refactor: #pragma once

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

.gitignore

@@ -1,34 +1,6 @@
-# ---> C++
+.pio
-# Prerequisites
+.vscode/*
-*.d
+.vscode/.browse.c_cpp.db*
-
+.vscode/c_cpp_properties.json
-# Compiled Object files
+.vscode/launch.json
-*.slo
+.vscode/ipch
-*.lo
-*.o
-*.obj
-
-# Precompiled Headers
-*.gch
-*.pch
-
-# Compiled Dynamic libraries
-*.so
-*.dylib
-*.dll
-
-# Fortran module files
-*.mod
-*.smod
-
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
-
-# Executables
-*.exe
-*.out
-*.app
-

.idea/.gitignore

@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml

.idea/codeStyles/Project.xml

@@ -0,0 +1,103 @@
+<component name="ProjectCodeStyleConfiguration">
+  <code_scheme name="Project" version="173">
+    <RiderCodeStyleSettings>
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+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTIPLE_DECLARATION/@EntryValue" value="false" type="bool" />
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+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_DECLARATIONS/@EntryValue" value="2" type="int" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_CODE/@EntryValue" value="2" type="int" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_USER_LINEBREAKS/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_COMMENT/@EntryValue" value="true" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_EQ/@EntryValue" value="false" type="bool" />
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+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_WHILE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_ELSE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
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+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INITIALIZER_BRACES/@EntryValue" value="END_OF_LINE_NO_SPACE" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_STYLE/@EntryValue" value="Space" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_SIZE/@EntryValue" value="4" type="int" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
+      <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TAB_WIDTH/@EntryValue" value="4" type="int" />
+    </RiderCodeStyleSettings>
+  </code_scheme>
+</component>

.idea/codeStyles/codeStyleConfig.xml

@@ -0,0 +1,5 @@
+<component name="ProjectCodeStyleConfiguration">
+  <state>
+    <option name="USE_PER_PROJECT_SETTINGS" value="true" />
+  </state>
+</component>

.idea/editor.xml

@@ -0,0 +1,580 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
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+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_BINARY_EXPRESSIONS_CHAIN/@EntryValue" value="true" type="bool" />
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+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_FOR_STMT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTIPLE_DECLARATION/@EntryValue" value="false" type="bool" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAwaiterTypeIsNotClass/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppOutParameterMustBeWritten/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWarningDirective/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticAssertFailure/@EntryIndexedValue" value="ERROR" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEvaluationFailure/@EntryIndexedValue" value="ERROR" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTypeAliasNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConceptNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnumeratorNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnumeratorNeverUsed/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLambdaCaptureNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLambdaCaptureNeverUsed/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNeverUsed/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNeverUsed/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterNeverUsed/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterNeverUsed/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityAssignedButNoRead/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityAssignedButNoRead/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityUsedOnlyInUnevaluatedContext/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMightNotBeInitialized/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppObjectMemberMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppObjectMemberMightNotBeInitialized/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSomeObjectMembersMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSomeObjectMembersMightNotBeInitialized/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorUsedBeforeInitialization/@EntryIndexedValue" value="ERROR" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorUsedBeforeInitialization/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnusedIncludeDirective/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNotAllPathsReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CDeclarationWithImplicitIntType/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CDeclarationWithImplicitIntType/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionDoesntReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionDoesntReturnValue/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReturnNoValueInNonVoidFunction/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReturnNoValueInNonVoidFunction/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCVQualifierCanNotBeAppliedToReference/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCVQualifierCanNotBeAppliedToReference/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDereferenceOperatorLimitExceeded/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDereferenceOperatorLimitExceeded/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForwardEnumDeclarationWithoutUnderlyingType/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForwardEnumDeclarationWithoutUnderlyingType/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaRegionDirective/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaEndRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaEndRegionDirective/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticDataMemberInUnnamedStruct/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticDataMemberInUnnamedStruct/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultIsUsedAsIdentifier/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultIsUsedAsIdentifier/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLongFloat/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLongFloat/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtReinterpretCastFromNullptr/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtReinterpretCastFromNullptr/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtBindingRValueToLvalueReference/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtBindingRValueToLvalueReference/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtAddressOfClassRValue/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtAddressOfClassRValue/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtDoubleUserConversionInCopyInit/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtCopyElisionInCopyInitDeclarator/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtCopyElisionInCopyInitDeclarator/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtNotInitializedStaticConstLocalVar/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtNotInitializedStaticConstLocalVar/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRemoveRedundantBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRemoveRedundantBraces/@EntryIndexRemoved" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceIfStatementBraces/@EntryIndexRemoved" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceForStatementBraces/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceWhileStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceWhileStatementBraces/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceDoStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceDoStatementBraces/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongIncludesOrder/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongIncludesOrder/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongSlashesInIncludeDirective/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongSlashesInIncludeDirective/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceNestedNamespacesStyle/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceNestedNamespacesStyle/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceTypeAliasCodeStyle/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceTypeAliasCodeStyle/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceFunctionDeclarationStyle/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceFunctionDeclarationStyle/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberInitializersOrder/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberInitializersOrder/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingFunctionStyle/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingFunctionStyle/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingDestructorStyle/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingDestructorStyle/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAuto/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAuto/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAutoForNumeric/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAutoForNumeric/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersPlacement/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersPlacement/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersOrder/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersOrder/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantConditions/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANullDereference/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANotInitializedField/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALoopConditionNotUpdated/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFADeletedPointer/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAMemoryLeak/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesScope/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesFunction/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesFunction/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantParameter/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAArrayIndexOutOfBounds/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAArrayIndexOutOfBounds/@EntryIndexRemoved" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAEndlessLoop/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAEndlessLoop/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInfiniteRecursion/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInfiniteRecursion/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnusedValue/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreadVariable/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreadVariable/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFATimeOver/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFATimeOver/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StringLiteralTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StringLiteralTypo/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CommentTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CommentTypo/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IdentifierTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IdentifierTypo/@EntryIndexRemoved" />
+  </component>
+</project>

.idea/helicopter_firmware.iml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module classpath="External" external.linked.project.id="helicopter_firmware" external.linked.project.path="$MODULE_DIR$" external.root.project.path="$MODULE_DIR$" external.system.id="PlatformIO" type="CPP_MODULE" version="4" />

.idea/misc.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="BackendCodeEditorMiscSettings">
+    <option name="/Default/RiderDebugger/RiderRestoreDecompile/RestoreDecompileSetting/@EntryValue" value="false" type="bool" />
+    <option name="/Default/Housekeeping/GlobalSettingsUpgraded/IsUpgraded/@EntryValue" value="true" type="bool" />
+    <option name="/Default/Housekeeping/FeatureSuggestion/FeatureSuggestionManager/DisabledSuggesters/=SwitchToGoToActionSuggester/@EntryIndexedValue" value="true" type="bool" />
+    <option name="/Default/Housekeeping/FeatureSuggestion/FeatureSuggestionManager/DisabledSuggesters/=SwitchToGoToActionSuggester/@EntryIndexRemoved" />
+    <option name="/Default/Environment/Hierarchy/GeneratedFilesCacheKey/Timestamp/@EntryValue" value="4" type="long" />
+  </component>
+  <component name="ExternalStorageConfigurationManager" enabled="true" />
+  <component name="PlatformIOSettings">
+    <option name="linkedExternalProjectsSettings">
+      <PlatformioProjectSettings>
+        <option name="externalProjectPath" value="$PROJECT_DIR$" />
+        <option name="modules">
+          <set>
+            <option value="$PROJECT_DIR$" />
+          </set>
+        </option>
+      </PlatformioProjectSettings>
+    </option>
+  </component>
+  <component name="PlatformIOWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
+</project>

.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="" vcs="Git" />
+  </component>
+</project>

Barometer.h

@@ -1,83 +0,0 @@
-#include "GyverBME280.h"
-
-class Barometer {
-public:
-  Barometer(GyverBME280 *bme) {
-    _bme = bme;
-  };
-  
-  ~Barometer() {
-    delete this->_bme;
-  }
-
-  bool initialize(void) {
-    _bme->setMode(NORMAL_MODE);
-    _bme->setFilter(FILTER_COEF_16);
-    _bme->setTempOversampling(OVERSAMPLING_2);
-    _bme->setPressOversampling(OVERSAMPLING_16);
-    _bme->setStandbyTime(STANDBY_500US);
-    return _bme->begin();
-  }
-
-  void measureBaseAltitudeSync(void) {
-    for(int i = 0; i < _calibrationIterationsCount; ++i){
-      _startedAltitude += altitude();
-      delay(1);
-    }
-    _startedAltitude /= _calibrationIterationsCount;
-  }
-
-  void measureBaseAltitudeAsync(void) {
-    _isStartCalibration = true;
-  }
-
-  float rawAltitude() {
-    return pressureToAltitude(_bme->readPressure())*100;
-  }
-
-  float rawFlightHeight() {
-    return rawAltitude() - _startedAltitude;
-  }
-
-  float altitude() {
-    return _filterRA(pressureToAltitude(_bme->readPressure())*100); // convert from m to cm
-  }
-
-  float flightHeight() {
-    return altitude() - _startedAltitude;
-  }
-
-  void tick() {
-    if(_isStartCalibration) {
-      if(_isStartCalibration && millis() - _calibrationTimer >= _calibrationIterationDelay) {
-        _startedAltitude += altitude();
-      }
-      if(++_calibrationIterationsCounter >= _calibrationIterationsCount) {
-        _startedAltitude /= _calibrationIterationsCount;
-        _isStartCalibration = false;
-      }
-    }
-  }
-
-private:
-  GyverBME280 *_bme = nullptr;
-  float _startedAltitude = 0;
-  bool _isStartCalibration = false;
-  int _calibrationTimer;
-  int _calibrationIterationsCounter = 0;
-  const int _calibrationIterationsCount = 1500;
-  const int _calibrationIterationDelay = 1; // [ms]
-
-  float _filterRA(float newVal) {
-    // running average filter
-    constexpr auto WINDOW_SIZE = 100;
-    static int t = 0;
-    static float vals[WINDOW_SIZE];
-    static float average = 0;
-    if (++t >= WINDOW_SIZE) t = 0;  
-    average -= vals[t];          
-    average += newVal;           
-    vals[t] = newVal;            
-    return ((float)average / WINDOW_SIZE);
-  }
-};

