diff --git a/ESP-IDF_Robot_RC/build/.ninja_deps b/ESP-IDF_Robot_RC/build/.ninja_deps
index ad13b3b1a..ced8b8a76 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 b762032be..54f39dcad 100644
--- a/ESP-IDF_Robot_RC/build/.ninja_log
+++ b/ESP-IDF_Robot_RC/build/.ninja_log
@@ -1,1907 +1,1298 @@
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diff --git a/ESP-IDF_Robot_RC/build/build.ninja b/ESP-IDF_Robot_RC/build/build.ninja
index 395b10f15..afdad46d4 100644
--- a/ESP-IDF_Robot_RC/build/build.ninja
+++ b/ESP-IDF_Robot_RC/build/build.ninja
@@ -3165,7 +3165,7 @@ 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/alex/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-v2.7-795-g2c9\"
+  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-v2.7-800-g754\"
   DEP_FILE = esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj.d
   FLAGS = -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/alex/github/ESP-Nodes/ESP-IDF_Robot_RC=. -fmacro-prefix-map=/home/alex/esp/v5.3.2/esp-idf=/IDF -fstrict-volatile-bitfields -fno-jump-tables -fno-tree-switch-conversion -std=gnu17 -Wno-old-style-declaration
   INCLUDES = -I/home/alex/github/ESP-Nodes/ESP-IDF_Robot_RC/build/config -I/home/alex/esp/v5.3.2/esp-idf/components/esp_app_format/include -I/home/alex/esp/v5.3.2/esp-idf/components/newlib/platform_include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/include/freertos -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/esp_additions/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/dma/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/ldo/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/. -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/heap/include -I/home/alex/esp/v5.3.2/esp-idf/components/log/include -I/home/alex/esp/v5.3.2/esp-idf/components/soc/include -I/home/alex/esp/v5.3.2/esp-idf/components/soc/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/soc/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/platform_port/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/include/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_common/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/soc -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/include/riscv -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/include/private -I/home/alex/esp/v5.3.2/esp-idf/components/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include/apps -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include/apps/sntp -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/lwip/src/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/freertos/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include/arch -I/home/alex/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 a9c093807..28b637add 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/alex/github/ESP-Nodes/ESP-IDF_Robot_RC/build",
-  "command": "/home/alex/.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-v2.7-795-g2c9\\\" -I/home/alex/github/ESP-Nodes/ESP-IDF_Robot_RC/build/config -I/home/alex/esp/v5.3.2/esp-idf/components/esp_app_format/include -I/home/alex/esp/v5.3.2/esp-idf/components/newlib/platform_include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/include/freertos -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/esp_additions/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/dma/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/ldo/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/. -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/heap/include -I/home/alex/esp/v5.3.2/esp-idf/components/log/include -I/home/alex/esp/v5.3.2/esp-idf/components/soc/include -I/home/alex/esp/v5.3.2/esp-idf/components/soc/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/soc/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/platform_port/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/include/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_common/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/soc -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/include/riscv -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/include/private -I/home/alex/esp/v5.3.2/esp-idf/components/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include/apps -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include/apps/sntp -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/lwip/src/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/freertos/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include/arch -I/home/alex/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/alex/github/ESP-Nodes/ESP-IDF_Robot_RC=. -fmacro-prefix-map=/home/alex/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/alex/esp/v5.3.2/esp-idf/components/esp_app_format/esp_app_desc.c",
