Code refactoring

BoardI2C.hpp

@@ -4,7 +4,7 @@
 
 class BoardI2C : public TwoWire {
   public:
-    BoardI2C(bool loop_on_fail = true) : TwoWire(0) {
+    BoardI2C(volatile bool loop_on_fail = true) : TwoWire(0) {
         if (begin(I2C_SDA_PIN, I2C_SCL_PIN, 100000)) {
             ESP_LOGI("I2CBus", "Bus initialized");
         } else {

Logic/FlightController.cpp

@@ -1,3 +1,6 @@
+// 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 "FlightController.hpp"
 
 FlightController::FlightController(Sensors *sensors, PIDController *pid1, PIDController *pid2,
@@ -186,6 +189,6 @@ PidSettings *FlightController::pidSettings() const {
     PidSettings pid1 = { .p = _pid1->Kp, .i = _pid1->Ki, .d = _pid1->Kd };
     PidSettings pid2 = { .p = _pid2->Kp, .i = _pid2->Ki, .d = _pid2->Kd };
     PidSettings pid3 = { .p = _pid3->Kp, .i = _pid3->Ki, .d = _pid3->Kd };
-    PidSettings settings[] = { pid1, pid2, pid3 };
+    static PidSettings settings[] = { pid1, pid2, pid3 };
     return settings;
 }

Logic/FlightController.hpp

@@ -1,4 +1,5 @@
 #include "PID.hpp"
+#include <memory>
 #include "Sensors/Sensors.hpp"
 
 enum DeviceStatus {

Logic/FlightDispatcher.cpp

@@ -1,7 +1,10 @@
+// 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 "FlightDispatcher.hpp"
 
 FlightDispatcher::FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
-                                   FlightController *flightController, bool loop_on_fail) {
+                                   FlightController *flightController, volatile bool loop_on_fail) {
     assert(bluetoothDispatcher != nullptr);
     assert(flightController != nullptr);
 
@@ -119,7 +122,9 @@ void FlightDispatcher::_onNewMessageReceived(char *package) {
 void FlightDispatcher::_changeStatus(const DeviceStatus &newStatus) {
     switch (newStatus) {
     case DeviceStatus::IsImuCalibration: _flightController->startImuCalibration(); break;
-    case DeviceStatus::IsFlying: _flightController->startTakeoff(); break;
+    case DeviceStatus::IsFlying:
+        _changeStatus(DeviceStatus::IsPreparingForTakeoff);
+        break;
     case DeviceStatus::IsPreparingForTakeoff: _flightController->startTakeoff(); break;
     case DeviceStatus::IsBoarding: _flightController->startBoarding(); break;
     default: break;

Logic/FlightDispatcher.hpp

@@ -7,7 +7,7 @@ class FlightDispatcher {
     /* Deserialize state and update it in FlightController. */
   public:
     FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
-                     FlightController *flightController, bool loop_on_fail = true);
+                     FlightController *flightController, volatile bool loop_on_fail = true);
     ~FlightDispatcher();
     void tick();
   private:

Logic/PID.hpp

@@ -11,6 +11,7 @@ class PIDController : public GyverPID {
         assert(rotor != nullptr);
         _rotor = rotor;
         _rotorNumber = rotorNumber;
+        this->_dt = dt;
         setLimits(0, _rotor->maxDuty());
         _preferences.begin((String("r") + String(rotorNumber)).c_str());
         _loadPreferences(p, i, d);

Motor/BrushedMotor.cpp

@@ -1,7 +1,15 @@
+// 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 "BrushedMotor.hpp"
 
 BrushedMotor::BrushedMotor(uint32_t PwmAGpioNum, uint32_t PwmBGpioNum, uint32_t PwmFreqHz,
-                           uint32_t McpwmResolutionHz, int McpwmGroupId) {}
+                           uint32_t McpwmResolutionHz, int McpwmGroupId) {
+    _mcpwmResolutionHz = McpwmResolutionHz;
+    _pwmAGpioNum = McpwmGroupId;
+    _pwmBGpioNum = PwmBGpioNum;
+    _pwmFreqHz = PwmFreqHz;
+}
 
 void BrushedMotor::enable() {}
 

RF/BluetoothDispatcher.cpp

@@ -1,3 +1,6 @@
+// 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 "BluetoothDispatcher.hpp"
 
 static DeviceConnectedCb deviceConnectedCallback = nullptr;
@@ -11,7 +14,7 @@ BluetoothDispatcher::BluetoothDispatcher(BluetoothSerial *controller, const char
     _controller = controller;
 }
 
-bool BluetoothDispatcher::initialize(bool loop_on_fail, int readTimeoutMS) {
+bool BluetoothDispatcher::initialize(volatile bool loop_on_fail, int readTimeoutMS) {
     _controller->enableSSP();
     _controller->onConfirmRequest([this](uint16_t pin) {
         _onConfirmRequest(pin);

RF/BluetoothDispatcher.hpp

@@ -25,7 +25,7 @@ typedef std::function<void(char *package)> NewPackageCallback;
 class BluetoothDispatcher {
   public:
     BluetoothDispatcher(BluetoothSerial *controller, const char *device_name = "Helicopter");
-    bool initialize(bool loop_on_fail = true, int readTimeoutMS = 2);
+    bool initialize(volatile bool loop_on_fail = true, int readTimeoutMS = 2);
     void tick();
     void onNewPackageReceived(NewPackageCallback newPackageReceivedCb);
     void onNewDeviceConnected(DeviceConnectedCb deviceConnectedCb);