BatteryController.h

@@ -1,19 +0,0 @@
-#include "board_pins.h"
-
-class BatteryController {
-public:
-  BatteryController(){}
-
-  void initialize() {
-    pinMode(BATTERY_DATA_SWITCH_PIN, OUTPUT);
-    digitalWrite(BATTERY_DATA_SWITCH_PIN, HIGH);
-  }
-
-  float measureVoltage() {
-    return analogRead(BATTERY_DATA_PIN)*3.3/4095;
-  }
-  
-  int percent(int minVoltage=7200, int maxVoltage=8400) {
-    return map(int(measureVoltage()*1000), minVoltage, maxVoltage, 0, 100);
-  }
- };

GyverBME280.cpp

@@ -1,219 +0,0 @@
-#include "GyverBME280.h"
-
-/* ============ Utilities ============ */
-
-float pressureToAltitude(float pressure) {
-    if (!pressure) return 0;									// If the pressure module has been disabled return '0'
-    pressure /= 100.0F;											// Convert [Pa] to [hPa]
-    return 44330.0f * (1.0f - pow(pressure / 1013.25f, 0.1903f));	// Сalculate altitude
-}
-
-float pressureToMmHg(float pressure) {							
-    return (float)(pressure * 0.00750061683f);					// Convert [Pa] to [mm Hg]
-}
-
-/* ============ Setup & begin ============ */
-
-GyverBME280::GyverBME280(TwoWire &wire) {
-  _wire = &wire;
-}
-
-bool GyverBME280::begin() {
-    return begin(0x76);
-}
-
-bool GyverBME280::begin(uint8_t address) {	
-    _i2c_address = address;
-    /* === Start I2C bus & check BME280 === */
-    if (!reset()) return false;                     // BME280 software reset & ack check
-    uint8_t ID = readRegister(0xD0);
-    if (ID != 0x60 && ID != 0x58) return false;	    // Check chip ID (bme/bmp280)
-    readCalibrationData();       					// Read all calibration values
-
-    /* === Load settings to BME280 === */
-    writeRegister(0xF2, _hum_oversampl);                                              			// write hum oversampling value
-    writeRegister(0xF2, readRegister(0xF2));                             			// rewrite hum oversampling register
-    writeRegister(0xF4, ((_temp_oversampl << 5) | (_press_oversampl << 2) | _operating_mode));    // write temp & press oversampling value , normal mode
-    writeRegister(0xF5, ((_standby_time << 5) | (_filter_coef << 2)));                			// write standby time & filter coef
-    return true;
-}
-
-void GyverBME280::setMode(uint8_t mode) {
-    _operating_mode = mode;
-}
-
-
-void GyverBME280::setFilter(uint8_t mode) {
-    _filter_coef = mode;
-}
-
-void GyverBME280::setStandbyTime(uint8_t mode) {
-    _standby_time = mode;
-}
-
-void GyverBME280::setHumOversampling(uint8_t mode) {
-    _hum_oversampl = mode;
-}
-
-void GyverBME280::setTempOversampling(uint8_t mode) {
-    _temp_oversampl = mode;
-}
-
-void GyverBME280::setPressOversampling(uint8_t mode) {
-    _press_oversampl = mode;
-}
-
-/* ============ Reading ============ */
-
-int32_t GyverBME280::readTempInt(void) {
-    int32_t temp_raw = readRegister24(0xFA);			            // Read 24-bit value
-    if (temp_raw == 0x800000) return 0;								// If the temperature module has been disabled return '0'
-
-    temp_raw >>= 4;													// Start temperature reading in integers
-    int32_t value_1 = ((((temp_raw >> 3) - ((int32_t)CalibrationData._T1 << 1))) *
-    ((int32_t)CalibrationData._T2)) >> 11;
-    int32_t value_2 = (((((temp_raw >> 4) - ((int32_t)CalibrationData._T1)) * 
-    ((temp_raw >> 4) - ((int32_t)CalibrationData._T1))) >> 12) * ((int32_t)CalibrationData._T3)) >> 14;
-
-    return ((int32_t)value_1 + value_2);							// Return temperature in integers
-}
-
-
-float GyverBME280::readTemperature(void) {
-    int32_t temp_raw = readTempInt();
-    float T = (temp_raw * 5 + 128) >> 8;
-    return T / 100.0;												// Return temperature in float
-}
-
-
-float GyverBME280::readPressure(void) {
-    uint32_t press_raw = readRegister24(0xF7);			            // Read 24-bit value
-    if (press_raw == 0x800000) return 0;							// If the pressure module has been disabled return '0'
-
-    press_raw >>= 4;												// Start pressure converting
-    int64_t value_1 = ((int64_t)readTempInt()) - 128000;
-    int64_t value_2 = value_1 * value_1 * (int64_t)CalibrationData._P6;
-    value_2 = value_2 + ((value_1 * (int64_t)CalibrationData._P5) << 17);
-    value_2 = value_2 + (((int64_t)CalibrationData._P4) << 35);
-    value_1 = ((value_1 * value_1 * (int64_t)CalibrationData._P3) >> 8) + ((value_1 * (int64_t)CalibrationData._P2) << 12);
-    value_1 = (((((int64_t)1) << 47) + value_1)) * ((int64_t)CalibrationData._P1) >> 33;
-
-    if (!value_1) return 0; 										// Avoid division by zero
-
-    int64_t p = 1048576 - press_raw;
-    p = (((p << 31) - value_2) * 3125) / value_1;
-    value_1 = (((int64_t)CalibrationData._P9) * (p >> 13) * (p >> 13)) >> 25;
-    value_2 = (((int64_t)CalibrationData._P8) * p) >> 19;
-    p = ((p + value_1 + value_2) >> 8) + (((int64_t)CalibrationData._P7) << 4);
-
-    return (float)p / 256;											// Return pressure in float				
-}
-
-
-float GyverBME280::readHumidity(void) {
-    _wire->beginTransmission(_i2c_address);									// Start I2C transmission
-    _wire->write(0xFD);												   		// Request humidity data register	
-    if (_wire->endTransmission() != 0) return 0;										
-    _wire->requestFrom(_i2c_address, 2);										// Request humidity data 
-    int32_t hum_raw = ((uint16_t)_wire->read() << 8) | (uint16_t)_wire->read();	// Read humidity data 
-    if (hum_raw == 0x8000) return 0;										// If the humidity module has been disabled return '0'
-
-    int32_t value  = (readTempInt() - ((int32_t)76800));		            // Start humidity converting
-    value = (((((hum_raw << 14) - (((int32_t)CalibrationData._H4) << 20) -
-    (((int32_t)CalibrationData._H5) * value)) +((int32_t)16384)) >> 15) * 
-    (((((((value * ((int32_t)CalibrationData._H6)) >> 10) *(((value * 
-    ((int32_t)CalibrationData._H3)) >> 11) + ((int32_t)32768))) >> 10) +
-    ((int32_t)2097152)) * ((int32_t)CalibrationData._H2) + 8192) >> 14));
-    value = (value - (((((value >> 15) * (value >> 15)) >> 7) * ((int32_t)CalibrationData._H1)) >> 4));
-    value = (value < 0) ? 0 : value;
-    value = (value > 419430400) ? 419430400 : value;
-    float h = (value >> 12);
-
-    return h / 1024.0;											// Return humidity in float
-}
-
-/* ============ Misc ============ */
-
-bool GyverBME280::isMeasuring(void)	{								
-    return (bool)((readRegister(0xF3) & 0x08) >> 3);            // Read status register & mask bit "measuring"
-}
-
-void GyverBME280::oneMeasurement(void) {
-    writeRegister(0xF4 , ((readRegister(0xF4) & 0xFC) | 0x02)); // Set the operating mode to FORCED_MODE
-}
-
-/* ============ Private ============ */
-
-/* = BME280 software reset = */
-bool GyverBME280::reset(void) {
-    if (!writeRegister(0x0E , 0xB6)) return false; 
-    delay(10);
-    return true;
-}
-
-
-/* = Read and combine three BME280 registers = */
-uint32_t GyverBME280::readRegister24(uint8_t address) {	 
-    _wire->beginTransmission(_i2c_address);
-    _wire->write(address);
-    if (_wire->endTransmission() != 0) return 0x800000;
-    _wire->requestFrom(_i2c_address, 3);
-    return (((uint32_t)_wire->read() << 16) | ((uint32_t)_wire->read() << 8) | (uint32_t)_wire->read());
-}
-
-
-/* = Write one 8-bit BME280 register = */
-bool GyverBME280::writeRegister(uint8_t address , uint8_t data) {
-    _wire->beginTransmission(_i2c_address);
-    _wire->write(address);
-    _wire->write(data);
-    if (_wire->endTransmission() != 0) return false;
-    return true;
-}
-
-
-/* = Read one 8-bit BME280 register = */
-uint8_t GyverBME280::readRegister(uint8_t address) {
-    _wire->beginTransmission(_i2c_address);
-    _wire->write(address);
-    if (_wire->endTransmission() != 0) return 0;
-    _wire->requestFrom(_i2c_address , 1);
-    return _wire->read();
-}
-
-/* = Structure to store all calibration values = */
-void GyverBME280::readCalibrationData(void) {
-    /* first part request*/
-    _wire->beginTransmission(_i2c_address);
-    _wire->write(0x88);
-    if (_wire->endTransmission() != 0) return;
-    _wire->requestFrom(_i2c_address , 25);
-    /* reading */
-    CalibrationData._T1 = (_wire->read() | (_wire->read() << 8));
-    CalibrationData._T2 = (_wire->read() | (_wire->read() << 8));
-    CalibrationData._T3 = (_wire->read() | (_wire->read() << 8));
-    CalibrationData._P1 = (_wire->read() | (_wire->read() << 8));
-    CalibrationData._P2 = (_wire->read() | (_wire->read() << 8));
-    CalibrationData._P3 = (_wire->read() | (_wire->read() << 8));
-    CalibrationData._P4 = (_wire->read() | (_wire->read() << 8));
-    CalibrationData._P5 = (_wire->read() | (_wire->read() << 8));
-    CalibrationData._P6 = (_wire->read() | (_wire->read() << 8));
-    CalibrationData._P7 = (_wire->read() | (_wire->read() << 8));
-    CalibrationData._P8 = (_wire->read() | (_wire->read() << 8));
-    CalibrationData._P9 = (_wire->read() | (_wire->read() << 8));
-    CalibrationData._H1 = _wire->read();
-
-    /* second part request*/
-    _wire->beginTransmission(_i2c_address);
-    _wire->write(0xE1);
-    _wire->endTransmission();
-    _wire->requestFrom(_i2c_address , 8);
-    /* reading */
-    CalibrationData._H2 = (_wire->read() | (_wire->read() << 8));
-    CalibrationData._H3 = _wire->read();
-    CalibrationData._H4 = (_wire->read() << 4);
-    uint8_t interVal = _wire->read();
-    CalibrationData._H4 |= (interVal & 0xF);
-    CalibrationData._H5 = (((interVal & 0xF0) >> 4) | (_wire->read() << 4));
-    CalibrationData._H6 = _wire->read();
-}

