diff --git a/ESP-IDF_Robot_RC/build/.ninja_deps b/ESP-IDF_Robot_RC/build/.ninja_deps
index 8549d359a..d9dc4a19c 100644
Binary files a/ESP-IDF_Robot_RC/build/.ninja_deps and b/ESP-IDF_Robot_RC/build/.ninja_deps differ
diff --git a/ESP-IDF_Robot_RC/build/.ninja_log b/ESP-IDF_Robot_RC/build/.ninja_log
index 5b2df8a8f..5826b3e43 100644
--- a/ESP-IDF_Robot_RC/build/.ninja_log
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diff --git a/ESP-IDF_Robot_RC/build/CMakeFiles/git-data/head-ref b/ESP-IDF_Robot_RC/build/CMakeFiles/git-data/head-ref
index b9497563c..8695563b5 100644
--- a/ESP-IDF_Robot_RC/build/CMakeFiles/git-data/head-ref
+++ b/ESP-IDF_Robot_RC/build/CMakeFiles/git-data/head-ref
@@ -1 +1 @@
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diff --git a/ESP-IDF_Robot_RC/build/bootloader/.ninja_log b/ESP-IDF_Robot_RC/build/bootloader/.ninja_log
index 2def7a019..9dd639cdb 100644
--- a/ESP-IDF_Robot_RC/build/bootloader/.ninja_log
+++ b/ESP-IDF_Robot_RC/build/bootloader/.ninja_log
@@ -146,3 +146,5 @@
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diff --git a/ESP-IDF_Robot_RC/build/build.ninja b/ESP-IDF_Robot_RC/build/build.ninja
index 8c5b66ab2..91cb3f827 100644
--- a/ESP-IDF_Robot_RC/build/build.ninja
+++ b/ESP-IDF_Robot_RC/build/build.ninja
@@ -3149,7 +3149,7 @@ build esp-idf/partition_table/CMakeFiles/partition_table-flash | ${cmake_ninja_w
 build cmake_object_order_depends_target___idf_esp_app_format: phony || cmake_object_order_depends_target___idf_esp_bootloader_format
 
 build esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj: C_COMPILER____idf_esp_app_format_unscanned_ /home/abobkov/esp/v5.3.2/esp-idf/components/esp_app_format/esp_app_desc.c || cmake_object_order_depends_target___idf_esp_app_format
-  DEFINES = -DESP_PLATFORM -DIDF_VER=\"v5.3.2-dirty\" -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -DSOC_XTAL_FREQ_MHZ=CONFIG_XTAL_FREQ -D_GLIBCXX_HAVE_POSIX_SEMAPHORE -D_GLIBCXX_USE_POSIX_SEMAPHORE -D_GNU_SOURCE -D_POSIX_READER_WRITER_LOCKS -D PROJECT_NAME=\"ESP-IDF_Robot_RC\" -DPROJECT_VER=\"ESP32-Node_Switch-v2.7-2567-g56\"
+  DEFINES = -DESP_PLATFORM -DIDF_VER=\"v5.3.2-dirty\" -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -DSOC_XTAL_FREQ_MHZ=CONFIG_XTAL_FREQ -D_GLIBCXX_HAVE_POSIX_SEMAPHORE -D_GLIBCXX_USE_POSIX_SEMAPHORE -D_GNU_SOURCE -D_POSIX_READER_WRITER_LOCKS -D PROJECT_NAME=\"ESP-IDF_Robot_RC\" -DPROJECT_VER=\"ESP32-Node_Switch-v2.7-2568-g52\"
   DEP_FILE = esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj.d
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   INCLUDES = -I/home/abobkov/MyProjects/ESP-Nodes/ESP-IDF_Robot_RC/build/config -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_app_format/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/newlib/platform_include -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/config/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/config/include/freertos -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/config/riscv/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/esp_additions/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc/esp32c3 -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/dma/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/ldo/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/. -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/heap/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/log/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/soc/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/soc/esp32c3 -I/home/abobkov/esp/v5.3.2/esp-idf/components/soc/esp32c3/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/hal/platform_port/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/hal/esp32c3/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/hal/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_rom/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_rom/include/esp32c3 -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_rom/esp32c3 -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_common/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_system/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_system/port/soc -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_system/port/include/riscv -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_system/port/include/private -I/home/abobkov/esp/v5.3.2/esp-idf/components/riscv/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/include/apps -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/include/apps/sntp -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/lwip/src/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/port/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/port/freertos/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include/arch -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include/sys
