Add sources to the simulator using cmake instead of include

Fix
Fixes
2026-01-10 04:57:17 +00:00 · 2026-01-09 17:01:14 +03:00 · 2026-01-09 09:46:56 +03:00 · 2026-01-09 09:45:23 +03:00 · 2026-01-09 09:41:31 +03:00 · 2026-01-08 19:45:08 +03:00
25 changed files with 246 additions and 141 deletions
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -18,20 +18,7 @@
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
 				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h",
-				"${workspaceFolder}/flix/cli.ino",
-				"${workspaceFolder}/flix/control.ino",
-				"${workspaceFolder}/flix/estimate.ino",
-				"${workspaceFolder}/flix/flix.ino",
-				"${workspaceFolder}/flix/imu.ino",
-				"${workspaceFolder}/flix/led.ino",
-				"${workspaceFolder}/flix/log.ino",
-				"${workspaceFolder}/flix/mavlink.ino",
-				"${workspaceFolder}/flix/motors.ino",
-				"${workspaceFolder}/flix/rc.ino",
-				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino"
+				"~/.arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h"
 			],
 			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
@@ -65,20 +52,7 @@
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
 				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h",
-				"${workspaceFolder}/flix/flix.ino",
-				"${workspaceFolder}/flix/cli.ino",
-				"${workspaceFolder}/flix/control.ino",
-				"${workspaceFolder}/flix/estimate.ino",
-				"${workspaceFolder}/flix/imu.ino",
-				"${workspaceFolder}/flix/led.ino",
-				"${workspaceFolder}/flix/log.ino",
-				"${workspaceFolder}/flix/mavlink.ino",
-				"${workspaceFolder}/flix/motors.ino",
-				"${workspaceFolder}/flix/rc.ino",
-				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino"
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h"
 			],
 			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++",
 			"cStandard": "c11",
@@ -113,20 +87,7 @@
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
 				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h",
-				"${workspaceFolder}/flix/cli.ino",
-				"${workspaceFolder}/flix/control.ino",
-				"${workspaceFolder}/flix/estimate.ino",
-				"${workspaceFolder}/flix/flix.ino",
-				"${workspaceFolder}/flix/imu.ino",
-				"${workspaceFolder}/flix/led.ino",
-				"${workspaceFolder}/flix/log.ino",
-				"${workspaceFolder}/flix/mavlink.ino",
-				"${workspaceFolder}/flix/motors.ino",
-				"${workspaceFolder}/flix/rc.ino",
-				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/wifi.ino",
-				"${workspaceFolder}/flix/parameters.ino"
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h"
 			],
 			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++.exe",
 			"cStandard": "c11",
--- a/docs/img/flix.svg
+++ b/docs/img/flix.svg
@@ -1,4 +1,4 @@
-<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 718.86 362.46">
+<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 734.86 378.46">
  <defs>
    <style>
      .a {
@@ -23,16 +23,16 @@
  </defs>
  <g>
    <g>
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-      <line class="a" x1="444.12" y1="85.58" x2="642.42" y2="284.87"/>
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-      <circle class="c" cx="640.56" cy="284.16" r="77.29"/>
-      <circle class="c" cx="443.25" cy="284.16" r="77.29"/>
+      <line class="a" x1="448.78" y1="294.23" x2="648.77" y2="93.24"/>
+      <line class="a" x1="449.78" y1="94.24" x2="649.77" y2="295.23"/>
+      <circle class="b" cx="549.27" cy="193.73" r="41.5"/>
+      <circle class="c" cx="449.35" cy="93.74" r="77.95"/>
+      <circle class="c" cx="648.89" cy="93.53" r="77.95"/>
+      <circle class="c" cx="647.89" cy="294.51" r="77.95"/>
+      <circle class="c" cx="448.9" cy="294.51" r="77.95"/>
    </g>
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+    <path class="d" d="M201.21,348.2V37q0-23.16,20.86-23.4h22.81q22.8,0,22.8,22.44V346.27a68.92,68.92,0,0,1-.49,9.41,22.59,22.59,0,0,1-2.42,7.12,11.48,11.48,0,0,1-6.67,5.43,47.78,47.78,0,0,1-12.74,2.17H225q-11.4,0-17.58-4.47T201.21,348.2Z"/>
+    <path class="d" d="M284.9,61.08V36.47a40.39,40.39,0,0,1,1.7-12.91,11.36,11.36,0,0,1,6.18-7,25.27,25.27,0,0,1,6.68-2.3c1.45-.15,4-.4,7.76-.72h25.23q10.43,0,16.73,4.7t6.31,18.22V62.05a27.94,27.94,0,0,1-.85,7.11,23,23,0,0,1-2.06,5.43,20,20,0,0,1-2.91,4,10,10,0,0,1-3.52,2.54c-1.21.48-2.54,1-4,1.44a11.53,11.53,0,0,1-3.4.73,13.71,13.71,0,0,0-3.15.48H307.7q-10.43,0-16.61-4.7T284.9,61.08Zm1.94,284.71V166.28q0-22.2,21.83-22.2h20.38q10.92,0,16.62,4t6.67,8.45a60.47,60.47,0,0,1,1,12.18V348.2q0,22.2-21.83,22.2H308.67q-10.43,0-15.64-4.95t-5.7-8.81A90.93,90.93,0,0,1,286.84,345.79Z"/>
  </g>
 </svg>
--- a/flix/cli.cpp
+++ b/flix/cli.cpp
@@ -3,6 +3,8 @@

