diff --git a/src/BoardI2C.hpp b/src/BoardI2C.hpp
index 2c0a428..a9a37ad 100755
--- a/src/BoardI2C.hpp
+++ b/src/BoardI2C.hpp
@@ -1,6 +1,8 @@
 // This is a personal academic project. Dear PVS-Studio, please check it.
 // PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
 
+#pragma once
+
 #define CONFIG_DISABLE_HAL_LOCKS 0
 
 #include "Wire.h"
@@ -18,4 +20,4 @@ public:
             assert(false);
         }
     }
-};
\ No newline at end of file
+};
diff --git a/src/Filters/Kalman2DFilter.hpp b/src/Filters/Kalman2DFilter.hpp
index 8f15a74..4cf5b42 100755
--- a/src/Filters/Kalman2DFilter.hpp
+++ b/src/Filters/Kalman2DFilter.hpp
@@ -1,37 +1,38 @@
 // This is a personal academic project. Dear PVS-Studio, please check it.
 // PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
+#pragma once
 
 #include <BasicLinearAlgebra.h>
 
 class Kalman2DFilter {
-  public:
+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 };
-        H = { 1, 0 };
-        I = { 1, 0, 0, 1 };
+        F = {1, dt, 0, 1};
+        G = {0.5f * dt * dt, dt};
+        H = {1, 0};
+        I = {1, 0, 0, 1};
         Q = G * ~G * accelUncertainty * accelUncertainty;
-        R = { barometerUncertainty * barometerUncertainty };
-        P = { 0, 0, 0, 0 };
-        S = { 0, 0 };
+        R = {barometerUncertainty * barometerUncertainty};
+        P = {0, 0, 0, 0};
+        S = {0, 0};
     }
 
     void filter(const float &AccZInertial, const float &AltitudeBarometer,
                 float &AltitudeKalman, float &VelocityVerticalKalman) {
-        Acc = { AccZInertial };
+        Acc = {AccZInertial};
         S = F * S + G * Acc;
         P = F * P * ~F + Q;
         L = H * P * ~H + R;
         K = P * ~H * Inverse(L);
-        M = { AltitudeBarometer };
+        M = {AltitudeBarometer};
         S = S + K * (M - H * S);
         AltitudeKalman = S(0, 0);
         VelocityVerticalKalman = S(1, 0);
         P = (I - K * H) * P;
     }
 
-  private:
+private:
     BLA::Matrix<2, 2> F;
     BLA::Matrix<2, 1> G;
     BLA::Matrix<2, 2> P;
@@ -44,4 +45,4 @@ class Kalman2DFilter {
     BLA::Matrix<1, 1> R;
     BLA::Matrix<1, 1> L;
     BLA::Matrix<1, 1> M;
-};
\ No newline at end of file
+};
diff --git a/src/Filters/kalman.hpp b/src/Filters/kalman.hpp
index 373fe88..3e44018 100755
--- a/src/Filters/kalman.hpp
+++ b/src/Filters/kalman.hpp
@@ -1,4 +1,5 @@
 // упрощённый Калман для одномерного случая
+#pragma once
 
 #ifndef _GKalman_h
 #define _GKalman_h
diff --git a/src/Filters/median3.hpp b/src/Filters/median3.hpp
index 5c59c6b..824ef9c 100755
--- a/src/Filters/median3.hpp
+++ b/src/Filters/median3.hpp
@@ -1,4 +1,5 @@
 // быстрый медианный фильтр 3-го порядка
+#pragma once
 
 #ifndef _GMedian3_h
 #define _GMedian3_h
diff --git a/src/Filters/runningAverage.hpp b/src/Filters/runningAverage.hpp
index fd338a6..fb7bb58 100755
--- a/src/Filters/runningAverage.hpp
+++ b/src/Filters/runningAverage.hpp
@@ -1,4 +1,5 @@
 // экспоненциальное бегущее среднее
+#pragma once
 
 #ifndef _GFilterRA_h
 #define _GFilterRA_h
diff --git a/src/Logic/FlightController.hpp b/src/Logic/FlightController.hpp
index 2ac89bc..6ca59b7 100755
--- a/src/Logic/FlightController.hpp
+++ b/src/Logic/FlightController.hpp
@@ -1,5 +1,6 @@
 // This is a personal academic project. Dear PVS-Studio, please check it.
 // PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
+#pragma once
 
 #include "PIDController.hpp"
 #include "Sensors/Sensors.hpp"
diff --git a/src/Logic/FlightDispatcher.hpp b/src/Logic/FlightDispatcher.hpp
index f9bb86b..a475882 100755
--- a/src/Logic/FlightDispatcher.hpp
+++ b/src/Logic/FlightDispatcher.hpp
@@ -1,5 +1,6 @@
 // This is a personal academic project. Dear PVS-Studio, please check it.
 // PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
+#pragma once
 
