Correct discarding for invalid messages and small fixes

Flexible PID configuration and joysticks were added

.idea/deploymentTargetDropDown.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="deploymentTargetDropDown">
+    <value>
+      <entry key="app">
+        <State />
+      </entry>
+    </value>
+  </component>
+</project>

.idea/gradle.xml

@@ -4,16 +4,15 @@
   <component name="GradleSettings">
     <option name="linkedExternalProjectsSettings">
       <GradleProjectSettings>
-        <option name="testRunner" value="GRADLE" />
-        <option name="distributionType" value="DEFAULT_WRAPPED" />
         <option name="externalProjectPath" value="$PROJECT_DIR$" />
-        <option name="gradleJvm" value="jbr-17" />
+        <option name="gradleJvm" value="#GRADLE_LOCAL_JAVA_HOME" />
         <option name="modules">
           <set>
             <option value="$PROJECT_DIR$" />
             <option value="$PROJECT_DIR$/app" />
           </set>
         </option>
+        <option name="resolveExternalAnnotations" value="false" />
       </GradleProjectSettings>
     </option>
   </component>

.idea/kotlinc.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="KotlinJpsPluginSettings">
-    <option name="version" value="1.6.10" />
+    <option name="version" value="1.8.10" />
   </component>
 </project>

.idea/migrations.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectMigrations">
+    <option name="MigrateToGradleLocalJavaHome">
+      <set>
+        <option value="$PROJECT_DIR$" />
+      </set>
+    </option>
+  </component>
+</project>

app/build.gradle.kts

@@ -1,8 +1,6 @@
 plugins {
     id("com.android.application")
     id("org.jetbrains.kotlin.android")
-    id("com.google.devtools.ksp").version("1.6.10-1.0.4")
-    id("org.jlleitschuh.gradle.ktlint").version("12.0.3")
 }
 
 android {
@@ -65,6 +63,7 @@ dependencies {
     implementation("androidx.constraintlayout:constraintlayout-compose:1.0.1")
     implementation("androidx.navigation:navigation-compose:2.6.0")
     implementation("com.squareup.moshi:moshi-kotlin:1.14.0")
+    implementation("com.github.manalkaff:JetStick:1.2")
 
     testImplementation("junit:junit:4.13.2")
     androidTestImplementation("androidx.test.ext:junit:1.1.5")

app/src/androidTest/java/com/helible/pilot/ExampleInstrumentedTest.kt

@@ -1,13 +1,11 @@
 package com.helible.pilot
 
-import androidx.test.platform.app.InstrumentationRegistry
 import androidx.test.ext.junit.runners.AndroidJUnit4
-
+import androidx.test.platform.app.InstrumentationRegistry
+import org.junit.Assert.*
 import org.junit.Test
 import org.junit.runner.RunWith
 
-import org.junit.Assert.*
-
 /**
  * Instrumented test, which will execute on an Android device.
  *

app/src/main/AndroidManifest.xml

@@ -3,18 +3,34 @@
     xmlns:tools="http://schemas.android.com/tools">
 
     <!-- Request legacy Bluetooth permissions on older devices. -->
-    <uses-permission android:name="android.permission.BLUETOOTH" android:maxSdkVersion="30"/>
+    <uses-permission
-    <uses-permission android:name="android.permission.BLUETOOTH_ADMIN" android:maxSdkVersion="30"/>
+        android:name="android.permission.BLUETOOTH"
-    <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" android:maxSdkVersion="30"/>
+        android:maxSdkVersion="30" />
-    <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" android:maxSdkVersion="30"/>
+    <uses-permission
+        android:name="android.permission.BLUETOOTH_ADMIN"
+        android:maxSdkVersion="30" />
+    <uses-permission
+        android:name="android.permission.ACCESS_FINE_LOCATION"
+        android:maxSdkVersion="30" />
+    <uses-permission
+        android:name="android.permission.ACCESS_COARSE_LOCATION"
+        android:maxSdkVersion="30" />
 
     <!-- Request Bluetooth permissions for API level 31+ -->
-    <uses-permission android:name="android.permission.BLUETOOTH_SCAN" android:minSdkVersion="31"
+    <uses-permission
-        android:usesPermissionFlags="neverForLocation" tools:targetApi="s" />
+        android:name="android.permission.BLUETOOTH_SCAN"
-    <uses-permission android:name="android.permission.BLUETOOTH_CONNECT" android:minSdkVersion="31"
+        android:minSdkVersion="31"
-        android:usesPermissionFlags="neverForLocation" tools:targetApi="s" />
+        android:usesPermissionFlags="neverForLocation"
+        tools:targetApi="s" />
+    <uses-permission
+        android:name="android.permission.BLUETOOTH_CONNECT"
+        android:minSdkVersion="31"
+        android:usesPermissionFlags="neverForLocation"
+        tools:targetApi="s" />
 
-    <uses-feature android:name="android.hardware.bluetooth" android:required="true"/>
+    <uses-feature
+        android:name="android.hardware.bluetooth"
+        android:required="true" />
 
     <application
         android:allowBackup="true"
@@ -24,12 +40,12 @@
         android:label="@string/app_name"
         android:roundIcon="@mipmap/ic_launcher_round"
         android:supportsRtl="true"
-        android:theme="@style/Theme.Testblue"
+        android:theme="@style/Theme.Main"
         tools:targetApi="31">
         <activity
             android:name="com.helible.pilot.MainActivity"
             android:exported="true"
-            android:theme="@style/Theme.Testblue">
+            android:theme="@style/Theme.Main">
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
                 <category android:name="android.intent.category.LAUNCHER" />

app/src/main/java/com/helible/pilot/3dengine/src/commonMain/kotlin/Engine.kt

@@ -0,0 +1,70 @@
+import com.curiouscreature.kotlin.math.*
+
+data class Camera(
+    inline var position: Float3 = Float3(),
+    inline var target: Float3 = Float3()
+)
+
+class Mesh(val name: String, val triangles: Array<Mat3>) {
+    var position = Float3()
+    var rotation = Float3()
+}
+
+val cube = Mesh(
+    "Cube", arrayOf(
+
+        // SOUTH
+        Mat3(Float3(-1.0f, -1.0f, -1.0f), Float3(-1.0f, 1.0f, -1.0f), Float3(1.0f, 1.0f, -1.0f)),
+        Mat3(Float3(-1.0f, -1.0f, -1.0f), Float3(1.0f, 1.0f, -1.0f), Float3(1.0f, -1.0f, -1.0f)),
+
+        // EAST
+        Mat3(Float3(1.0f, -1.0f, -1.0f), Float3(1.0f, 1.0f, -1.0f), Float3(1.0f, 1.0f, 1.0f)),
+        Mat3(Float3(1.0f, -1.0f, -1.0f), Float3(1.0f, 1.0f, 1.0f), Float3(1.0f, -1.0f, 1.0f)),
+
+        // NORTH
+        Mat3(Float3(1.0f, -1.0f, 1.0f), Float3(1.0f, 1.0f, 1.0f), Float3(-1.0f, 1.0f, 1.0f)),
+        Mat3(Float3(1.0f, -1.0f, 1.0f), Float3(-1.0f, 1.0f, 1.0f), Float3(-1.0f, -1.0f, 1.0f)),
+
+        // WEST
+        Mat3(Float3(-1.0f, -1.0f, 1.0f), Float3(-1.0f, 1.0f, 1.0f), Float3(-1.0f, 1.0f, -1.0f)),
+        Mat3(Float3(-1.0f, -1.0f, 1.0f), Float3(-1.0f, 1.0f, -1.0f), Float3(-1.0f, -1.0f, -1.0f)),
+
+        // TOP
+        Mat3(Float3(-1.0f, 1.0f, -1.0f), Float3(-1.0f, 1.0f, 1.0f), Float3(1.0f, 1.0f, 1.0f)),
+        Mat3(Float3(-1.0f, 1.0f, -1.0f), Float3(1.0f, 1.0f, 1.0f), Float3(1.0f, 1.0f, -1.0f)),
+
+        // BOTTOM
+        Mat3(Float3(1.0f, -1.0f, 1.0f), Float3(-1.0f, -1.0f, 1.0f), Float3(-1.0f, -1.0f, -1.0f)),
+        Mat3(Float3(1.0f, -1.0f, 1.0f), Float3(-1.0f, -1.0f, -1.0f), Float3(1.0f, -1.0f, -1.0f)),
+    )
+)
+
+fun project(coord: Float3, transMat: Mat4): Float2 {
+    val (x, y, _, _) = transMat * (Float4(coord, 0f))
+    return Float2(x, y)
+}
+
+/**
+ * Project triangle to 2d
+ * this was a shot in the dark, might be a bug here. Looks ok
+ */
+fun Mat3.project(transMat: Mat4): List<Float2> {
+
+    val projected = transMat * Mat4(this.x, this.y, this.z)
+
+    return listOf(
+        Float2(projected[0][0], projected[0][1]),
+        Float2(projected[1][0], projected[1][1]),
+        Float2(projected[2][0], projected[2][1]),
+    )
+}
+
+fun render3d(camera: Camera, mesh: Mesh): List<List<Float2>> {
+
+    val viewMatrix = lookAt(camera.position, camera.target)
+    val projectionMatrix = perspective(0.78f, 1f, 0.01f, 20f)
+    val worldMatrix = rotation(mesh.rotation) * translation(mesh.position)
+    val transformMatrix = projectionMatrix * viewMatrix * worldMatrix
+    return mesh.triangles.map { it.project(transformMatrix) }
+}
+

app/src/main/java/com/helible/pilot/3dengine/src/commonMain/kotlin/com/curiouscreature/kotlin/math/Matrix.kt

