise type="gaussian">
-								<stddev>0.0784</stddev><!-- 8 mg -->
-							</noise>
-						</x>
-						<y>
-							<noise type="gaussian">
-								<stddev>0.0784</stddev>
-							</noise>
-						</y>
-						<z>
-							<noise type="gaussian">
-								<stddev>0.0784</stddev>
-							</noise>
-						</z>
-					</linear_acceleration>
-				</imu>
-			</sensor>
-		</link>
-		<plugin name="flix" filename="libflix.so"/>
-	</model>
-</sdf>
@@ -1,14 +0,0 @@
-<?xml version="1.0"?>
-<model>
-    <name>flix</name>
-    <version>1.0</version>
-    <sdf version="1.5">flix.sdf</sdf>
-    <author>
-        <name>Oleg Kalachev</name>
-        <email>okalachev@gmail.com</email>
-    </author>
-    <license>Unknown</license>
-    <description>
-        Flix quadrotor
-    </description>
-</model>
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.5">
-	<model name="floor">
-		<static>true</static>
-		<link name="link">
-			<pose>0 0 -0.02 0 0 0</pose>
-			<collision name="collision">
-				<geometry>
-					<box>
-						<size>200 200 .02</size>
-					</box>
-				</geometry>
-			</collision>
-			<visual name="visual">
-				<cast_shadows>false</cast_shadows>
-				<geometry>
-					<box>
-						<size>200 200 .02</size>
-					</box>
-				</geometry>
-				<material>
-					<script>
-						<uri>model://floor/materials/scripts</uri>
-						<uri>model://floor/materials/textures</uri>
-						<name>parquet</name>
-					</script>
-				</material>
-			</visual>
-		</link>
-	</model>
-</sdf>
@@ -1,20 +0,0 @@
-material parquet
-{
-	technique
-	{
-		pass
-		{
-			ambient 0.5 0.5 0.5 1.0
-			diffuse 0.5 0.5 0.5 1.0
-			specular 0.2 0.2 0.2 1.0 12.5
-
-			texture_unit
-			{
-				texture floor.jpg
-				filtering anistropic
-				max_anisotropy 16
-				scale 0.01 0.01
-			}
-		}
-	}
-}
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-
-<model>
-  <name>Floor</name>
-  <version>1.0</version>
-  <sdf version="1.5">floor.sdf</sdf>
-
-  <author>
-    <name>Oleg Kalachev</name>
-    <email>okalachev@gmail.com</email>
-  </author>
-
-  <license>Unknown</license>
-
-  <description>
-    Floor.
-  </description>
-
-</model>
@@ -1,23 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.5">
-	<model name="table1">
-		<static>true</static>
-		<link name="link">
-			<pose>0 0 0 0 0 0</pose>
-			<collision name="mesh">
-				<geometry>
-					<mesh>
-						<uri>model://linnmon/linnmon.dae</uri>
-					</mesh>
-				</geometry>
-			</collision>
-			<visual name="visual">
-				<geometry>
-					<mesh>
-						<uri>model://linnmon/linnmon.dae</uri>
-					</mesh>
-				</geometry>
-			</visual>
-		</link>
-	</model>
-</sdf>
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-
-<model>
-  <name>linnmon</name>
-  <version>1.0</version>
-  <sdf version="1.5">linnmon.sdf</sdf>
-
-  <author>
-    <name>Oleg Kalachev</name>
-    <email>okalachev@gmail.com</email>
-  </author>
-
-  <license>Unknown</license>
-
-  <description>
-    Linnmon table from https://3dlancer.net/en/producermodels/tables-coffee-tables/3dmodel-table-with-ikea-linnmon-36059
-  </description>
-
-</model>
@@ -0,0 +1 @@
+<svg width="98" height="96" xmlns="http://www.w3.org/2000/svg"><path fill-rule="evenodd" clip-rule="evenodd" d="M48.854 0C21.839 0 0 22 0 49.217c0 21.756 13.993 40.172 33.405 46.69 2.427.49 3.316-1.059 3.316-2.362 0-1.141-.08-5.052-.08-9.127-13.59 2.934-16.42-5.867-16.42-5.867-2.184-5.704-5.42-7.17-5.42-7.17-4.448-3.015.324-3.015.324-3.015 4.934.326 7.523 5.052 7.523 5.052 4.367 7.496 11.404 5.378 14.235 4.074.404-3.178 1.699-5.378 3.074-6.6-10.839-1.141-22.243-5.378-22.243-24.283 0-5.378 1.94-9.778 5.014-13.2-.485-1.222-2.184-6.275.486-13.038 0 0 4.125-1.304 13.426 5.052a46.97 46.97 0 0 1 12.214-1.63c4.125 0 8.33.571 12.213 1.63 9.302-6.356 13.427-5.052 13.427-5.052 2.67 6.763.97 11.816.485 13.038 3.155 3.422 5.015 7.822 5.015 13.2 0 18.905-11.404 23.06-22.324 24.283 1.78 1.548 3.316 4.481 3.316 9.126 0 6.6-.08 11.897-.08 13.526 0 1.304.89 2.853 3.316 2.364 19.412-6.52 33.405-24.935 33.405-46.691C97.707 22 75.788 0 48.854 0z" fill="black"/></svg>