Sensors/Barometer.hpp

@@ -64,7 +64,7 @@ class Barometer {
     GyverBME280 *_bme;
     float _startedAltitude = 0;
     bool _isCalibration = false;
-    uint32_t _calibrationTimer;
+    uint32_t _calibrationTimer = 0;
     int _calibrationIterationsCounter = 0;
     OnMeasuringFinishedCb _measuaringHeightFinishedCb = nullptr;
     static constexpr int _calibrationIterationsCount = 1500;

Sensors/MPU.hpp

@@ -196,17 +196,17 @@ class MPU {
 
   private:
     MPU6050_6Axis_MotionApps20 *_mpu = nullptr;
-    float _ypr[3];
-    float _ax, _ay, _az;
-    float _gx, _gy, _gz;
-    float _gravity;
+    float _ypr[3] = { 0 };
+    float _ax = 0, _ay = 0, _az = 0;
+    float _gx = 0, _gy = 0, _gz = 0;
+    float _gravity = 0;
     float _AccZInertial = 0;
 
     float _axOffset = 0, _ayOffset = 0, _azOffset = 0;
     float _gxOffset = 0, _gyOffset = 0, _gzOffset = 0;
-    float _prOffset[2];  // yaw isn't used
+    float _prOffset[2] = { 0 };  // yaw isn't used
 
-    uint8_t _fifoBuffer[45];
+    uint8_t _fifoBuffer[45] = { 0 };
     Preferences _preferences;
 
     const char *_TAG = "MPU6050 module";

Sensors/Sensors.cpp

@@ -1,6 +1,10 @@
+// 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 "Sensors.hpp"
 
-Sensors::Sensors(Barometer *barometer, MPU *mpu, Kalman2DFilter *filter, BatteryController *battery, bool loop_on_fail) {
+Sensors::Sensors(Barometer *barometer, MPU *mpu, Kalman2DFilter *filter,
+                 BatteryController *battery, volatile bool loop_on_fail) {
     assert(barometer != nullptr);
     assert(mpu != nullptr);
     assert(filter != nullptr);
@@ -56,7 +60,7 @@ float Sensors::rawFlightHeight(void) const {
 
 float Sensors::flightHeight(void) const {
     /* Returns flight height from cache immediatly */
-    if (_flightHeightFromBarometer == NAN) {
+    if (_flightHeightFromBarometer == 0.f) {
         ESP_LOGW(_tag, "flightHeight called, but tick() has called never");
         return rawFlightHeight();
     } else {
@@ -65,7 +69,7 @@ float Sensors::flightHeight(void) const {
 }
 
 MpuData Sensors::mpuData() const {
-    if (_mpuData.ax == NAN and _mpuData.gravity == NAN) {
+    if (_mpuData.ax == 0.f and _mpuData.gravity == 0.f) {
         ESP_LOGW(_tag, "MPU data looks like .tick() has never called");
     }
     return _mpuData;
@@ -78,7 +82,8 @@ bool Sensors::tick(void) {
     bool err;
     bool isMpuDataReady = _mpu->tick(err);
     if (isMpuDataReady and !err) {
-        _2d_filter->filter(_mpu->accZInertial(), _barometer->flightHeight(), _flightHeightFromBarometer, _zVelocityAltitude);
+        _2d_filter->filter(_mpu->accZInertial(), _barometer->flightHeight(),
+                           _flightHeightFromBarometer, _zVelocityAltitude);
         _mpuData = { .ax = _mpu->ax(),
                      .ay = _mpu->ay(),
                      .az = _mpu->az(),

Sensors/Sensors.hpp

@@ -16,7 +16,8 @@ struct MpuData {
 
 class Sensors {
   public:
-    Sensors(Barometer *barometer, MPU *mpu, Kalman2DFilter *filter, BatteryController *battery, bool loop_on_fail = true);
+    Sensors(Barometer *barometer, MPU *mpu, Kalman2DFilter *filter,
+            BatteryController *battery, bool loop_on_fail = true);
 
     ~Sensors();
 
@@ -42,9 +43,9 @@ class Sensors {
     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, NAN };
+    float _flightHeightFromBarometer = 0.f;
+    float _zVelocityAltitude = 0.f;
+    MpuData _mpuData = { 0.f };
 
 
     static constexpr const char *_tag = "Sensors";

main.cpp

@@ -1,12 +1,12 @@
+// 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"
-//#include "MPU6050_6Axis_MotionApps20.h"
+
 #define IGNORE_CHARGE true
 
 BoardI2C i2c;
-/*
-BluetoothDispatcher bluetoothDispatcher(new BluetoothSerial());
-Sensors *sensors = nullptr; */
 
 static Application *app = nullptr;
 
@@ -17,21 +17,11 @@ void setup() {
       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, 1, 1, new BrushedMotor(1, 2, 3, 4, 1), 1),
-        new PIDController(1, 1, 1, new BrushedMotor(1, 2, 3, 4, 2), 2),
-        new PIDController(1, 1, 1, new BrushedMotor(1, 2, 3, 4, 3), 3), IGNORE_CHARGE)));
-    /*sensors = 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()); sensors->measureBaseAltitudeSync();
-  bluetoothDispatcher.initialize();
-  Serial.println("System initialized");*/
+        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();
-    /*
-  sensors->tick();
-  bluetoothDispatcher.tick();
-  delay(1);*/
 }