@@ -0,0 +1,521 @@
+/*
+ * Copyright (C) 2017 Romain Guy
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *       http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package com.curiouscreature.kotlin.math
+
+import kotlin.math.*
+
+enum class MatrixColumn {
+    X, Y, Z, W
+}
+
+data class Mat2(
+        var x: Float2 = Float2(x = 1.0f),
+        var y: Float2 = Float2(y = 1.0f)) {
+    constructor(m: Mat2) : this(m.x.copy(), m.y.copy())
+
+    companion object {
+        fun of(vararg a: Float): Mat2 {
+            require(a.size >= 4)
+            return Mat2(
+                    Float2(a[0], a[2]),
+                    Float2(a[1], a[3])
+            )
+        }
+
+        fun identity() = Mat2()
+    }
+
+    operator fun get(column: Int) = when(column) {
+        0 -> x
+        1 -> y
+        else -> throw IllegalArgumentException("column must be in 0..1")
+    }
+    operator fun get(column: Int, row: Int) = get(column)[row]
+
+    operator fun get(column: MatrixColumn) = when(column) {
+        MatrixColumn.X -> x
+        MatrixColumn.Y -> y
+        else -> throw IllegalArgumentException("column must be X or Y")
+    }
+    operator fun get(column: MatrixColumn, row: Int) = get(column)[row]
+
+    operator fun invoke(row: Int, column: Int) = get(column - 1)[row - 1]
+    operator fun invoke(row: Int, column: Int, v: Float) = set(column - 1, row - 1, v)
+
+    operator fun set(column: Int, v: Float2) {
+        this[column].xy = v
+    }
+    operator fun set(column: Int, row: Int, v: Float) {
+        this[column][row] = v
+    }
+
+    operator fun unaryMinus() = Mat2(-x, -y)
+    operator fun inc(): Mat2 {
+        x++
+        y++
+        return this
+    }
+    operator fun dec(): Mat2 {
+        x--
+        y--
+        return this
+    }
+
+    operator fun plus(v: Float) = Mat2(x + v, y + v)
+    operator fun minus(v: Float) = Mat2(x - v, y - v)
+    operator fun times(v: Float) = Mat2(x * v, y * v)
+    operator fun div(v: Float) = Mat2(x / v, y / v)
+
+    operator fun times(m: Mat2): Mat2 {
+        val t = transpose(this)
+        return Mat2(
+                Float2(dot(t.x, m.x), dot(t.y, m.x)),
+                Float2(dot(t.x, m.y), dot(t.y, m.y))
+        )
+    }
+
+    operator fun times(v: Float2): Float2 {
+        val t = transpose(this)
+        return Float2(dot(t.x, v), dot(t.y, v))
+    }
+
+    fun toFloatArray() = floatArrayOf(
+            x.x, y.x,
+            x.y, y.y
+    )
+
+    override fun toString(): String {
+        return """
+            |${x.x} ${y.x}|
+            |${x.y} ${y.y}|
+            """.trimIndent()
+    }
+
+}
+
+data class Mat3(
+        var x: Float3 = Float3(x = 1.0f),
+        var y: Float3 = Float3(y = 1.0f),
+        var z: Float3 = Float3(z = 1.0f)) {
+    constructor(m: Mat3) : this(m.x.copy(), m.y.copy(), m.z.copy())
+
+    companion object {
+        fun of(vararg a: Float): Mat3 {
+            require(a.size >= 9)
+            return Mat3(
+                    Float3(a[0], a[3], a[6]),
+                    Float3(a[1], a[4], a[7]),
+                    Float3(a[2], a[5], a[8])
+            )
+        }
+
+        fun identity() = Mat3()
+    }
+
+    operator fun get(column: Int) = when(column) {
+        0 -> x
+        1 -> y
+        2 -> z
+        else -> throw IllegalArgumentException("column must be in 0..2")
+    }
+    operator fun get(column: Int, row: Int) = get(column)[row]
+
+    operator fun get(column: MatrixColumn) = when(column) {
+        MatrixColumn.X -> x
+        MatrixColumn.Y -> y
+        MatrixColumn.Z -> z
+        else -> throw IllegalArgumentException("column must be X, Y or Z")
+    }
+    operator fun get(column: MatrixColumn, row: Int) = get(column)[row]
+
+    operator fun invoke(row: Int, column: Int) = get(column - 1)[row - 1]
+    operator fun invoke(row: Int, column: Int, v: Float) = set(column - 1, row - 1, v)
+
+    operator fun set(column: Int, v: Float3) {
+        this[column].xyz = v
+    }
+    operator fun set(column: Int, row: Int, v: Float) {
+        this[column][row] = v
+    }
+
+    operator fun unaryMinus() = Mat3(-x, -y, -z)
+    operator fun inc(): Mat3 {
+        x++
+        y++
+        z++
+        return this
+    }
+    operator fun dec(): Mat3 {
+        x--
+        y--
+        z--
+        return this
+    }
+
+    operator fun plus(v: Float) = Mat3(x + v, y + v, z + v)
+    operator fun minus(v: Float) = Mat3(x - v, y - v, z - v)
+    operator fun times(v: Float) = Mat3(x * v, y * v, z * v)
+    operator fun div(v: Float) = Mat3(x / v, y / v, z / v)
+
+    operator fun times(m: Mat3): Mat3 {
+        val t = transpose(this)
+        return Mat3(
+                Float3(dot(t.x, m.x), dot(t.y, m.x), dot(t.z, m.x)),
+                Float3(dot(t.x, m.y), dot(t.y, m.y), dot(t.z, m.y)),
+                Float3(dot(t.x, m.z), dot(t.y, m.z), dot(t.z, m.z))
+        )
+    }
+
+    operator fun times(v: Float3): Float3 {
+        val t = transpose(this)
+        return Float3(dot(t.x, v), dot(t.y, v), dot(t.z, v))
+    }
+
+    fun toFloatArray() = floatArrayOf(
+            x.x, y.x, z.x,
+            x.y, y.y, z.y,
+            x.z, y.z, z.z
+    )
+
+    override fun toString(): String {
+        return """
+            |${x.x} ${y.x} ${z.x}|
+            |${x.y} ${y.y} ${z.y}|
+            |${x.z} ${y.z} ${z.z}|
+            """.trimIndent()
+    }
+}
+
+data class Mat4(
+        var x: Float4 = Float4(x = 1.0f),
+        var y: Float4 = Float4(y = 1.0f),
+        var z: Float4 = Float4(z = 1.0f),
+        var w: Float4 = Float4(w = 1.0f)) {
+    constructor(right: Float3, up: Float3, forward: Float3, position: Float3 = Float3()) :
+            this(Float4(right), Float4(up), Float4(forward), Float4(position, 1.0f))
+    constructor(m: Mat4) : this(m.x.copy(), m.y.copy(), m.z.copy(), m.w.copy())
+
+    companion object {
+        fun of(vararg a: Float): Mat4 {
+            require(a.size >= 16)
+            return Mat4(
+                    Float4(a[0], a[4], a[8],  a[12]),
+                    Float4(a[1], a[5], a[9],  a[13]),
+                    Float4(a[2], a[6], a[10], a[14]),
+                    Float4(a[3], a[7], a[11], a[15])
+            )
+        }
+
+        fun identity() = Mat4()
+    }
+
+    inline var right: Float3
+        get() = x.xyz
+        set(value) {
+            x.xyz = value
+        }
+    inline var up: Float3
+        get() = y.xyz
+        set(value) {
+            y.xyz = value
+        }
+    inline var forward: Float3
+        get() = z.xyz
+        set(value) {
+            z.xyz = value
+        }
+    inline var position: Float3
+        get() = w.xyz
+        set(value) {
+            w.xyz = value
+        }
+
+    inline val scale: Float3
+        get() = Float3(length(x.xyz), length(y.xyz), length(z.xyz))
+    inline val translation: Float3
+        get() = w.xyz
+    val rotation: Float3
+        get() {
+            val x = normalize(right)
+            val y = normalize(up)
+            val z = normalize(forward)
+
+            return when {
+                z.y <= -1.0f -> Float3(degrees(-HALF_PI), 0.0f, degrees(atan2( x.z,  y.z)))
+                z.y >=  1.0f -> Float3(degrees( HALF_PI), 0.0f, degrees(atan2(-x.z, -y.z)))
+                else -> Float3(
+                        degrees(-asin(z.y)), degrees(-atan2(z.x, z.z)), degrees(atan2( x.y,  y.y)))
+            }
+        }
+
+    inline val upperLeft: Mat3
+        get() = Mat3(x.xyz, y.xyz, z.xyz)
+
+    operator fun get(column: Int) = when(column) {
+        0 -> x
+        1 -> y
+        2 -> z
+        3 -> w
+        else -> throw IllegalArgumentException("column must be in 0..3")
+    }
+    operator fun get(column: Int, row: Int) = get(column)[row]
+
+    operator fun get(column: MatrixColumn) = when(column) {
+        MatrixColumn.X -> x
+        MatrixColumn.Y -> y
+        MatrixColumn.Z -> z
+        MatrixColumn.W -> w
+    }
+    operator fun get(column: MatrixColumn, row: Int) = get(column)[row]
+
+    operator fun invoke(row: Int, column: Int) = get(column - 1)[row - 1]
+    operator fun invoke(row: Int, column: Int, v: Float) = set(column - 1, row - 1, v)
+
+    operator fun set(column: Int, v: Float4) {
+        this[column].xyzw = v
+    }
+    operator fun set(column: Int, row: Int, v: Float) {
+        this[column][row] = v
+    }
+
+    operator fun unaryMinus() = Mat4(-x, -y, -z, -w)
+    operator fun inc(): Mat4 {
+        x++
+        y++
+        z++
+        w++
+        return this
+    }
+    operator fun dec(): Mat4 {
+        x--
+        y--
+        z--
+        w--
+        return this
+    }
+
+    operator fun plus(v: Float) = Mat4(x + v, y + v, z + v, w + v)
+    operator fun minus(v: Float) = Mat4(x - v, y - v, z - v, w - v)
+    operator fun times(v: Float) = Mat4(x * v, y * v, z * v, w * v)
+    operator fun div(v: Float) = Mat4(x / v, y / v, z / v, w / v)
+
+    operator fun times(m: Mat4): Mat4 {
+        val t = transpose(this)
+        return Mat4(
+                Float4(dot(t.x, m.x), dot(t.y, m.x), dot(t.z, m.x), dot(t.w, m.x)),
+                Float4(dot(t.x, m.y), dot(t.y, m.y), dot(t.z, m.y), dot(t.w, m.y)),
+                Float4(dot(t.x, m.z), dot(t.y, m.z), dot(t.z, m.z), dot(t.w, m.z)),
+                Float4(dot(t.x, m.w), dot(t.y, m.w), dot(t.z, m.w), dot(t.w, m.w))
+        )
+    }
+
+    operator fun times(v: Float4): Float4 {
+        val t = transpose(this)
+        return Float4(dot(t.x, v), dot(t.y, v), dot(t.z, v), dot(t.w, v))
+    }
+
+    fun toFloatArray() = floatArrayOf(
+            x.x, y.x, z.x, w.x,
+            x.y, y.y, z.y, w.y,
+            x.z, y.z, z.z, w.z,
+            x.w, y.w, z.w, w.w
+    )
+
+    override fun toString(): String {
+        return """
+            |${x.x} ${y.x} ${z.x} ${w.x}|
+            |${x.y} ${y.y} ${z.y} ${w.y}|
+            |${x.z} ${y.z} ${z.z} ${w.z}|
+            |${x.w} ${y.w} ${z.w} ${w.w}|
+            """.trimIndent()
+    }
+}
+
+fun transpose(m: Mat2) = Mat2(
+        Float2(m.x.x, m.y.x),
+        Float2(m.x.y, m.y.y)
+)
+
+fun transpose(m: Mat3) = Mat3(
+        Float3(m.x.x, m.y.x, m.z.x),
+        Float3(m.x.y, m.y.y, m.z.y),
+        Float3(m.x.z, m.y.z, m.z.z)
+)
+fun inverse(m: Mat3): Mat3 {
+    val a = m.x.x
+    val b = m.x.y
+    val c = m.x.z
+    val d = m.y.x
+    val e = m.y.y
+    val f = m.y.z
+    val g = m.z.x
+    val h = m.z.y
+    val i = m.z.z
+
+    val A = e * i - f * h
+    val B = f * g - d * i
+    val C = d * h - e * g
+
+    val det = a * A + b * B + c * C
+
+    return Mat3.of(
+            A / det,               B / det,               C / det,
+            (c * h - b * i) / det, (a * i - c * g) / det, (b * g - a * h) / det,
+            (b * f - c * e) / det, (c * d - a * f) / det, (a * e - b * d) / det
+    )
+}
+
+fun transpose(m: Mat4) = Mat4(
+        Float4(m.x.x, m.y.x, m.z.x, m.w.x),
+        Float4(m.x.y, m.y.y, m.z.y, m.w.y),
+        Float4(m.x.z, m.y.z, m.z.z, m.w.z),
+        Float4(m.x.w, m.y.w, m.z.w, m.w.w)
+)
+fun inverse(m: Mat4): Mat4 {
+    val result = Mat4()
+
+    var pair0  = m.z.z * m.w.w
+    var pair1  = m.w.z * m.z.w
+    var pair2  = m.y.z * m.w.w
+    var pair3  = m.w.z * m.y.w
+    var pair4  = m.y.z * m.z.w
+    var pair5  = m.z.z * m.y.w
+    var pair6  = m.x.z * m.w.w
+    var pair7  = m.w.z * m.x.w
+    var pair8  = m.x.z * m.z.w
+    var pair9  = m.z.z * m.x.w
+    var pair10 = m.x.z * m.y.w
+    var pair11 = m.y.z * m.x.w
+
+    result.x.x  = pair0 * m.y.y + pair3 * m.z.y + pair4 * m.w.y
+    result.x.x -= pair1 * m.y.y + pair2 * m.z.y + pair5 * m.w.y
+    result.x.y  = pair1 * m.x.y + pair6 * m.z.y + pair9 * m.w.y
+    result.x.y -= pair0 * m.x.y + pair7 * m.z.y + pair8 * m.w.y
+    result.x.z  = pair2 * m.x.y + pair7 * m.y.y + pair10 * m.w.y
+    result.x.z -= pair3 * m.x.y + pair6 * m.y.y + pair11 * m.w.y
+    result.x.w  = pair5 * m.x.y + pair8 * m.y.y + pair11 * m.z.y
+    result.x.w -= pair4 * m.x.y + pair9 * m.y.y + pair10 * m.z.y
+    result.y.x  = pair1 * m.y.x + pair2 * m.z.x + pair5 * m.w.x
+    result.y.x -= pair0 * m.y.x + pair3 * m.z.x + pair4 * m.w.x
+    result.y.y  = pair0 * m.x.x + pair7 * m.z.x + pair8 * m.w.x
+    result.y.y -= pair1 * m.x.x + pair6 * m.z.x + pair9 * m.w.x
+    result.y.z  = pair3 * m.x.x + pair6 * m.y.x + pair11 * m.w.x
+    result.y.z -= pair2 * m.x.x + pair7 * m.y.x + pair10 * m.w.x
+    result.y.w  = pair4 * m.x.x + pair9 * m.y.x + pair10 * m.z.x
+    result.y.w -= pair5 * m.x.x + pair8 * m.y.x + pair11 * m.z.x
+
+    pair0 = m.z.x * m.w.y
+    pair1 = m.w.x * m.z.y
+    pair2 = m.y.x * m.w.y
+    pair3 = m.w.x * m.y.y
+    pair4 = m.y.x * m.z.y
+    pair5 = m.z.x * m.y.y
+    pair6 = m.x.x * m.w.y
+    pair7 = m.w.x * m.x.y
+    pair8 = m.x.x * m.z.y
+    pair9 = m.z.x * m.x.y
+    pair10 = m.x.x * m.y.y
+    pair11 = m.y.x * m.x.y
+
+    result.z.x  = pair0 * m.y.w + pair3 * m.z.w + pair4 * m.w.w
+    result.z.x -= pair1 * m.y.w + pair2 * m.z.w + pair5 * m.w.w
+    result.z.y  = pair1 * m.x.w + pair6 * m.z.w + pair9 * m.w.w
+    result.z.y -= pair0 * m.x.w + pair7 * m.z.w + pair8 * m.w.w
+    result.z.z  = pair2 * m.x.w + pair7 * m.y.w + pair10 * m.w.w
+    result.z.z -= pair3 * m.x.w + pair6 * m.y.w + pair11 * m.w.w
+    result.z.w  = pair5 * m.x.w + pair8 * m.y.w + pair11 * m.z.w
+    result.z.w -= pair4 * m.x.w + pair9 * m.y.w + pair10 * m.z.w
+    result.w.x  = pair2 * m.z.z + pair5 * m.w.z + pair1 * m.y.z
+    result.w.x -= pair4 * m.w.z + pair0 * m.y.z + pair3 * m.z.z
+    result.w.y  = pair8 * m.w.z + pair0 * m.x.z + pair7 * m.z.z
+    result.w.y -= pair6 * m.z.z + pair9 * m.w.z + pair1 * m.x.z
+    result.w.z  = pair6 * m.y.z + pair11 * m.w.z + pair3 * m.x.z
+    result.w.z -= pair10 * m.w.z + pair2 * m.x.z + pair7 * m.y.z
+    result.w.w  = pair10 * m.z.z + pair4 * m.x.z + pair9 * m.y.z
+    result.w.w -= pair8 * m.y.z + pair11 * m.z.z + pair5 * m.x.z
+
+    val determinant = m.x.x * result.x.x + m.y.x * result.x.y + m.z.x * result.x.z + m.w.x * result.x.w
+
+    return result / determinant
+}
+
+fun scale(s: Float3) = Mat4(Float4(x = s.x), Float4(y = s.y), Float4(z = s.z))
+fun scale(m: Mat4) = scale(m.scale)
+
+fun translation(t: Float3) = Mat4(w = Float4(t, 1.0f))
+fun translation(m: Mat4) = translation(m.translation)
+
+fun rotation(m: Mat4) = Mat4(normalize(m.right), normalize(m.up), normalize(m.forward))
+fun rotation(d: Float3): Mat4 {
+    val r = transform(d, ::radians)
+    val c = transform(r, { x -> cos(x) })
+    val s = transform(r, { x -> sin(x) })
+
+    return Mat4.of(
+             c.y * c.z, -c.x * s.z + s.x * s.y * c.z,  s.x * s.z + c.x * s.y * c.z, 0.0f,
+             c.y * s.z,  c.x * c.z + s.x * s.y * s.z, -s.x * c.z + c.x * s.y * s.z, 0.0f,
+            -s.y      ,  s.x * c.y                  ,  c.x * c.y                  , 0.0f,
+             0.0f     ,  0.0f                       ,  0.0f                       , 1.0f
+    )
+}
+fun rotation(axis: Float3, angle: Float): Mat4 {
+    val x = axis.x
+    val y = axis.y
+    val z = axis.z
+
+    val r = radians(angle)
+    val c = cos(r)
+    val s = sin(r)
+    val d = 1.0f - c
+
+    return Mat4.of(
+            x * x * d + c    , x * y * d - z * s, x * z * d + y * s, 0.0f,
+            y * x * d + z * s, y * y * d + c    , y * z * d - x * s, 0.0f,
+            z * x * d - y * s, z * y * d + x * s, z * z * d + c    , 0.0f,
+            0.0f             , 0.0f             , 0.0f             , 1.0f
+    )
+}
+
+fun normal(m: Mat4) = scale(1.0f / Float3(length2(m.right), length2(m.up), length2(m.forward))) * m
+
+fun lookAt(eye: Float3, target: Float3, up: Float3 = Float3(z = 1.0f)): Mat4 {
+    return lookTowards(eye, target - eye, up)
+}
+
+fun lookTowards(eye: Float3, forward: Float3, up: Float3 = Float3(z = 1.0f)): Mat4 {
+    val f = normalize(forward)
+    val r = normalize(f x up)
+    val u = normalize(r x f)
+    return Mat4(Float4(r), Float4(u), Float4(f), Float4(eye, 1.0f))
+}
+
+fun perspective(fov: Float, ratio: Float, near: Float, far: Float): Mat4 {
+    val t = 1.0f / tan(radians(fov) * 0.5f)
+    val a = (far + near) / (far - near)
+    val b = (2.0f * far * near) / (far - near)
+    val c = t / ratio
+    return Mat4(Float4(x = c), Float4(y = t), Float4(z = a, w = 1.0f), Float4(z = -b))
+}
+
+fun ortho(l: Float, r: Float, b: Float, t: Float, n: Float, f: Float) = Mat4(
+        Float4(x = 2.0f / (r - 1.0f)),
+        Float4(y = 2.0f / (t - b)),
+        Float4(z = -2.0f / (f - n)),
+        Float4(-(r + l) / (r - l), -(t + b) / (t - b), -(f + n) / (f - n), 1.0f)
+)
+
+

app/src/main/java/com/helible/pilot/3dengine/src/commonMain/kotlin/com/curiouscreature/kotlin/math/Ray.kt

@@ -0,0 +1,21 @@
+/*
+ * Copyright (C) 2017 Romain Guy
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *       http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package com.curiouscreature.kotlin.math
+
+data class Ray(var origin: Float3 = Float3(), var direction: Float3)
+
+fun pointAt(r: Ray, t: Float) = r.origin + r.direction * t

app/src/main/java/com/helible/pilot/3dengine/src/commonMain/kotlin/com/curiouscreature/kotlin/math/Scalar.kt

@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2017 Romain Guy
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *       http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+@file:Suppress("NOTHING_TO_INLINE")
+
+package com.curiouscreature.kotlin.math
+
+const val PI          = 3.1415926536f
+const val HALF_PI     = PI * 0.5f
+const val TWO_PI      = PI * 2.0f
+const val FOUR_PI     = PI * 4.0f
+const val INV_PI      = 1.0f / PI
+const val INV_TWO_PI  = INV_PI * 0.5f
+const val INV_FOUR_PI = INV_PI * 0.25f
+
+inline fun clamp(x: Float, min: Float, max: Float)= if (x < min) min else (if (x > max) max else x)
+
+inline fun saturate(x: Float) = clamp(x, 0.0f, 1.0f)
+
+inline fun mix(a: Float, b: Float, x: Float) = a * (1.0f - x) + b * x
+
+inline fun degrees(v: Float) = v * (180.0f * INV_PI)
+
+inline fun radians(v: Float) = v * (PI / 180.0f)
+
+inline fun fract(v: Float) = v % 1
+
+inline fun sqr(v: Float) = v * v
+
+//inline fun pow(x: Float, y: Float) = StrictMath.pow(x.toDouble(), y.toDouble()).toFloat()

app/src/main/java/com/helible/pilot/BluetoothDataTransferService.kt

@@ -1,48 +0,0 @@
-package com.helible.pilot
-
-import android.bluetooth.BluetoothSocket
-import kotlinx.coroutines.Dispatchers
-import kotlinx.coroutines.flow.Flow
-import kotlinx.coroutines.flow.flow
-import kotlinx.coroutines.flow.flowOn
-import kotlinx.coroutines.withContext
-
-import java.io.IOException
-
-class TransferFailedException : IOException("Reading incoming data failed")
-
-class BluetoothDataTransferService(
-    private val socket: BluetoothSocket,
-) {
-    fun listenForIncomingMessages(): Flow<KMessage> {
-        return flow {
-            if (!socket.isConnected)
-                return@flow
-            val buffer = ByteArray(128)
-            while (true) {
-                val byteCount: Int = try {
-                    socket.inputStream.read(buffer)
-                } catch (e: IOException) {
-                    throw TransferFailedException()
-                }
-                emit(
-                    buffer.decodeToString(
-                        endIndex = byteCount
-                    ).toKMessage()
-                )
-            }
-        }.flowOn(Dispatchers.IO)
-    }
-
-    suspend fun sendMessage(bytes: ByteArray): Boolean {
-        return withContext(Dispatchers.IO) {
-            try {
-                socket.outputStream.write(bytes)
-            } catch (e: IOException) {
-                e.printStackTrace()
-                return@withContext false
-            }
-            true
-        }
-    }
-}

app/src/main/java/com/helible/pilot/Kproto.kt

@@ -1,23 +0,0 @@
-package com.helible.pilot
-
-// Todo: add checksum
-// Todo: add arguments names
-
-data class KMessage(
-    val r1: UShort,
-    val r2: UShort,
-    val r3: UShort,
-    val emergStop: Boolean,
-    val alarm: Boolean,
-)
-
-fun KMessage.toByteArray(): ByteArray {
-    return "$$r1;$r2;$r3;$emergStop;$alarm\r\n".encodeToByteArray()
-}
-
-fun String.toKMessage(): KMessage {
-    // TODO: implement
-    return KMessage(
-        0u, 0u, 0u, emergStop = false, alarm = false
-    )
-}

app/src/main/java/com/helible/pilot/MainActivity.kt

@@ -15,27 +15,29 @@ import androidx.lifecycle.viewmodel.compose.viewModel
 import androidx.navigation.compose.NavHost
 import androidx.navigation.compose.composable
 import androidx.navigation.compose.rememberNavController
-import com.helible.pilot.components.scannerScreen.BluetoothScannerScreen
+import com.helible.pilot.components.CalibrationPage
+import com.helible.pilot.components.NotImplementedPage
+import com.helible.pilot.components.RotorsTestPage
+import com.helible.pilot.components.console.ConsolePage
 import com.helible.pilot.components.deviceScreen.DeviceControlScreen
-import com.helible.pilot.viewmodels.AppPreferences
-import com.helible.pilot.viewmodels.SavedPreferencesImpl
 import com.helible.pilot.components.deviceScreen.defaultDeviceActionsList
+import com.helible.pilot.components.PidSettingsPage
+import com.helible.pilot.components.scannerScreen.ScannerScreen
+import com.helible.pilot.dataclasses.DeviceStatus
 import com.helible.pilot.permissions.PermissionsLauncher
 import com.helible.pilot.permissions.PermissionsRequest
 import com.helible.pilot.permissions.RequestHardwareFeatures
 import com.helible.pilot.ui.theme.TestblueTheme
+import com.helible.pilot.viewmodels.AppPreferences
 import com.helible.pilot.viewmodels.BluetoothViewModel
 import com.helible.pilot.viewmodels.BluetoothViewModelFactory
 import com.helible.pilot.viewmodels.PermissionDialogViewModel
 import com.helible.pilot.viewmodels.PreferencesViewModel
+import com.helible.pilot.viewmodels.SavedPreferencesImpl
 
 
 class MainActivity : ComponentActivity() {
-    // TODO: device screen logic
-    // TODO: constrain text size
-    // TODO: add Bluetooth telemetry...
     // TODO: move text strings to resources
-    // TODO: review permissions logic
 
     private val preferences by lazy {
         SavedPreferencesImpl(getSharedPreferences(packageName, MODE_PRIVATE))
@@ -44,6 +46,7 @@ class MainActivity : ComponentActivity() {
         PreferencesViewModel(preferences)
     }
 
+    @ExperimentalStdlibApi
     override fun onCreate(savedInstanceState: Bundle?) {
         super.onCreate(savedInstanceState)
         setContent {
@@ -61,19 +64,12 @@ class MainActivity : ComponentActivity() {
 
             val bluetoothState by bluetoothViewModel.state.collectAsState()
             val selectedDevice by bluetoothViewModel.selectedDevice.collectAsState()
+            val rotorsDuty by bluetoothViewModel.rotorsDuty.collectAsState()
 
             LaunchedEffect(key1 = null) {
                 permissionLauncher.launch()
             }
 