GyverBME280.h

@@ -1,112 +0,0 @@
-/*
-    Лёгкая библиотека для работы с BME280 по I2C для Arduino
-    Документация: 
-    GitHub: https://github.com/GyverLibs/GyverBME280
-    
-    Egor 'Nich1con' Zaharov for AlexGyver, alex@alexgyver.ru
-    https://alexgyver.ru/
-    MIT License
-
-    Версии:
-    v1.3 - исправлена ошибка при отриц. температуре
-    v1.4 - разбил на h и cpp
-    v1.5 - добавлена поддержка BMP280s
-*/
-
-#ifndef GyverBME280_h
-#define GyverBME280_h
-
-#include <Arduino.h>
-#include <Wire.h>
-
-#define NORMAL_MODE	0x03
-#define FORCED_MODE	0x02
-
-#define STANDBY_500US  0x00
-#define STANDBY_10MS   0x06
-#define STANDBY_20MS   0x07
-#define STANDBY_6250US 0x01
-#define STANDBY_125MS  0x02
-#define STANDBY_250MS  0x03
-#define STANDBY_500MS  0x04
-#define STANDBY_1000MS 0x05
-
-#define MODULE_DISABLE		  0x00
-#define OVERSAMPLING_1        0x01
-#define OVERSAMPLING_2        0x02
-#define OVERSAMPLING_4        0x03
-#define OVERSAMPLING_8        0x04
-#define OVERSAMPLING_16       0x05
-
-#define FILTER_DISABLE  0x00
-#define FILTER_COEF_2   0x01
-#define FILTER_COEF_4   0x02
-#define FILTER_COEF_8   0x03
-#define FILTER_COEF_16  0x04
-
-
-// ================================= CLASS ===================================
-
-class GyverBME280 {
-
-public:
-    GyverBME280(TwoWire &wire);								// Create an object of class BME280
-    bool begin();							// Initialize sensor with standart 0x76 address	
-    bool begin(uint8_t address);				// Initialize sensor with not standart 0x76 address	
-    bool isMeasuring(void);						// Returns 'true' while the measurement is in progress					
-    float readPressure(void);					// Read and calculate atmospheric pressure [float , Pa]
-    float readHumidity(void);					// Read and calculate air humidity [float , %]
-    void oneMeasurement(void);					// Make one measurement and go back to sleep [FORCED_MODE only]
-    void setMode(uint8_t mode);
-    float readTemperature(void);				// Read and calculate air temperature [float , *C]
-    void setFilter(uint8_t mode);				// Adjust the filter ratio other than the standard one [before begin()]
-    void setStandbyTime(uint8_t mode);			// Adjust the sleep time between measurements [NORMAL_MODE only][before begin()]
-    void setHumOversampling(uint8_t mode);		// Set oversampling or disable humidity module [before begin()]
-    void setTempOversampling(uint8_t mode);		// Set oversampling or disable temperature module [before begin()]
-    void setPressOversampling(uint8_t mode);	// Set oversampling or disable pressure module [before begin()]
-
-private:
-
-    //============================== DEFAULT SETTINGS ========================================|
-    TwoWire *_wire = nullptr;
-    int _i2c_address = 0x76;					// BME280 address on I2C bus                  |
-    uint8_t _operating_mode = NORMAL_MODE;		// Sensor operation mode                      |
-    uint8_t _standby_time = STANDBY_250MS;		// Time between measurements in NORMAL_MODE	  |
-    uint8_t _filter_coef = FILTER_COEF_16; 		// Filter ratio IIR                           |
-    uint8_t _temp_oversampl = OVERSAMPLING_4;	// Temperature module oversampling parameter  |
-    uint8_t _hum_oversampl = OVERSAMPLING_1;	// Humidity module oversampling parameter     |
-    uint8_t _press_oversampl = OVERSAMPLING_2;	// Pressure module oversampling parameter     |
-    //========================================================================================|
-    
-    bool reset(void);                                   	// BME280 software reset 
-    int32_t readTempInt();                              	// Temperature reading in integers for the function of reading
-    void readCalibrationData(void);                     	// Read all cells containing calibration values
-    uint8_t readRegister(uint8_t address);					// Read one 8-bit BME280 register
-    uint32_t readRegister24(uint8_t address);        		// Read and combine three BME280 registers
-    bool writeRegister(uint8_t address , uint8_t data);		// Write one 8-bit BME280 register
-
-    struct {												// Structure to store all calibration values
-        uint16_t _T1;
-        int16_t _T2;
-        int16_t _T3;
-        uint16_t _P1;
-        int16_t _P2;
-        int16_t _P3;
-        int16_t _P4;
-        int16_t _P5;
-        int16_t _P6;
-        int16_t _P7;
-        int16_t _P8;
-        int16_t _P9;
-        uint8_t _H1;
-        int16_t _H2;
-        uint8_t _H3;
-        int16_t _H4;
-        int16_t _H5;
-        int8_t _H6;
-    } CalibrationData;
-};
-
-float pressureToMmHg(float pressure);		// Convert [Pa] to [mm Hg]  
-float pressureToAltitude(float pressure);	// Convert pressure to altitude
-#endif

Kalman2DFilter.h

@@ -1,45 +0,0 @@
-#include <BasicLinearAlgebra.h>
-
-class Kalman2DFilter {
-public:
-  Kalman2DFilter(float dt=4.f, float accelUncertainty=10.f, float barometerUncertainty=100.f) {
-    dt /= 1000.f;
-    F = {1, dt,
-        0, 1};
-    G = {0.5f*dt*dt,
-        dt};
-    H = {1,0};
-    I = {1, 0, 
-        0, 1};
-    Q = G * ~G * accelUncertainty*accelUncertainty;
-    R = {barometerUncertainty*barometerUncertainty};
-    P = {0, 0,
-        0, 0};
-    S = {0, 
-        0};
-  }
-
-  void filter(const float &AccZInertial,
-              const float &AltitudeBarometer,
-              float &AltitudeKalman,
-              float &VelocityVerticalKalman) {
-    Acc = {AccZInertial};
-    S = F * S + G * Acc;
-    P = F * P * ~F + Q;
-    L = H * P * ~H + R;
-    K = P * ~H * Inverse(L);
-    M = {AltitudeBarometer};
-    S = S + K * (M - H * S);
-    AltitudeKalman = S(0,0);
-    VelocityVerticalKalman = S(1,0);
-    P = (I - K * H) * P;
-  }
-
-private:
-  BLA::Matrix<2,2> F; BLA::Matrix<2,1> G;
-  BLA::Matrix<2,2> P; BLA::Matrix<2,2> Q;
-  BLA::Matrix<2,1> S; BLA::Matrix<1,2> H;
-  BLA::Matrix<2,2> I; BLA::Matrix<1,1> Acc;
-  BLA::Matrix<2,1> K; BLA::Matrix<1,1> R;
-  BLA::Matrix<1,1> L; BLA::Matrix<1,1> M;
-};

