All modules and core of the app was created

Logic/FlightDispatcher.cpp

@@ -0,0 +1,80 @@
+#include "FlightDispatcher.hpp"
+
+FlightDispatcher::FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
+                                   FlightController *flightController, bool loop_on_fail) {
+    assert(bluetoothDispatcher != nullptr);
+    assert(flightController != nullptr);
+
+    _bluetoothDispatcher = bluetoothDispatcher;
+    _flightController = flightController;
+
+    bluetoothDispatcher->onNewDeviceConnected([this](BTAddress device) {
+        this->_onNewDeviceConnected(device);
+    });
+    bluetoothDispatcher->onNewPackageReceived([this](char *package) {
+        this->_onNewMessageReceived(package);
+    });
+
+    if (_bluetoothDispatcher->initialize()) {
+        ESP_LOGI(_tag, "Bluetooth initialized successfully.");
+    } else {
+        ESP_LOGE(_tag, "Failed to initialize Bluetooth dispatcher!");
+        while (loop_on_fail)
+            ;
+    }
+    _telemetryTimer = millis();
+}
+
+FlightDispatcher::~FlightDispatcher() {
+    delete _bluetoothDispatcher;
+    delete _flightController;
+}
+
+void FlightDispatcher::tick() {
+    _flightController->tick();
+    _bluetoothDispatcher->tick();
+    if (millis() - _telemetryTimer >= _telemetryTimeIntervalMS) {
+        _sendTelemetry();
+        _telemetryTimer = millis();
+    }
+}
+
+void FlightDispatcher::_onNewDeviceConnected(BTAddress device) {
+    auto currentState = _flightController->currentDeviceState();
+    gson::string package;
+    package.beginObj();
+    package["batteryCharge"] = currentState.batteryCharge;
+    package["flightHeight"] = currentState.flightHeight;
+    package["status"] = currentState.status;
+    package.endObj();
+    package.end();
+    package += "\r\n";
+    auto pkg = package.s.c_str();
+    _bluetoothDispatcher->sendPackage(pkg, strlen(pkg));
+}
+
+void FlightDispatcher::_onNewMessageReceived(char *package) {
+    ESP_LOGI(_tag, "Received new package: %s", package);
+    gson::Doc pkg;
+    pkg.parse(package, _jsonMaxDepth);
+    // TODO: process package
+}
+
+void FlightDispatcher::_sendTelemetry() {
+    /* Notify mobile client about device state */
+    auto state = _flightController->currentDeviceState();
+    gson::string package;
+    package.beginObj();
+    package["batteryCharge"] = state.batteryCharge;
+    package["flightHeight"] = state.flightHeight;
+    package["status"] = state.status;
+    package["y"] = state.mpuState.yaw;
+    package["p"] = state.mpuState.pitch;
+    package["r"] = state.mpuState.roll;
+    package["zIn"] = state.mpuState.zInertial;
+    package.endObj();
+    package.end();
+    package += "\r\n";
+
+    _bluetoothDispatcher->sendPackage(package.s.c_str(), strlen((package.s.c_str())));
+}