-
-            LaunchedEffect(key1 = bluetoothState) {
-                if (bluetoothState.isConnected) {
-                    Toast.makeText(applicationContext, "Подключение завершено", Toast.LENGTH_SHORT)
-                        .show()
-                }
-            }
-
             val navController = rememberNavController()
 
             LaunchedEffect(key1 = bluetoothState.errorMessage) {
@@ -101,7 +97,7 @@ class MainActivity : ComponentActivity() {
                         startDestination = "device"
                     ) {
                         composable("scanner") {
-                            BluetoothScannerScreen(
+                            ScannerScreen(
                                 bluetoothState = bluetoothState,
                                 selectedDevice = selectedDevice,
                                 startScan = { bluetoothViewModel.startScan() },
@@ -139,34 +135,107 @@ class MainActivity : ComponentActivity() {
                                         device
                                     )
                                 },
-                                disconnectFromDevice = { bluetoothViewModel.disconnectFromDevice() },
+                                disconnectFromDevice = {
+                                    preferencesViewModel.clearPreferences()
+                                    bluetoothViewModel.disconnectFromDevice()
+                                },
                                 deviceActionsList = defaultDeviceActionsList()
                             )
                             if (preferencesViewModel.preferences != null) BackHandler {}
                         }
-                        composable("console")
+                        composable("console/{title}")
-                        {
+                        { _ ->
-
+                            ConsolePage(
+                                startTakeoff = { bluetoothViewModel.startTakeoff() },
+                                startOnboarding = { bluetoothViewModel.startOnboarding() },
+                                stop = { bluetoothViewModel.stopRotors() },
+                                changeStick1Position = {
+                                    _: Int, heightVelocity: Int ->
+                                    bluetoothViewModel.changeHeightStickPosition(heightVelocity)
+                                },
+                                changeStick2Position = {
+                                    x: Int, y: Int ->
+                                    bluetoothViewModel.changePitchStickPosition(y)
+                                    bluetoothViewModel.changeYawStickPosition(x)
+                                },
+                                bluetoothUiState = bluetoothState,
+                                reconnect = {
+                                    val preferences = preferences.getPreferences()
+                                    if(preferences != null) {
+                                        bluetoothViewModel.connectToDevice(
+                                            preferences.deviceAddress
+                                        )
+                                    } else {
+                                        navController.navigate("scanner")
                                     }
-                        composable("codeblocks")
+                                },
-                        {
+                                navigateBack = {
-
+                                    navController.popBackStack()
                                 }
-                        composable("imu_calibration")
+                            )
-                        {
+                            BackHandler {
-
+                                navController.popBackStack()
                             }
-                        composable("motor_test")
-                        {
-
                         }
-                        composable("pid_settings")
+                        composable("codeblocks/{title}")
-                        {
+                        { backStackEntry ->
-
+                            NotImplementedPage(
+                                title = backStackEntry.arguments?.getString("title") ?: "null",
+                                navigateBack = { navController.popBackStack() }
+                            )
                         }
-                        composable("reports")
+                        composable("imu_calibration/{title}")
-                        {
+                        { backStackEntry ->
-
+                            CalibrationPage(
+                                deviceStatus = bluetoothState.deviceState?.status,
+                                startCalibration = { bluetoothViewModel.startImuCalibration() },
+                                title = backStackEntry.arguments?.getString("title") ?: "null",
+                                navigateBack = { navController.popBackStack() }
+                            )
+                        }
+                        composable("motor_test/{title}")
+                        { backStackEntry ->
+                            RotorsTestPage(
+                                title = backStackEntry.arguments?.getString("title") ?: "null",
+                                rotorsDuty = rotorsDuty,
+                                setRotorsDuty = { bluetoothViewModel.setRotorsDuty(it) },
+                                startTelemetrySending = { bluetoothViewModel.startRotorsConfigurationTelemetry() },
+                                stopRotors = { bluetoothViewModel.stopRotors() },
+                                navigateBack = {
+                                    navController.popBackStack()
+                                    bluetoothViewModel.stopRotorsConfigurationTelemetry()
+                                    bluetoothViewModel.stopRotors()
+                                }
+                            )
+                            BackHandler {
+                                navController.popBackStack()
+                                bluetoothViewModel.stopRotorsConfigurationTelemetry()
+                                bluetoothViewModel.stopRotors()
+                            }
+                        }
+                        composable("pid_settings/{title}")
+                        { backStackEntry ->
+                            PidSettingsPage(
+                                title = backStackEntry.arguments?.getString("title") ?: "null",
+                                navigateBack = {
+                                    navController.popBackStack()
+                                    bluetoothViewModel.clearPidSettings()
+                                },
+                                requestPidSettings = { bluetoothViewModel.requestPidSettings() },
+                                setPidSettings = {settings -> bluetoothViewModel.applyPidSettings(settings)},
+                                deviceState = bluetoothState.deviceState
+                            )
+                            BackHandler {
+                                navController.popBackStack()
+                                bluetoothViewModel.clearPidSettings()
+                            }
+                        }
+                        composable("reports/{title}")
+                        { backStackEntry ->
+                            NotImplementedPage(
+                                title = backStackEntry.arguments?.getString("title") ?: "null",
+                                navigateBack = { navController.popBackStack() }
+                            )
                         }
                     }
                 }

app/src/main/java/com/helible/pilot/components/BlankPage.kt

@@ -0,0 +1,59 @@
+package com.helible.pilot.components
+
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.Row
+import androidx.compose.foundation.layout.fillMaxSize
+import androidx.compose.foundation.layout.fillMaxWidth
+import androidx.compose.foundation.layout.padding
+import androidx.compose.material.icons.Icons
+import androidx.compose.material.icons.filled.ArrowBack
+import androidx.compose.material3.Icon
+import androidx.compose.material3.IconButton
+import androidx.compose.material3.MaterialTheme
+import androidx.compose.material3.Surface
+import androidx.compose.material3.Text
+import androidx.compose.runtime.Composable
+import androidx.compose.ui.Alignment
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.text.font.FontWeight
+import androidx.compose.ui.tooling.preview.Preview
+import androidx.compose.ui.unit.dp
+import androidx.compose.ui.unit.sp
+
+@Composable
+fun BlankPage(title: String, navigateBack: () -> Unit, block: @Composable () -> Unit) {
+    Column(modifier = Modifier.fillMaxSize()) {
+        Row(verticalAlignment = Alignment.CenterVertically,
+            modifier = Modifier.fillMaxWidth()
+        ) {
+            IconButton(onClick = { navigateBack() }) {
+                Icon(
+                    Icons.Default.ArrowBack,
+                    tint = MaterialTheme.colorScheme.primary,
+                    contentDescription = null
+                )
+            }
+            Text(
+                text = title,
+                fontSize = 18.sp,
+                fontWeight = FontWeight.ExtraBold,
+                modifier = Modifier.padding(horizontal = 10.dp, vertical = 8.dp)
+            )
+        }
+        block()
+    }
+}
+
+@Preview
+@Composable
+fun BlankPagePreview() {
+    Surface {
+        BlankPage(title = "Blank page", navigateBack = {}) {
+            Column(modifier = Modifier
+                .fillMaxWidth()
+                .padding(5.dp)) {
+                Text(text = "This page in development")
+            }
+        }
+    }
+}

app/src/main/java/com/helible/pilot/components/CalibrationPage.kt

@@ -0,0 +1,85 @@
+package com.helible.pilot.components
+
+import android.content.res.Configuration
+import android.widget.Spinner
+import androidx.compose.foundation.layout.Arrangement
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.fillMaxWidth
+import androidx.compose.foundation.layout.padding
+import androidx.compose.material3.Button
+import androidx.compose.material3.CircularProgressIndicator
+import androidx.compose.material3.FloatingActionButton
+import androidx.compose.material3.Icon
+import androidx.compose.material3.IconButton
+import androidx.compose.material3.MaterialTheme
+import androidx.compose.material3.Surface
+import androidx.compose.material3.Text
+import androidx.compose.runtime.Composable
+import androidx.compose.ui.Alignment
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.platform.LocalContext
+import androidx.compose.ui.res.painterResource
+import androidx.compose.ui.text.style.TextAlign
+import androidx.compose.ui.tooling.preview.Preview
+import androidx.compose.ui.unit.dp
+import com.helible.pilot.R
+import com.helible.pilot.dataclasses.BluetoothUiState
+import com.helible.pilot.dataclasses.ChangedDeviceStatus
+import com.helible.pilot.dataclasses.DeviceState
+import com.helible.pilot.dataclasses.DeviceStatus
+
+@Composable
+fun CalibrationPage(
+    deviceStatus: DeviceStatus?,
+    title: String,
+    startCalibration: () -> Unit,
+    navigateBack: () -> Unit
+) {
+    BlankPage(title = title, navigateBack = navigateBack) {
+        Column(modifier = Modifier.fillMaxWidth(), horizontalAlignment = Alignment.CenterHorizontally) {
+            Text(
+                text = LocalContext.current.getString(R.string.calibration_description),
+                color = MaterialTheme.colorScheme.onSecondaryContainer,
+                textAlign = TextAlign.Center,
+                modifier = Modifier
+                    .fillMaxWidth()
+                    .padding(10.dp)
+            )
+            Button(
+                enabled = deviceStatus != DeviceStatus.IsImuCalibration,
+                onClick = startCalibration,
+                modifier = Modifier.padding(10.dp)
+            ) {
+                if(deviceStatus != DeviceStatus.IsImuCalibration) {
+                    Icon(
+                        painter = painterResource(id = R.drawable.tune),
+                        contentDescription = null,
+                        modifier = Modifier.padding(3.dp)
+                    )
+                    Text(
+                        text = "Начать калибровку"
+                    )
+                } else {
+                    CircularProgressIndicator ()
+                    Text(
+                        text = "Калибровка...",
+                        modifier = Modifier.padding(5.dp)
+                    )
+                }
+            }
+        }
+    }
+}
+
+@Preview(showSystemUi = true)
+@Composable
+fun CalibrationPagePreview() {
+    Surface {
+        CalibrationPage(
+            DeviceStatus.IsImuCalibration,
+            title = "Калибровка гироскопа и акселерометра",
+            startCalibration = {},
+            navigateBack = {}
+        )
+    }
+}

app/src/main/java/com/helible/pilot/components/FeatureRequestDialog.kt

@@ -6,8 +6,8 @@ import androidx.compose.material3.Divider
 import androidx.compose.material3.Text
 import androidx.compose.material3.TextButton
 import androidx.compose.runtime.Composable
-import androidx.compose.runtime.MutableState
 import androidx.compose.ui.Modifier
+import androidx.compose.ui.tooling.preview.Preview
 
 @Composable
 fun RequiredHardwareFeatures(
@@ -36,3 +36,16 @@ fun RequiredHardwareFeatures(
         )
     }
 }
+
+@Preview
+@Composable
+fun RequiredHardwareFeaturesPreview() {
+    RequiredHardwareFeatures(
+        title = "Turn on Bluetooth",
+        description = "App requires Bluetooth turned on to continue",
+        confirmButtonText = "Turn on",
+        featureState = false,
+        requestFeature = {},
+        onDismissRequest = {}
+    )
+}

app/src/main/java/com/helible/pilot/components/NotImplementedPage.kt

@@ -0,0 +1,21 @@
+package com.helible.pilot.components
+
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.fillMaxWidth
+import androidx.compose.foundation.layout.padding
+import androidx.compose.material3.Text
+import androidx.compose.runtime.Composable
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.unit.dp
+import com.helible.pilot.components.BlankPage
+
+@Composable
+fun NotImplementedPage(title: String, navigateBack: () -> Unit) {
+    BlankPage(title = title, navigateBack = navigateBack) {
+        Column(modifier = Modifier
+            .fillMaxWidth()
+            .padding(10.dp)) {
+            Text(text = "Эта страница пока не готова и находится на стадии разработки")
+        }
+    }
+}

app/src/main/java/com/helible/pilot/components/PermissionDialog.kt

@@ -6,13 +6,14 @@ import androidx.compose.foundation.layout.Column
 import androidx.compose.foundation.layout.PaddingValues
 import androidx.compose.foundation.layout.fillMaxWidth
 import androidx.compose.foundation.layout.padding
-import androidx.compose.runtime.Composable
-import androidx.compose.ui.Modifier
 import androidx.compose.material3.AlertDialog
 import androidx.compose.material3.Divider
 import androidx.compose.material3.Text
+import androidx.compose.runtime.Composable
+import androidx.compose.ui.Modifier
 import androidx.compose.ui.text.font.FontWeight
 import androidx.compose.ui.text.style.TextAlign
+import androidx.compose.ui.tooling.preview.Preview
 import androidx.compose.ui.unit.dp
 
 @Composable
@@ -82,6 +83,16 @@ fun PermissionDialog(
     )
 }
 
+@Preview
+@Composable
+fun PermissionDialogPreview() {
+    PermissionDialog(
+        LocationPermissionTextProvider(),
+        false,
+        {}, {}, {}, {}
+    )
+}
+
 interface PermissionTextProvider {
     fun getDescription(isPermanentDeclined: Boolean): String
 }