diff --git a/ESP-IDF_Robot_RC/build/compile_commands.json b/ESP-IDF_Robot_RC/build/compile_commands.json
index feb15f5bb..fd5efe3cb 100644
--- a/ESP-IDF_Robot_RC/build/compile_commands.json
+++ b/ESP-IDF_Robot_RC/build/compile_commands.json
@@ -907,7 +907,7 @@
 },
 {
   "directory": "/home/abobkov/MyProjects/ESP-Nodes/ESP-IDF_Robot_RC/build",
-  "command": "/home/abobkov/.espressif/tools/riscv32-esp-elf/esp-13.2.0_20240530/riscv32-esp-elf/bin/riscv32-esp-elf-gcc -DESP_PLATFORM -DIDF_VER=\\\"v5.3.2-dirty\\\" -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -DSOC_XTAL_FREQ_MHZ=CONFIG_XTAL_FREQ -D_GLIBCXX_HAVE_POSIX_SEMAPHORE -D_GLIBCXX_USE_POSIX_SEMAPHORE -D_GNU_SOURCE -D_POSIX_READER_WRITER_LOCKS -D PROJECT_NAME=\\\"ESP-IDF_Robot_RC\\\" -DPROJECT_VER=\\\"ESP32-Node_Switch-v2.7-2567-g56\\\" -I/home/abobkov/MyProjects/ESP-Nodes/ESP-IDF_Robot_RC/build/config -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_app_format/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/newlib/platform_include -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/config/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/config/include/freertos -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/config/riscv/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/esp_additions/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc/esp32c3 -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/dma/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/ldo/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/. -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/heap/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/log/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/soc/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/soc/esp32c3 -I/home/abobkov/esp/v5.3.2/esp-idf/components/soc/esp32c3/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/hal/platform_port/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/hal/esp32c3/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/hal/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_rom/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_rom/include/esp32c3 -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_rom/esp32c3 -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_common/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_system/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_system/port/soc -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_system/port/include/riscv -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_system/port/include/private -I/home/abobkov/esp/v5.3.2/esp-idf/components/riscv/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/include/apps -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/include/apps/sntp -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/lwip/src/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/port/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/port/freertos/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include/arch -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include/sys -march=rv32imc_zicsr_zifencei  -fdiagnostics-color=always -ffunction-sections -fdata-sections -Wall -Werror=all -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=unused-but-set-variable -Wno-error=deprecated-declarations -Wextra -Wno-unused-parameter -Wno-sign-compare -Wno-enum-conversion -gdwarf-4 -ggdb -nostartfiles -Og -fno-shrink-wrap -fmacro-prefix-map=/home/abobkov/MyProjects/ESP-Nodes/ESP-IDF_Robot_RC=. -fmacro-prefix-map=/home/abobkov/esp/v5.3.2/esp-idf=/IDF -fstrict-volatile-bitfields -fno-jump-tables -fno-tree-switch-conversion -std=gnu17 -Wno-old-style-declaration -o esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj -c /home/abobkov/esp/v5.3.2/esp-idf/components/esp_app_format/esp_app_desc.c",
+  "command": "/home/abobkov/.espressif/tools/riscv32-esp-elf/esp-13.2.0_20240530/riscv32-esp-elf/bin/riscv32-esp-elf-gcc -DESP_PLATFORM -DIDF_VER=\\\"v5.3.2-dirty\\\" -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -DSOC_XTAL_FREQ_MHZ=CONFIG_XTAL_FREQ -D_GLIBCXX_HAVE_POSIX_SEMAPHORE -D_GLIBCXX_USE_POSIX_SEMAPHORE -D_GNU_SOURCE -D_POSIX_READER_WRITER_LOCKS -D PROJECT_NAME=\\\"ESP-IDF_Robot_RC\\\" -DPROJECT_VER=\\\"ESP32-Node_Switch-v2.7-2568-g52\\\" -I/home/abobkov/MyProjects/ESP-Nodes/ESP-IDF_Robot_RC/build/config -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_app_format/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/newlib/platform_include -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/config/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/config/include/freertos -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/config/riscv/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos -I/home/abobkov/esp/v5.3.2/esp-idf/components/freertos/esp_additions/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc/esp32c3 -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/dma/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/ldo/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/. -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/heap/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/log/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/soc/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/soc/esp32c3 -I/home/abobkov/esp/v5.3.2/esp-idf/components/soc/esp32c3/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/hal/platform_port/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/hal/esp32c3/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/hal/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_rom/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_rom/include/esp32c3 -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_rom/esp32c3 -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_common/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_system/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_system/port/soc -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_system/port/include/riscv -I/home/abobkov/esp/v5.3.2/esp-idf/components/esp_system/port/include/private -I/home/abobkov/esp/v5.3.2/esp-idf/components/riscv/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/include/apps -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/include/apps/sntp -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/lwip/src/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/port/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/port/freertos/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include/arch -I/home/abobkov/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include/sys -march=rv32imc_zicsr_zifencei  -fdiagnostics-color=always -ffunction-sections -fdata-sections -Wall -Werror=all -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=unused-but-set-variable -Wno-error=deprecated-declarations -Wextra -Wno-unused-parameter -Wno-sign-compare -Wno-enum-conversion -gdwarf-4 -ggdb -nostartfiles -Og -fno-shrink-wrap -fmacro-prefix-map=/home/abobkov/MyProjects/ESP-Nodes/ESP-IDF_Robot_RC=. -fmacro-prefix-map=/home/abobkov/esp/v5.3.2/esp-idf=/IDF -fstrict-volatile-bitfields -fno-jump-tables -fno-tree-switch-conversion -std=gnu17 -Wno-old-style-declaration -o esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj -c /home/abobkov/esp/v5.3.2/esp-idf/components/esp_app_format/esp_app_desc.c",
   "file": "/home/abobkov/esp/v5.3.2/esp-idf/components/esp_app_format/esp_app_desc.c",
   "output": "esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj"
 },
diff --git a/ESP-IDF_Robot_RC/build/esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj b/ESP-IDF_Robot_RC/build/esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj
index 05d8cd7fe..49cd8824b 100644
Binary files a/ESP-IDF_Robot_RC/build/esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj and b/ESP-IDF_Robot_RC/build/esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj differ
diff --git a/ESP-IDF_Robot_RC/build/esp-idf/esp_app_format/libesp_app_format.a b/ESP-IDF_Robot_RC/build/esp-idf/esp_app_format/libesp_app_format.a
index 9565bff8c..729fb4717 100644
Binary files a/ESP-IDF_Robot_RC/build/esp-idf/esp_app_format/libesp_app_format.a and b/ESP-IDF_Robot_RC/build/esp-idf/esp_app_format/libesp_app_format.a differ
diff --git a/ESP-IDF_Robot_RC/build/project_description.json b/ESP-IDF_Robot_RC/build/project_description.json
index edc807b3d..c65c1da6d 100644
--- a/ESP-IDF_Robot_RC/build/project_description.json
+++ b/ESP-IDF_Robot_RC/build/project_description.json
@@ -1,7 +1,7 @@
 {
     "version":            "1.1",
     "project_name":       "ESP-IDF_Robot_RC",
-    "project_version":    "ESP32-Node_Switch-v2.7-2567-g560d8e0b3-dirty",
+    "project_version":    "ESP32-Node_Switch-v2.7-2568-g52b7ce5f7-dirty",
     "project_path":       "/home/abobkov/MyProjects/ESP-Nodes/ESP-IDF_Robot_RC",
     "idf_path":           "/home/abobkov/esp/v5.3.2/esp-idf",
     "build_dir":          "/home/abobkov/MyProjects/ESP-Nodes/ESP-IDF_Robot_RC/build",
diff --git a/ESP-IDF_Robot_RC/main/receiver.c b/ESP-IDF_Robot_RC/main/receiver.c
index 25b48bac3..a42adf4f9 100644
--- a/ESP-IDF_Robot_RC/main/receiver.c
+++ b/ESP-IDF_Robot_RC/main/receiver.c
@@ -1,6 +1,7 @@
 #include "freertos/FreeRTOS.h"
 #include "common.h"
 #include "esp_mac.h"
+#include "controls.h"
 
 //extern static sensors_data_t *buf;
 //extern static sensors_data_t *buffer;