More compact module sensors was added

Sensors/Sensors.hpp

@@ -0,0 +1,46 @@
+#include "Barometer.hpp"
+#include "BatteryController.hpp"
+#include "Filters/Kalman2DFilter.hpp"
+#include "MPU.hpp"
+#include "esp_log.h"
+
+/* Sensors module provides cached and filtered sensors values */
+
+struct MpuData {
+    float ax, ay, az;
+    float gx, gy, gz;
+    float yaw, pitch, roll;
+    float gravityZ;
+};
+
+class Sensors {
+  public:
+    Sensors(Barometer &barometer, MPU &mpu, Kalman2DFilter &filter, BatteryController &battery, bool loop_on_fail = true);
+
+    ~Sensors();
+
+    void measureBaseAltitudeSync(void);
+    void measureBaseAltitudeAsync(void);
+    float rawFlightHeight(void);
+    float flightHeight(void);
+
+    MpuData mpuData(void);
+
+    int batteryCharge(void);  // [%]
+
+    bool tick(void);
+
+  private:
+    Barometer *_barometer = nullptr;
+    MPU *_mpu = nullptr;
+    BatteryController *_battery = nullptr;
+    Kalman2DFilter *_2d_filter = nullptr;
+
+    /* cached filtered values */
+    float _flightHeightFromBarometer = NAN;
+    float _zVelocityAltitude = NAN;
+    MpuData _mpuData = { NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN };
+
+
+    static constexpr const char *_tag = "Sensors";
+};