app/src/main/java/com/helible/pilot/components/PidSettingsPage.kt

@@ -0,0 +1,320 @@
+package com.helible.pilot.components
+
+import android.util.Log
+import androidx.compose.foundation.clickable
+import androidx.compose.foundation.layout.Arrangement
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.Row
+import androidx.compose.foundation.layout.fillMaxWidth
+import androidx.compose.foundation.layout.padding
+import androidx.compose.foundation.layout.width
+import androidx.compose.foundation.text.KeyboardOptions
+import androidx.compose.material.icons.Icons
+import androidx.compose.material.icons.filled.KeyboardArrowDown
+import androidx.compose.material.icons.filled.KeyboardArrowUp
+import androidx.compose.material3.Button
+import androidx.compose.material3.CircularProgressIndicator
+import androidx.compose.material3.DropdownMenu
+import androidx.compose.material3.DropdownMenuItem
+import androidx.compose.material3.ExperimentalMaterial3Api
+import androidx.compose.material3.Icon
+import androidx.compose.material3.MaterialTheme
+import androidx.compose.material3.OutlinedTextField
+import androidx.compose.material3.Text
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.LaunchedEffect
+import androidx.compose.runtime.getValue
+import androidx.compose.runtime.mutableStateOf
+import androidx.compose.runtime.remember
+import androidx.compose.runtime.setValue
+import androidx.compose.ui.Alignment
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.geometry.Size
+import androidx.compose.ui.layout.onGloballyPositioned
+import androidx.compose.ui.platform.LocalContext
+import androidx.compose.ui.platform.LocalDensity
+import androidx.compose.ui.text.input.KeyboardType
+import androidx.compose.ui.text.style.TextAlign
+import androidx.compose.ui.tooling.preview.Preview
+import androidx.compose.ui.unit.dp
+import androidx.compose.ui.unit.toSize
+import com.helible.pilot.R
+import com.helible.pilot.dataclasses.DeviceState
+import com.helible.pilot.dataclasses.DeviceStatus
+import com.helible.pilot.dataclasses.PidParams
+import com.helible.pilot.dataclasses.PidSettings
+
+@OptIn(ExperimentalMaterial3Api::class)
+@Composable
+fun PidSettingsPage(
+    title: String,
+    navigateBack: () -> Unit,
+    requestPidSettings: () -> Unit,
+    setPidSettings: (PidSettings) -> Unit,
+    deviceState: DeviceState?,
+) {
+    BlankPage(title = title, navigateBack = navigateBack) {
+        var pValue by remember { mutableStateOf("") }
+        var iValue by remember { mutableStateOf("") }
+        var dValue by remember { mutableStateOf("") }
+        val dropdownMenuItems =
+            listOf("Контроллер высоты", "Контроллер тангажа", "Контроллер рысканья")
+        var selectedRegulator by remember { mutableStateOf(dropdownMenuItems[0]) }
+
+        LaunchedEffect(null) {
+            requestPidSettings()
+        }
+        LaunchedEffect(deviceState?.pidSettings) {
+            if (deviceState?.pidSettings != null) {
+                val pidSettings = deviceState.pidSettings
+                when (selectedRegulator) {
+                    dropdownMenuItems[0] -> {
+                        pidSettings.heightControllerParams.p.toString().also { pValue = it }
+                        pidSettings.heightControllerParams.i.toString().also { iValue = it }
+                        pidSettings.heightControllerParams.d.toString().also { dValue = it }
+                    }
+
+                    dropdownMenuItems[1] -> {
+                        pidSettings.yawControllerParams.p.toString().also { pValue = it }
+                        pidSettings.yawControllerParams.i.toString().also { iValue = it }
+                        pidSettings.yawControllerParams.d.toString().also { dValue = it }
+                    }
+
+                    dropdownMenuItems[2] -> {
+                        pidSettings.pitchControllerParams.p.toString().also { pValue = it }
+                        pidSettings.pitchControllerParams.i.toString().also { iValue = it }
+                        pidSettings.pitchControllerParams.d.toString().also { dValue = it }
+                    }
+                }
+            }
+        }
+        Column(
+            horizontalAlignment = Alignment.CenterHorizontally,
+            modifier = Modifier
+                .fillMaxWidth()
+        )
+        {
+            if (deviceState?.status != DeviceStatus.Idle) {
+                Text(
+                    text = "Этот раздел доступен только с подключенным заряженным бездействующим устройством.",
+                    textAlign = TextAlign.Center
+                )
+            } else if (deviceState.pidSettings == null) {
+                CircularProgressIndicator(modifier = Modifier.padding(10.dp))
+                Text(text = "Синхронизация...")
+            } else {
+                val pidSettings = deviceState.pidSettings
+
+                Column(modifier = Modifier.padding(horizontal = 10.dp).padding(bottom = 10.dp)) {
+                    Text(
+                        "Рекомендации по настройке ПИД регуляторов",
+                        style = MaterialTheme.typography.titleMedium,
+                        modifier = Modifier
+                            .padding(vertical = 10.dp)
+                    )
+                    Text(
+                        text = LocalContext.current.getString(R.string.p_pid_value_description),
+                        style = MaterialTheme.typography.bodyMedium
+                    )
+                    Text(
+                        text = LocalContext.current.getString(R.string.i_pid_value_description),
+                        style = MaterialTheme.typography.bodyMedium
+                    )
+                    Text(
+                        text = LocalContext.current.getString(R.string.d_pid_value_description),
+                        style = MaterialTheme.typography.bodyMedium
+                    )
+                }
+
+                OutlinedDropdownMenu(
+                    label = "ПИД регулятор",
+                    suggestions = dropdownMenuItems,
+                    onChange = { selected ->
+                        Log.i("BluetoothVM", selected)
+                        when (dropdownMenuItems.indexOf(selected)) {
+                            0 -> {
+                                selectedRegulator = dropdownMenuItems[0]
+                                pidSettings.heightControllerParams.p.toString().also { pValue = it }
+                                pidSettings.heightControllerParams.i.toString().also { iValue = it }
+                                pidSettings.heightControllerParams.d.toString().also { dValue = it }
+                            }
+
+                            1 -> {
+                                selectedRegulator = dropdownMenuItems[1]
+                                pidSettings.yawControllerParams.p.toString().also { pValue = it }
+                                pidSettings.yawControllerParams.i.toString().also { iValue = it }
+                                pidSettings.yawControllerParams.d.toString().also { dValue = it }
+                            }
+
+                            2 -> {
+                                selectedRegulator = dropdownMenuItems[2]
+                                pidSettings.pitchControllerParams.p.toString().also { pValue = it }
+                                pidSettings.pitchControllerParams.i.toString().also { iValue = it }
+                                pidSettings.pitchControllerParams.d.toString().also { dValue = it }
+                            }
+                        }
+                    },
+                    modifier = Modifier.padding(10.dp)
+                )
+
+                Row(
+                    horizontalArrangement = Arrangement.spacedBy(10.dp),
+                    modifier = Modifier.padding(10.dp)
+                ) {
+                    OutlinedTextField(
+                        value = pValue,
+                        onValueChange = { pValue = it },
+                        label = { Text(text = "P") },
+                        keyboardOptions = KeyboardOptions(keyboardType = KeyboardType.Number),
+                        modifier = Modifier.weight(1f)
+                    )
+
+                    OutlinedTextField(
+                        value = iValue,
+                        onValueChange = { iValue = it },
+                        label = { Text(text = "I") },
+                        keyboardOptions = KeyboardOptions(keyboardType = KeyboardType.Number),
+                        modifier = Modifier.weight(1f)
+                    )
+
+                    OutlinedTextField(
+                        value = dValue,
+                        onValueChange = { dValue = it },
+                        label = { Text(text = "D") },
+                        keyboardOptions = KeyboardOptions(keyboardType = KeyboardType.Number),
+                        modifier = Modifier.weight(1f)
+                    )
+
+                }
+                val p = pValue
+                val i = iValue
+                val d = dValue
+                Button(
+                    onClick = {
+                        when (dropdownMenuItems.indexOf(selectedRegulator)) {
+                            0 -> {
+                                val newPidSettings = pidSettings.copy(
+                                    heightControllerParams = PidParams(
+                                        p.toFloat(),
+                                        i.toFloat(),
+                                        d.toFloat()
+                                    )
+                                )
+                                setPidSettings(newPidSettings)
+                            }
+
+                            1 -> {
+                                val newPidSettings = pidSettings.copy(
+                                    yawControllerParams = PidParams(
+                                        p.toFloat(),
+                                        i.toFloat(),
+                                        d.toFloat()
+                                    )
+                                )
+                                setPidSettings(newPidSettings)
+                            }
+
+                            2 -> {
+                                val newPidSettings = pidSettings.copy(
+                                    pitchControllerParams = PidParams(
+                                        p.toFloat(),
+                                        i.toFloat(),
+                                        d.toFloat()
+                                    )
+                                )
+                                setPidSettings(newPidSettings)
+                            }
+                        }
+                    },
+                    enabled = isValidValue(p) && isValidValue(i) && isValidValue(d)
+                ) {
+                    Text(text = "Применить")
+                }
+            }
+        }
+    }
+}
+
+private fun isValidValue(k: String): Boolean {
+    return k.toFloatOrNull() != null && k.toFloat() >= 0f && k.toFloat() <= 15f
+}
+
+@Preview(showBackground = true)
+@Composable
+fun PidSettingsPreview() {
+    PidSettingsPage(
+        title = "Настройки ПИД регуляторов",
+        navigateBack = { },
+        requestPidSettings = { },
+        setPidSettings = {},
+        deviceState = DeviceState(
+            status = DeviceStatus.Idle,
+            pidSettings = PidSettings(
+                PidParams(1f, 1f, 1f),
+                PidParams(1f, 1f, 1f),
+                PidParams(1f, 1f, 1f)
+            )
+        )
+    )
+}
+
+@Preview(showBackground = true)
+@Composable
+fun DropdownDemo() {
+    OutlinedDropdownMenu(label = "", suggestions = listOf("A", "B"), onChange = {})
+}
+
+@OptIn(ExperimentalMaterial3Api::class)
+@Composable
+fun OutlinedDropdownMenu(
+    label: String,
+    suggestions: List<String>,
+    onChange: (String) -> Unit,
+    modifier: Modifier = Modifier,
+) {
+    var expanded by remember { mutableStateOf(false) }
+    var selectedText by remember { mutableStateOf(suggestions.first()) }
+    var textfieldSize by remember { mutableStateOf(Size.Zero) }
+
+    val icon = if (expanded)
+        Icons.Filled.KeyboardArrowUp
+    else
+        Icons.Filled.KeyboardArrowDown
+
+
+    Column(modifier = modifier) {
+        OutlinedTextField(
+            value = selectedText,
+            onValueChange = {
+                selectedText = it
+            },
+            modifier = Modifier
+                .fillMaxWidth()
+                .onGloballyPositioned { coordinates ->
+                    // This value is used to assign to the DropDown the same width
+                    textfieldSize = coordinates.size.toSize()
+                },
+            label = { Text(label) },
+            trailingIcon = {
+                Icon(icon, "contentDescription",
+                    Modifier.clickable { expanded = !expanded })
+            }
+        )
+        DropdownMenu(
+            expanded = expanded,
+            onDismissRequest = { expanded = false },
+            modifier = Modifier
+                .width(with(LocalDensity.current) { textfieldSize.width.toDp() })
+        ) {
+            suggestions.forEach { label ->
+                DropdownMenuItem(onClick = {
+                    selectedText = label
+                    expanded = false
+                    onChange(selectedText)
+                },
+                    text = { Text(label) }
+                )
+            }
+        }
+    }
+}

app/src/main/java/com/helible/pilot/components/RotorsTestPage.kt

@@ -0,0 +1,119 @@
+package com.helible.pilot.components
+
+import androidx.compose.foundation.layout.Arrangement
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.fillMaxWidth
+import androidx.compose.foundation.layout.padding
+import androidx.compose.material3.FloatingActionButton
+import androidx.compose.material3.MaterialTheme
+import androidx.compose.material3.Slider
+import androidx.compose.material3.Text
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.LaunchedEffect
+import androidx.compose.ui.Alignment
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.graphics.Color
+import androidx.compose.ui.text.style.TextAlign
+import androidx.compose.ui.tooling.preview.Preview
+import androidx.compose.ui.unit.dp
+import com.helible.pilot.dataclasses.RotorsDuty
+import com.helible.pilot.ui.theme.TestblueTheme
+
+@Composable
+fun RotorsTestPage(
+    title: String,
+    rotorsDuty: RotorsDuty,
+    setRotorsDuty: (duty: RotorsDuty) -> Unit,
+    startTelemetrySending: () -> Unit,
+    stopRotors: () -> Unit,
+    navigateBack: () -> Unit,
+) {
+    BlankPage(title = title, navigateBack = navigateBack) {
+        Column(
+            modifier = Modifier
+                .fillMaxWidth()
+                .padding(10.dp),
+            horizontalAlignment = Alignment.CenterHorizontally,
+            verticalArrangement = Arrangement.spacedBy(10.dp)
+        ) {
+            LaunchedEffect(null) {
+                startTelemetrySending()
+            }
+            Text(
+                text = "R1",
+                style = MaterialTheme.typography.titleLarge,
+                modifier = Modifier.padding(top = 10.dp)
+            )
+            Slider(
+                value = rotorsDuty.r1.toFloat(),
+                onValueChange = { setRotorsDuty(rotorsDuty.copy(r1 = it.toInt().toShort())) },
+                valueRange = 0f..5000f,
+                steps = 10
+            )
+            Text(
+                text = "При перемещении слайдера вправо ротор 1 должен вращаться против часовой стрелки, если смотреть сверху.",
+                textAlign = TextAlign.Center
+            )
+
+            Text(
+                text = "R2",
+                style = MaterialTheme.typography.titleLarge,
+                modifier = Modifier.padding(top = 10.dp)
+            )
+            Slider(
+                value = rotorsDuty.r2.toFloat(),
+                onValueChange = { setRotorsDuty(rotorsDuty.copy(r2 = it.toInt().toShort())) },
+                valueRange = 0f..5000f,
+                steps = 10
+            )
+            Text(
+                text = "При отклонении слайдера вправо от центра ротор 1 должен вращаться по часовой стрелке, а при отклонении влево - против часовой, если смотреть сверху.",
+                textAlign = TextAlign.Center
+            )
+
+            Text(
+                text = "R3",
+                style = MaterialTheme.typography.titleLarge,
+                modifier = Modifier.padding(top = 10.dp)
+            )
+            Slider(
+                value = rotorsDuty.r3.toFloat(),
+                onValueChange = { setRotorsDuty(rotorsDuty.copy(r3 = it.toInt().toShort())) },
+                valueRange = -5000f..5000f,
+                steps = 10
+            )
+            Text(
+                text = "При перемещении слайдера вправо ротор 1 должен вращаться по часовой стрелке, если смотреть сверху.",
+                textAlign = TextAlign.Center
+            )
+
+            FloatingActionButton(
+                onClick = { stopRotors() },
+                containerColor = Color(245, 47, 7),
+                modifier = Modifier.padding(top = 10.dp)
+            ) {
+                Text(
+                    text = "СТОП",
+                    style = MaterialTheme.typography.headlineLarge,
+                    color = Color.White,
+                    modifier = Modifier.padding(10.dp)
+                )
+            }
+        }
+    }
+}
+
+@Preview(showBackground = true, showSystemUi = true)
+@Composable
+fun RotorsTestPagePreview() {
+    TestblueTheme {
+        RotorsTestPage(
+            title = "Тестирование моторов",
+            rotorsDuty = RotorsDuty(5, 5, 5),
+            setRotorsDuty = { _ -> },
+            startTelemetrySending = {},
+            stopRotors = {},
+            navigateBack = { /*TODO*/ }
+        )
+    }
+}

app/src/main/java/com/helible/pilot/components/World.kt

@@ -0,0 +1,63 @@
+import androidx.compose.animation.core.LinearEasing
+import androidx.compose.animation.core.animateFloat
+import androidx.compose.animation.core.infiniteRepeatable
+import androidx.compose.animation.core.rememberInfiniteTransition
+import androidx.compose.animation.core.tween
+import androidx.compose.foundation.Canvas
+import androidx.compose.foundation.layout.size
+import androidx.compose.material3.Text
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.MutableState
+import androidx.compose.runtime.getValue
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.geometry.Offset
+import androidx.compose.ui.graphics.Color
+import androidx.compose.ui.unit.dp
+import com.curiouscreature.kotlin.math.Float3
+
+
+@Composable
+fun World(mesh: Mesh = cube, drawVertices: MutableState<Boolean>, camerax: MutableState<Float>) {
+    val camera = Camera(
+        position = Float3(20f, 110.1f, 110.0f),
+        target = Float3(0.1f, camerax.value, 1.0f)
+    )
+    Text("Camera: ${camera.target.y}")
+        val animatedProgress by rememberInfiniteTransition().animateFloat(
+        initialValue = 0.01f,
+        targetValue = 360f,
+        animationSpec = infiniteRepeatable(
+            animation = tween(durationMillis = 10000, easing = LinearEasing),
+        ),
+    )
+
+    Canvas(Modifier.size(50.dp, 50.dp)) {
+        mesh.rotation = Float3(animatedProgress + 90, animatedProgress + 180, 0.01f)
+        camera.target.y += 0.1f
+        camera.target.x += 0.1f
+        camera.target.z -= 0.1f
+        val lines = render3d(camera, mesh)
+        lines.forEach { (one, two, three) ->
+            if (drawVertices.value) {
+                drawCircle(color = Color.Cyan, radius = 5f, center = Offset(one.x, one.y))
+                drawCircle(color = Color.Cyan, radius = 5f, center = Offset(two.x, two.y))
+                drawCircle(color = Color.Cyan, radius = 5f, center = Offset(three.x, three.y))
+            }
+            drawLine(
+                color = Color.Red,
+                start = Offset(one.x, one.y),
+                end = Offset(two.x, two.y)
+            )
+            drawLine(
+                color = Color.Red,
+                start = Offset(two.x, two.y),
+                end = Offset(three.x, three.y)
+            )
+            drawLine(
+                color = Color.Red,
+                start = Offset(three.x, three.y),
+                end = Offset(one.x, one.y)
+            )
+        }
+    }
+}

app/src/main/java/com/helible/pilot/components/console/ConsoleScreen.kt

@@ -0,0 +1,238 @@
+package com.helible.pilot.components.console
+
+import android.app.Activity
+import android.content.Context
+import android.content.ContextWrapper
+import android.content.pm.ActivityInfo
+import android.util.Log
+import androidx.compose.foundation.layout.Arrangement
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.Row
+import androidx.compose.foundation.layout.fillMaxSize
+import androidx.compose.foundation.layout.fillMaxWidth
+import androidx.compose.foundation.layout.padding
+import androidx.compose.material.icons.Icons
+import androidx.compose.material.icons.filled.ExitToApp
+import androidx.compose.material.icons.filled.KeyboardArrowDown
+import androidx.compose.material.icons.filled.KeyboardArrowUp
+import androidx.compose.material.icons.filled.Refresh
+import androidx.compose.material.icons.filled.Warning
+import androidx.compose.material3.Button
+import androidx.compose.material3.ButtonDefaults
+import androidx.compose.material3.CircularProgressIndicator
+import androidx.compose.material3.Icon
+import androidx.compose.material3.Text
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.DisposableEffect
+import androidx.compose.runtime.LaunchedEffect
+import androidx.compose.ui.Alignment
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.graphics.Color
+import androidx.compose.ui.platform.LocalContext
+import androidx.compose.ui.tooling.preview.Preview
+import androidx.compose.ui.unit.dp
+import com.helible.pilot.R
+import com.helible.pilot.dataclasses.BluetoothUiState
+import com.helible.pilot.dataclasses.DeviceStatus
+import com.manalkaff.jetstick.JoyStick
+
+@Composable
+fun ConsolePage(
+    startTakeoff: () -> Unit,
+    startOnboarding: () -> Unit,
+    stop: () -> Unit,
+    reconnect: () -> Unit,
+    changeStick1Position: (x: Int, y: Int) -> Unit,
+    changeStick2Position: (x: Int, y: Int) -> Unit,
+    bluetoothUiState: BluetoothUiState,
+    navigateBack: () -> Unit,
+) {
+    val deviceState = bluetoothUiState.deviceState
+    LockScreenOrientation(orientation = ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE)
+    LaunchedEffect(key1 = null) {
+        Log.i("Console", "state: ${bluetoothUiState.deviceState}, isConnected: ${bluetoothUiState.isConnected}")
+    }
+    Column {
+        Row(
+            modifier = Modifier.fillMaxWidth(),
+            horizontalArrangement = Arrangement.Center,
+        ) {
+            if (bluetoothUiState.isConnected && deviceState != null) {
+                Text("Высота полёта: ${deviceState.flightHeight / 100} м; ")
+                Text("Рыскание: ${deviceState.yaw}°; ")
+                Text("Тангаж: ${deviceState.pitch}°; ")
+                Text("Крен: ${deviceState.roll}°; ")
+            }
+        }
+        Row(
+            modifier = Modifier
+                .fillMaxSize()
+                .padding(20.dp),
+            verticalAlignment = Alignment.CenterVertically,
+            horizontalArrangement = Arrangement.SpaceBetween
+        ) {
+
+            JoyStick(
+                size = 200.dp,
+                dotSize = 80.dp,
+                backgroundImage = R.drawable.stick_background,
+                dotImage = R.drawable.stick_dot,
+                modifier = Modifier.padding(30.dp)
+            ) { x: Float, y: Float ->
+                changeStick1Position(x.toInt(), y.toInt())
+                Log.d("JoyStick", "$x, $y")
+            }
+
+            Column(
+                verticalArrangement = Arrangement.spacedBy(10.dp),
+                horizontalAlignment = Alignment.CenterHorizontally
+            ) {
+                if (bluetoothUiState.isConnected && deviceState != null) {
+                    Row(verticalAlignment = Alignment.CenterVertically) {
+                        if (deviceState.status == DeviceStatus.IsPreparingForTakeoff) {
+                            CircularProgressIndicator(modifier = Modifier.padding(7.dp))
+                        }
+                        Text(text = describeStatus(deviceState.status))
+                    }
+                    Text(text = "Заряд батареи: ${deviceState.batteryCharge}%")
+                } else {
+                    Text(text = "Нет соединения с устройством")
+                }
+
+                if (bluetoothUiState.isConnecting) {
+                    Row(
+                        verticalAlignment = Alignment.CenterVertically,
+                    ) {
+                        CircularProgressIndicator(modifier = Modifier.padding(5.dp))
+                        Text(text = "Подключение...")
+                    }
+                } else if (bluetoothUiState.isConnected) {
+                    Button(
+                        onClick = startTakeoff,
+                        enabled = deviceState?.status == DeviceStatus.Idle
+                    ) {
+                        Row(verticalAlignment = Alignment.CenterVertically) {
+                            Icon(Icons.Default.KeyboardArrowUp, contentDescription = null)
+                            Text(text = "Взлёт")
+                        }
+                    }
+                    Button(onClick = stop, colors = ButtonDefaults.buttonColors(Color.Red)) {
+                        Row(verticalAlignment = Alignment.CenterVertically) {
+                            Icon(Icons.Default.Warning, contentDescription = null)
+                            Text(text = "СТОП")
+                        }
+                    }
+                    Button(
+                        onClick = startOnboarding,
+                        enabled = deviceState?.status in listOf(
+                            DeviceStatus.IsFlying, DeviceStatus.IsPreparingForTakeoff
+                        )
+                    ) {
+                        Row(verticalAlignment = Alignment.CenterVertically) {
+                            Icon(Icons.Default.KeyboardArrowDown, contentDescription = null)
+                            Text(text = "Посадка")
+                        }
+                    }
+                } else {
+                    Button(onClick = reconnect) {
+                        Row(
+                            verticalAlignment = Alignment.CenterVertically,
+                        ) {
+                            Icon(Icons.Default.Refresh, contentDescription = null)
+                            Text(text = "Попробовать ещё раз")
+                        }
+                    }
+                }
+
+                if(!bluetoothUiState.isEnabled || deviceState?.status in listOf(DeviceStatus.ChargeRequired, DeviceStatus.Idle, null)) {
+                    Button(
+                        onClick = navigateBack
+                    ) {
+                        Row(
+                            verticalAlignment = Alignment.CenterVertically,
+                        ) {
+                            Icon(Icons.Default.ExitToApp, contentDescription = null)
+                            Text(text = "Выход")
+                        }
+                    }
+                }
+            }
+
+            JoyStick(
+                size = 200.dp,
+                dotSize = 80.dp,
+                backgroundImage = R.drawable.stick_background,
+                dotImage = R.drawable.stick_dot,
+            ) { x: Float, y: Float ->
+                changeStick2Position(x.toInt(), y.toInt())
+                Log.d("JoyStick", "$x, $y")
+            }
+        }
+    }
+}
+
+@Composable
+fun LockScreenOrientation(orientation: Int) {
+    val context = LocalContext.current
+    DisposableEffect(orientation) {
+        val activity = context.findActivity() ?: return@DisposableEffect onDispose {}
+        val originalOrientation = activity.requestedOrientation
+        activity.requestedOrientation = orientation
+        onDispose {
+            // restore original orientation when view disappears
+            activity.requestedOrientation = originalOrientation
+        }
+    }
+}
+
+fun Context.findActivity(): Activity? = when (this) {
+    is Activity -> this
+    is ContextWrapper -> baseContext.findActivity()
+    else -> null
+}
+
+fun describeStatus(deviceState: DeviceStatus): String {
+    return when (deviceState) {
+        DeviceStatus.Idle -> {
+            "Устройство заряжено, бездействует"
+        }
+
+        DeviceStatus.IsFlying -> {
+            "В полёте"
+        }
+
+        DeviceStatus.ChargeRequired -> {
+            "Устройство разряжено. Дальнейшие полёты невозможны"
+        }
+
+        DeviceStatus.IsImuCalibration -> {
+            "Калибровка гироскопа и акселерометра. Пожалуйста, не двигайте устройство."
+        }
+
+        DeviceStatus.IsPreparingForTakeoff -> {
+            "Подготовка ко взлёту..."
+        }
+
+        DeviceStatus.IsBoarding -> {
+            "Посадка"
+        }
+    }
+}
+
+@Preview(showBackground = true, device = "spec:parent=pixel_5,orientation=landscape")
+@Composable
+fun ConsolePreview() {
+    ConsolePage(
+        startTakeoff = {},
+        startOnboarding = {},
+        stop = {},
+        changeStick1Position = { _: Int, _: Int -> },
+        changeStick2Position = { _: Int, _: Int -> },
+        bluetoothUiState = BluetoothUiState().copy(
+            isConnected = false,
+            deviceState = null
+        ),
+        reconnect = {},
+        navigateBack = {}
+    )
+}

