All modules and core of the app was created

Logic/FlightController.hpp

@@ -0,0 +1,54 @@
+#include "PID.hpp"
+#include "Sensors/Sensors.hpp"
+
+enum DeviceStatus {
+    Idle = 0,
+    IsPreparingForTakeoff,
+    IsFlying,
+    IsBoarding,
+    IsImuCalibration,
+    ChargeRequired
+};
+
+struct ReportedDeviceState {
+    int batteryCharge;
+    float flightHeight;
+    DeviceStatus status;
+    MpuData mpuState;
+};
+
+struct FlightParams {
+    float height;         // [cm]
+    float yaw;      // [degrees]
+    float pitch;  // [degrees]
+};
+
+class FlightController {
+  public:
+    FlightController(Sensors *sensors, PIDController *pid1, PIDController *pid2, PIDController *pid3, bool unlimitedBattery = false);
+    ~FlightController();
+    ReportedDeviceState currentDeviceState() const;
+    void startTakeoff(OnMeasuringFinishedCb onTakeoffStarted);
+    void startBoarding();
+    void startImuCalibration();
+    void tick();
+  private:
+    void _updateBatteryCharge();
+    void _takeoff();
+    void _boarding();
+
+    Sensors *_sensors = nullptr;
+    PIDController *_pid1 = nullptr;
+    PIDController *_pid2 = nullptr;
+    PIDController *_pid3 = nullptr;
+    DeviceStatus _status;
+    OnMeasuringFinishedCb _onTakeoffStarted = nullptr;
+
+    static constexpr const char *_tag = "FlightController";
+    static constexpr uint8_t _batteryCriticalCharge = 15;  // [%]
+    static constexpr float _defaultFlightHeight = 30.f;    // [cm]
+    static constexpr float _defaultHorizontAngle = 90.f;   // [degrees]
+    static constexpr float _defaultStopMotorHeight = 5;    // [cm]
+
+    bool _unlimitedBattery = false; // for debug purposes
+};