diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 3a27a15..ecc6ca6 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -28,7 +28,6 @@
 				"${workspaceFolder}/flix/motors.ino",
 				"${workspaceFolder}/flix/rc.ino",
 				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/util.ino",
 				"${workspaceFolder}/flix/wifi.ino"
 			],
 			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2405/bin/xtensa-esp32-elf-g++",
@@ -75,7 +74,6 @@
 				"${workspaceFolder}/flix/motors.ino",
 				"${workspaceFolder}/flix/rc.ino",
 				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/util.ino",
 				"${workspaceFolder}/flix/wifi.ino"
 			],
 			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2405/bin/xtensa-esp32-elf-g++",
@@ -122,7 +120,6 @@
 				"${workspaceFolder}/flix/motors.ino",
 				"${workspaceFolder}/flix/rc.ino",
 				"${workspaceFolder}/flix/time.ino",
-				"${workspaceFolder}/flix/util.ino",
 				"${workspaceFolder}/flix/wifi.ino"
 			],
 			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2405/bin/xtensa-esp32-elf-g++.exe",
diff --git a/flix/control.ino b/flix/control.ino
index 0eb03d8..8b31cbf 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -7,6 +7,7 @@
 #include "quaternion.h"
 #include "pid.h"
 #include "lpf.h"
+#include "util.h"
 
 #define PITCHRATE_P 0.05
 #define PITCHRATE_I 0.2
diff --git a/flix/estimate.ino b/flix/estimate.ino
index a9adaf4..fa8c306 100644
--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -6,12 +6,12 @@
 #include "quaternion.h"
 #include "vector.h"
 #include "lpf.h"
+#include "util.h"
 
 #define WEIGHT_ACC 0.5f
 #define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz
 
 LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
-extern const float ONE_G;
 
 void estimate() {
 	applyGyro();
diff --git a/flix/flix.ino b/flix/flix.ino
index 59ad9ec..9bacfa9 100644
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -5,6 +5,7 @@
 
 #include "vector.h"
 #include "quaternion.h"
+#include "util.h"
 
 #define SERIAL_BAUDRATE 115200
 
diff --git a/flix/imu.ino b/flix/imu.ino
index 51747ca..6658573 100644
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -5,6 +5,7 @@
 
 #include <SPI.h>
 #include <MPU9250.h>
+#include "util.h"
 
 // NOTE: use 'ca' command to calibrate the accelerometer and put the values here
 Vector accBias(0, 0, 0);
@@ -13,8 +14,6 @@ Vector accScale(1, 1, 1);
 MPU9250 IMU(SPI);
 Vector gyroBias;
 
-extern const float ONE_G;
-
 void setupIMU() {
 	Serial.println("Setup IMU");
 	bool status = IMU.begin();
diff --git a/flix/motors.ino b/flix/motors.ino
index ee1bf71..babfa51 100644
--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -5,6 +5,8 @@
 // In case of using ESC, use this version of the code: https://gist.github.com/okalachev/8871d3a94b6b6c0a298f41a4edd34c61.
 // Motor: 8520 3.7V
 
+#include "util.h"
+
 #define MOTOR_0_PIN 12 // rear left
 #define MOTOR_1_PIN 13 // rear right
 #define MOTOR_2_PIN 14 // front right
diff --git a/flix/rc.ino b/flix/rc.ino
index de849a3..34fd3d4 100644
--- a/flix/rc.ino
+++ b/flix/rc.ino
@@ -4,6 +4,7 @@
 // Work with the RC receiver
 
 #include <SBUS.h>
+#include "util.h"
 
 // NOTE: use 'cr' command to calibrate the RC and put the values here
 int channelNeutral[] = {995, 883, 200, 972, 512, 512, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
diff --git a/flix/util.ino b/flix/util.h
similarity index 98%
rename from flix/util.ino
rename to flix/util.h
index 04e2595..98d76b3 100644
--- a/flix/util.ino
+++ b/flix/util.h
@@ -3,6 +3,8 @@
 
 // Utility functions
 
+#pragma once
+
 #include <math.h>
 #include <soc/soc.h>
 #include <soc/rtc_cntl_reg.h>
diff --git a/gazebo/simulator.cpp b/gazebo/simulator.cpp
index 9afa038..ea2d353 100644
--- a/gazebo/simulator.cpp
+++ b/gazebo/simulator.cpp
@@ -17,7 +17,6 @@
 
 #include "Arduino.h"
 #include "flix.h"
-#include "util.ino"
 #include "rc.ino"
 #include "time.ino"
 #include "motors.ino"
diff --git a/gazebo/soc/rtc_cntl_reg.h b/gazebo/soc/rtc_cntl_reg.h
index f595162..b41211d 100644
--- a/gazebo/soc/rtc_cntl_reg.h
+++ b/gazebo/soc/rtc_cntl_reg.h
@@ -1 +1 @@
-// Dummy file to make it possible to compile simulator with util.ino
+// Dummy file to make it possible to compile simulator with Flix' util.h
diff --git a/gazebo/soc/soc.h b/gazebo/soc/soc.h
index dcb15c2..f4bdec2 100644
--- a/gazebo/soc/soc.h
+++ b/gazebo/soc/soc.h
@@ -1,3 +1,3 @@
-// Dummy file to make it possible to compile simulator with util.ino
+// Dummy file to make it possible to compile simulator with Flix' util.h
 
 #define WRITE_PERI_REG(addr, val) {}