More compact module sensors was added

main.cpp

@@ -1,11 +1,11 @@
-#include "Barometer.h"
-#include "BatteryController.h"
 #include "Filters/Kalman2DFilter.hpp"
 #include "GyverBME280.h"
 #include "I2Cdev.h"
-#include "MPU.hpp"
 #include "MPU6050_6Axis_MotionApps20.h"
 #include "RF/BluetoothDispatcher.hpp"
+#include "Sensors/Barometer.hpp"
+#include "Sensors/BatteryController.hpp"
+#include "Sensors/MPU.hpp"
 #include "Wire.h"
 #include "board_pins.h"
 #include <Arduino.h>
@@ -21,20 +21,16 @@ void setup() {
     Serial.begin(115200);
 
     Serial.print("Ininitialize I2C...");
-    Serial.println(
-      i2c.begin(I2C_SDA_PIN, I2C_SCL_PIN, 400000));
+    Serial.println(i2c.begin(I2C_SDA_PIN, I2C_SCL_PIN, 400000));
 
     Serial.print("Ininitialize BMP280...");
-    Serial.println(
-      barometer.initialize());
+    Serial.println(barometer.initialize());
 
     Serial.print("Ininitialize MPU6050...");
-    Serial.println(
-      mpu.initialize());
+    Serial.println(mpu.initialize());
 
     Serial.print("Ininitialize Bluetooth...");
-    Serial.println(
-      bluetoothDispatcher.initialize());
+    Serial.println(bluetoothDispatcher.initialize());
 
     battery.initialize();
     barometer.measureBaseAltitudeSync();
@@ -47,7 +43,7 @@ void loop() {
     barometer.tick();
     if (mpu.tick(err) && !err) {
         float kalmanAltitude, ZVelocityAltitude;
-        float barometerAltitude = barometer.rawFlightHeight();
+        float barometerAltitude = barometer.flightHeight();
         kalman2d.filter(mpu.accZInertial(), barometerAltitude, kalmanAltitude, ZVelocityAltitude);
         //Serial.print(barometerAltitude);
     }