 // Implementation of command line interface

+#include <Arduino.h>
+#include "flix.h"
 #include "pid.h"
 #include "vector.h"
 #include "util.h"
@@ -71,7 +73,7 @@ void pause(float duration) {
 	}
 }

-void doCommand(String str, bool echo = false) {
+void doCommand(String str, bool echo) {
 	// parse command
 	String command, arg0, arg1;
 	splitString(str, command, arg0, arg1);
--- a/flix/config.h
+++ b/flix/config.h
@@ -0,0 +1,55 @@
+// Wi-Fi
+#define WIFI_ENABLED 1
+#define WIFI_SSID "flix"
+#define WIFI_PASSWORD "flixwifi"
+#define WIFI_UDP_PORT 14550
+#define WIFI_UDP_REMOTE_PORT 14550
+#define WIFI_UDP_REMOTE_ADDR "255.255.255.255"
+
+// Motors
+#define MOTOR_0_PIN 12 // rear left
+#define MOTOR_1_PIN 13 // rear right
+#define MOTOR_2_PIN 14 // front right
+#define MOTOR_3_PIN 15 // front left
+#define PWM_FREQUENCY 78000
+#define PWM_RESOLUTION 10
+#define PWM_STOP 0
+#define PWM_MIN 0
+#define PWM_MAX 1000000 / PWM_FREQUENCY
+
+// Control
+#define PITCHRATE_P 0.05
+#define PITCHRATE_I 0.2
+#define PITCHRATE_D 0.001
+#define PITCHRATE_I_LIM 0.3
+#define ROLLRATE_P PITCHRATE_P
+#define ROLLRATE_I PITCHRATE_I
+#define ROLLRATE_D PITCHRATE_D
+#define ROLLRATE_I_LIM PITCHRATE_I_LIM
+#define YAWRATE_P 0.3
+#define YAWRATE_I 0.0
+#define YAWRATE_D 0.0
+#define YAWRATE_I_LIM 0.3
+#define ROLL_P 6
+#define ROLL_I 0
+#define ROLL_D 0
+#define PITCH_P ROLL_P
+#define PITCH_I ROLL_I
+#define PITCH_D ROLL_D
+#define YAW_P 3
+#define PITCHRATE_MAX radians(360)
+#define ROLLRATE_MAX radians(360)
+#define YAWRATE_MAX radians(300)
+#define TILT_MAX radians(30)
+#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz
+
+// Estimation
+#define WEIGHT_ACC 0.003
+#define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz
+
+// MAVLink
+#define SYSTEM_ID 1
+
+// Safety
+#define RC_LOSS_TIMEOUT 1
+#define DESCEND_TIME 10
--- a/flix/control.cpp
+++ b/flix/control.cpp
@@ -3,41 +3,25 @@