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 21.1.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 viewBox="0 0 54 54" style="enable-background:new 0 0 54 54;" xml:space="preserve">
+<style type="text/css">
+	.st0{fill:none;}
+</style>
+<g>
+	<rect x="-0.2" y="0.1" class="st0" width="53.8" height="53.4"/>
+	<path d="M49.7,16.5c1.3,3.1,2,6.3,2,9.7s-0.7,6.6-2,9.7c-1.3,3.1-3.1,5.7-5.3,8c-2.2,2.2-4.9,4-8,5.3c-3.1,1.3-6.3,2-9.7,2
+		c-3.4,0-6.6-0.7-9.7-2s-5.7-3.1-8-5.3c-2.2-2.2-4-4.9-5.3-8c-1.3-3.1-2-6.3-2-9.7s0.7-6.6,2-9.7c1.3-3.1,3.1-5.7,5.3-8
+		c2.2-2.2,4.9-4,8-5.3s6.3-2,9.7-2c3.4,0,6.6,0.7,9.7,2c3.1,1.3,5.7,3.1,8,5.3C46.6,10.8,48.3,13.5,49.7,16.5z M34.8,37.7l4.1-19.3
+		c0.2-0.8,0.1-1.4-0.3-1.8c-0.4-0.4-0.8-0.4-1.4-0.2l-24.1,9.3c-0.5,0.2-0.9,0.4-1.1,0.7c-0.2,0.3-0.2,0.5-0.1,0.7
+		c0.1,0.2,0.4,0.4,0.9,0.5l6.2,1.9l14.3-9c0.4-0.3,0.7-0.3,0.9-0.2c0.1,0.1,0.1,0.2-0.1,0.4L22.5,31.3L22,37.7
+		c0.4,0,0.8-0.2,1.3-0.6l3-2.9l6.2,4.6C33.8,39.5,34.5,39.1,34.8,37.7z"/>
+</g>
+</svg>
@@ -0,0 +1,73 @@
+<!DOCTYPE html>
+<html>
+	<head>
+		<title>Flix — разработка квадрокоптера с нуля</title>
+		<style>
+			body {
+				display: flex;
+				justify-content: center;
+				align-items: center;
+				background: #d9d9d7;
+				height: 100vh;
+				font-family: Helvetica, sans-serif;
+				font-size: 22px;
+				margin: 0;
+				padding: 0;
+			}
+			article {
+				max-width: 800px;
+				text-align: center;
+			}
+			img.logo {
+				margin-top: -100px;
+				max-width: 100%;
+			}
+			.github {
+				background-image: url(img/tg.svg);
+				background-repeat: no-repeat;
+				background-position: left center;
+				background-size: auto 30px;
+				padding-left: 40px;
+				vertical-align: middle;
+			}
+			a {
+				color: black;
+			}
+			a:hover {
+				color: rgb(42, 45, 183);
+			}
+			.links {
+				display: inline-block;
+				list-style-type: none;
+				margin: 0;
+				padding: 0;
+				line-height: 50px;
+			}
+			.links li {
+				display: flex;
+				align-items: center;
+			}
+			.links li img {
+				height: 30px;
+				margin-right: 10px;
+				opacity: 0.2;
+			}
+		</style>
+		<!-- Yandex.Metrika counter --> <script type="text/javascript" > (function(m,e,t,r,i,k,a){m[i]=m[i]||function(){(m[i].a=m[i].a||[]).push(arguments)}; m[i].l=1*new Date(); for (var j = 0; j < document.scripts.length; j++) {if (document.scripts[j].src === r) { return; }} k=e.createElement(t),a=e.getElementsByTagName(t)[0],k.async=1,k.src=r,a.parentNode.insertBefore(k,a)}) (window, document, "script", "https://mc.yandex.ru/metrika/tag.js", "ym"); ym(97589916, "init", { clickmap:true, trackLinks:true, accurateTrackBounce:true }); </script> <noscript><div><img src="https://mc.yandex.ru/watch/97589916" style="position:absolute; left:-9999px;" alt="" /></div></noscript> <!-- /Yandex.Metrika counter -->
+	</head>
+	<body>
+		<article>
+			<img class="logo" src="img/flix.jpg" alt="Flix, версия 0 (прототип)" title="Flix, версия 0 (прототип)">
+			<ul class="links">
+				<li>
+					<img src="img/gh.svg">
+					GitHub:&nbsp;<a href="https://github.com/okalachev/flix">github.com/okalachev/flix</a>.