app/src/main/java/com/helible/pilot/components/deviceScreen/DeviceBadge.kt

@@ -19,6 +19,7 @@ import androidx.compose.material3.Text
 import androidx.compose.runtime.Composable
 import androidx.compose.ui.Alignment
 import androidx.compose.ui.Modifier
+import androidx.compose.ui.graphics.Color
 import androidx.compose.ui.graphics.graphicsLayer
 import androidx.compose.ui.res.painterResource
 import androidx.compose.ui.text.font.FontWeight
@@ -26,13 +27,15 @@ import androidx.compose.ui.tooling.preview.Preview
 import androidx.compose.ui.unit.dp
 import com.helible.pilot.R
 import com.helible.pilot.dataclasses.BluetoothUiState
+import com.helible.pilot.dataclasses.DeviceState
+import com.helible.pilot.dataclasses.DeviceStatus
 import com.helible.pilot.viewmodels.AppPreferences
 
 @Composable
 fun DeviceBadge(
     bluetoothUiState: BluetoothUiState,
     tryToReconnect: () -> Unit,
-    getPreferences: () -> AppPreferences?
+    getPreferences: () -> AppPreferences?,
 ) {
     ElevatedCard(
         modifier = Modifier
@@ -65,7 +68,19 @@ fun DeviceBadge(
                     fontWeight = FontWeight.Bold
                 )
                 DeviceConnectionStatus(bluetoothUiState)
-                Text(text = "Заряд батареи: 79%")
+                if(bluetoothUiState.isConnected) {
+                    val deviceStatus = bluetoothUiState.deviceState?.status
+                    if (deviceStatus != null) {
+                        Text(text = "Заряд батареи: ${bluetoothUiState.deviceState.batteryCharge}%")
+                        if (deviceStatus == DeviceStatus.ChargeRequired) {
+                            Text(text = "Аккумулятор разряжен", color = Color.Red)
+                        } else {
+                            Text(text = deviceStatus.description())
+                        }
+                    } else {
+                        Text(text = "Ожиданием рукопожатия...")
+                    }
+                }
             }
             Box(
                 contentAlignment = Alignment.CenterEnd,
@@ -89,8 +104,15 @@ fun DeviceBadge(
 @Composable
 fun DeviceBadgePreview() {
     DeviceBadge(
-        bluetoothUiState = BluetoothUiState(isConnected = true),
+        bluetoothUiState = BluetoothUiState(
+            isConnected = false,
+            isConnecting = true,
+            deviceState = DeviceState(
+                status = DeviceStatus.Idle,
+                batteryCharge = 50,
+            )
+        ),
         tryToReconnect = {},
-        getPreferences = {AppPreferences("Helicopter", "AA:BB:CC:FF:DD")}
+        getPreferences = { AppPreferences("Helicopter", "AA:BB:CC:FF:DD") }
     )
 }

app/src/main/java/com/helible/pilot/components/deviceScreen/DeviceConnectionStatus.kt

@@ -30,9 +30,8 @@ fun DeviceConnectionStatus(bluetoothState: BluetoothUiState) {
                     .requiredSize(Icons.Default.CheckCircle.defaultWidth)
                     .padding(2.dp)
             )
-            Text ("На связи")
+            Text("На связи")
-        }
+        } else if (bluetoothState.errorMessage != null) {
-        else if (bluetoothState.errorMessage != null) {
             Icon(
                 painter = painterResource(id = R.drawable.cancel),
                 contentDescription = null,
@@ -41,9 +40,8 @@ fun DeviceConnectionStatus(bluetoothState: BluetoothUiState) {
                     .requiredSize(R.drawable.cancel.dp)
                     .padding(2.dp)
             )
-            Text ("Ошибка: ${bluetoothState.errorMessage}")
+            Text("Ошибка: ${bluetoothState.errorMessage}")
-        }
+        } else if (bluetoothState.isConnecting) {
-        else if (bluetoothState.isConnecting) {
             Icon(
                 painter = painterResource(id = R.drawable.sync),
                 contentDescription = null,
@@ -52,7 +50,9 @@ fun DeviceConnectionStatus(bluetoothState: BluetoothUiState) {
                     .requiredSize(R.drawable.sync.dp)
                     .padding(2.dp)
             )
-            Text ("Подключение...")
+            Text("Подключение...")
+        } else {
+            Text("Попытка подключения не удалась.")
         }
     }
 }

app/src/main/java/com/helible/pilot/components/deviceScreen/DeviceControlScreen.kt

@@ -1,20 +1,12 @@
 package com.helible.pilot.components.deviceScreen
 
-import androidx.compose.foundation.Image
+import androidx.compose.foundation.layout.Arrangement
-import androidx.compose.foundation.background
-import androidx.compose.foundation.clickable
-import androidx.compose.foundation.layout.Box
 import androidx.compose.foundation.layout.Column
 import androidx.compose.foundation.layout.Row
 import androidx.compose.foundation.layout.fillMaxSize
 import androidx.compose.foundation.layout.fillMaxWidth
 import androidx.compose.foundation.layout.padding
-import androidx.compose.foundation.layout.requiredSize
 import androidx.compose.foundation.layout.size
-import androidx.compose.foundation.shape.RoundedCornerShape
-import androidx.compose.material.icons.Icons
-import androidx.compose.material.icons.filled.Refresh
-import androidx.compose.material3.ElevatedCard
 import androidx.compose.material3.Icon
 import androidx.compose.material3.MaterialTheme
 import androidx.compose.material3.Surface
@@ -25,13 +17,12 @@ import androidx.compose.runtime.LaunchedEffect
 import androidx.compose.ui.Alignment
 import androidx.compose.ui.Modifier
 import androidx.compose.ui.graphics.Color
-import androidx.compose.ui.graphics.graphicsLayer
 import androidx.compose.ui.res.painterResource
 import androidx.compose.ui.text.font.FontWeight
 import androidx.compose.ui.tooling.preview.Preview
 import androidx.compose.ui.unit.dp
 import com.helible.pilot.R
-import com.helible.pilot.components.Title
+import com.helible.pilot.components.scannerScreen.Title
 import com.helible.pilot.dataclasses.BluetoothUiState
 import com.helible.pilot.viewmodels.AppPreferences
 
@@ -46,7 +37,7 @@ fun DeviceControlScreen(
     scannerPageName: String = "scanner",
 ) {
     LaunchedEffect(Unit) {
-        val preferences: AppPreferences? = getPreferences()
+        val preferences = getPreferences()
         if (preferences == null) {
             navigateToPage(scannerPageName)
         } else {
@@ -57,14 +48,14 @@ fun DeviceControlScreen(
     LaunchedEffect(key1 = bluetoothUiState.isEnabled) {
         /* Trying to reconnect, when bluetooth is turned on */
         val preferences = getPreferences()
-        if(preferences != null && bluetoothUiState.isEnabled)
+        if (preferences != null && bluetoothUiState.isEnabled)
             connectToDevice(preferences.deviceAddress)
     }
 
     LaunchedEffect(key1 = bluetoothUiState.isLocationEnabled) {
         /* Trying to reconnect, when location is turned on */
         val preferences = getPreferences()
-        if(preferences != null && bluetoothUiState.isLocationEnabled)
+        if (preferences != null && bluetoothUiState.isLocationEnabled)
             connectToDevice(preferences.deviceAddress)
     }
 
@@ -82,7 +73,7 @@ fun DeviceControlScreen(
             tryToReconnect = {
                 /* Trying to reconnect, when error occurred */
                 val preferences = getPreferences()
-                if(preferences != null)
+                if (preferences != null)
                     connectToDevice(preferences.deviceAddress)
             },
             getPreferences = getPreferences
@@ -90,13 +81,21 @@ fun DeviceControlScreen(
 
         Column(modifier = Modifier.padding(horizontal = 3.dp)) {
             for (section in deviceActionsList) {
-                Text(section.key,
+                Text(
+                    section.key,
                     color = Color.Gray,
                     fontWeight = FontWeight.Light,
                     modifier = Modifier.padding(vertical = 15.dp, horizontal = 10.dp)
                 )
                 for (action in section.value) {
-                    TextButton(onClick = { /* TODO */}) {
+                    TextButton(
+                        onClick = { navigateToPage(action.first + '/' + action.second.second) },
+                        modifier = Modifier.fillMaxWidth()
+                    ) {
+                        Row(modifier = Modifier.fillMaxWidth(),
+                            horizontalArrangement = Arrangement.spacedBy(5.dp),
+                            verticalAlignment = Alignment.CenterVertically
+                        ) {
                             Icon(
                                 painter = painterResource(id = action.second.first.first),
                                 tint = action.second.first.second,
@@ -105,12 +104,12 @@ fun DeviceControlScreen(
                             )
                             Text(
                                 text = action.second.second,
-                            color = MaterialTheme.colorScheme.inverseSurface,
+                                color = MaterialTheme.colorScheme.inverseSurface
-                            modifier = Modifier.padding(horizontal = 5.dp)
                             )
                         }
                     }
                 }
+            }
 
             TextButton(onClick = {
                 disconnectFromDevice()

app/src/main/java/com/helible/pilot/components/scannerScreen/DeviceItem.kt

@@ -7,7 +7,6 @@ import androidx.compose.foundation.layout.Box
 import androidx.compose.foundation.layout.Column
 import androidx.compose.foundation.layout.Row
 import androidx.compose.foundation.layout.fillMaxHeight
-import androidx.compose.foundation.layout.fillMaxSize
 import androidx.compose.foundation.layout.padding
 import androidx.compose.foundation.layout.size
 import androidx.compose.material3.CardDefaults
@@ -22,8 +21,9 @@ import androidx.compose.ui.res.painterResource
 import androidx.compose.ui.text.font.FontWeight
 import androidx.compose.ui.tooling.preview.Preview
 import androidx.compose.ui.unit.dp
-import com.helible.pilot.dataclasses.BluetoothDevice
 import com.helible.pilot.R
+import com.helible.pilot.dataclasses.BluetoothDevice
+
 
 @SuppressLint("MissingPermission")
 @Composable
@@ -44,7 +44,12 @@ fun DeviceItem(
         )
     ) {
         Row(modifier = Modifier.padding(8.dp)) {
-            Column(verticalArrangement = Arrangement.Center, modifier = Modifier.fillMaxHeight()) {
+            Column(
+                verticalArrangement = Arrangement.Center,
+                modifier = Modifier
+                    .fillMaxHeight()
+                    .weight(1f, true)
+            ) {
                 Text(
                     text = deviceInfo.name,
                     fontWeight = FontWeight.Bold,
@@ -56,9 +61,10 @@ fun DeviceItem(
                 )
             }
             if (deviceInfo.isScanned) {
-                Box(contentAlignment = Alignment.CenterEnd, modifier = Modifier.fillMaxSize()) {
+                val icon = getSignalIconForRssiValue(deviceInfo.rssi)
+                Box(contentAlignment = Alignment.CenterEnd, modifier = Modifier.weight(0.3f)) {
                     Icon(
-                        painterResource(id = getSignalIconForRssiValue(deviceInfo.rssi)),
+                        painterResource(id = icon),
                         contentDescription = null,
                         modifier = Modifier
                             .fillMaxHeight()
@@ -84,7 +90,7 @@ fun DeviceItemPreview() {
     DeviceItem(
         BluetoothDevice("Helicopter", "AA:BB:CC:DD:FF", -90, true),
         null,
-        {_ ->  },
+        { _ -> },
         modifier = Modifier.size(500.dp, 60.dp)
     )
 }

app/src/main/java/com/helible/pilot/components/scannerScreen/DiscoveredDevicesList.kt

@@ -7,16 +7,17 @@ import androidx.compose.foundation.layout.padding
 import androidx.compose.foundation.lazy.LazyColumn
 import androidx.compose.foundation.lazy.items
 import androidx.compose.material3.CircularProgressIndicator
+import androidx.compose.material3.Surface
 import androidx.compose.material3.Text
 import androidx.compose.runtime.Composable
 import androidx.compose.ui.Alignment
 import androidx.compose.ui.Modifier
 import androidx.compose.ui.text.font.FontWeight
 import androidx.compose.ui.text.style.TextAlign
+import androidx.compose.ui.tooling.preview.Preview
 import androidx.compose.ui.unit.dp
-import com.helible.pilot.components.scannerScreen.DeviceItem
-import com.helible.pilot.dataclasses.BluetoothUiState
 import com.helible.pilot.dataclasses.BluetoothDevice
+import com.helible.pilot.dataclasses.BluetoothUiState
 
 @Composable
 fun DiscoveredDevicesList(
@@ -102,3 +103,26 @@ fun DiscoveredDevicesList(
         }
     }
 }
+
+@Preview
+@Composable
+fun DiscoveredDevicesListPreview() {
+    val state = BluetoothUiState(
+        pairedBluetoothDevices = listOf(
+            BluetoothDevice("My car", "AA:BB:CC:DD:FF", -70, false),
+            BluetoothDevice("Speaker", "AA:BB:CC:DD:FF", -20, false),
+            BluetoothDevice("My TV", "AA:BB:CC:DD:FF", 10, false),
+            BluetoothDevice("My phone", "AA:BB:CC:DD:FF", -50, false),
+            BluetoothDevice("Mi Band 6", "AA:BB:CC:DD:FF", -100, false),
+        ),
+        scannedBluetoothDevices = listOf(
+            BluetoothDevice("Watch", "AA:BB:CC:DD:FF", -10, true),
+            BluetoothDevice("Mi Cleaner", "AA:BB:CC:DD:FF", -90, true),
+            BluetoothDevice("My fridge", "AA:BB:CC:DD:FF", -100, true),
+            BluetoothDevice("Unknown device", "AA:BB:CC:DD:FF", -130, true)
+        )
+    )
+    Surface {
+        DiscoveredDevicesList(bluetoothState = state, selectedDevice = null, choiceDevice = {})
+    }
+}

app/src/main/java/com/helible/pilot/components/scannerScreen/ScannerScreen.kt

@@ -18,17 +18,17 @@ import androidx.compose.material3.Text
 import androidx.compose.runtime.Composable
 import androidx.compose.ui.Alignment
 import androidx.compose.ui.Modifier
+import androidx.compose.ui.tooling.preview.Preview
 import androidx.compose.ui.unit.dp
 import androidx.constraintlayout.compose.ConstraintLayout
 import androidx.constraintlayout.compose.Dimension
-import com.helible.pilot.components.Title
-import com.helible.pilot.dataclasses.BluetoothUiState
 import com.helible.pilot.dataclasses.BluetoothDevice
+import com.helible.pilot.dataclasses.BluetoothUiState
 
 
 @SuppressLint("MissingPermission")
 @Composable
-fun BluetoothScannerScreen(
+fun ScannerScreen(
     bluetoothState: BluetoothUiState,
     selectedDevice: BluetoothDevice?,
     startScan: () -> Unit,
@@ -107,3 +107,32 @@ fun BluetoothScannerScreen(
         }
     }
 }
+
+@Preview
+@Composable
+fun ScannerScreenPreview() {
+    val state = BluetoothUiState(
+        pairedBluetoothDevices = listOf(
+            BluetoothDevice("My car", "AA:BB:CC:DD:FF", -70, false),
+            BluetoothDevice("Speaker", "AA:BB:CC:DD:FF", -20, false),
+            BluetoothDevice("My TV", "AA:BB:CC:DD:FF", 10, false),
+            BluetoothDevice("My phone", "AA:BB:CC:DD:FF", -50, false),
+            BluetoothDevice("Mi Band 6", "AA:BB:CC:DD:FF", -100, false),
+        ),
+        scannedBluetoothDevices = listOf(
+            BluetoothDevice("Watch", "AA:BB:CC:DD:FF", -10, true),
+            BluetoothDevice("Mi Cleaner", "AA:BB:CC:DD:FF", -90, true),
+            BluetoothDevice("My fridge", "AA:BB:CC:DD:FF", -100, true),
+            BluetoothDevice("Unknown device", "AA:BB:CC:DD:FF", -130, true)
+        )
+    )
+    Surface {
+        ScannerScreen(
+            state,
+            state.scannedBluetoothDevices[1],
+            {}, {},
+            { _ -> },
+            {},
+        )
+    }
+}

app/src/main/java/com/helible/pilot/components/scannerScreen/Title.kt

@@ -1,19 +1,24 @@
-package com.helible.pilot.components
+package com.helible.pilot.components.scannerScreen
 
 import androidx.compose.material3.Text
 import androidx.compose.runtime.Composable
 import androidx.compose.ui.Modifier
 import androidx.compose.ui.text.font.FontWeight
 import androidx.compose.ui.text.style.TextAlign
+import androidx.compose.ui.unit.TextUnit
 import androidx.compose.ui.unit.sp
 