+  "command": "/home/alex/.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-v2.7-800-g754\\\" -I/home/alex/github/ESP-Nodes/ESP-IDF_Robot_RC/build/config -I/home/alex/esp/v5.3.2/esp-idf/components/esp_app_format/include -I/home/alex/esp/v5.3.2/esp-idf/components/newlib/platform_include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/include/freertos -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/esp_additions/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/dma/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/ldo/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/. -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/heap/include -I/home/alex/esp/v5.3.2/esp-idf/components/log/include -I/home/alex/esp/v5.3.2/esp-idf/components/soc/include -I/home/alex/esp/v5.3.2/esp-idf/components/soc/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/soc/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/platform_port/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/include/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_common/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/soc -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/include/riscv -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/include/private -I/home/alex/esp/v5.3.2/esp-idf/components/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include/apps -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include/apps/sntp -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/lwip/src/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/freertos/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include/arch -I/home/alex/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/alex/github/ESP-Nodes/ESP-IDF_Robot_RC=. -fmacro-prefix-map=/home/alex/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/alex/esp/v5.3.2/esp-idf/components/esp_app_format/esp_app_desc.c",
   "file": "/home/alex/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/config/sdkconfig.cmake b/ESP-IDF_Robot_RC/build/config/sdkconfig.cmake
index ec04a62a7..fc13e64bb 100644
--- a/ESP-IDF_Robot_RC/build/config/sdkconfig.cmake
+++ b/ESP-IDF_Robot_RC/build/config/sdkconfig.cmake
@@ -405,7 +405,7 @@ set(CONFIG_ESPNOW_LMK "lmk1234567890123")
 set(CONFIG_ESPNOW_CHANNEL "1")
 set(CONFIG_ESPNOW_SEND_COUNT "100")
 set(CONFIG_ESPNOW_SEND_DELAY "1000")
-set(CONFIG_ESPNOW_SEND_LEN "128")
+set(CONFIG_ESPNOW_SEND_LEN "10")
 set(CONFIG_ESPNOW_ENABLE_LONG_RANGE "")
 set(CONFIG_ESPNOW_ENABLE_POWER_SAVE "")
 set(CONFIG_COMPILER_OPTIMIZATION_DEBUG "y")
diff --git a/ESP-IDF_Robot_RC/build/config/sdkconfig.h b/ESP-IDF_Robot_RC/build/config/sdkconfig.h
index a9bfe0b52..6de4bbc0f 100644
--- a/ESP-IDF_Robot_RC/build/config/sdkconfig.h
+++ b/ESP-IDF_Robot_RC/build/config/sdkconfig.h
@@ -356,7 +356,7 @@
 #define CONFIG_ESPNOW_CHANNEL 1
 #define CONFIG_ESPNOW_SEND_COUNT 100
 #define CONFIG_ESPNOW_SEND_DELAY 1000
-#define CONFIG_ESPNOW_SEND_LEN 128
+#define CONFIG_ESPNOW_SEND_LEN 10
 #define CONFIG_COMPILER_OPTIMIZATION_DEBUG 1
 #define CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_ENABLE 1
 #define CONFIG_COMPILER_FLOAT_LIB_FROM_GCCLIB 1
diff --git a/ESP-IDF_Robot_RC/build/config/sdkconfig.json b/ESP-IDF_Robot_RC/build/config/sdkconfig.json
index 707e2eebf..62611c3f0 100644
--- a/ESP-IDF_Robot_RC/build/config/sdkconfig.json
+++ b/ESP-IDF_Robot_RC/build/config/sdkconfig.json
@@ -107,7 +107,7 @@
     "ESPNOW_PMK": "pmk1234567890123",
     "ESPNOW_SEND_COUNT": 100,
     "ESPNOW_SEND_DELAY": 1000,
-    "ESPNOW_SEND_LEN": 128,
+    "ESPNOW_SEND_LEN": 10,
     "ESPNOW_WIFI_MODE_STATION": true,
     "ESPNOW_WIFI_MODE_STATION_SOFTAP": false,
     "ESPTOOLPY_AFTER": "hard_reset",
diff --git a/ESP-IDF_Robot_RC/build/project_description.json b/ESP-IDF_Robot_RC/build/project_description.json
index da181d1ca..e39637dc0 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-v2.7-795-g2c95060b-dirty",
+    "project_version":    "ESP32-Node_Switch-v2.7-800-g75499b88-dirty",
     "project_path":       "/home/alex/github/ESP-Nodes/ESP-IDF_Robot_RC",
     "idf_path":           "/home/alex/esp/v5.3.2/esp-idf",
     "build_dir":          "/home/alex/github/ESP-Nodes/ESP-IDF_Robot_RC/build",
diff --git a/ESP-IDF_Robot_RC/sdkconfig b/ESP-IDF_Robot_RC/sdkconfig
index a5d9354e6..4b308122f 100644
--- a/ESP-IDF_Robot_RC/sdkconfig
+++ b/ESP-IDF_Robot_RC/sdkconfig
@@ -284,7 +284,7 @@ CONFIG_IDF_TOOLCHAIN="gcc"
 CONFIG_IDF_TARGET_ARCH_RISCV=y
 CONFIG_IDF_TARGET_ARCH="riscv"
 CONFIG_IDF_TARGET="esp32c3"
-CONFIG_IDF_INIT_VERSION="$IDF_INIT_VERSION"
+CONFIG_IDF_INIT_VERSION="5.3.2"
 CONFIG_IDF_TARGET_ESP32C3=y
 CONFIG_IDF_FIRMWARE_CHIP_ID=0x0005