 #include "FlightController.hpp"
 #include "GSON.h"
@@ -43,4 +44,4 @@ private:
     uint32_t _telemetryTimer = millis();
     BluetoothDispatcher *_bluetoothDispatcher;
     FlightController *_flightController;
-};
\ No newline at end of file
+};
diff --git a/src/Logic/PIDController.hpp b/src/Logic/PIDController.hpp
index 88a3179..3f4d638 100755
--- a/src/Logic/PIDController.hpp
+++ b/src/Logic/PIDController.hpp
@@ -1,6 +1,8 @@
 // This is a personal academic project. Dear PVS-Studio, please check it.
 // PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
 
+#pragma once
+
 #include "Motor/BrushedMotor.hpp"
 #include "SavedPidRegulator.hpp"
 #include "esp_log.h"
@@ -10,7 +12,7 @@ class PIDController : public SavedPidRegulator {
 public:
     PIDController(float p, float i, float d, BrushedMotor *rotor,
                   const char *name = "PID", uint16_t dt = 10, const bool isEnabled = false)
-            : SavedPidRegulator(p, i, d, name, dt) {
+        : SavedPidRegulator(p, i, d, name, dt) {
         assert(rotor != nullptr);
         _rotor = rotor;
         _isEnabled = isEnabled;
@@ -50,4 +52,4 @@ private:
     BrushedMotor *_rotor = nullptr;
     uint32_t _pid_timer = 0;
     bool _isEnabled = false;
-};
\ No newline at end of file
+};
diff --git a/src/Logic/SavedPidRegulator.hpp b/src/Logic/SavedPidRegulator.hpp
index 9c5179e..8592f70 100755
--- a/src/Logic/SavedPidRegulator.hpp
+++ b/src/Logic/SavedPidRegulator.hpp
@@ -1,3 +1,4 @@
+#pragma once
 #include "GyverPID.h"
 #include "Preferences.h"
 #include "esp_log.h"
diff --git a/src/Motor/BrushedMotor.cpp b/src/Motor/BrushedMotor.cpp
index 3775ef6..6e055a1 100755
--- a/src/Motor/BrushedMotor.cpp
+++ b/src/Motor/BrushedMotor.cpp
@@ -72,6 +72,6 @@ void BrushedMotor::reverse() {
     _apply_directional();
 }
 
-void BrushedMotor::coast() {
+void BrushedMotor::coast() const {
     setDuty(0);
 }
diff --git a/src/Motor/BrushedMotor.hpp b/src/Motor/BrushedMotor.hpp
index 95a3f82..b69d23b 100755
--- a/src/Motor/BrushedMotor.hpp
+++ b/src/Motor/BrushedMotor.hpp
@@ -1,10 +1,10 @@
 // This is a personal academic project. Dear PVS-Studio, please check it.
 // PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
+#pragma once
 
 #include <cstdint>
 #include "Arduino.h"
-#include "string.h"
-#include "driver/ledc.h"
+#include <cstring>
 
 
 class BrushedMotor {
@@ -25,7 +25,7 @@ public:
 
     void reverse();
 
-    void coast();
+    void coast() const;
 
     void decrement(uint32_t k) const;
 
@@ -40,4 +40,4 @@ private:
     String _tag_name = "BrushedMotor";
 
     void _apply_directional() const;
-};
\ No newline at end of file
+};
diff --git a/src/RF/BluetoothDispatcher.hpp b/src/RF/BluetoothDispatcher.hpp
index 921f268..934ad45 100755
--- a/src/RF/BluetoothDispatcher.hpp
+++ b/src/RF/BluetoothDispatcher.hpp
@@ -1,5 +1,6 @@
 // This is a personal academic project. Dear PVS-Studio, please check it.
 // PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
+#pragma once
 
 #define TX_QUEUE_SIZE 512
 
@@ -58,4 +59,4 @@ private:
 
     static constexpr uint16_t _buffer_size = 512;
     mString<_buffer_size> _buffer;
-};
\ No newline at end of file
+};
diff --git a/src/Sensors/Barometer.hpp b/src/Sensors/Barometer.hpp
index b725914..d378196 100644
--- a/src/Sensors/Barometer.hpp
+++ b/src/Sensors/Barometer.hpp
@@ -1,5 +1,6 @@
 // This is a personal academic project. Dear PVS-Studio, please check it.
 // PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
+#pragma once
 
 #include "GyverBME280.h"
 
diff --git a/src/Sensors/BarometerBMP280.hpp b/src/Sensors/BarometerBMP280.hpp
index 88c7fbb..3696981 100755
--- a/src/Sensors/BarometerBMP280.hpp
+++ b/src/Sensors/BarometerBMP280.hpp
@@ -1,5 +1,6 @@
 // This is a personal academic project. Dear PVS-Studio, please check it.
 // PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
+#pragma once
 
