Project structure redefined

src/main.cpp

@@ -0,0 +1,27 @@
+// 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
+
+#include "App.hpp"
+#include "BoardI2C.hpp"
+
+#define IGNORE_CHARGE true
+
+BoardI2C i2c;
+
+static Application *app = nullptr;
+
+void setup() {
+    Serial.begin(115200);
+    app = new Application(new FlightDispatcher(
+      new BluetoothDispatcher(new BluetoothSerial()),
+      new FlightController(
+        new Sensors(new Barometer(new GyverBME280(i2c)), new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)),
+                    new Kalman2DFilter(10.f, 1.f, 1.8f), new BatteryController()),
+        new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 1), 1),
+        new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 2), 2),
+        new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 3), 3), IGNORE_CHARGE)));
+}
+
+void loop() {
+    app->tick();
+}