MPU.h

@@ -1,94 +0,0 @@
-#include "MPU6050_6Axis_MotionApps20.h"
-#include "board_pins.h"
-#include "esp_log.h"
-
-volatile bool _isDMPDataReady = false;
-void IRAM_ATTR _dmpInterruption() {_isDMPDataReady = true;}
-
-class MPU {
-public:
-  MPU(MPU6050_6Axis_MotionApps20 *mpu) {
-    _mpu = mpu;
-  }
-
-  ~MPU() {
-    delete _mpu;
-  }
-
-  bool initialize() {
-    _mpu->initialize();
-    delay(250);
-    if(!_mpu->testConnection()) {
-      ESP_LOGE(_TAG, "MPU6050 test connection failed!");
-      return false;
-    }
-    _mpu->setDLPFMode(MPU6050_DLPF_BW_10); // 10 Hz bandwidth
-    //mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_500); // set sensivity, not recomended
-    //mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_8);
-
-    if(_mpu->dmpInitialize()) {
-      ESP_LOGE(_TAG, "Failed to initialize DMP!");
-      return false;
-    }
-    _mpu->setDMPEnabled(true);
-    attachInterrupt(MPU6050_INT_PIN, _dmpInterruption, RISING);
-    return true;
-  }
-
-  bool tick(bool &err) {
-    err = false;
-    if(!_isDMPDataReady) {
-      return false;
-    }
-    if(!_mpu->dmpGetCurrentFIFOPacket(_fifoBuffer)) {
-      ESP_LOGE(_TAG, "Failed to get DMP data!");
-      err = true;
-      return false;
-    }
-    
-    Quaternion q;
-    VectorFloat gravity;
-    VectorInt16 accel;
-    VectorInt16 accelReal;
-
-    _mpu->dmpGetQuaternion(&q, _fifoBuffer);
-    _mpu->dmpGetGravity(&gravity, &q);
-    _mpu->dmpGetYawPitchRoll(_ypr, &q, &gravity);
-    _mpu->dmpGetAccel(&accel, _fifoBuffer);
-    _mpu->dmpGetLinearAccel(&accelReal, &accel, &gravity);
-    _isDMPDataReady = false;
-    
-    _ax = accel.x/8192.f;
-    _ay = accel.y/8192.f;
-    _az = accel.z/8192.f;
-
-    _calculateZInertial(gravity);
-    return true;
-  }
-
-  /* getters */
-  float accZInertial() {return _AccZInertial;}
-  float yaw() {return degrees(_ypr[0]);};
-  float pitch() {return degrees(_ypr[1]);};
-  float roll() {return degrees(_ypr[2]);};
-
-private:
-  MPU6050_6Axis_MotionApps20 *_mpu = nullptr;
-  float _ypr[3];
-  float _ax, _ay, _az;
-  float _AccZInertial = 0;
-  uint8_t _fifoBuffer[45];
-  //volatile bool _isDMPDataReady = false;
-  const char *_TAG = "MPU6050 module";
-
-  void _calculateZInertial(VectorFloat &gravity) {
-    const float anglePitch = _ypr[1];
-    const float angleRoll = _ypr[2];
-    _AccZInertial = -sin(anglePitch)*_ax +
-                    cos(anglePitch)*
-                    sin(angleRoll)*_ay +
-                    cos(anglePitch)*
-                    cos(angleRoll)*_az;
-    _AccZInertial = (_AccZInertial-1)*gravity.z*100;
-  }
-};

arduino-firmware.ino

@@ -1,92 +0,0 @@
-#include "Barometer.h"
-#include "GyverBME280.h"
-#include "Wire.h"
-#include "board_pins.h"
-#include "I2Cdev.h"
-#include "Kalman2DFilter.h"
-#include "MPU6050_6Axis_MotionApps20.h"
-#include "BatteryController.h"
-#include "MPU.h"
-
-TwoWire i2c = TwoWire(0);
-Barometer barometer(new GyverBME280(i2c));
-MPU mpu(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c));
-Kalman2DFilter kalman2d(10.f, 1.f, 1.8f);
-BatteryController battery;
-
-void setup() {
-  Serial.begin(115200);
-  i2c.begin(I2C_SDA_PIN, I2C_SCL_PIN, 400000);
-  Serial.println(barometer.initialize());
-  Serial.println(mpu.initialize());
-  barometer.measureBaseAltitudeSync();
-  battery.initialize();
-  Serial.println("System initialized");
-}
-
-void loop() {
-  /*Serial.print("ax:");
-  Serial.print(ax);
-  Serial.print(",");
-  Serial.print("ay:");
-  Serial.print(ay);
-  Serial.print(",");
-  Serial.print("az:");
-  Serial.print(az);
-  Serial.print(",");*/
-  bool err;
-  barometer.tick();
-  if(mpu.tick(err) && !err) {
-    float kalmanAltitude, ZVelocityAltitude;
-    float barometerAltitude = barometer.rawFlightHeight();
-    kalman2d.filter(mpu.accZInertial(), barometerAltitude, kalmanAltitude, ZVelocityAltitude);
-    //Serial.print("Yaw:");
-    //Serial.print(mpu.yaw());
-    //Serial.print(",");
-    //Serial.print("Roll:");
-    //Serial.print(mpu.roll());
-    //Serial.print(",");
-    //Serial.print("Pitch:");
-    //Serial.print(mpu.pitch());
-    //Serial.print(",");
-    //Serial.print("Flight height:");
-    Serial.print(barometerAltitude);
-    Serial.print(",");
-    //Serial.print("Kalman altitude:");
-    Serial.print(kalmanAltitude);
-    Serial.print(",");
-    /*Serial.print(G);
-    Serial.print(",");
-    Serial.print(Pc);
-    Serial.print(",");
-    Serial.print(P);
-    Serial.print(",");
-    Serial.print(Xp);
-    Serial.print(",");*/
-    //Serial.print("Kalman2 altitude: ");
-    Serial.println(ZVelocityAltitude);
-    /*Serial.print("Vertical velocity:");
-    Serial.print(ZVelocityAltitude);
-    Serial.print(",");
-    Serial.print("Battery percent: ");
-    Serial.println(battery.percent());*/
-  }
-  
-  //Serial.print(",");
-  /*
-    //Serial.print("AccZInertial:");
-    Serial.print(AccZInertial);
-    Serial.print(",");
-    //Serial.print("Altitude:");
-    Serial.print(AltitudeBarometer);
-    Serial.print(",");
-    //Serial.print("kAltitude:");
-    Serial.print(AltitudeKalman);
-    Serial.print(",");
-    //Serial.print("Battery voltage: ");
-    //Serial.print(battery.measureVoltage());
-    //Serial.print(",");
-    //Serial.print("kZvelocity:");
-    Serial.println(VelocityVerticalKalman);
-  }*/
-}

board_pins.h

@@ -1,8 +0,0 @@
-#include "driver/adc.h"
-
-#define I2C_SDA_PIN 21
-#define I2C_SCL_PIN 18
-#define MPU6050_INT_PIN 19
-#define BATTERY_ADC_CHANNEL ADC2_CHANNEL_0
-#define BATTERY_DATA_PIN 4
-#define BATTERY_DATA_SWITCH_PIN 17

convert_sysincludes.py

@@ -0,0 +1,17 @@
+from pathlib import Path
+Import("env" ,"projenv")
+
+platform = env.PioPlatform()
+FRAMEWORK_DIR = Path(platform.get_package_dir("framework-arduinoespressif32"))
+framework_includes = list()
+filtered_cpppath = list()
+# apply these changes to current working env, the project env and the global env
+for e in (env, projenv, DefaultEnvironment()):
+    for p in e["CPPPATH"]:
+        # is the current include path inside the framework directory?
+        if FRAMEWORK_DIR in Path(p).parents:
+            framework_includes.append(p)
+        else:
+            filtered_cpppath.append(p)
+    e.Replace(CPPPATH=filtered_cpppath)
+    e.Append(CCFLAGS=[("-isystem", p) for p in framework_includes])

include/README

@@ -0,0 +1,39 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

lib/README

@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

platformio.ini

@@ -0,0 +1,48 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+default_envs = esp32dev
+
+[common]
+lib_deps_builtin =
+    Wire
+    BluetoothSerial
+lib_deps_external =
+    https://git.gogacoder.com/gogacoder/GyverBME280.git @ ~1.5.0
+    https://git.gogacoder.com/gogacoder/MPU6050.git @ ~1.0.0
+    https://git.gogacoder.com/gogacoder/I2Cdev.git @ ~1.0.1
+    https://github.com/GyverLibs/StringUtils @ 1.2.6
+    https://github.com/GyverLibs/GSON.git @ 1.1.5
+    https://github.com/tomstewart89/BasicLinearAlgebra.git @ 4.3
+    https://github.com/GyverLibs/mString.git @ 1.7
+    https://github.com/GyverLibs/GyverPID @ 3.3
+    https://github.com/pololu/vl53l0x-arduino @ 1.3.1
+    https://github.com/pololu/lps-arduino
+
+[env:esp32dev]
+platform = espressif32 @ 6.5.0
+board = esp32dev
+framework = arduino
+lib_deps = ${common.lib_deps_external}
+monitor_speed = 115200
+board_build.partitions = huge_app.csv
+build_src_flags =
+    -std=c++2a
+    -Wall
+    -Wextra
+    -Werror=all
+    -Wno-error=pedantic
+    -Wpedantic
+    -O2
+build_flags = -DCORE_DEBUG_LEVEL=3
+check_tool = pvs-studio
+check_flags = pvs-studio: --analysis-mode=4 --exclude-path=.pio/libdeps --lic-file=~/.config/PVS-Studio/PVS-Studio.lic
+extra_scripts = post:convert_sysincludes.py