 @Composable
-fun Title(text: String, modifier: Modifier = Modifier) {
+fun Title(
+    text: String,
+    modifier: Modifier = Modifier,
+    fontSize: TextUnit = 23.sp,
+) {
     Text(
         text = text,
         textAlign = TextAlign.Center,
         modifier = modifier,
-        fontSize = 23.sp,
+        fontSize = fontSize,
         fontWeight = FontWeight.ExtraBold
     )
 }

app/src/main/java/com/helible/pilot/controllers/BluetoothController.kt

@@ -14,9 +14,9 @@ import android.os.Build
 import android.util.Log
 import android.widget.Toast
 import androidx.activity.ComponentActivity
-import com.helible.pilot.BluetoothDataTransferService
+import com.helible.pilot.viewmodels.BluetoothDataTransferService
 import com.helible.pilot.dataclasses.BluetoothDeviceDomain
-import com.helible.pilot.KMessage
+import com.helible.pilot.dataclasses.GeneralMessage
 import com.helible.pilot.receivers.BluetoothAdapterStateReceiver
 import com.helible.pilot.receivers.BluetoothStateReceiver
 import kotlinx.coroutines.CoroutineScope
@@ -40,7 +40,7 @@ import java.util.UUID
 
 sealed interface ConnectionResult {
     object ConnectionEstablished : ConnectionResult
-    data class TransferSucceded(val message: KMessage) : ConnectionResult
+    data class TransferSucceded(val message: GeneralMessage) : ConnectionResult
     data class Error(val message: String) : ConnectionResult
 }
 
@@ -61,6 +61,7 @@ interface BluetoothController {
     fun onDestroy()
 }
 
+@ExperimentalStdlibApi
 class AndroidBluetoothController(private val context: Context) : BluetoothController {
 
     private val bluetoothManager by lazy {
@@ -219,6 +220,7 @@ class AndroidBluetoothController(private val context: Context) : BluetoothContro
             return flow {}
         }
         return flow {
+            Log.i("BluetoothController", "Connecting to device...")
             currentClientSocket =
                 bluetoothAdapter.getRemoteDevice(device).createRfcommSocketToServiceRecord(
                     UUID.fromString(SERVICE_UUID)
@@ -227,19 +229,26 @@ class AndroidBluetoothController(private val context: Context) : BluetoothContro
                 try {
                     socket.connect()
                     emit(ConnectionResult.ConnectionEstablished)
-                    BluetoothDataTransferService(socket).also { it ->
+                    BluetoothDataTransferService(socket).also {
                         dataTransferService = it
                         emitAll(
                             it.listenForIncomingMessages()
-                                .map { ConnectionResult.TransferSucceded(it) }
+                                .map { deviceState ->
+                                    ConnectionResult.TransferSucceded(deviceState)
+                                }
                         )
                     }
                 } catch (e: IOException) {
-                    closeConnection()
+                    socket.close()
+                    currentClientSocket = null
+                    Log.e("BluetoothController", "I/O exception: ${e.message}")
                     emit(ConnectionResult.Error("Connection was interrupted"))
                 }
             }
-        }.onCompletion { closeConnection() }.flowOn(Dispatchers.IO)
+        }.onCompletion {
+            Log.i("BluetoothController", "Connection closed on flow completion.")
+            closeConnection()
+        }.flowOn(Dispatchers.IO)
     }
 
     override suspend fun trySendMessage(message: ByteArray): Boolean {
@@ -256,6 +265,7 @@ class AndroidBluetoothController(private val context: Context) : BluetoothContro
     override fun closeConnection() {
         currentClientSocket?.close()
         currentClientSocket = null
+        Log.i("BluetoothController", "Connection closed")
     }
 
     override fun onDestroy() {

app/src/main/java/com/helible/pilot/dataclasses/BluetoothUiState.kt

@@ -9,4 +9,5 @@ data class BluetoothUiState(
     val errorMessage: String? = null,
     val scannedBluetoothDevices: List<BluetoothDevice> = emptyList(),
     val pairedBluetoothDevices: List<BluetoothDevice> = emptyList(),
+    val deviceState: DeviceState? = null
 )

app/src/main/java/com/helible/pilot/dataclasses/ChangedDeviceStatus.kt

@@ -0,0 +1,6 @@
+package com.helible.pilot.dataclasses
+
+
+data class ChangedDeviceStatus(
+    val status: DeviceStatus
+)

app/src/main/java/com/helible/pilot/dataclasses/DeviceState.kt

@@ -0,0 +1,16 @@
+package com.helible.pilot.dataclasses
+
+import com.squareup.moshi.Json
+import com.squareup.moshi.JsonClass
+
+@JsonClass(generateAdapter = true)
+data class DeviceState(
+    val status: DeviceStatus = DeviceStatus.ChargeRequired,
+    @Json(name = "charge") val batteryCharge: Int = 10,
+    val flightHeight: Float = 0f,
+    @Json(name = "y") val yaw: Float = 0f,
+    @Json(name = "p") val pitch: Float = 0f,
+    @Json(name = "r") val roll: Float = 0f,
+    @Json(name = "zIn") val zInertial: Float = 0f,
+    val pidSettings: PidSettings? = null
+)

app/src/main/java/com/helible/pilot/dataclasses/DeviceStatus.kt

@@ -0,0 +1,21 @@
+package com.helible.pilot.dataclasses
+
+enum class DeviceStatus {
+    Idle,
+    IsPreparingForTakeoff,
+    IsFlying,
+    IsBoarding,
+    IsImuCalibration,
+    ChargeRequired;
+
+    fun description(): String {
+        return when (this) {
+            Idle -> "Готово к работе"
+            IsPreparingForTakeoff -> "Подготовка к полёту"
+            IsFlying -> "В полёте"
+            IsBoarding -> "Посадка"
+            IsImuCalibration -> "Калибровка..."
+            ChargeRequired -> "Аккумулятор разряжен"
+        }
+    }
+}

app/src/main/java/com/helible/pilot/dataclasses/DeviceStatusJsonAdapter.kt

@@ -0,0 +1,22 @@
+package com.helible.pilot.dataclasses
+
+import com.squareup.moshi.FromJson
+import com.squareup.moshi.JsonDataException
+import com.squareup.moshi.ToJson
+
+class DeviceStatusJsonAdapter {
+    @FromJson
+    fun fromJson(deviceStatus: String): DeviceStatus {
+        try {
+            val index: UInt = deviceStatus.toUInt()
+            return DeviceStatus.values()[index.toInt()]
+        } catch (e: IndexOutOfBoundsException) {
+            throw JsonDataException("Impossible conversation from String to DeviceStatus")
+        }
+    }
+
+    @ToJson
+    fun toJson(deviceStatus: DeviceStatus): String {
+        return DeviceStatus.values().indexOf(deviceStatus).toString()
+    }
+}

app/src/main/java/com/helible/pilot/dataclasses/GeneralMessage.kt

@@ -0,0 +1,7 @@
+package com.helible.pilot.dataclasses
+
+// This dataclass provide message content with its type without any markers
+data class GeneralMessage(
+    val type: MessageType,
+    val data: String
+)

app/src/main/java/com/helible/pilot/dataclasses/MessageType.kt

@@ -0,0 +1,6 @@
+package com.helible.pilot.dataclasses
+
+enum class MessageType {
+    UpdateMessage,
+    PidSettings
+}

app/src/main/java/com/helible/pilot/dataclasses/MessageTypes.kt

@@ -1,12 +0,0 @@
-package com.helible.pilot.dataclasses
-
-import com.squareup.moshi.JsonClass
-
-@JsonClass(generateAdapter = true)
-data class RotorsSpeedMessage(val r1: Short, val r2: Short, val r3: Short)
-
-@JsonClass(generateAdapter = true)
-data class EmergStopMessage(val emergStop: Boolean)
-
-@JsonClass(generateAdapter = true)
-data class AlarmStateMessage(val isAlarmOn: Boolean)

app/src/main/java/com/helible/pilot/dataclasses/PidParams.kt

@@ -0,0 +1,10 @@
+package com.helible.pilot.dataclasses
+
+import com.squareup.moshi.JsonClass
+
+@JsonClass(generateAdapter = true)
+data class PidParams (
+    val p: Float,
+    val i: Float,
+    val d: Float
+)

app/src/main/java/com/helible/pilot/dataclasses/PidSettingRequiredMessage.kt

@@ -0,0 +1,8 @@
+package com.helible.pilot.dataclasses
+
+import com.squareup.moshi.JsonClass
+
+@JsonClass(generateAdapter = true)
+data class PidSettingRequiredMessage (
+    val pidSettingOpened: Boolean = true
+)

app/src/main/java/com/helible/pilot/dataclasses/PidSettings.kt

@@ -0,0 +1,11 @@
+package com.helible.pilot.dataclasses
+
+import com.squareup.moshi.Json
+import com.squareup.moshi.JsonClass
+
+@JsonClass(generateAdapter = true)
+data class PidSettings (
+    @Json(name = "p1") val heightControllerParams: PidParams,
+    @Json(name = "p2") val yawControllerParams: PidParams,
+    @Json(name = "p3") val pitchControllerParams: PidParams
+)

app/src/main/java/com/helible/pilot/dataclasses/RotorsDuty.kt

@@ -0,0 +1,10 @@
+package com.helible.pilot.dataclasses
+
+import com.squareup.moshi.JsonClass
+
+@JsonClass(generateAdapter = true)
+data class RotorsDuty(
+    val r1: Short,
+    val r2: Short,
+    val r3: Short
+)

app/src/main/java/com/helible/pilot/dataclasses/StickPosition.kt

@@ -0,0 +1,6 @@
+package com.helible.pilot.dataclasses
+
+data class StickPosition (
+    val x: Float,
+    val y: Float
+)

app/src/main/java/com/helible/pilot/dataclasses/SticksPosition.kt

@@ -0,0 +1,10 @@
+package com.helible.pilot.dataclasses
+
+import com.squareup.moshi.Json
+
+data class SticksPosition(
+    @Json(name = "hS") val heightStick: Int,
+    @Json(name = "yS") val yawStick: Int,
+    @Json(name = "pS") val pitchStick: Int
+)
+

app/src/main/java/com/helible/pilot/dataclasses/StopMessage.kt

@@ -0,0 +1,8 @@
+package com.helible.pilot.dataclasses
+
+import com.squareup.moshi.JsonClass
+
+@JsonClass(generateAdapter = true)
+data class StopMessage(
+    val stop: Boolean = true
+)

app/src/main/java/com/helible/pilot/exceptions/TransferFailedException.kt

@@ -0,0 +1,5 @@
+package com.helible.pilot.exceptions
+
+import java.io.IOException
+
+class TransferFailedException : IOException("Reading incoming data failed")

app/src/main/java/com/helible/pilot/receivers/BluetoothAdapterStateReceiver.kt

@@ -1,13 +1,10 @@
 package com.helible.pilot.receivers
 
-import android.annotation.SuppressLint
 import android.bluetooth.BluetoothAdapter
-import android.bluetooth.BluetoothDevice
 import android.content.BroadcastReceiver
 import android.content.Context
 import android.content.Intent
 import android.location.LocationManager
-import android.os.Build
 
 class BluetoothAdapterStateReceiver(
     private val onBluetoothEnabledChanged: (isBluetoothEnabled: Boolean) -> Unit,

app/src/main/java/com/helible/pilot/viewmodels/BluetoothDataTransferService.kt

@@ -0,0 +1,63 @@
+package com.helible.pilot.viewmodels
+
+import android.bluetooth.BluetoothSocket
+import android.util.Log
+import com.helible.pilot.dataclasses.GeneralMessage
+import com.helible.pilot.dataclasses.MessageType
+import com.helible.pilot.exceptions.TransferFailedException
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.flow
+import kotlinx.coroutines.flow.flowOn
+import kotlinx.coroutines.withContext
+import java.io.BufferedInputStream
+import java.io.IOException
+
+const val maxPackageSize = 512 // [bytes]
+
+class BluetoothDataTransferService(
+    private val socket: BluetoothSocket,
+) {
+    fun listenForIncomingMessages(): Flow<GeneralMessage> {
+        return flow {
+            if (!socket.isConnected)
+                return@flow
+            val buffer = BufferedInputStream(socket.inputStream, maxPackageSize)
+            while (true) {
+                val message: String = try {
+                    buffer.bufferedReader().readLine()
+                } catch (e: IOException) {
+                    Log.e("BluetoothController", "Failed to receive incoming data")
+                    throw TransferFailedException()
+                }
+                try {
+                    val messageType =
+                        MessageType.values().elementAtOrNull(message.split(";").first().toInt())
+                    val messageData = message.split(";").last()
+                    if (messageType != null) {
+                        emit(GeneralMessage(messageType, messageData))
+                    }
+                } catch (e: NoSuchElementException) {
+                    Log.e("BluetoothController", "Message type is invalid: ${e.message}")
+                } catch (e: NumberFormatException) {
+                    Log.e("BluetoothController", "Message invalid, may be device buffer congested: ${e.message}")
+                } catch (e: Exception) {
+                    Log.e("BluetoothController", "Unknown error: ${e.message}")
+                }
+            }
+        }.flowOn(Dispatchers.IO)
+    }
+
+    suspend fun sendMessage(bytes: ByteArray): Boolean {
+        return withContext(Dispatchers.IO) {
+            try {
+                socket.outputStream.write(bytes)
+            } catch (e: IOException) {
+                Log.e("BluetoothController", "Failed to write message: $e")
+                return@withContext false
+            }
+            true
+        }
+    }
+}
+

app/src/main/java/com/helible/pilot/viewmodels/BluetoothViewModel.kt

@@ -1,13 +1,24 @@
 package com.helible.pilot.viewmodels
 
+import android.util.Log
 import androidx.lifecycle.ViewModel
 import androidx.lifecycle.viewModelScope
-import com.helible.pilot.dataclasses.AlarmStateMessage
-import com.helible.pilot.dataclasses.BluetoothUiState
-import com.helible.pilot.dataclasses.EmergStopMessage
-import com.helible.pilot.dataclasses.RotorsSpeedMessage
 import com.helible.pilot.controllers.BluetoothController
 import com.helible.pilot.controllers.ConnectionResult
+import com.helible.pilot.dataclasses.BluetoothDevice
+import com.helible.pilot.dataclasses.BluetoothUiState
+import com.helible.pilot.dataclasses.ChangedDeviceStatus
+import com.helible.pilot.dataclasses.DeviceState
+import com.helible.pilot.dataclasses.DeviceStatus
+import com.helible.pilot.dataclasses.DeviceStatusJsonAdapter
+import com.helible.pilot.dataclasses.MessageType
+import com.helible.pilot.dataclasses.PidSettingRequiredMessage
+import com.helible.pilot.dataclasses.PidSettings
+import com.helible.pilot.dataclasses.RotorsDuty
+import com.helible.pilot.dataclasses.SticksPosition
+import com.helible.pilot.dataclasses.StopMessage
+import com.squareup.moshi.JsonDataException
+import com.squareup.moshi.JsonEncodingException
 import com.squareup.moshi.Moshi
 import com.squareup.moshi.kotlin.reflect.KotlinJsonAdapterFactory
 import kotlinx.coroutines.Job
@@ -19,12 +30,12 @@ import kotlinx.coroutines.flow.StateFlow
 import kotlinx.coroutines.flow.asStateFlow
 import kotlinx.coroutines.flow.catch
 import kotlinx.coroutines.flow.combine
+import kotlinx.coroutines.flow.flow
 import kotlinx.coroutines.flow.launchIn
 import kotlinx.coroutines.flow.onEach
 import kotlinx.coroutines.flow.stateIn
 import kotlinx.coroutines.flow.update
 import kotlinx.coroutines.launch
-import com.helible.pilot.dataclasses.BluetoothDevice
 
 class BluetoothViewModel(
     private val bluetoothController: BluetoothController,
@@ -43,10 +54,31 @@ class BluetoothViewModel(
                 pairedBluetoothDevices = pairedDevices
             )
         }.stateIn(viewModelScope, SharingStarted.WhileSubscribed(5000), _state.value)
-    private val moshi: Moshi = Moshi.Builder().addLast(KotlinJsonAdapterFactory()).build()
+    private val _rotorsDuty: MutableStateFlow<RotorsDuty> = MutableStateFlow(RotorsDuty(0, 0, 0))
-    private val rotorsStateMessegeAdapter = moshi.adapter(RotorsSpeedMessage::class.java)
+    private val _isRotorsTelemetryEnabled: MutableStateFlow<Boolean> = MutableStateFlow(false)
-    private val alarmStateMessageAdapter = moshi.adapter(AlarmStateMessage::class.java)
+    private val _isConsoleTelemetryEnabled: MutableStateFlow<Boolean> = MutableStateFlow(false)
-    private val emergStopMessageAdapter = moshi.adapter(EmergStopMessage::class.java)
+    private val _sticksPosition: MutableStateFlow<SticksPosition> = MutableStateFlow(SticksPosition(0, 0, 0))
+
+    val rotorsDuty: StateFlow<RotorsDuty>
+        get() = _rotorsDuty.asStateFlow()
+
+    private var deviceConnectionJob: Job? = null
+
+    private val moshi =
+        Moshi.Builder().add(KotlinJsonAdapterFactory()).add(DeviceStatusJsonAdapter()).build()
+    private val statusMessageAdapter = moshi.adapter(ChangedDeviceStatus::class.java)
+    private val deviceStateMessageAdapter = moshi.adapter(DeviceState::class.java)
+    private val pidSittingsMessageAdapter = moshi.adapter(PidSettings::class.java)
+    private val pidSittingsRequiredMessageAdapter =
+        moshi.adapter(PidSettingRequiredMessage::class.java)
+    private val rotorDutyMessageAdapter = moshi.adapter(RotorsDuty::class.java)
+    private val stopAllRotorsMessageAdapter = moshi.adapter(StopMessage::class.java)
+    private val consoleStateMessageAdapter = moshi.adapter(SticksPosition::class.java)
+
+    companion object {
+        const val messageDelimiter = "\n"
+        const val telemetryPauseDuractionMs: Long = 100
+    }
 
     init {
         bluetoothController.isConnected.onEach { isConnected ->
@@ -94,7 +126,37 @@ class BluetoothViewModel(
                 }
 
                 is ConnectionResult.TransferSucceded -> {
-                    TODO("Telemetry not implemented")
+                    try {
+                        when (result.message.type) {
+                            MessageType.PidSettings -> {
+                                val newPidSettings =
+                                    pidSittingsMessageAdapter.fromJson(result.message.data)
+                                _state.update {
+                                    it.copy(
+                                        deviceState = it.deviceState?.copy(pidSettings = newPidSettings)
+                                    )
+                                }
+                            }
+
+                            MessageType.UpdateMessage -> {
+                                val newDeviceState =
+                                    deviceStateMessageAdapter.fromJson(result.message.data)
+                                if (newDeviceState != null) {
+                                    _state.update {
+                                        it.copy(
+                                            deviceState = newDeviceState.copy(pidSettings = it.deviceState?.pidSettings)
+                                        )
+                                    }
+                                }
+                            }
+                        }
+                    } catch (e: JsonDataException) {
+                        Log.e("BluetoothVM", "Failed to parse message: ${result.message.data}")
+                    } catch (e: JsonEncodingException) {
+                        Log.e("BluetoothVM", "Failed to decode message: ${result.message.data}")
+                    } catch (e: Exception) {
+                        Log.e("BluetoothVM", "Unknown error on message: ${result.message.data}")
+                    }
                 }
 
                 is ConnectionResult.Error -> {
@@ -108,22 +170,25 @@ class BluetoothViewModel(
                 }
             }
         }
-            .catch { _ ->
+            .catch { throwable ->
+                Log.e(
+                    "BluetoothVM",
+                    "Error occured while data transfer: ${throwable.localizedMessage}"
+                )
                 bluetoothController.closeConnection()
                 _state.update {
                     it.copy(
                         isConnected = false,
-                        isConnecting = false
+                        isConnecting = false,
+                        deviceState = null
                     )
                 }
             }
             .launchIn(viewModelScope)
     }
 