 // Flight control

+#include "config.h"
+#include "flix.h"
 #include "vector.h"
 #include "quaternion.h"
 #include "pid.h"
 #include "lpf.h"
 #include "util.h"

-#define PITCHRATE_P 0.05
-#define PITCHRATE_I 0.2
-#define PITCHRATE_D 0.001
-#define PITCHRATE_I_LIM 0.3
-#define ROLLRATE_P PITCHRATE_P
-#define ROLLRATE_I PITCHRATE_I
-#define ROLLRATE_D PITCHRATE_D
-#define ROLLRATE_I_LIM PITCHRATE_I_LIM
-#define YAWRATE_P 0.3
-#define YAWRATE_I 0.0
-#define YAWRATE_D 0.0
-#define YAWRATE_I_LIM 0.3
-#define ROLL_P 6
-#define ROLL_I 0
-#define ROLL_D 0
-#define PITCH_P ROLL_P
-#define PITCH_I ROLL_I
-#define PITCH_D ROLL_D
-#define YAW_P 3
-#define PITCHRATE_MAX radians(360)
-#define ROLLRATE_MAX radians(360)
-#define YAWRATE_MAX radians(300)
-#define TILT_MAX radians(30)
-#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz
+extern const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes

-const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes
 int mode = STAB;
 bool armed = false;

+Quaternion attitudeTarget;
+Vector ratesTarget;
+Vector ratesExtra; // feedforward rates
+Vector torqueTarget;
+float thrustTarget;
+
 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);
@@ -47,12 +31,6 @@ PID yawPID(YAW_P, 0, 0);
 Vector maxRate(ROLLRATE_MAX, PITCHRATE_MAX, YAWRATE_MAX);
 float tiltMax = TILT_MAX;

-Quaternion attitudeTarget;
-Vector ratesTarget;
-Vector ratesExtra; // feedforward rates
-Vector torqueTarget;
-float thrustTarget;
-
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
 extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;

--- a/flix/estimate.cpp
+++ b/flix/estimate.cpp
@@ -3,6 +3,8 @@

 // Attitude estimation from gyro and accelerometer

+#include "config.h"
+#include "flix.h"
 #include "quaternion.h"
 #include "vector.h"
 #include "lpf.h"
--- a/flix/flix.h
+++ b/flix/flix.h
@@ -0,0 +1,90 @@
+// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
+// Repository: https://github.com/okalachev/flix
+
+// All-in-one header file
+
+#pragma once
+
+#include <Arduino.h>
+#include "vector.h"
+#include "quaternion.h"
+
+extern float t, dt;
+extern float loopRate;
+extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
+extern Vector gyro, acc;
+extern Vector rates;
+extern Quaternion attitude;
+extern bool landed;
+extern int mode;
+extern bool armed;
+extern Quaternion attitudeTarget;
+extern Vector ratesTarget, ratesExtra, torqueTarget;
+extern float thrustTarget;
+extern float motors[4];
+
+void print(const char* format, ...);
+void pause(float duration);
+void doCommand(String str, bool echo = false);
+void handleInput();
+void control();
+void interpretControls();
+void controlAttitude();
+void controlRates();
+void controlTorque();
+const char *getModeName();
+void estimate();
+void applyGyro();
+void applyAcc();
+void setupIMU();
+void configureIMU();
+void readIMU();
+void rotateIMU(Vector& data);
+void calibrateGyroOnce();
+void calibrateAccel();
+void calibrateAccelOnce();
+void printIMUCalibration();
+void printIMUInfo();
+void setupLED();
+void setLED(bool on);
+void blinkLED();
+void prepareLogData();
+void logData();
+void printLogHeader();
+void printLogData();
+void processMavlink();
+void sendMavlink();
+void sendMessage(const void *msg);
+void receiveMavlink();
+void handleMavlink(const void *_msg);
+void mavlinkPrint(const char* str);
+void sendMavlinkPrint();
+void setupMotors();
+int getDutyCycle(float value);
+void sendMotors();
+bool motorsActive();
+void testMotor(int n);
+void setupParameters();
+int parametersCount();
+const char *getParameterName(int index);
+float getParameter(int index);
+float getParameter(const char *name);
+bool setParameter(const char *name, const float value);
+void syncParameters();
+void printParameters();
+void resetParameters();
+void setupRC();
+bool readRC();
+void normalizeRC();
+void calibrateRC();
+void calibrateRCChannel(float *channel, uint16_t in[16], uint16_t out[16], const char *str);
+void printRCCalibration();
+void failsafe();
+void rcLossFailsafe();
+void descend();
+void autoFailsafe();
+void step();
+void computeLoopRate();
+void setupWiFi();
+void sendWiFi(const uint8_t *buf, int len);
+int receiveWiFi(uint8_t *buf, int len);
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -3,19 +3,11 @@

