All modules and core of the app was created

Filters/Kalman2DFilter.hpp

@@ -4,25 +4,17 @@ class Kalman2DFilter {
   public:
     Kalman2DFilter(float dt = 4.f, float accelUncertainty = 10.f, float barometerUncertainty = 100.f) {
         dt /= 1000.f;
-        F = { 1, dt,
-              0, 1 };
-        G = { 0.5f * dt * dt,
-              dt };
+        F = { 1, dt, 0, 1 };
+        G = { 0.5f * dt * dt, dt };
         H = { 1, 0 };
-        I = { 1, 0,
-              0, 1 };
+        I = { 1, 0, 0, 1 };
         Q = G * ~G * accelUncertainty * accelUncertainty;
         R = { barometerUncertainty * barometerUncertainty };
-        P = { 0, 0,
-              0, 0 };
-        S = { 0,
-              0 };
+        P = { 0, 0, 0, 0 };
+        S = { 0, 0 };
     }
 
-    void filter(const float &AccZInertial,
-                const float &AltitudeBarometer,
-                float &AltitudeKalman,
-                float &VelocityVerticalKalman) {
+    void filter(const float &AccZInertial, const float &AltitudeBarometer, float &AltitudeKalman, float &VelocityVerticalKalman) {
         Acc = { AccZInertial };
         S = F * S + G * Acc;
         P = F * P * ~F + Q;