-    private var deviceConnectionJob: Job? = null
-
     fun connectToDevice(device: String) {
-        if(_state.value.isConnected) {
+        if (_state.value.isConnected or _state.value.isConnecting) {
             return
         }
         _state.update { it.copy(isConnecting = true) }
@@ -135,10 +200,13 @@ class BluetoothViewModel(
     fun disconnectFromDevice() {
         deviceConnectionJob?.cancel()
         bluetoothController.closeConnection()
+        _isConsoleTelemetryEnabled.update { false }
+        _isRotorsTelemetryEnabled.update { false }
         _state.update {
             it.copy(
                 isConnecting = false,
-                isConnected = false
+                isConnected = false,
+                deviceState = null
             )
         }
     }
@@ -162,36 +230,196 @@ class BluetoothViewModel(
         super.onCleared()
     }
 
-    fun sendRotorsDutySpeed(rotorsState: RotorsSpeedMessage) {
+    fun startImuCalibration() {
         viewModelScope.launch {
-            bluetoothController.trySendMessage(
+            val message = statusMessageAdapter.toJson(
-                rotorsStateMessegeAdapter.toJson(rotorsState).plus("\r").toByteArray()
+                ChangedDeviceStatus(DeviceStatus.IsImuCalibration)
+            ) + messageDelimiter
+            val isSuccess = bluetoothController.trySendMessage(
+                message.toByteArray()
             )
+            if (!isSuccess) {
+                Log.e("BluetoothVM", "Failed to start IMU calibration: $message")
+            } else {
+                _state.update {
+                    it.copy(
+                        deviceState = it.deviceState?.copy(status = DeviceStatus.IsImuCalibration)
+                    )
+                }
+            }
         }
     }
 
-    fun sendAlarmState(alarmStateMessage: AlarmStateMessage) {
+    fun requestPidSettings() {
         viewModelScope.launch {
-            bluetoothController.trySendMessage(
+            val message =
-                alarmStateMessageAdapter.toJson(alarmStateMessage).plus("\r").toByteArray()
+                pidSittingsRequiredMessageAdapter.toJson(PidSettingRequiredMessage(true)) + messageDelimiter
+            Log.i("BluetoothVM", "Requested PID settings: $message")
+            val isSuccess = bluetoothController.trySendMessage(
+                message.toByteArray()
             )
+            if (!isSuccess) {
+                Log.e("BluetoothVM", "Failed to request PID settings: $message")
+            }
         }
     }
 
-    fun sendEmergStop() {
+    fun applyPidSettings(pidSettings: PidSettings) {
         viewModelScope.launch {
-            bluetoothController.trySendMessage(
+            val message = pidSittingsMessageAdapter.toJson(pidSettings) + messageDelimiter
-                emergStopMessageAdapter.toJson(EmergStopMessage(true)).plus("\r").toByteArray()
+            val isSuccess = bluetoothController.trySendMessage(message.toByteArray())
-            )
+            if (!isSuccess) {
+                Log.e("BluetoothVM", "Failed to request PID settings: $message")
+                _state.update {
+                    it.copy(errorMessage = "Не удалось обновить значения PID")
+                }
+            } else {
+                _state.update {
+                    it.copy(deviceState = it.deviceState?.copy(pidSettings = pidSettings))
+                }
+            }
         }
     }
 
-    fun sendR3Duty(r3: Int) {
+    fun clearPidSettings() {
-        viewModelScope.launch {
+        Log.i("BluetoothVM", "PidSettings cleared")
-            bluetoothController.trySendMessage(
+        _state.update {
-                "R3$r3\n\r".toByteArray()
+            it.copy(deviceState = it.deviceState?.copy(pidSettings = null))
-            )
-            delay(30)
         }
+        Log.i("BluetoothVM", "PidSettings: ${_state.value.deviceState?.pidSettings}")
+    }
+
+    private fun sendRotorsDuty() {
+        viewModelScope.launch {
+            val message = rotorDutyMessageAdapter.toJson(
+                _rotorsDuty.value
+            ) + messageDelimiter
+            val isSuccess = bluetoothController.trySendMessage(
+                message.toByteArray()
+            )
+            if (!isSuccess) {
+                Log.e("BluetoothVM", "Failed to send rotors telemetry: $message")
+            }
+        }
+    }
+
+    fun startRotorsConfigurationTelemetry() {
+        Log.i("BluetoothVM", "Start send rotors configuration telemetry...")
+        if(_isRotorsTelemetryEnabled.value) return
+        _isRotorsTelemetryEnabled.update { true }
+        flow {
+            while(_isRotorsTelemetryEnabled.value) {
+                emit(Unit)
+                delay(telemetryPauseDuractionMs)
+            }
+        }.onEach{
+            sendRotorsDuty()
+            Log.d("BluetoothVM", "Sended rotors telemetry")
+        }.launchIn(viewModelScope)
+    }
+
+    fun stopRotorsConfigurationTelemetry() {
+        Log.i("BluetoothVM", "Stop send rotors configuration periodically...")
+        _isRotorsTelemetryEnabled.update { false }
+    }
+
+    fun setRotorsDuty(newRotorsDuty: RotorsDuty) {
+        _rotorsDuty.update { newRotorsDuty }
+    }
+
+    fun stopRotors() {
+        viewModelScope.launch {
+            val message = stopAllRotorsMessageAdapter.toJson(StopMessage()) + messageDelimiter
+            val isSuccess = bluetoothController.trySendMessage(message.toByteArray())
+            if (!isSuccess) {
+                Log.e("BluetoothVM", "Failed to stop all rotors: $message")
+                _state.update {
+                    it.copy(errorMessage = "Не удалось остановить моторы!")
+                }
+            } else {
+                _rotorsDuty.update { RotorsDuty(0, 0, 0) }
+                _isConsoleTelemetryEnabled.update { false }
+            }
+        }
+    }
+    fun startTakeoff() {
+        viewModelScope.launch {
+            val message = statusMessageAdapter.toJson(ChangedDeviceStatus(DeviceStatus.IsFlying)) + messageDelimiter
+            val isSuccess = bluetoothController.trySendMessage(message.toByteArray())
+            if(!isSuccess) {
+                Log.e("BluetoothVM", "Failed to start takeoff: $message")
+                _state.update {
+                    it.copy(errorMessage = "Не удалось начать полёт!")
+                }
+            } else {
+                _state.update { it.copy(deviceState = it.deviceState?.copy(status = DeviceStatus.IsFlying)) }
+                startConsoleTelemetrySending()
+            }
+        }
+    }
+
+    fun startOnboarding() {
+        viewModelScope.launch {
+            val message = statusMessageAdapter.toJson(ChangedDeviceStatus(DeviceStatus.IsBoarding)) + messageDelimiter
+            val isSuccess = bluetoothController.trySendMessage(message.toByteArray())
+            if(!isSuccess) {
+                Log.e("BluetoothVM", "Failed to start onboarding: $message")
+            } else {
+                _state.update { it.copy(deviceState = it.deviceState?.copy(status = DeviceStatus.IsBoarding)) }
+                stopConsoleTelemetry()
+            }
+        }
+    }
+
+    fun changeHeightStickPosition(newHeightStickPosition: Int) {
+        _sticksPosition.update {
+            it.copy(heightStick = newHeightStickPosition)
+        }
+    }
+
+    fun changeYawStickPosition(newYawStickPosition: Int) {
+        _sticksPosition.update {
+            it.copy(yawStick = newYawStickPosition)
+        }
+    }
+
+    fun changePitchStickPosition(newPitchStickPosition: Int) {
+        _sticksPosition.update {
+            it.copy(pitchStick = newPitchStickPosition)
+        }
+    }
+
+    private fun sendConsoleState() {
+        viewModelScope.launch {
+            val message = consoleStateMessageAdapter.toJson(
+                _sticksPosition.value
+            ) + messageDelimiter
+            val isSuccess = bluetoothController.trySendMessage(
+                message.toByteArray()
+            )
+            Log.i("BluetoothVM", "Sended telemetry message: $message")
+            if (!isSuccess) {
+                Log.e("BluetoothVM", "Failed to send console telemetry: $message")
+            }
+        }
+    }
+
+    private fun startConsoleTelemetrySending() {
+        if(_isConsoleTelemetryEnabled.value) {
+            return
+        }
+        _isConsoleTelemetryEnabled.update { true }
+        flow {
+            while (_isConsoleTelemetryEnabled.value) {
+                emit(Unit)
+                delay(telemetryPauseDuractionMs)
+            }
+        }.onEach {
+            sendConsoleState()
+        }.launchIn(viewModelScope)
+    }
+
+    private fun stopConsoleTelemetry() {
+        _isConsoleTelemetryEnabled.update { false }
     }
 }

app/src/main/java/com/helible/pilot/viewmodels/BluetoothViewModelFactory.kt

@@ -5,6 +5,7 @@ import androidx.lifecycle.ViewModel
 import androidx.lifecycle.ViewModelProvider
 import com.helible.pilot.controllers.AndroidBluetoothController
 
+@ExperimentalStdlibApi
 @Suppress("UNCHECKED_CAST")
 class BluetoothViewModelFactory(private val context: Context) : ViewModelProvider.Factory {
     override fun <T : ViewModel> create(modelClass: Class<T>): T {

app/src/main/res/drawable/cancel.xml

@@ -6,5 +6,5 @@
     android:tint="?android:colorPrimary">
     <path
         android:fillColor="@android:color/white"
-      android:pathData="M336,680L480,536L624,680L680,624L536,480L680,336L624,280L480,424L336,280L280,336L424,480L280,624L336,680ZM480,880Q397,880 324,848.5Q251,817 197,763Q143,709 111.5,636Q80,563 80,480Q80,397 111.5,324Q143,251 197,197Q251,143 324,111.5Q397,80 480,80Q563,80 636,111.5Q709,143 763,197Q817,251 848.5,324Q880,397 880,480Q880,563 848.5,636Q817,709 763,763Q709,817 636,848.5Q563,880 480,880ZM480,800Q614,800 707,707Q800,614 800,480Q800,346 707,253Q614,160 480,160Q346,160 253,253Q160,346 160,480Q160,614 253,707Q346,800 480,800ZM480,480Q480,480 480,480Q480,480 480,480Q480,480 480,480Q480,480 480,480Q480,480 480,480Q480,480 480,480Q480,480 480,480Q480,480 480,480Z"/>
+        android:pathData="M336,680L480,536L624,680L680,624L536,480L680,336L624,280L480,424L336,280L280,336L424,480L280,624L336,680ZM480,880Q397,880 324,848.5Q251,817 197,763Q143,709 111.5,636Q80,563 80,480Q80,397 111.5,324Q143,251 197,197Q251,143 324,111.5Q397,80 480,80Q563,80 636,111.5Q709,143 763,197Q817,251 848.5,324Q880,397 880,480Q880,563 848.5,636Q817,709 763,763Q709,817 636,848.5Q563,880 480,880ZM480,800Q614,800 707,707Q800,614 800,480Q800,346 707,253Q614,160 480,160Q346,160 253,253Q160,346 160,480Q160,614 253,707Q346,800 480,800ZM480,480Q480,480 480,480Q480,480 480,480Q480,480 480,480Q480,480 480,480Q480,480 480,480Q480,480 480,480Q480,480 480,480Q480,480 480,480Z" />
 </vector>

app/src/main/res/drawable/code_blocks.xml

@@ -6,5 +6,5 @@
     android:tint="?android:colorPrimary">
     <path
         android:fillColor="@android:color/white"
-      android:pathData="M384,624L440,567L353,480L440,393L384,336L240,480L384,624ZM576,624L720,480L576,336L520,393L607,480L520,567L576,624ZM200,840Q167,840 143.5,816.5Q120,793 120,760L120,200Q120,167 143.5,143.5Q167,120 200,120L760,120Q793,120 816.5,143.5Q840,167 840,200L840,760Q840,793 816.5,816.5Q793,840 760,840L200,840ZM200,760L760,760Q760,760 760,760Q760,760 760,760L760,200Q760,200 760,200Q760,200 760,200L200,200Q200,200 200,200Q200,200 200,200L200,760Q200,760 200,760Q200,760 200,760ZM200,200L200,200Q200,200 200,200Q200,200 200,200L200,760Q200,760 200,760Q200,760 200,760L200,760Q200,760 200,760Q200,760 200,760L200,200Q200,200 200,200Q200,200 200,200Z"/>
+        android:pathData="M384,624L440,567L353,480L440,393L384,336L240,480L384,624ZM576,624L720,480L576,336L520,393L607,480L520,567L576,624ZM200,840Q167,840 143.5,816.5Q120,793 120,760L120,200Q120,167 143.5,143.5Q167,120 200,120L760,120Q793,120 816.5,143.5Q840,167 840,200L840,760Q840,793 816.5,816.5Q793,840 760,840L200,840ZM200,760L760,760Q760,760 760,760Q760,760 760,760L760,200Q760,200 760,200Q760,200 760,200L200,200Q200,200 200,200Q200,200 200,200L200,760Q200,760 200,760Q200,760 200,760ZM200,200L200,200Q200,200 200,200Q200,200 200,200L200,760Q200,760 200,760Q200,760 200,760L200,760Q200,760 200,760Q200,760 200,760L200,200Q200,200 200,200Q200,200 200,200Z" />
 </vector>

app/src/main/res/drawable/construction.xml

@@ -6,5 +6,5 @@
     android:tint="?android:colorPrimary">
     <path
         android:fillColor="@android:color/white"
-      android:pathData="M756,840L537,621L621,537L840,756L756,840ZM204,840L120,756L396,480L328,412L300,440L249,389L249,471L221,499L100,378L128,350L210,350L160,300L302,158Q322,138 345,129Q368,120 392,120Q416,120 439,129Q462,138 482,158L390,250L440,300L412,328L480,396L570,306Q566,295 563.5,283Q561,271 561,259Q561,200 601.5,159.5Q642,119 701,119Q716,119 729.5,122Q743,125 757,131L658,230L730,302L829,203Q836,217 838.5,230.5Q841,244 841,259Q841,318 800.5,358.5Q760,399 701,399Q689,399 677,397Q665,395 654,390L204,840Z"/>
+        android:pathData="M756,840L537,621L621,537L840,756L756,840ZM204,840L120,756L396,480L328,412L300,440L249,389L249,471L221,499L100,378L128,350L210,350L160,300L302,158Q322,138 345,129Q368,120 392,120Q416,120 439,129Q462,138 482,158L390,250L440,300L412,328L480,396L570,306Q566,295 563.5,283Q561,271 561,259Q561,200 601.5,159.5Q642,119 701,119Q716,119 729.5,122Q743,125 757,131L658,230L730,302L829,203Q836,217 838.5,230.5Q841,244 841,259Q841,318 800.5,358.5Q760,399 701,399Q689,399 677,397Q665,395 654,390L204,840Z" />
 </vector>

app/src/main/res/drawable/controller_gen.xml

@@ -6,5 +6,5 @@
     android:tint="?android:colorPrimary">
     <path
         android:fillColor="@android:color/white"
-      android:pathData="M480,720Q580,720 650,650Q720,580 720,480Q720,380 650,310Q580,240 480,240Q380,240 310,310Q240,380 240,480Q240,580 310,650Q380,720 480,720ZM480,640Q414,640 367,593Q320,546 320,480Q320,414 367,367Q414,320 480,320Q546,320 593,367Q640,414 640,480Q640,546 593,593Q546,640 480,640ZM452,508Q463,519 480,519Q497,519 508,508L564,452Q575,441 575,424Q575,407 564,396Q553,385 536,385Q519,385 508,396L452,452Q441,463 441,480Q441,497 452,508ZM200,840Q167,840 143.5,816.5Q120,793 120,760L120,200Q120,167 143.5,143.5Q167,120 200,120L760,120Q793,120 816.5,143.5Q840,167 840,200L840,760Q840,793 816.5,816.5Q793,840 760,840L200,840ZM200,760L760,760Q760,760 760,760Q760,760 760,760L760,200Q760,200 760,200Q760,200 760,200L200,200Q200,200 200,200Q200,200 200,200L200,760Q200,760 200,760Q200,760 200,760ZM200,200L200,200Q200,200 200,200Q200,200 200,200L200,760Q200,760 200,760Q200,760 200,760L200,760Q200,760 200,760Q200,760 200,760L200,200Q200,200 200,200Q200,200 200,200Z"/>
+        android:pathData="M480,720Q580,720 650,650Q720,580 720,480Q720,380 650,310Q580,240 480,240Q380,240 310,310Q240,380 240,480Q240,580 310,650Q380,720 480,720ZM480,640Q414,640 367,593Q320,546 320,480Q320,414 367,367Q414,320 480,320Q546,320 593,367Q640,414 640,480Q640,546 593,593Q546,640 480,640ZM452,508Q463,519 480,519Q497,519 508,508L564,452Q575,441 575,424Q575,407 564,396Q553,385 536,385Q519,385 508,396L452,452Q441,463 441,480Q441,497 452,508ZM200,840Q167,840 143.5,816.5Q120,793 120,760L120,200Q120,167 143.5,143.5Q167,120 200,120L760,120Q793,120 816.5,143.5Q840,167 840,200L840,760Q840,793 816.5,816.5Q793,840 760,840L200,840ZM200,760L760,760Q760,760 760,760Q760,760 760,760L760,200Q760,200 760,200Q760,200 760,200L200,200Q200,200 200,200Q200,200 200,200L200,760Q200,760 200,760Q200,760 200,760ZM200,200L200,200Q200,200 200,200Q200,200 200,200L200,760Q200,760 200,760Q200,760 200,760L200,760Q200,760 200,760Q200,760 200,760L200,200Q200,200 200,200Q200,200 200,200Z" />
 </vector>

