refactor: #pragma once

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"

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;

src/Filters/kalman.hpp

@@ -1,4 +1,5 @@
 // упрощённый Калман для одномерного случая
+#pragma once
 
 #ifndef _GKalman_h
 #define _GKalman_h

src/Filters/median3.hpp

@@ -1,4 +1,5 @@
 // быстрый медианный фильтр 3-го порядка
+#pragma once
 
 #ifndef _GMedian3_h
 #define _GMedian3_h

src/Filters/runningAverage.hpp

@@ -1,4 +1,5 @@
 // экспоненциальное бегущее среднее
+#pragma once
 
 #ifndef _GFilterRA_h
 #define _GFilterRA_h

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"

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"

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;

src/Logic/SavedPidRegulator.hpp

@@ -1,3 +1,4 @@
+#pragma once
 #include "GyverPID.h"
 #include "Preferences.h"
 #include "esp_log.h"

src/Motor/BrushedMotor.cpp

@@ -72,6 +72,6 @@ void BrushedMotor::reverse() {
     _apply_directional();
 }
 
-void BrushedMotor::coast() {
+void BrushedMotor::coast() const {
     setDuty(0);
 }

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;
 

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
 

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"
 

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"
 

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"
 

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;

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; }

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

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);
 

src/board_pins.h

@@ -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
 #define I2C_SDA_PIN 21
 #define I2C_SCL_PIN 18
 #define MPU6050_INT_PIN 19