src/.clang-format

@@ -1,8 +1,8 @@
 # Source: https://github.com/arduino/tooling-project-assets/tree/main/other/clang-format-configuration
 ---
+TabWidth: 2
 AccessModifierOffset: -2
 AlignAfterOpenBracket: Align
-AlignArrayOfStructures: None
 AlignConsecutiveAssignments: None
 AlignConsecutiveBitFields: None
 AlignConsecutiveDeclarations: None
@@ -17,7 +17,6 @@ AllowShortBlocksOnASingleLine: Always
 AllowShortCaseLabelsOnASingleLine: true
 AllowShortEnumsOnASingleLine: true
 AllowShortFunctionsOnASingleLine: Empty
-AllowShortIfStatementsOnASingleLine: AllIfsAndElse
 AllowShortLambdasOnASingleLine: Empty
 AllowShortLoopsOnASingleLine: true
 AlwaysBreakAfterDefinitionReturnType: None
@@ -26,7 +25,6 @@ AlwaysBreakBeforeMultilineStrings: false
 AlwaysBreakTemplateDeclarations: No
 AttributeMacros:
   - __capability
-BasedOnStyle: LLVM
 BinPackArguments: true
 BinPackParameters: true
 BitFieldColonSpacing: Both
@@ -59,7 +57,7 @@ BreakConstructorInitializers: BeforeColon
 BreakConstructorInitializersBeforeComma: false
 BreakInheritanceList: BeforeColon
 BreakStringLiterals: false
-ColumnLimit: 0
+ColumnLimit: 90
 CommentPragmas: ''
 CompactNamespaces: false
 ConstructorInitializerAllOnOneLineOrOnePerLine: false
@@ -69,7 +67,6 @@ Cpp11BracedListStyle: false
 DeriveLineEnding: true
 DerivePointerAlignment: true
 DisableFormat: false
-EmptyLineAfterAccessModifier: Leave
 EmptyLineBeforeAccessModifier: Leave
 ExperimentalAutoDetectBinPacking: false
 FixNamespaceComments: false
@@ -77,8 +74,6 @@ ForEachMacros:
   - foreach
   - Q_FOREACH
   - BOOST_FOREACH
-IfMacros:
-  - KJ_IF_MAYBE
 IncludeBlocks: Preserve
 IncludeCategories:
   - Regex: '^"(llvm|llvm-c|clang|clang-c)/'
@@ -95,20 +90,14 @@ IncludeCategories:
     CaseSensitive: false
 IncludeIsMainRegex: ''
 IncludeIsMainSourceRegex: ''
-IndentAccessModifiers: false
-IndentCaseBlocks: true
-IndentCaseLabels: true
-IndentExternBlock: Indent
 IndentGotoLabels: false
 IndentPPDirectives: None
-IndentRequires: true
 IndentWidth: 2
 IndentWrappedFunctionNames: false
 InsertTrailingCommas: None
 JavaScriptQuotes: Leave
 JavaScriptWrapImports: true
 KeepEmptyLinesAtTheStartOfBlocks: true
-LambdaBodyIndentation: Signature
 Language: Cpp
 MacroBlockBegin: ''
 MacroBlockEnd: ''
@@ -119,26 +108,17 @@ ObjCBlockIndentWidth: 2
 ObjCBreakBeforeNestedBlockParam: true
 ObjCSpaceAfterProperty: false
 ObjCSpaceBeforeProtocolList: true
-PPIndentWidth: -1
-PackConstructorInitializers: BinPack
 PenaltyBreakAssignment: 1
 PenaltyBreakBeforeFirstCallParameter: 1
 PenaltyBreakComment: 1
 PenaltyBreakFirstLessLess: 1
-PenaltyBreakOpenParenthesis: 1
 PenaltyBreakString: 1
 PenaltyBreakTemplateDeclaration: 1
 PenaltyExcessCharacter: 1
 PenaltyIndentedWhitespace: 1
 PenaltyReturnTypeOnItsOwnLine: 1
 PointerAlignment: Right
-QualifierAlignment: Leave
-ReferenceAlignment: Pointer
 ReflowComments: false
-RemoveBracesLLVM: false
-SeparateDefinitionBlocks: Leave
-ShortNamespaceLines: 0
-SortIncludes: Never
 SortJavaStaticImport: Before
 SortUsingDeclarations: false
 SpaceAfterCStyleCast: false
@@ -151,26 +131,14 @@ SpaceBeforeCpp11BracedList: false
 SpaceBeforeCtorInitializerColon: true
 SpaceBeforeInheritanceColon: true
 SpaceBeforeParens: ControlStatements
-SpaceBeforeParensOptions:
-  AfterControlStatements: true
-  AfterForeachMacros: true
-  AfterFunctionDefinitionName: false
-  AfterFunctionDeclarationName: false
-  AfterIfMacros: true
-  AfterOverloadedOperator: false
-  BeforeNonEmptyParentheses: false
 SpaceBeforeRangeBasedForLoopColon: true
 SpaceBeforeSquareBrackets: false
 SpaceInEmptyBlock: false
 SpaceInEmptyParentheses: false
 SpacesBeforeTrailingComments: 2
-SpacesInAngles: Leave
 SpacesInCStyleCastParentheses: false
 SpacesInConditionalStatement: false
 SpacesInContainerLiterals: false
-SpacesInLineCommentPrefix:
-  Minimum: 0
-  Maximum: -1
 SpacesInParentheses: false
 SpacesInSquareBrackets: false
 Standard: Auto
@@ -179,7 +147,7 @@ StatementAttributeLikeMacros:
 StatementMacros:
   - Q_UNUSED
   - QT_REQUIRE_VERSION
-TabWidth: 2
+#TabWidth: 2
 UseCRLF: false
 UseTab: Never
 WhitespaceSensitiveMacros:
@@ -188,3 +156,4 @@ WhitespaceSensitiveMacros:
   - BOOST_PP_STRINGIZE
   - NS_SWIFT_NAME
   - CF_SWIFT_NAME
+IndentWidth: 4

src/App.hpp

@@ -0,0 +1,28 @@
+// 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 "Logic/FlightDispatcher.hpp"
+#include "esp_log.h"
+
+class Application {
+public:
+    Application(FlightDispatcher *dispatcher) {
+        assert(dispatcher != nullptr);
+        _dispatcher = dispatcher;
+        ESP_LOGI(_tag, "ESP_IDF version: %s", esp_get_idf_version());
+        ESP_LOGI(_tag, "Application startup complete");
+    }
+
+    void tick() {
+        _dispatcher->tick();
+    }
+
+    ~Application() {
+        ESP_LOGI(_tag, "Application destroyed");
+        delete _dispatcher;
+    }
+
+private:
+    FlightDispatcher *_dispatcher = nullptr;
+    static constexpr const char *_tag = "Application";
+};

src/BoardI2C.hpp

@@ -0,0 +1,23 @@
+// 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
+
+#pragma once
+
+#define CONFIG_DISABLE_HAL_LOCKS 0
+
+#include "Wire.h"
+#include "board_pins.h"
+#include "esp_log.h"
+
+class BoardI2C : public TwoWire {
+public:
+    BoardI2C() : TwoWire(0) {
+        if (begin(I2C_SDA_PIN, I2C_SCL_PIN, 100000)) {
+            setTimeOut(10);
+            ESP_LOGI("I2CBus", "Bus initialized");
+        } else {
+            ESP_LOGE("I2CBus", "Failed to initialize the i2c software bus!");
+            assert(false);
+        }
+    }
+};

src/Filters/Kalman2DFilter.hpp

@@ -0,0 +1,48 @@
+// 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
+#pragma once
+
+#include <BasicLinearAlgebra.h>
+
+class Kalman2DFilter {
+public:
+    Kalman2DFilter(float dt = 4.f, float accelUncertainty = 10.f, float barometerUncertainty = 100.f) {
+        dt /= 1000.f;
+        F = {1, dt, 0, 1};
+        G = {0.5f * dt * dt, dt};
+        H = {1, 0};
+        I = {1, 0, 0, 1};
+        Q = G * ~G * accelUncertainty * accelUncertainty;
+        R = {barometerUncertainty * barometerUncertainty};
+        P = {0, 0, 0, 0};
+        S = {0, 0};
+    }
+
+    void filter(const float &AccZInertial, const float &AltitudeBarometer,
+                float &AltitudeKalman, float &VelocityVerticalKalman) {
+        Acc = {AccZInertial};
+        S = F * S + G * Acc;
+        P = F * P * ~F + Q;
+        L = H * P * ~H + R;
+        K = P * ~H * Inverse(L);
+        M = {AltitudeBarometer};
+        S = S + K * (M - H * S);
+        AltitudeKalman = S(0, 0);
+        VelocityVerticalKalman = S(1, 0);
+        P = (I - K * H) * P;
+    }
+
+private:
+    BLA::Matrix<2, 2> F;
+    BLA::Matrix<2, 1> G;
+    BLA::Matrix<2, 2> P;
+    BLA::Matrix<2, 2> Q;
+    BLA::Matrix<2, 1> S;
+    BLA::Matrix<1, 2> H;
+    BLA::Matrix<2, 2> I;
+    BLA::Matrix<1, 1> Acc;
+    BLA::Matrix<2, 1> K;
+    BLA::Matrix<1, 1> R;
+    BLA::Matrix<1, 1> L;
+    BLA::Matrix<1, 1> M;
+};

src/Filters/kalman.hpp

@@ -0,0 +1,47 @@
+// упрощённый Калман для одномерного случая
+#pragma once
+
+#ifndef _GKalman_h
+#define _GKalman_h
+
+class GKalman {
+public:
+    // разброс измерения, разброс оценки, скорость изменения значений
+    GKalman(float mea_e, float est_e, float q) {
+        setParameters(mea_e, est_e, q);
+    }
+    
+    // разброс измерения, скорость изменения значений (разброс измерения принимается равным разбросу оценки)
+    GKalman(float mea_e, float q) {
+        setParameters(mea_e, mea_e, q);
+    }
+    
+    // разброс измерения, разброс оценки, скорость изменения значений
+    void setParameters(float mea_e, float est_e, float q) {
+        _err_measure = mea_e;
+        _err_estimate = est_e;
+        _q = q;
+    }
+    
+    // разброс измерения, скорость изменения значений (разброс измерения принимается равным разбросу оценки)
+    void setParameters(float mea_e, float q) {
+        setParameters(mea_e, mea_e, q);
+    }
+    
+    // возвращает фильтрованное значение
+    float filtered(float value) {		
+        float _kalman_gain, _current_estimate;
+        _kalman_gain = _err_estimate / (_err_estimate + _err_measure);
+        _current_estimate = _last_estimate + _kalman_gain * (value - _last_estimate);
+        _err_estimate =  (1.0 - _kalman_gain)*_err_estimate + fabs(_last_estimate-_current_estimate)*_q;
+        _last_estimate=_current_estimate;
+        return _current_estimate;
+    }
+
+private:
+    float _err_measure = 0.0;
+    float _err_estimate = 0.0;
+    float _q = 0.0;
+    float _last_estimate = 0.0;
+};
+#endif

src/Filters/median3.hpp

@@ -0,0 +1,20 @@
+// быстрый медианный фильтр 3-го порядка
+#pragma once
+
+#ifndef _GMedian3_h
+#define _GMedian3_h
+
+template < typename TYPE >
+class GMedian3 {
+public:
+    TYPE filtered(TYPE value) {	// возвращает фильтрованное значение
+        buf[_counter] = value;
+        if (++_counter > 2) _counter = 0;
+        return (max(buf[0], buf[1]) == max(buf[1], buf[2])) ? max(buf[0], buf[2]) : max(buf[1], min(buf[0], buf[2]));
+    }
+    
+private:
+    TYPE buf[3];
+    uint8_t _counter = 0;
+};
+#endif