+				</li>
+				<li>
+					<img src="img/tg.svg">
+					Telegram-канал:&nbsp;<a href="https://t.me/opensourcequadcopter">@opensourcequadcopter</a>.
+				</li>
+			</ul>
+		</article>
+	</body>
+</html>
@@ -1,49 +0,0 @@
-#!/usr/bin/env python3
-
-"""Show Fast Fourier Transform plot for log entry.
-
-Usage:
-  fft.py <csv_log_file> <log_entry>
-"""
-
-import docopt
-import csv
-import numpy as np
-import matplotlib.pyplot as plt
-
-args = docopt.docopt(__doc__)
-log_file = args['<csv_log_file>']
-log_entry = args['<log_entry>']
-
-csv_reader = csv.reader(open(log_file, 'r'), delimiter=',')
-header = next(csv_reader)
-log_entry_index = header.index(log_entry)
-
-data = [[float(value) for value in row] for row in csv_reader]
-data = sorted(data, key=lambda row: row[0])
-records = [row[log_entry_index] for row in data]
-duration = data[-1][0] - data[0][0]
-sample_rate = len(data) / duration
-
-print('Duration: ', duration)
-print('Mean sample rate: ', sample_rate)
-print('Mean dt: ', 1 / sample_rate)
-
-N = int(sample_rate * duration)
-
-yf = np.fft.rfft(records)
-xf = np.fft.rfftfreq(N, 1 / sample_rate)
-
-# print out fft data
-print('Frequency, Amplitude')
-for i in range(len(xf)):
-    print(xf[i], ',', abs(yf[i]))
-
-plt.plot(xf, np.abs(yf))
-plt.title('FFT of ' + log_entry)
-plt.xlabel('Frequency')
-plt.ylabel('Amplitude')
-plt.grid(True, which='both', color='#eeeeee')
-plt.minorticks_on()
-plt.get_current_fig_manager().set_window_title(log_entry)
-plt.show()
@@ -1,26 +0,0 @@
-#!/usr/bin/env python3
-# grab flight log and save to file
-
-import datetime
-import serial
-import os
-
-PORT = os.environ['PORT']
-DIR = os.path.dirname(os.path.realpath(__file__))
-
-dev = serial.Serial(port=PORT, baudrate=115200, timeout=0.5)
-
-log = open(f'{DIR}/log/{datetime.datetime.now().isoformat()}.csv', 'wb')
-
-print('Downloading log...')
-count = 0
-dev.write('log\n'.encode())
-while True:
-    line = dev.readline()
-    if not line:
-        break
-    log.write(line)
-    count += 1
-    print(f'\r{count} lines', end='')
-
-print(f'\nWritten {os.path.relpath(log.name, os.curdir)}')
Author	SHA1	Message	Date
Oleg Kalachev	0b2496231a	Update website	2024-06-17 10:13:04 +03:00
Oleg Kalachev	e1ff92c5f0	Website	2024-03-04 03:18:04 +03:00
				`@@ -0,0 +1 @@`
				<svg width="98" height="96" xmlns="http://www.w3.org/2000/svg"><path fill-rule="evenodd" clip-rule="evenodd" d="M48.854 0C21.839 0 0 22 0 49.217c0 21.756 13.993 40.172 33.405 46.69 2.427.49 3.316-1.059 3.316-2.362 0-1.141-.08-5.052-.08-9.127-13.59 2.934-16.42-5.867-16.42-5.867-2.184-5.704-5.42-7.17-5.42-7.17-4.448-3.015.324-3.015.324-3.015 4.934.326 7.523 5.052 7.523 5.052 4.367 7.496 11.404 5.378 14.235 4.074.404-3.178 1.699-5.378 3.074-6.6-10.839-1.141-22.243-5.378-22.243-24.283 0-5.378 1.94-9.778 5.014-13.2-.485-1.222-2.184-6.275.486-13.038 0 0 4.125-1.304 13.426 5.052a46.97 46.97 0 0 1 12.214-1.63c4.125 0 8.33.571 12.213 1.63 9.302-6.356 13.427-5.052 13.427-5.052 2.67 6.763.97 11.816.485 13.038 3.155 3.422 5.015 7.822 5.015 13.2 0 18.905-11.404 23.06-22.324 24.283 1.78 1.548 3.316 4.481 3.316 9.126 0 6.6-.08 11.897-.08 13.526 0 1.304.89 2.853 3.316 2.364 19.412-6.52 33.405-24.935 33.405-46.691C97.707 22 75.788 0 48.854 0z" fill="black"/></svg>