Code refactoring

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);