src/Filters/runningAverage.hpp

@@ -0,0 +1,50 @@
+// экспоненциальное бегущее среднее
+#pragma once
+
+#ifndef _GFilterRA_h
+#define _GFilterRA_h
+
+class GFilterRA {
+public:
+    GFilterRA(){}
+    
+    GFilterRA(float coef, uint16_t interval) {
+        _coef = coef;
+        _prd = interval;
+    }
+
+    GFilterRA(float coef) {
+        _coef = coef;
+    }
+
+    void setCoef(float coef) {
+        _coef = coef;
+    }
+    
+    void setPeriod(uint16_t interval) {
+        _prd = interval;
+    }
+
+    float filteredTime(float value) {
+        if (millis() - _tmr >= _prd) {
+            _tmr += _prd;
+            filtered(value);
+        }
+        return _fil;
+    }
+
+    float filtered(float value) {
+        return _fil += (value - _fil) * _coef;
+    }
+    
+    //
+    void setStep(uint16_t interval) {
+        _prd = interval;
+    }
+    
+private:
+    float _coef = 0.0, _fil = 0.0;
+    uint32_t _tmr = 0;
+    uint16_t _prd = 0;
+};
+#endif

src/Logic/FlightController.cpp

@@ -0,0 +1,222 @@
+#include "FlightController.hpp"
+
+FlightController::FlightController(
+    Sensors *sensors, SavedPidRegulator *heightController, SavedPidRegulator *yawController,
+    BrushedMotor *rotor1, BrushedMotor *rotor2,
+    PIDController *tailRotorController, bool unlimitedBattery
+) {
+    assert(sensors != nullptr);
+    assert(heightController != nullptr);
+    assert(yawController != nullptr);
+    assert(tailRotorController != nullptr);
+    assert(rotor1 != nullptr);
+    assert(rotor2 != nullptr);
+
+    _sensors = sensors;
+    _unlimitedBattery = unlimitedBattery;
+    _heightController = heightController;
+    _yawController = yawController;
+    _tailRotorController = tailRotorController;
+    _rotor1 = rotor1;
+    _rotor2 = rotor2;
+
+    _status = DeviceStatus::Idle;
+    _checkBatteryCharge();
+    stopAllRotors();
+    _initPidControllers();
+    ESP_LOGI(_tag, "Flight controller initialized");
+}
+
+FlightController::~FlightController() {
+    delete _sensors;
+    delete _heightController;
+    delete _yawController;
+    delete _tailRotorController;
+    delete _rotor1;
+    delete _rotor2;
+}
+
+void FlightController::tick() {
+    bool hasUpdates = _sensors->tick();
+    _checkBatteryCharge();
+    // TODO: don't apply pid values to motors while DeviceStatus != IsFlying
+    switch (_status) {
+        case DeviceStatus::Idle:
+            break;
+        case DeviceStatus::ChargeRequired:
+            break;
+        case DeviceStatus::IsPreparingForTakeoff:
+            break;
+        case DeviceStatus::IsImuCalibration:
+            break;
+        case DeviceStatus::IsBoarding:
+            /* TODO: implement boarding */
+            if (hasUpdates) {
+                _boarding();
+            }
+            break;
+        case DeviceStatus::IsFlying:
+            /* TODO: implement flying */
+            break;
+    }
+    if (hasUpdates and (_status == DeviceStatus::IsFlying or _status == DeviceStatus::IsBoarding)) {
+        _tailRotorController->input = round(_sensors->mpuData().pitch * 10) / 10;
+        _tailRotorController->update();
+
+        _heightController->input = _sensors->flightHeight();
+        //auto baseDuty = (uint32_t) round(_heightController->getResultNow());
+        //_rotor1->setDuty(baseDuty);
+        //_rotor2->setDuty(baseDuty);
+    }
+}
+
+ReportedDeviceState FlightController::currentDeviceState() const {
+    return {
+        .batteryCharge = _sensors->batteryCharge(),
+        .flightHeight = _sensors->flightHeight(),
+        .status = _status,
+        .mpuState = _sensors->mpuData()
+    };
+}
+
+void FlightController::startTakeoff() {
+    /* Start preparation for takeoff */
+    _checkBatteryCharge();
+    if (_status != DeviceStatus::Idle)
+        return;
+
+    _status = DeviceStatus::IsPreparingForTakeoff;
+    _sensors->onMeasuaringAltitudeFinished([this]() {
+        if (_status == DeviceStatus::IsPreparingForTakeoff) {
+            // Preparation for takeoff is done
+            _takeoff();
+        }
+    });
+    _sensors->measureBaseAltitudeAsync();
+}
+
+void FlightController::startBoarding() {
+    if (_status == DeviceStatus::IsFlying) {
+        _status = DeviceStatus::IsBoarding;
+    }
+}
+
+void FlightController::_checkBatteryCharge() {
+    if (_unlimitedBattery)
+        return;
+    if (_sensors->batteryCharge() <= _batteryCriticalCharge) {
+        if (_status == DeviceStatus::IsFlying) {
+            startBoarding();
+        } else {
+            _status = DeviceStatus::ChargeRequired;
+        }
+    }
+}
+
+void FlightController::_takeoff() {
+    // TODO: implement takeoff
+    _status = DeviceStatus::IsFlying;
+    _tailRotorController->enable();
+    _heightController->integral = 0.f;
+    _heightController->setpoint = _defaultFlightHeight;
+}
+
+void FlightController::_boarding() {
+    if (_sensors->flightHeight() <= _defaultStopMotorHeight) {
+        stopAllRotors();
+    } else {
+        _heightController->setpoint -= _boarding_speed;
+    }
+}
+
+void FlightController::startImuCalibration() {
+    if (_status != DeviceStatus::Idle)
+        return;
+    ESP_LOGI(_tag, "Started IMU calibration");
+    _status = DeviceStatus::IsImuCalibration;
+    _sensors->startMpuCalibration();
+    _sensors->onMpuCalibrationFinished([this]() {
+        this->_status = DeviceStatus::Idle;
+    });
+}
+
+void FlightController::moveToFlightHeight(float newFlightHeight) {
+    // TODO: implement setting flight height
+}
+
+void FlightController::newFlightHeightStickPosition(int16_t newFlightHeightStickPostition) {
+    // TODO: implement stick input
+}
+
+void FlightController::newYawStickPosition(int16_t newYawStickPostition) {
+    // TODO: implement stick input
+}
+
+void FlightController::newPitchStickPosition(int16_t newYawStickPostition) {
+    // TODO: implement stick input
+}
+
+void FlightController::setRotor1Duty(int16_t rotor1Duty) {
+    {
+        auto duty = (int16_t) map((long) rotor1Duty, 0, 5000, 0, 1023);
+        _rotor1->setExtendedDuty(duty);
+        _rotor2->setExtendedDuty(duty);
+    }
+}
+
+void FlightController::setRotor2Duty(int16_t rotor2Duty) {
+    {
+        auto duty = (int16_t) map((long) rotor2Duty, 0, 5000, 0, 1023);
+        _rotor1->setExtendedDuty(duty);
+        _rotor2->setExtendedDuty(duty);
+    }
+}
+
+void FlightController::setRotor3Duty(int16_t rotor3Duty) {
+    if (_status == DeviceStatus::Idle) {
+        auto duty = (int16_t) map((long) rotor3Duty, -5000, 5000, -1023, 1023);
+        _tailRotorController->setRotorDuty(duty);
+    }
+}
+
+void FlightController::stopAllRotors() {
+    _tailRotorController->disable();
+    setRotor1Duty(0);
+    setRotor2Duty(0);
+    setRotor3Duty(0);
+    _status = DeviceStatus::Idle;
+}
+
+void FlightController::setHeightControllerParams(float p, float i, float d) {
+    if (_status == DeviceStatus::Idle) {
+        _heightController->setParams({.p = p, .i = i, .d = d});
+    }
+}
+
+void FlightController::setYawControllerParams(float p, float i, float d) {
+    if (_status == DeviceStatus::Idle) {
+        _yawController->setParams({.p = p, .i = i, .d = d});
+    }
+}
+
+void FlightController::setPitchControllerParams(float p, float i, float d) {
+    if (_status == DeviceStatus::Idle) {
+        _tailRotorController->setParams({.p = p, .i = i, .d = d});
+    }
+}
+
+PidSettings FlightController::pidSettings() const {
+    PidSettings settings{};
+    settings.flightController = {.p = _heightController->Kp, .i = _heightController->Ki, .d = _heightController->Kd};
+    settings.yawController = {.p = _yawController->Kp, .i = _yawController->Ki, .d = _yawController->Kd};
+    settings.pitchController = {
+        .p = _tailRotorController->Kp, .i = _tailRotorController->Ki, .d = _tailRotorController->Kd
+    };
+    return settings;
+}
+
+
+void FlightController::_initPidControllers() {
+    _tailRotorController->setpoint = 180.f;
+    _heightController->setLimits(0, _rotor1->maxDuty());
+}

