diagram

src/drone/src/main.cpp

@@ -279,7 +279,6 @@ bool sbusLostFrame;
 DSM1024 DSM;
 #endif
 #if defined USE_ESPNow
-// Structure example to receive data
 // Must match the sender structure
 typedef struct struct_message
 {
@@ -288,9 +287,7 @@ typedef struct struct_message
   int PWMCH3 = 1500;
   int PWMCH4 = 1500;
 } struct_message;
-
-// Create a struct_message called myData
-struct_message myData;
+struct_message myData; //Initialise struct as myData
 #endif
 
 // IMU:
@@ -1332,6 +1329,7 @@ void controlRATE()
 
 void scaleCommands()
 {
+  //TODO: Rewrite this mess with LEDC and use internal ESP pwm clocks
   // DESCRIPTION: Scale normalized actuator commands to values for ESC/Servo protocol
   /*
    * mX_command_scaled variables from the mixer function are scaled to 125-250us for OneShot125 protocol. sX_command_scaled variables from