 // Main firmware file

+#include "config.h"
 #include "vector.h"
 #include "quaternion.h"
 #include "util.h"
-
-#define WIFI_ENABLED 1
-
-extern float t, dt;
-extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
-extern Vector gyro, acc;
-extern Vector rates;
-extern Quaternion attitude;
-extern bool landed;
-extern float motors[4];
+#include "flix.h"

 void setup() {
 	Serial.begin(115200);
--- a/flix/imu.cpp
+++ b/flix/imu.cpp
--- a/flix/led.cpp
+++ b/flix/led.cpp
@@ -3,6 +3,8 @@

 // Board's LED control

+#include <Arduino.h>
+
 #define BLINK_PERIOD 500000

 #ifndef LED_BUILTIN
--- a/flix/log.cpp
+++ b/flix/log.cpp
@@ -3,6 +3,7 @@

 // In-RAM logging

+#include "flix.h"
 #include "vector.h"
 #include "util.h"

--- a/flix/lpf.h
+++ b/flix/lpf.h
@@ -5,6 +5,8 @@

 #pragma once

+#include <Arduino.h>
+
 template <typename T> // Using template to make the filter usable for scalar and vector values
 class LowPassFilter {
 public:
--- a/flix/mavlink.cpp
+++ b/flix/mavlink.cpp
@@ -3,6 +3,10 @@

 // MAVLink communication

+#include <Arduino.h>
+#include "config.h"
+#include "flix.h"
+
 #if WIFI_ENABLED

 #include <MAVLink.h>
@@ -12,6 +16,8 @@
 #define MAVLINK_RATE_SLOW 1
 #define MAVLINK_RATE_FAST 10

+extern const int AUTO, STAB;
+extern uint16_t channels[16];
 extern float controlTime;

 bool mavlinkConnected = false;
@@ -206,6 +212,7 @@ void handleMavlink(const void *_msg) {
 		armed = motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0;
 	}

+	/* TODO:
 	if (msg.msgid == MAVLINK_MSG_ID_LOG_REQUEST_DATA) {
 		mavlink_log_request_data_t m;
 		mavlink_msg_log_request_data_decode(&msg, &m);
@@ -219,6 +226,7 @@ void handleMavlink(const void *_msg) {
 			sendMessage(&msg);
 		}
 	}
+	*/

 	// Handle commands
 	if (msg.msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
--- a/flix/motors.cpp
+++ b/flix/motors.cpp
@@ -4,25 +4,17 @@
 // Motors output control using MOSFETs
 // In case of using ESCs, change PWM_STOP, PWM_MIN and PWM_MAX to appropriate values in μs, decrease PWM_FREQUENCY (to 400)

+#include <Arduino.h>
+#include "config.h"
+#include "flix.h"
 #include "util.h"

-#define MOTOR_0_PIN 12 // rear left
-#define MOTOR_1_PIN 13 // rear right
-#define MOTOR_2_PIN 14 // front right
-#define MOTOR_3_PIN 15 // front left
-
-#define PWM_FREQUENCY 78000
-#define PWM_RESOLUTION 10
-#define PWM_STOP 0
-#define PWM_MIN 0
-#define PWM_MAX 1000000 / PWM_FREQUENCY
-
 float motors[4]; // normalized motor thrusts in range [0..1]