src/Logic/FlightController.hpp

@@ -0,0 +1,110 @@
+// 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
+#pragma once
+
+#include "PIDController.hpp"
+#include "Sensors/Sensors.hpp"
+
+enum DeviceStatus {
+    Idle = 0,
+    IsPreparingForTakeoff,
+    IsFlying,
+    IsBoarding,
+    IsImuCalibration,
+    ChargeRequired
+};
+
+struct ReportedDeviceState {
+    int batteryCharge;
+    float flightHeight;
+    DeviceStatus status;
+    MpuData mpuState;
+};
+
+struct FlightParams {
+    float height; // [cm]
+    float yaw; // [degrees]
+    float pitch; // [degrees]
+};
+
+struct PidSettings {
+    PidParams flightController;
+    PidParams yawController;
+    PidParams pitchController;
+};
+
+class FlightController {
+public:
+    FlightController(Sensors *sensors, SavedPidRegulator *heightController, SavedPidRegulator *yawController,
+                     BrushedMotor *_rotor1, BrushedMotor *_rotor2,
+                     PIDController *tailRotor, bool unlimitedBattery);
+
+    ~FlightController();
+
+    [[nodiscard]] ReportedDeviceState currentDeviceState() const;
+
+    void startTakeoff();
+
+    void startBoarding();
+
+    void startImuCalibration();
+
+    void tick();
+
+    [[deprecated]] void moveToFlightHeight(float newFlightHeight); //[cm]
+    [[deprecated]] void newFlightHeightStickPosition(int16_t newFlightHeightStickPostition);
+
+    [[deprecated]] void newYawStickPosition(int16_t newYawStickPostition);
+
+    [[deprecated]] void newPitchStickPosition(int16_t newPitchStickPostition);
+
+    void setRotor1Duty(int16_t rotor1Duty);
+
+    void setRotor2Duty(int16_t rotor2Duty);
+
+    void setRotor3Duty(int16_t rotor3Duty);
+
+    void stopAllRotors();
+
+    void setHeightControllerParams(float p, float i, float d);
+
+    void setYawControllerParams(float p, float i, float d);
+
+    void setPitchControllerParams(float p, float i, float d);
+
+    [[nodiscard]] PidSettings pidSettings() const;
+
+private:
+    void _checkBatteryCharge();
+
+    void _initPidControllers();
+
+    void _updateSetpoints();
+
+    void _updatePidControllers();
+
+    void _takeoff();
+
+    void _boarding();
+
+    Sensors *_sensors = nullptr;
+    SavedPidRegulator *_heightController = nullptr;
+    SavedPidRegulator *_yawController = nullptr;
+    PIDController *_tailRotorController = nullptr;
+    BrushedMotor *_rotor1 = nullptr;
+    BrushedMotor *_rotor2 = nullptr;
+    DeviceStatus _status;
+    //uint32_t _flightTimer;
+    //float _verticalVelocityOffset = 0.f; // [cm/10 ms]
+    //float _pitchVelocityOffset = 0.f; // [degrees/10 ms]
+
+    static constexpr const char *_tag = "FlightController";
+    static constexpr uint8_t _batteryCriticalCharge = 15; // [%]
+    static constexpr float _defaultFlightHeight = 55.f; // [cm]
+    static constexpr float _defaultHorizontAngle = 180.f; // [degrees]
+    static constexpr float _boarding_speed = 0.1; // [cm/10 ms]
+    static constexpr float _defaultStopMotorHeight = 15; // [cm]
+
+
+    bool _unlimitedBattery = false; // for debug purposes
+};

src/Logic/FlightDispatcher.cpp

@@ -0,0 +1,189 @@
+// 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, volatile bool loop_on_fail) {
+    assert(bluetoothDispatcher != nullptr);
+    assert(flightController != nullptr);
+
+    _bluetoothDispatcher = bluetoothDispatcher;
+    _flightController = flightController;
+
+    bluetoothDispatcher->onNewDeviceConnected([this](BTAddress device) {
+        this->_onNewDeviceConnected(device);
+    });
+    bluetoothDispatcher->onNewPackageReceived([this](char *package) {
+        this->_onNewMessageReceived(package);
+    });
+
+    if (_bluetoothDispatcher->initialize()) {
+        ESP_LOGI(_tag, "Bluetooth initialized successfully.");
+    } else {
+        ESP_LOGE(_tag, "Failed to initialize Bluetooth dispatcher!");
+        while (loop_on_fail);
+    }
+    _telemetryTimer = millis();
+}
+
+FlightDispatcher::~FlightDispatcher() {
+    delete _bluetoothDispatcher;
+    delete _flightController;
+}
+
+void FlightDispatcher::tick() {
+    _flightController->tick();
+    _bluetoothDispatcher->tick();
+    if (millis() - _telemetryTimer >= _telemetryTimeIntervalMS) {
+        _sendTelemetry();
+        _telemetryTimer = millis();
+    }
+}
+
+void FlightDispatcher::_onNewDeviceConnected(BTAddress device) {
+    _sendTelemetry();
+}
+
+void FlightDispatcher::_onNewMessageReceived(char *package) {
+    using sutil::SH;
+    ESP_LOGD(_tag, "Received new package: %s", package);
+    gson::Doc pkg;
+    if (!pkg.parse(package, _jsonMaxDepth)) {
+        ESP_LOGE(_tag, "Parcing error occured with new package (error %s, place %d): %s",
+                 pkg.readError(), pkg.errorIndex(), package);
+    } else {
+        pkg.hashKeys();
+        for (int keyIndex = 0; keyIndex < pkg.length(); ++keyIndex) {
+            auto pair = pkg[pkg.keyHash(keyIndex)];
+            auto value = pair.value();
+
+            if (!pair.valid()) {
+                continue;
+            }
+
+            switch (pkg.keyHash(keyIndex)) {
+                case SH("status"):
+                    _changeStatus((DeviceStatus) value.toInt32());
+                    break;
+                case SH("flightHeight"):
+                    _flightController->moveToFlightHeight(value.toFloat());
+                    break;
+                case SH("hS"):
+                    _flightController->newFlightHeightStickPosition(value.toInt16());
+                    break;
+                case SH("yS"):
+                    _flightController->newYawStickPosition(value.toInt16());
+                    break;
+                case SH("pS"):
+                    _flightController->newPitchStickPosition(value.toInt16());
+                    break;
+                case SH("r1"):
+                    _flightController->setRotor1Duty(value.toInt16());
+                    break;
+                case SH("r2"):
+                    _flightController->setRotor2Duty(value.toInt16());
+                    break;
+                case SH("r3"):
+                    _flightController->setRotor3Duty(value.toInt16());
+                    break;
+                case SH("stop"):
+                    _flightController->stopAllRotors();
+                    break;
+                case SH("p1"):
+                    if (pair.type() == gson::Type::Object and pair.includes(SH("p"))
+                        and pair.includes(SH("i")) and pair.includes(SH("d"))) {
+                        _flightController->setHeightControllerParams(
+                                pair[SH("p")].toFloat(), pair[SH("i")].toFloat(), pair[SH("d")].toFloat());
+                    }
+                    break;
+                case SH("p2"):
+                    if (pair.type() == gson::Type::Object and pair.includes(SH("p"))
+                        and pair.includes(SH("i")) and pair.includes(SH("d"))) {
+                        _flightController->setPitchControllerParams(
+                                pair[SH("p")].toFloat(), pair[SH("i")].toFloat(), pair[SH("d")].toFloat());
+                    }
+                    break;
+                case SH("p3"):
+                    if (pair.type() == gson::Type::Object and pair.includes(SH("p"))
+                        and pair.includes(SH("i")) and pair.includes(SH("d"))) {
+                        _flightController->setYawControllerParams(
+                                pair[SH("p")].toFloat(), pair[SH("i")].toFloat(), pair[SH("d")].toFloat());
+                    }
+                    break;
+                case SH("pidSettingOpened"):
+                    _pidSettingsOpened();
+                    break;
+                default:
+                    break;
+            }
+        }
+    }
+}
+
+void FlightDispatcher::_changeStatus(const DeviceStatus &newStatus) {
+    switch (newStatus) {
+        case DeviceStatus::IsImuCalibration:
+            _flightController->startImuCalibration();
+            break;
+        case DeviceStatus::IsFlying:
+            _flightController->startTakeoff();
+            break;
+        case DeviceStatus::IsPreparingForTakeoff:
+            _flightController->startTakeoff();
+            break;
+        case DeviceStatus::IsBoarding:
+            _flightController->startBoarding();
+            break;
+        default:
+            break;
+    }
+}
+
+void FlightDispatcher::_pidSettingsOpened() {
+    auto settings = _flightController->pidSettings();
+    gson::string pkg;
+    pkg.beginObj();
+
+    pkg.beginObj("p1");
+    pkg.addFloat("p", settings.flightController.p, 5);
+    pkg.addFloat("i", settings.flightController.i, 5);
+    pkg.addFloat("d", settings.flightController.d, 5);
+    pkg.endObj();
+
+    pkg.beginObj("p2");
+    pkg.addFloat("p", settings.pitchController.p, 5);
+    pkg.addFloat("i", settings.pitchController.i, 5);
+    pkg.addFloat("d", settings.pitchController.d, 5);
+    pkg.endObj();
+
+    pkg.beginObj("p3");
+    pkg.addFloat("p", settings.yawController.p, 5);
+    pkg.addFloat("i", settings.yawController.i, 5);
+    pkg.addFloat("d", settings.yawController.d, 5);
+    pkg.endObj();
+
+    pkg.endObj();
+    pkg.end();
+    pkg.s = String(MessageType::PidSettings) + ";" + pkg.s;
+    _bluetoothDispatcher->sendPackage(pkg.s.c_str());
+    ESP_LOGI(_tag, "PID settings sended %s", pkg.s.c_str());
+}
+
+void FlightDispatcher::_sendTelemetry() {
+    /* Notify mobile client about device state */
+    auto state = _flightController->currentDeviceState();
+    gson::string package;
+    package.beginObj();
+    package["charge"] = state.batteryCharge;
+    package["flightHeight"] = state.flightHeight;
+    package["status"] = state.status;
+    package["y"] = state.mpuState.yaw;
+    package["p"] = state.mpuState.pitch;
+    package["r"] = state.mpuState.roll;
+    package["zIn"] = state.mpuState.zInertial;
+    package.endObj();
+    package.end();
+    package.s = String(MessageType::UpdatePackage) + ";" + package.s;
+    _bluetoothDispatcher->sendPackage(package.s.c_str());
+}