app/src/main/res/drawable/energy.xml

@@ -6,5 +6,5 @@
     android:tint="?android:colorPrimary">
     <path
         android:fillColor="@android:color/white"
-      android:pathData="M360,880L360,840Q360,808 384,786.5Q408,765 440,760L440,760L440,474Q418,466 401.5,451Q385,436 374,416L298,436Q262,444 229.5,430Q197,416 188,382L362,338Q370,297 400,270Q430,243 472,240L496,150Q506,115 534.5,94.5Q563,74 598,82L548,262Q573,278 586.5,304Q600,330 600,360Q600,373 597,385.5Q594,398 590,410L644,466Q669,492 673.5,527Q678,562 654,586L534,466Q531,469 527.5,470.5Q524,472 520,474L520,760L520,760Q552,765 576,786.5Q600,808 600,840L600,880L360,880ZM480,420Q505,420 522.5,402.5Q540,385 540,360Q540,335 522.5,317.5Q505,300 480,300Q455,300 437.5,317.5Q420,335 420,360Q420,385 437.5,402.5Q455,420 480,420Z"/>
+        android:pathData="M360,880L360,840Q360,808 384,786.5Q408,765 440,760L440,760L440,474Q418,466 401.5,451Q385,436 374,416L298,436Q262,444 229.5,430Q197,416 188,382L362,338Q370,297 400,270Q430,243 472,240L496,150Q506,115 534.5,94.5Q563,74 598,82L548,262Q573,278 586.5,304Q600,330 600,360Q600,373 597,385.5Q594,398 590,410L644,466Q669,492 673.5,527Q678,562 654,586L534,466Q531,469 527.5,470.5Q524,472 520,474L520,760L520,760Q552,765 576,786.5Q600,808 600,840L600,880L360,880ZM480,420Q505,420 522.5,402.5Q540,385 540,360Q540,335 522.5,317.5Q505,300 480,300Q455,300 437.5,317.5Q420,335 420,360Q420,385 437.5,402.5Q455,420 480,420Z" />
 </vector>

app/src/main/res/drawable/helicopter_icon.xml

@@ -6,5 +6,5 @@
     android:tint="?android:colorPrimary">
     <path
         android:fillColor="@android:color/white"
-      android:pathData="M360,520L360,280L360,280Q260,280 190,350Q120,420 120,520L120,520L360,520ZM520,680L520,280L440,280L440,600L120,600L120,680Q120,680 120,680Q120,680 120,680L520,680ZM600,552L840,528L840,480L600,480L600,552ZM520,880L120,880L120,800L520,800L520,880ZM600,760L120,760Q87,760 63.5,736.5Q40,713 40,680L40,520Q40,386 133,293Q226,200 360,200L600,200L600,400L800,400L840,320L920,320L920,600L600,632L600,760ZM760,160L120,160L120,80L760,80L760,160ZM600,552L600,480L600,480L600,552L600,552ZM520,680L520,680Q520,680 520,680Q520,680 520,680L520,680L520,680L520,680L520,680L520,680Z"/>
+        android:pathData="M360,520L360,280L360,280Q260,280 190,350Q120,420 120,520L120,520L360,520ZM520,680L520,280L440,280L440,600L120,600L120,680Q120,680 120,680Q120,680 120,680L520,680ZM600,552L840,528L840,480L600,480L600,552ZM520,880L120,880L120,800L520,800L520,880ZM600,760L120,760Q87,760 63.5,736.5Q40,713 40,680L40,520Q40,386 133,293Q226,200 360,200L600,200L600,400L800,400L840,320L920,320L920,600L600,632L600,760ZM760,160L120,160L120,80L760,80L760,160ZM600,552L600,480L600,480L600,552L600,552ZM520,680L520,680Q520,680 520,680Q520,680 520,680L520,680L520,680L520,680L520,680L520,680Z" />
 </vector>

app/src/main/res/drawable/ic_android_black_24dp.xml

@@ -1,5 +1,10 @@
-<vector android:height="24dp" android:tint="#000000"
+<vector android:height="24dp"
-    android:viewportHeight="24" android:viewportWidth="24"
+    android:tint="#000000"
-    android:width="24dp" xmlns:android="http://schemas.android.com/apk/res/android">
+    android:viewportHeight="24"
-    <path android:fillColor="#FF000000" android:pathData="M17.6,11.48 L19.44,8.3a0.63,0.63 0,0 0,-1.09 -0.63l-1.88,3.24a11.43,11.43 0,0 0,-8.94 0L5.65,7.67a0.63,0.63 0,0 0,-1.09 0.63L6.4,11.48A10.81,10.81 0,0 0,1 20L23,20A10.81,10.81 0,0 0,17.6 11.48ZM7,17.25A1.25,1.25 0,1 1,8.25 16,1.25 1.25,0 0,1 7,17.25ZM17,17.25A1.25,1.25 0,1 1,18.25 16,1.25 1.25,0 0,1 17,17.25Z"/>
+    android:viewportWidth="24"
+    android:width="24dp"
+    xmlns:android="http://schemas.android.com/apk/res/android">
+    <path
+        android:fillColor="#FF000000"
+        android:pathData="M17.6,11.48 L19.44,8.3a0.63,0.63 0,0 0,-1.09 -0.63l-1.88,3.24a11.43,11.43 0,0 0,-8.94 0L5.65,7.67a0.63,0.63 0,0 0,-1.09 0.63L6.4,11.48A10.81,10.81 0,0 0,1 20L23,20A10.81,10.81 0,0 0,17.6 11.48ZM7,17.25A1.25,1.25 0,1 1,8.25 16,1.25 1.25,0 0,1 7,17.25ZM17,17.25A1.25,1.25 0,1 1,18.25 16,1.25 1.25,0 0,1 17,17.25Z" />
 </vector>

app/src/main/res/drawable/instant_mix.xml

@@ -6,5 +6,5 @@
     android:tint="?android:colorPrimary">
     <path
         android:fillColor="@android:color/white"
-      android:pathData="M200,800L200,520L120,520L120,440L360,440L360,520L280,520L280,800L200,800ZM200,360L200,160L280,160L280,360L200,360ZM360,360L360,280L440,280L440,160L520,160L520,280L600,280L600,360L360,360ZM440,800L440,440L520,440L520,800L440,800ZM680,800L680,680L600,680L600,600L840,600L840,680L760,680L760,800L680,800ZM680,520L680,160L760,160L760,520L680,520Z"/>
+        android:pathData="M200,800L200,520L120,520L120,440L360,440L360,520L280,520L280,800L200,800ZM200,360L200,160L280,160L280,360L200,360ZM360,360L360,280L440,280L440,160L520,160L520,280L600,280L600,360L360,360ZM440,800L440,440L520,440L520,800L440,800ZM680,800L680,680L600,680L600,600L840,600L840,680L760,680L760,800L680,800ZM680,520L680,160L760,160L760,520L680,520Z" />
 </vector>

app/src/main/res/drawable/joystick.xml

@@ -6,5 +6,5 @@
     android:tint="?android:colorPrimary">
     <path
         android:fillColor="@android:color/holo_orange_light"
-      android:pathData="M272,520L480,640Q480,640 480,640Q480,640 480,640L688,520L520,423L520,560L440,560L440,423L272,520ZM440,331L440,314Q396,301 368,264.5Q340,228 340,180Q340,122 381,81Q422,40 480,40Q538,40 579,81Q620,122 620,180Q620,228 592,264.5Q564,301 520,314L520,331L800,492Q819,503 829.5,521.5Q840,540 840,562L840,638Q840,660 829.5,678.5Q819,697 800,708L520,869Q501,880 480,880Q459,880 440,869L160,708Q141,697 130.5,678.5Q120,660 120,638L120,562Q120,540 130.5,521.5Q141,503 160,492L440,331ZM440,709L200,571L200,638Q200,638 200,638Q200,638 200,638L480,800Q480,800 480,800Q480,800 480,800L760,638Q760,638 760,638Q760,638 760,638L760,571L520,709Q501,720 480,720Q459,720 440,709ZM480,240Q505,240 522.5,222.5Q540,205 540,180Q540,155 522.5,137.5Q505,120 480,120Q455,120 437.5,137.5Q420,155 420,180Q420,205 437.5,222.5Q455,240 480,240ZM480,800Q480,800 480,800Q480,800 480,800L480,800L480,800Q480,800 480,800Q480,800 480,800L480,800Q480,800 480,800Q480,800 480,800L480,800Q480,800 480,800Q480,800 480,800L480,800L480,800Z"/>
+        android:pathData="M272,520L480,640Q480,640 480,640Q480,640 480,640L688,520L520,423L520,560L440,560L440,423L272,520ZM440,331L440,314Q396,301 368,264.5Q340,228 340,180Q340,122 381,81Q422,40 480,40Q538,40 579,81Q620,122 620,180Q620,228 592,264.5Q564,301 520,314L520,331L800,492Q819,503 829.5,521.5Q840,540 840,562L840,638Q840,660 829.5,678.5Q819,697 800,708L520,869Q501,880 480,880Q459,880 440,869L160,708Q141,697 130.5,678.5Q120,660 120,638L120,562Q120,540 130.5,521.5Q141,503 160,492L440,331ZM440,709L200,571L200,638Q200,638 200,638Q200,638 200,638L480,800Q480,800 480,800Q480,800 480,800L760,638Q760,638 760,638Q760,638 760,638L760,571L520,709Q501,720 480,720Q459,720 440,709ZM480,240Q505,240 522.5,222.5Q540,205 540,180Q540,155 522.5,137.5Q505,120 480,120Q455,120 437.5,137.5Q420,155 420,180Q420,205 437.5,222.5Q455,240 480,240ZM480,800Q480,800 480,800Q480,800 480,800L480,800L480,800Q480,800 480,800Q480,800 480,800L480,800Q480,800 480,800Q480,800 480,800L480,800Q480,800 480,800Q480,800 480,800L480,800L480,800Z" />
 </vector>

app/src/main/res/drawable/logout.xml

@@ -7,5 +7,5 @@
     android:autoMirrored="true">
     <path
         android:fillColor="@android:color/white"
-      android:pathData="M200,840Q167,840 143.5,816.5Q120,793 120,760L120,200Q120,167 143.5,143.5Q167,120 200,120L480,120L480,200L200,200Q200,200 200,200Q200,200 200,200L200,760Q200,760 200,760Q200,760 200,760L480,760L480,840L200,840ZM640,680L585,622L687,520L360,520L360,440L687,440L585,338L640,280L840,480L640,680Z"/>
+        android:pathData="M200,840Q167,840 143.5,816.5Q120,793 120,760L120,200Q120,167 143.5,143.5Q167,120 200,120L480,120L480,200L200,200Q200,200 200,200Q200,200 200,200L200,760Q200,760 200,760Q200,760 200,760L480,760L480,840L200,840ZM640,680L585,622L687,520L360,520L360,440L687,440L585,338L640,280L840,480L640,680Z" />
 </vector>

app/src/main/res/drawable/signal_icon1.xml

@@ -1,5 +1,9 @@
 <?xml version="1.0" encoding="utf-8"?>
-<vector xmlns:android="http://schemas.android.com/apk/res/android" android:width="24dp" android:height="24dp" android:viewportWidth="500" android:viewportHeight="500">
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="24dp"
+    android:height="24dp"
+    android:viewportWidth="500"
+    android:viewportHeight="500">
     <path
         android:fillColor="?android:colorPrimary"
         android:pathData="M 15 340 L 80 340 Q 95 340 95 355 L 95 485 Q 95 500 80 500 L 15 500 Q 0 500 0 485 L 0 355 Q 0 340 15 340 Z" />

app/src/main/res/drawable/stick_background.xml

@@ -0,0 +1,10 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="210dp"
+    android:height="210dp"
+    android:viewportWidth="210"
+    android:viewportHeight="210">
+  <path
+      android:pathData="M0.5,105.5a105,105 0,1 0,210 0a105,105 0,1 0,-210 0z"
+      android:fillColor="#000000"
+      android:strokeColor="#00000000"/>
+</vector>

app/src/main/res/drawable/stick_dot.xml

@@ -0,0 +1,10 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="95dp"
+    android:height="95dp"
+    android:viewportWidth="95"
+    android:viewportHeight="95">
+  <path
+      android:pathData="M0,47.5a47.5,47.5 0,1 0,95 0a47.5,47.5 0,1 0,-95 0z"
+      android:fillColor="#f83a14"
+      android:strokeColor="#00000000"/>
+</vector>

app/src/main/res/drawable/sync.xml

@@ -6,5 +6,5 @@
     android:tint="?android:colorPrimary">
     <path
         android:fillColor="@android:color/white"
-      android:pathData="M160,800L160,720L270,720L254,706Q202,660 181,601Q160,542 160,482Q160,371 226.5,284.5Q293,198 400,170L400,254Q328,280 284,342.5Q240,405 240,482Q240,527 257,569.5Q274,612 310,648L320,658L320,560L400,560L400,800L160,800ZM560,790L560,706Q632,680 676,617.5Q720,555 720,478Q720,433 703,390.5Q686,348 650,312L640,302L640,400L560,400L560,160L800,160L800,240L690,240L706,254Q755,303 777.5,360.5Q800,418 800,478Q800,589 733.5,675.5Q667,762 560,790Z"/>
+        android:pathData="M160,800L160,720L270,720L254,706Q202,660 181,601Q160,542 160,482Q160,371 226.5,284.5Q293,198 400,170L400,254Q328,280 284,342.5Q240,405 240,482Q240,527 257,569.5Q274,612 310,648L320,658L320,560L400,560L400,800L160,800ZM560,790L560,706Q632,680 676,617.5Q720,555 720,478Q720,433 703,390.5Q686,348 650,312L640,302L640,400L560,400L560,160L800,160L800,240L690,240L706,254Q755,303 777.5,360.5Q800,418 800,478Q800,589 733.5,675.5Q667,762 560,790Z" />
 </vector>

app/src/main/res/drawable/tune.xml

@@ -6,5 +6,5 @@
     android:tint="?android:colorPrimary">
     <path
         android:fillColor="@android:color/white"
-      android:pathData="M440,840L440,600L520,600L520,680L840,680L840,760L520,760L520,840L440,840ZM120,760L120,680L360,680L360,760L120,760ZM280,600L280,520L120,520L120,440L280,440L280,360L360,360L360,600L280,600ZM440,520L440,440L840,440L840,520L440,520ZM600,360L600,120L680,120L680,200L840,200L840,280L680,280L680,360L600,360ZM120,280L120,200L520,200L520,280L120,280Z"/>
+        android:pathData="M440,840L440,600L520,600L520,680L840,680L840,760L520,760L520,840L440,840ZM120,760L120,680L360,680L360,760L120,760ZM280,600L280,520L120,520L120,440L280,440L280,360L360,360L360,600L280,600ZM440,520L440,440L840,440L840,520L440,520ZM600,360L600,120L680,120L680,200L840,200L840,280L680,280L680,360L600,360ZM120,280L120,200L520,200L520,280L120,280Z" />
 </vector>

app/src/main/res/values/strings.xml

@@ -1,3 +1,7 @@
 <resources>
     <string name="app_name">Digital Pilot</string>
+    <string name="calibration_description">Расположите устройство на ровной горизонтальной поверхности, чтобы сани вертолета полностью лежали на ней. Нажмите кнопку калибровки ниже и ждите её окончания, не создавая тряски.</string>
+    <string name="p_pid_value_description">Сначала подберите значение коэффицента P, которое балансирует между слишком низкой и слишком высокой чувствительностью.</string>
+    <string name="i_pid_value_description">Затем подберите значение коэффицента I, которое уберёт нежелательный дрейф, но не повлияет на отзывчивость.</string>
+    <string name="d_pid_value_description">После установите значение коэффицента D таким образом, чтобы обеспечить более стабильное и плавное управление.</string>
 </resources>

app/src/main/res/values/themes.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
 
-    <style name="Theme.Testblue" parent="android:Theme.Material.Light.NoActionBar" />
+    <style name="Theme.Main" parent="android:Theme.Material.Light.NoActionBar" />
 </resources>

app/src/test/java/com/helible/pilot/ExampleUnitTest.kt

@@ -1,9 +1,8 @@
 package com.helible.pilot
 
+import org.junit.Assert.assertEquals
 import org.junit.Test
 
-import org.junit.Assert.*
-
 /**
  * Example local unit test, which will execute on the development machine (host).
  *

build.gradle.kts

@@ -1,6 +1,6 @@
 // Top-level build file where you can add configuration options common to all sub-projects/modules.
 plugins {
-    id("com.android.application") version "8.1.0" apply false
+    id("com.android.application") version "8.2.2" apply false
     id("org.jetbrains.kotlin.android") version "1.8.10" apply false
     id("org.jetbrains.kotlin.jvm") version "1.8.10" apply false
 }

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 #Sun Aug 13 15:00:54 KRAT 2023
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.0-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.2-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

settings.gradle.kts

@@ -3,6 +3,7 @@ pluginManagement {
         google()
         mavenCentral()
         gradlePluginPortal()
+        maven(url = "https://jitpack.io")
     }
 }
 dependencyResolutionManagement {
@@ -10,6 +11,7 @@ dependencyResolutionManagement {
     repositories {
         google()
         mavenCentral()
+        maven(url = "https://jitpack.io")
     }
 }