 #include "GyverBME280.h"
 
diff --git a/src/Sensors/BatteryController.hpp b/src/Sensors/BatteryController.hpp
index 2d44b7c..e5ab94c 100755
--- a/src/Sensors/BatteryController.hpp
+++ b/src/Sensors/BatteryController.hpp
@@ -1,5 +1,6 @@
 // This is a personal academic project. Dear PVS-Studio, please check it.
 // PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
+#pragma once
 
 #include "board_pins.h"
 
@@ -36,4 +37,4 @@ private:
     static float _map(float x, float in_min, float in_max, float out_min, float out_max) {
         return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
     }
-};
\ No newline at end of file
+};
diff --git a/src/Sensors/MPU.hpp b/src/Sensors/MPU.hpp
index 52869b6..29b8a6e 100755
--- a/src/Sensors/MPU.hpp
+++ b/src/Sensors/MPU.hpp
@@ -1,5 +1,6 @@
 // This is a personal academic project. Dear PVS-Studio, please check it.
 // PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
+#pragma once
 
 #include "MPU6050_6Axis_MotionApps20.h"
 #include "Preferences.h"
@@ -39,7 +40,7 @@ public:
             ESP_LOGE(_TAG, "MPU6050 test connection failed!");
             return false;
         }
-        _mpu->setDLPFMode(MPU6050_DLPF_BW_10);  // 10 Hz bandwidth
+        _mpu->setDLPFMode(MPU6050_DLPF_BW_10); // 10 Hz bandwidth
         //mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_500); // set sensivity, not recommended
         //mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_8);
 
@@ -225,7 +226,7 @@ private:
 
     float _axOffset = 0, _ayOffset = 0, _azOffset = 0;
     float _gxOffset = 0, _gyOffset = 0, _gzOffset = 0;
-    float _prOffset[2] = {0};  // yaw isn't used
+    float _prOffset[2] = {0}; // yaw isn't used
 
     uint8_t _fifoBuffer[45] = {0};
     Preferences _preferences;
diff --git a/src/Sensors/RangingSensor.cpp b/src/Sensors/RangingSensor.cpp
index e5d2bfb..1e6ecde 100755
--- a/src/Sensors/RangingSensor.cpp
+++ b/src/Sensors/RangingSensor.cpp
@@ -1,14 +1,13 @@
-//
-// Created by gogacoder on 10.03.24.
-//
-
 #include "RangingSensor.hpp"
 #include "esp_log.h"
 
-RangingSensor::RangingSensor() {}
+RangingSensor::RangingSensor() {
+}
 
-void RangingSensor::startFlight() {}
+void RangingSensor::startFlight() {
+}
 
-void RangingSensor::tick() {}
+void RangingSensor::tick() {
+}
 
 uint32_t RangingSensor::getDistance() { return 0; }
diff --git a/src/Sensors/RangingSensor.hpp b/src/Sensors/RangingSensor.hpp
index fcafe12..f2ed41c 100755
--- a/src/Sensors/RangingSensor.hpp
+++ b/src/Sensors/RangingSensor.hpp
@@ -1,6 +1,6 @@
-//
-// Created by gogacoder on 10.03.24.
-//
+// This is a personal academic project. Dear PVS-Studio, please check it.
+// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
+#pragma once
 
 #ifndef HELICOPTER_FIRMWARE_RANGINGSENSOR_H
 #define HELICOPTER_FIRMWARE_RANGINGSENSOR_H
diff --git a/src/Sensors/Sensors.hpp b/src/Sensors/Sensors.hpp
index 5de3852..49c4e5b 100755
--- a/src/Sensors/Sensors.hpp
+++ b/src/Sensors/Sensors.hpp
@@ -1,6 +1,7 @@
 // This is a personal academic project. Dear PVS-Studio, please check it.
 // PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
 
+#pragma once
 #include "Barometer.hpp"
 #include "BatteryController.hpp"
 #include "Filters/Kalman2DFilter.hpp"
@@ -47,7 +48,7 @@ public:
 
     MpuData mpuData(void) const;
 
-    int batteryCharge(void) const;  // [%]
+    int batteryCharge(void) const; // [%]
 
     bool tick(void);
 
@@ -67,4 +68,4 @@ private:
 
 
     static constexpr const char *_tag = "Sensors";
-};
\ No newline at end of file
+};
diff --git a/src/board_pins.h b/src/board_pins.h
index 7e8a08e..e974465 100755
--- a/src/board_pins.h
+++ b/src/board_pins.h
@@ -1,9 +1,10 @@
 // This is a personal academic project. Dear PVS-Studio, please check it.
 // PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
 
+#pragma once
 #define I2C_SDA_PIN 21
 #define I2C_SCL_PIN 18
 #define MPU6050_INT_PIN 19
 #define BATTERY_ADC_CHANNEL ADC2_CHANNEL_0
 #define BATTERY_DATA_PIN 4
-#define BATTERY_DATA_SWITCH_PIN 17
\ No newline at end of file
+#define BATTERY_DATA_SWITCH_PIN 17