All modules and core of the app was created

Sensors/Sensors.cpp

@@ -1,10 +1,15 @@
 #include "Sensors.hpp"
 
-Sensors::Sensors(Barometer &barometer, MPU &mpu, Kalman2DFilter &filter, BatteryController &battery, bool loop_on_fail) {
-    _barometer = &barometer;
-    _mpu = &mpu;
-    _2d_filter = &filter;
-    _battery = &battery;
+Sensors::Sensors(Barometer *barometer, MPU *mpu, Kalman2DFilter *filter, BatteryController *battery, bool loop_on_fail) {
+    assert(barometer != nullptr);
+    assert(mpu != nullptr);
+    assert(filter != nullptr);
+    assert(battery != nullptr);
+
+    _barometer = barometer;
+    _mpu = mpu;
+    _2d_filter = filter;
+    _battery = battery;
 
     ESP_LOGI(_tag, "Initialize BMP280...");
     if (_barometer->initialize()) {
@@ -44,12 +49,12 @@ void Sensors::measureBaseAltitudeAsync(void) {
     _barometer->measureBaseAltitudeAsync();
 }
 
-float Sensors::rawFlightHeight(void) {
+float Sensors::rawFlightHeight(void) const {
     /* Returns flight height from barometer immediatly */
     return _barometer->flightHeight();
 }
 
-float Sensors::flightHeight(void) {
+float Sensors::flightHeight(void) const {
     /* Returns flight height from cache immediatly */
     if (_flightHeightFromBarometer == NAN) {
         ESP_LOGW(_tag, "flightHeight called, but tick() has called never");
@@ -59,8 +64,8 @@ float Sensors::flightHeight(void) {
     }
 }
 
-MpuData Sensors::mpuData() {
-    if (_mpuData.ax == NAN and _mpuData.gravityZ == NAN) {
+MpuData Sensors::mpuData() const {
+    if (_mpuData.ax == NAN and _mpuData.gravity == NAN) {
         ESP_LOGW(_tag, "MPU data looks like .tick() has never called");
     }
     return _mpuData;
@@ -69,6 +74,7 @@ MpuData Sensors::mpuData() {
 bool Sensors::tick(void) {
     /* Super loop iteraion */
     /* Return true on update */
+    _barometer->tick();
     bool err;
     bool isMpuDataReady = _mpu->tick(err);
     if (isMpuDataReady and !err) {
@@ -82,7 +88,8 @@ bool Sensors::tick(void) {
                      .yaw = _mpu->yaw(),
                      .pitch = _mpu->pitch(),
                      .roll = _mpu->roll(),
-                     .gravityZ = _mpu->gravityZ() };
+                     .gravity = _mpu->gravityZ(),
+                     .zInertial = _mpu->accZInertial() };
         return true;
     } else if (err) {
         ESP_LOGE(_tag, "Failed to get DMP data!");
@@ -90,6 +97,18 @@ bool Sensors::tick(void) {
     return false;
 }
 
-int Sensors::batteryCharge(void) {
+int Sensors::batteryCharge(void) const {
     return _battery->percent();
+}
+
+void Sensors::onMpuCalibrationFinished(OnCalibrationFinishedCb callback) {
+    _mpu->onCalibrationFinished(callback);
+}
+
+void Sensors::startMpuCalibration() {
+    _mpu->startCalibration();
+}
+
+void Sensors::onMeasuaringAltitudeFinished(OnMeasuringFinishedCb callback) {
+    _barometer->onMeasuaringHeightFinished(callback);
 }