BluetoothDispatcher was added & reformatting

main.cpp

@@ -0,0 +1,56 @@
+#include "Barometer.h"
+#include "BatteryController.h"
+#include "Filters/Kalman2DFilter.hpp"
+#include "GyverBME280.h"
+#include "I2Cdev.h"
+#include "MPU.hpp"
+#include "MPU6050_6Axis_MotionApps20.h"
+#include "RF/BluetoothDispatcher.hpp"
+#include "Wire.h"
+#include "board_pins.h"
+#include <Arduino.h>
+
+TwoWire i2c = TwoWire(0);
+Barometer barometer(new GyverBME280(i2c));
+MPU mpu(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c));
+Kalman2DFilter kalman2d(10.f, 1.f, 1.8f);
+BatteryController battery;
+BluetoothDispatcher bluetoothDispatcher(new BluetoothSerial());
+
+void setup() {
+    Serial.begin(115200);
+
+    Serial.print("Ininitialize I2C...");
+    Serial.println(
+      i2c.begin(I2C_SDA_PIN, I2C_SCL_PIN, 400000));
+
+    Serial.print("Ininitialize BMP280...");
+    Serial.println(
+      barometer.initialize());
+
+    Serial.print("Ininitialize MPU6050...");
+    Serial.println(
+      mpu.initialize());
+
+    Serial.print("Ininitialize Bluetooth...");
+    Serial.println(
+      bluetoothDispatcher.initialize());
+
+    battery.initialize();
+    barometer.measureBaseAltitudeSync();
+
+    Serial.println("System initialized");
+}
+
+void loop() {
+    bool err;
+    barometer.tick();
+    if (mpu.tick(err) && !err) {
+        float kalmanAltitude, ZVelocityAltitude;
+        float barometerAltitude = barometer.rawFlightHeight();
+        kalman2d.filter(mpu.accZInertial(), barometerAltitude, kalmanAltitude, ZVelocityAltitude);
+        //Serial.print(barometerAltitude);
+    }
+    bluetoothDispatcher.tick();
+    delay(1);
+}