feat: pitch PID regulator, MPU and LPS modified

src/Sensors/RangingSensor.cpp

@@ -5,39 +5,10 @@
 #include "RangingSensor.hpp"
 #include "esp_log.h"
 
-RangingSensor::RangingSensor(TwoWire &i2c) {
-    _sensor = VL53L0X();
-    _sensor.setBus(&i2c);
-    if (_sensor.init()) {
-        _sensor.setMeasurementTimingBudget(20000);
-        _sensor.setTimeout(25);
-        ESP_LOGI(_tag, "Sensor initialized");
-    } else {
-        ESP_LOGE(_tag, "Failed to initialize RangingSensor!");
-        assert(false);
-    }
-    _sensor.startContinuous(10);
-}
+RangingSensor::RangingSensor() {}
 
-void RangingSensor::startFlight() {
-    //_start_distance = _distance;
-}
+void RangingSensor::startFlight() {}
 
-void RangingSensor::tick() {
-    _distance = (uint32_t) round(runMiddleArifm((float) _sensor.readRangeContinuousMillimeters())) / 10;
-}
+void RangingSensor::tick() {}
 
-uint32_t RangingSensor::getDistance() {
-    return _distance - _start_distance;
-}
-
-float RangingSensor::runMiddleArifm(float newVal) {
-    static int t = 0;
-    static float vals[_MID_ARITM_WINDOW];
-    static float average = 0;
-    if (++t >= _MID_ARITM_WINDOW) t = 0; // перемотка t
-    average -= vals[t];         // вычитаем старое
-    average += newVal;          // прибавляем новое
-    vals[t] = newVal;           // запоминаем в массив
-    return ((float) average / _MID_ARITM_WINDOW);
-}
+uint32_t RangingSensor::getDistance() { return 0; }