All modules and core of the app was created

Logic/FlightController.cpp

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+#include "FlightController.hpp"
+
+FlightController::FlightController(Sensors *sensors, PIDController *pid1,
+                                   PIDController *pid2, PIDController *pid3, bool unlimitedBattery) {
+    assert(sensors != nullptr);
+    assert(pid1 != nullptr);
+    assert(pid2 != nullptr);
+    assert(pid3 != nullptr);
+    _sensors = sensors;
+    _unlimitedBattery = unlimitedBattery;
+
+    _status = DeviceStatus::Idle;
+    _updateBatteryCharge();
+    ESP_LOGI(_tag, "Flight controller initialized");
+}
+
+FlightController::~FlightController() {
+    delete _sensors;
+    delete _pid1;
+    delete _pid2;
+    delete _pid3;
+}
+
+void FlightController::tick() {
+    bool hasUpdates = _sensors->tick();
+    if (hasUpdates) {
+        _updateBatteryCharge();
+    }
+    switch (_status) {
+    case DeviceStatus::Idle: break;
+    case DeviceStatus::ChargeRequired: break;
+    case DeviceStatus::IsPreparingForTakeoff: break;
+    case DeviceStatus::IsBoarding:
+        /* TODO: implement boarding */
+        break;
+    case DeviceStatus::IsFlying:
+        /* TODO: implement flying */
+        break;
+    }
+}
+
+ReportedDeviceState FlightController::currentDeviceState() const {
+    return { .batteryCharge = _sensors->batteryCharge(),
+             .flightHeight = _sensors->flightHeight(),
+             .status = _status,
+             .mpuState = _sensors->mpuData() };
+}
+
+void FlightController::startTakeoff(OnMeasuringFinishedCb onTakeoffStarted) {
+    /* Start preparation for takeoff */
+    _updateBatteryCharge();
+    if (_status == DeviceStatus::ChargeRequired)
+        return;
+
+    _status = DeviceStatus::IsPreparingForTakeoff;
+    _sensors->onMeasuaringAltitudeFinished([this]() {
+        if (_status == DeviceStatus::IsPreparingForTakeoff) {
+            // Preparation for takeoff is done
+            _takeoff();
+        }
+    });
+    _sensors->measureBaseAltitudeAsync();
+}
+
+void FlightController::startBoarding() {
+    if (_status == DeviceStatus::IsFlying) {
+        _status = DeviceStatus::IsBoarding;
+    }
+}
+
+void FlightController::_updateBatteryCharge() {
+    if(_unlimitedBattery) return;
+    if (_sensors->batteryCharge() <= _batteryCriticalCharge) {
+        if (_status == DeviceStatus::IsFlying or _status == DeviceStatus::IsBoarding) {
+            // TODO: board the device
+            _status = DeviceStatus::IsBoarding;
+        } else {
+            _status = DeviceStatus::ChargeRequired;
+        }
+    }
+}
+
+void FlightController::_takeoff() {
+    // TODO: implement takeoff
+    _status = DeviceStatus::IsFlying;
+    if(_onTakeoffStarted) {
+        _onTakeoffStarted();
+    }
+}
+
+void FlightController::_boarding() {
+    if (_sensors->flightHeight() <= _defaultStopMotorHeight) {
+        // TODO: stop motors and setpoints
+        _status = DeviceStatus::Idle;
+    } else {
+        // TODO: implement boarding
+    }
+}
+
+void FlightController::startImuCalibration() {
+    _sensors->onMpuCalibrationFinished([this]() {
+        this->_status = DeviceStatus::Idle;
+    });
+}