RangingSensor and bug fixed

Implemented RangingSensor driver and choice between barometer and RangingSensor. Reduced I/O load.

src/Logic/FlightController.cpp

@@ -49,6 +49,7 @@ void FlightController::tick() {
             break;
         case DeviceStatus::IsBoarding:
             /* TODO: implement boarding */
+            _boarding();
             break;
         case DeviceStatus::IsFlying:
             /* TODO: implement flying */
@@ -169,6 +170,7 @@ void FlightController::stopAllRotors() {
     setRotor1Duty(0);
     setRotor2Duty(0);
     setRotor3Duty(0);
+    _status = DeviceStatus::Idle;
 }
 
 void FlightController::setHeightControllerParams(float p, float i, float d) {

src/Logic/FlightDispatcher.cpp

@@ -167,8 +167,8 @@ void FlightDispatcher::_pidSettingsOpened() {
 
     pkg.endObj();
     pkg.end();
-    pkg.s = String(MessageType::PidSettings) + ";" + pkg.s + _message_delimeter;
-    _bluetoothDispatcher->sendPackage(pkg.s.c_str(), strlen(pkg.s.c_str()));
+    pkg.s = String(MessageType::PidSettings) + ";" + pkg.s;
+    _bluetoothDispatcher->sendPackage(pkg.s.c_str());
     ESP_LOGI(_tag, "PID settings sended %s", pkg.s.c_str());
 }
 
@@ -186,6 +186,6 @@ void FlightDispatcher::_sendTelemetry() {
     package["zIn"] = state.mpuState.zInertial;
     package.endObj();
     package.end();
-    package.s = String(MessageType::UpdatePackage) + ";" + package.s + _message_delimeter;
-    _bluetoothDispatcher->sendPackage(package.s.c_str(), strlen((package.s.c_str())));
+    package.s = String(MessageType::UpdatePackage) + ";" + package.s;
+    _bluetoothDispatcher->sendPackage(package.s.c_str());
 }

src/Logic/FlightDispatcher.hpp

@@ -7,32 +7,38 @@
 #include <map>
 
 // Message type annotation for mobile app
-enum MessageType { UpdatePackage = 0, PidSettings };
+enum MessageType {
+    UpdatePackage = 0, PidSettings
+};
 
 class FlightDispatcher {
     /* Deserialize state and update it in FlightController. */
-  public:
+public:
     FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
                      FlightController *flightController, volatile bool loop_on_fail = true);
+
     ~FlightDispatcher();
+
     void tick();
-  private:
+
+private:
     /* Telemetry flow */
     void _sendTelemetry();
 
     /* Events handlers */
     void _onNewDeviceConnected(BTAddress device);
+
     void _onNewMessageReceived(char *package);
 
     /* Requests handlers */
     void _changeStatus(const DeviceStatus &newStatus);
+
     void _pidSettingsOpened();
 
     /* Compile time settings */
     static constexpr const char *_tag = "FlightDispatcher";
     static constexpr const int _telemetryTimeIntervalMS = 200;
     static constexpr const uint8_t _jsonMaxDepth = 5;
-    static constexpr const char *_message_delimeter = "\n";
 
     uint32_t _telemetryTimer = millis();
     BluetoothDispatcher *_bluetoothDispatcher;