RangingSensor and bug fixed

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

src/Sensors/RangingSensor.cpp

@@ -0,0 +1,43 @@
+//
+// Created by gogacoder on 10.03.24.
+//
+
+#include "RangingSensor.hpp"
+#include "esp_log.h"
+
+RangingSensor::RangingSensor(TwoWire &i2c, volatile bool loop_on_fail) {
+    _sensor = VL53L0X();
+    _sensor.setBus(&i2c);
+    if (_sensor.init()) {
+        _sensor.setMeasurementTimingBudget(20000);
+        _sensor.setTimeout(25);
+        ESP_LOGI(_tag, "Sensor initialized");
+    } else {
+        ESP_LOGE(_tag, "Failed to initialize RangingSensor!");
+        while (loop_on_fail) {}
+    }
+    _sensor.startContinuous(10);
+}
+
+void RangingSensor::startFlight() {
+    _start_distance = _distance;
+}
+
+void RangingSensor::tick() {
+    _distance = (uint32_t) round(runMiddleArifm((float) _sensor.readRangeContinuousMillimeters())) / 10;
+}
+
+uint32_t RangingSensor::getDistance() {
+    return _distance - _start_distance;
+}
+
+float RangingSensor::runMiddleArifm(float newVal) {
+    static int t = 0;
+    static float vals[_MID_ARITM_WINDOW];
+    static float average = 0;
+    if (++t >= _MID_ARITM_WINDOW) t = 0; // перемотка t
+    average -= vals[t];         // вычитаем старое
+    average += newVal;          // прибавляем новое
+    vals[t] = newVal;           // запоминаем в массив
+    return ((float) average / _MID_ARITM_WINDOW);
+}