-const int MOTOR_REAR_LEFT = 0;
-const int MOTOR_REAR_RIGHT = 1;
-const int MOTOR_FRONT_RIGHT = 2;
-const int MOTOR_FRONT_LEFT = 3;
+extern const int MOTOR_REAR_LEFT = 0;
+extern const int MOTOR_REAR_RIGHT = 1;
+extern const int MOTOR_FRONT_RIGHT = 2;
+extern const int MOTOR_FRONT_LEFT = 3;

 void setupMotors() {
 	print("Setup Motors\n");
--- a/flix/parameters.cpp
+++ b/flix/parameters.cpp
@@ -4,11 +4,22 @@
 // Parameters storage in flash memory

 #include <Preferences.h>
+#include "flix.h"
+#include "pid.h"
+#include "lpf.h"
 #include "util.h"

 extern float channelZero[16];
 extern float channelMax[16];
 extern float rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
+extern float tiltMax;
+extern PID rollPID, pitchPID, yawPID;
+extern PID rollRatePID, pitchRatePID, yawRatePID;
+extern Vector maxRate;
+extern Vector imuRotation;
+extern Vector accBias, accScale;
+extern float accWeight;
+extern LowPassFilter<Vector> ratesFilter;

 Preferences storage;

--- a/flix/pid.h
+++ b/flix/pid.h
@@ -5,6 +5,8 @@

 #pragma once

+#include "Arduino.h"
+#include "flix.h"
 #include "lpf.h"

 class PID {
--- a/flix/quaternion.h
+++ b/flix/quaternion.h
@@ -5,6 +5,7 @@

 #pragma once

+#include <Arduino.h>
 #include "vector.h"

 class Quaternion : public Printable {
--- a/flix/rc.cpp
+++ b/flix/rc.cpp
--- a/flix/safety.cpp
+++ b/flix/safety.cpp
@@ -3,11 +3,11 @@

 // Fail-safe functions

-#define RC_LOSS_TIMEOUT 1
-#define DESCEND_TIME 10
+#include "config.h"
+#include "flix.h"

 extern float controlTime;
-extern float controlRoll, controlPitch, controlThrottle, controlYaw;
+extern const int AUTO, STAB;

 void failsafe() {
 	rcLossFailsafe();
--- a/flix/time.cpp
+++ b/flix/time.cpp
@@ -3,6 +3,9 @@

 // Time related functions

+#include "Arduino.h"
+#include "flix.h"
+
 float t = NAN; // current time, s
 float dt; // time delta with the previous step, s
 float loopRate; // Hz
--- a/flix/util.h
+++ b/flix/util.h
@@ -8,24 +8,24 @@
 #include <math.h>
 #include <soc/soc.h>
 #include <soc/rtc_cntl_reg.h>
+#include "flix.h"

 const float ONE_G = 9.80665;
-extern float t;

-float mapf(float x, float in_min, float in_max, float out_min, float out_max) {
+inline float mapf(float x, float in_min, float in_max, float out_min, float out_max) {
 	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }

-bool invalid(float x) {
+inline bool invalid(float x) {
 	return !isfinite(x);
 }

-bool valid(float x) {
+inline bool valid(float x) {
 	return isfinite(x);
 }

 // Wrap angle to [-PI, PI)
-float wrapAngle(float angle) {
+inline float wrapAngle(float angle) {
 	angle = fmodf(angle, 2 * PI);
 	if (angle > PI) {
 		angle -= 2 * PI;
@@ -36,12 +36,12 @@ float wrapAngle(float angle) {
 }

 // Disable reset on low voltage
-void disableBrownOut() {
+inline void disableBrownOut() {
 	REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA);
 }

 // Trim and split string by spaces
-void splitString(String& str, String& token0, String& token1, String& token2) {
+inline void splitString(String& str, String& token0, String& token1, String& token2) {
 	str.trim();
 	char chars[str.length() + 1];
 	str.toCharArray(chars, str.length() + 1);
--- a/flix/vector.h
+++ b/flix/vector.h
@@ -5,6 +5,8 @@

 #pragma once

+#include <Arduino.h>
+
 class Vector : public Printable {
 public:
 	float x, y, z;
@@ -123,5 +125,5 @@ public:
 	}
 };

-Vector operator * (const float a, const Vector& b) { return b * a; }
-Vector operator + (const float a, const Vector& b) { return b + a; }
+inline Vector operator * (const float a, const Vector& b) { return b * a; }
+inline Vector operator + (const float a, const Vector& b) { return b + a; }
--- a/flix/wifi.cpp
+++ b/flix/wifi.cpp
@@ -3,20 +3,19 @@

 // Wi-Fi support

+#include "config.h"
+#include "flix.h"
+
 #if WIFI_ENABLED

 #include <WiFi.h>
 #include <WiFiAP.h>
 #include <WiFiUdp.h>

-#define WIFI_SSID "flix"
-#define WIFI_PASSWORD "flixwifi"
-#define WIFI_UDP_PORT 14550
-#define WIFI_UDP_REMOTE_PORT 14550
-#define WIFI_UDP_REMOTE_ADDR "255.255.255.255"
-
 WiFiUDP udp;

+extern bool mavlinkConnected;
+
 void setupWiFi() {
 	print("Setup Wi-Fi\n");
 	WiFi.softAP(WIFI_SSID, WIFI_PASSWORD);
--- a/gazebo/CMakeLists.txt
+++ b/gazebo/CMakeLists.txt
@@ -10,9 +10,23 @@ list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}")

 set(FLIX_SOURCE_DIR ../flix)
 include_directories(${FLIX_SOURCE_DIR})
+set(FLIX_SOURCE_DIR ../flix)
+include_directories(${FLIX_SOURCE_DIR})
+set(FLIX_SOURCES
+  ${FLIX_SOURCE_DIR}/cli.cpp
+  ${FLIX_SOURCE_DIR}/control.cpp
+  ${FLIX_SOURCE_DIR}/estimate.cpp
+  ${FLIX_SOURCE_DIR}/safety.cpp
+  ${FLIX_SOURCE_DIR}/log.cpp
+  ${FLIX_SOURCE_DIR}/mavlink.cpp
+  ${FLIX_SOURCE_DIR}/motors.cpp
+  ${FLIX_SOURCE_DIR}/parameters.cpp
+  ${FLIX_SOURCE_DIR}/rc.cpp
+  ${FLIX_SOURCE_DIR}/time.cpp
+)

 set(CMAKE_BUILD_TYPE RelWithDebInfo)
-add_library(flix SHARED simulator.cpp)
+add_library(flix SHARED simulator.cpp ${FLIX_SOURCES})
 target_link_libraries(flix ${GAZEBO_LIBRARIES} ${SDL2_LIBRARIES})
 target_include_directories(flix PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_compile_options(flix PRIVATE -Wno-address-of-packed-member) # disable unneeded mavlink warnings
--- a/gazebo/simulator.cpp
+++ b/gazebo/simulator.cpp
@@ -18,18 +18,6 @@
 #include "Arduino.h"
 #include "flix.h"

-#include "cli.ino"
-#include "control.ino"
-#include "estimate.ino"
-#include "safety.ino"
-#include "log.ino"
-#include "lpf.h"
-#include "mavlink.ino"
-#include "motors.ino"
-#include "parameters.ino"
-#include "rc.ino"
-#include "time.ino"
-
 using ignition::math::Vector3d;
 using namespace gazebo;
 using namespace std;
Author	SHA1	Message	Date
Oleg Kalachev	385226bc97	Add sources to the simulator using cmake instead of include	2026-01-09 17:01:14 +03:00
Oleg Kalachev	e7e57d1020	Fix	2026-01-09 09:46:56 +03:00
Oleg Kalachev	213b9788a9	Fixes	2026-01-09 09:45:23 +03:00
Oleg Kalachev	69fb5d30f6	Merge branch 'master' into cpp	2026-01-09 09:41:31 +03:00
Oleg Kalachev	2a8faf5759	Fix logo svg slightly	2026-01-08 19:45:08 +03:00
Oleg Kalachev	e59a190c1c	Fix	2025-10-21 18:41:58 +03:00
Oleg Kalachev	207c0e41f7	Add parameters to config.h	2025-10-21 18:38:51 +03:00
Oleg Kalachev	d7d79ff03f	Make .cpp style version compile	2025-10-21 18:31:54 +03:00
Oleg Kalachev	6725f1d3de	Change source files type from ino to cpp	2025-10-20 23:06:13 +03:00