src/Logic/FlightDispatcher.hpp

@@ -0,0 +1,47 @@
+// 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
+#pragma once
+
+#include "FlightController.hpp"
+#include "GSON.h"
+#include "RF/BluetoothDispatcher.hpp"
+#include <map>
+
+// Message type annotation for mobile app
+enum MessageType {
+    UpdatePackage = 0, PidSettings
+};
+
+class FlightDispatcher {
+    /* Deserialize state and update it in FlightController. */
+public:
+    FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
+                     FlightController *flightController, volatile bool loop_on_fail = true);
+
+    ~FlightDispatcher();
+
+    void tick();
+
+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;
+
+    uint32_t _telemetryTimer = millis();
+    BluetoothDispatcher *_bluetoothDispatcher;
+    FlightController *_flightController;
+};

src/Logic/PIDController.hpp

@@ -0,0 +1,55 @@
+// 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
+
+#pragma once
+
+#include "Motor/BrushedMotor.hpp"
+#include "SavedPidRegulator.hpp"
+#include "esp_log.h"
+
+
+class PIDController : public SavedPidRegulator {
+public:
+    PIDController(float p, float i, float d, BrushedMotor *rotor,
+                  const char *name = "PID", uint16_t dt = 10, const bool isEnabled = false)
+        : SavedPidRegulator(p, i, d, name, dt) {
+        assert(rotor != nullptr);
+        _rotor = rotor;
+        _isEnabled = isEnabled;
+        setLimits(-_rotor->maxDuty(), _rotor->maxDuty());
+        setDirection(REVERSE);
+        _pid_timer = millis();
+        ESP_LOGI(_tag, "PID %s initialized with params (%f, %f, %f)", name, Kp, Ki, Kd);
+    }
+
+    void enable() {
+        _isEnabled = true;
+        _rotor->setDuty(0);
+        integral = 0;
+    }
+
+    void disable() {
+        _isEnabled = false;
+        _rotor->setDuty(0);
+    }
+
+    void update() {
+        if (_isEnabled) {
+            //ESP_LOGI(_tag, "Setpoint: %f", setpoint);
+            //ESP_LOGI(_tag, "Input: %f", input);
+            //ESP_LOGI(_tag, "Output: %d", (int16_t) round(getResultNow()));
+            setRotorDuty((int16_t) round(getResultNow()));
+        }
+    }
+
+    void setRotorDuty(int16_t duty) {
+        /* Used only for test purposes */
+        _rotor->setExtendedDuty(duty);
+    }
+
+private:
+    //uint16_t _dt;
+    BrushedMotor *_rotor = nullptr;
+    uint32_t _pid_timer = 0;
+    bool _isEnabled = false;
+};

src/Logic/SavedPidRegulator.hpp

@@ -0,0 +1,73 @@
+#pragma once
+#include "GyverPID.h"
+#include "Preferences.h"
+#include "esp_log.h"
+#include <memory>
+
+struct PidParams {
+    float p;
+    float i;
+    float d;
+};
+
+class SavedPidRegulator : public GyverPID {
+public:
+    SavedPidRegulator(float p, float i, float d, const char *name = "saved_pid", const uint16_t dt = 10)
+        : GyverPID(p, i, d, static_cast<int16_t>(dt)) {
+        _name = name;
+        _preferences.begin(name);
+        _pDefault = p;
+        _iDefault = i;
+        _dDefault = d;
+        _loadPreferences();
+        ESP_LOGI(_tag, "PID %s initialized with params (%f, %f, %f)", _name.c_str(), Kp, Ki, Kd);
+    }
+
+    void setParams(PidParams params) {
+        this->Kp = params.p;
+        this->Ki = params.i;
+        this->Kd = params.d;
+        save();
+    }
+
+    PidParams getParams() {
+        PidParams params{};
+        params.p = Kp;
+        params.i = Ki;
+        params.d = Kd;
+        return params;
+    }
+
+    void resetToDefault() {
+        this->Kp = _pDefault;
+        this->Ki = _iDefault;
+        this->Kd = _dDefault;
+        save();
+    }
+
+    void save() {
+        _preferences.putFloat("p", Kp);
+        _preferences.putFloat("i", Ki);
+        _preferences.putFloat("d", Kd);
+        ESP_LOGI(_tag, "PID %s saved with params (%f, %f, %f)", _name.c_str(), Kp, Ki, Kd);
+    }
+
+protected:
+    static constexpr const char *_tag = "PIDController";
+
+private:
+    float _pDefault = 0.f;
+    float _iDefault = 0.f;
+    float _dDefault = 0.f;
+
+    String _name = "PID";
+    Preferences _preferences;
+
+    void _loadPreferences() {
+        if (_preferences.isKey("p") and _preferences.isKey("i") and _preferences.isKey("d")) {
+            Kp = _preferences.getFloat("p", _pDefault);
+            Ki = _preferences.getFloat("i", _iDefault);
+            Kd = _preferences.getFloat("d", _dDefault);
+        }
+    }
+};

src/Motor/BrushedMotor.cpp

@@ -0,0 +1,77 @@
+// 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 frequency,
+                           uint8_t channel, uint8_t resolution, const char *name, bool forward_directional) {
+    _resolution = resolution;
+    _pwmAGpioNum = pwmAGpioNum;
+    _pwmBGpioNum = pwmBGpioNum;
+    _channel = channel;
+    _frequency = frequency;
+    _forward_directional = forward_directional;
+    _tag_name = name;
+    pinMode(_pwmAGpioNum, OUTPUT);
+    pinMode(_pwmBGpioNum, OUTPUT);
+    ledcAttachPin(_pwmAGpioNum, _channel);
+    ledcSetup(_channel, _frequency, _resolution);
+    coast();
+}
+
+void BrushedMotor::setDuty(uint32_t duty) const {
+    ledcWrite(_channel, duty);
+}
+
+void BrushedMotor::decrement(uint32_t k) const {
+    ledcWrite(_channel, ledcRead(_channel) - k);
+}
+
+void BrushedMotor::setExtendedDuty(int32_t duty) {
+    if (duty > 0) {
+        forward();
+    } else if (duty < 0) {
+        backward();
+    }
+    setDuty(abs(duty));
+}
+
+uint32_t BrushedMotor::maxDuty() const {
+    return pow(2, _resolution) - 1;
+}
+
+void BrushedMotor::_apply_directional() const {
+    auto current_duty = ledcRead(_channel);
+    if (_forward_directional) {
+        ledcDetachPin(_pwmBGpioNum);
+        ledcAttachPin(_pwmAGpioNum, _channel);
+    } else {
+        ledcDetachPin(_pwmAGpioNum);
+        ledcAttachPin(_pwmBGpioNum, _channel);
+    }
+    setDuty(current_duty);
+}
+
+void BrushedMotor::forward() {
+    if (_forward_directional)
+        return;
+    ESP_LOGI(_tag_name.c_str(), "Moving forward");
+    _forward_directional = true;
+    _apply_directional();
+}
+
+void BrushedMotor::backward() {
+    if (!_forward_directional)
+        return;
+    _forward_directional = false;
+    _apply_directional();
+}
+
+void BrushedMotor::reverse() {
+    _forward_directional = !_forward_directional;
+    _apply_directional();
+}
+
+void BrushedMotor::coast() const {
+    setDuty(0);
+}

src/Motor/BrushedMotor.hpp

@@ -0,0 +1,43 @@
+// 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
+#pragma once
+
+#include <cstdint>
+#include "Arduino.h"
+#include <cstring>
+
+
+class BrushedMotor {
+    // TODO: rewrite with MCPWM
+public:
+    BrushedMotor(uint32_t pwmAGpioNum, uint32_t pwmBGpioNum, uint32_t frequency,
+                 uint8_t channel, uint8_t resolution, const char *name = "Rotor1", bool forward_directional = true);
+
+    void setDuty(uint32_t duty) const;
+
+    void setExtendedDuty(int32_t duty);
+
+    [[nodiscard]] uint32_t maxDuty() const;
+
+    void forward();
+
+    void backward();
+
+    void reverse();
+
+    void coast() const;
+
+    void decrement(uint32_t k) const;
+
+private:
+    uint8_t _channel;
+    uint32_t _frequency;
+    uint32_t _resolution;
+
+    uint32_t _pwmAGpioNum;
+    uint32_t _pwmBGpioNum;
+    bool _forward_directional;
+    String _tag_name = "BrushedMotor";
+
+    void _apply_directional() const;
+};

src/RF/BluetoothDispatcher.cpp

@@ -0,0 +1,107 @@
+// 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;
+
+static void deviceConnectedStaticCallback(esp_spp_cb_event_t event, esp_spp_cb_param_t *param);
+
+BluetoothDispatcher::BluetoothDispatcher(BluetoothSerial *controller, const char *device_name) {
+    assert(controller != nullptr);
+    assert(device_name != nullptr);
+
+    _device_name = device_name;
+    _controller = controller;
+}
+
+bool BluetoothDispatcher::initialize(int readTimeoutMS) {
+    bool success = _controller->begin(_device_name, false);
+    _controller->enableSSP();
+    _controller->onConfirmRequest([this](uint16_t pin) {
+        _onConfirmRequest(pin);
+    });
+    _controller->onAuthComplete([this](boolean success) {
+        _onAuthComplete(success);
+    });
+    _controller->register_callback(deviceConnectedStaticCallback);
+    deviceConnectedCallback = [this](BTAddress device) {
+        _onDeviceConnected(device);
+    };
+    //_controller->setTimeout(readTimeoutMS);
+    if (!success) {
+        ESP_LOGI(_tag, "Failed to initialize Bluetooth controller!");
+        assert(false);
+    } else {
+        ESP_LOGI(_tag, "Bluetooth host initialized");
+        return true;
+    }
+}
+
+void BluetoothDispatcher::onNewPackageReceived(NewPackageCallback newPackageReceivedCb) {
+    _newPackageReceivedCb = std::move(newPackageReceivedCb);
+}
+
+void BluetoothDispatcher::tick(const char message_delimeter) {
+    /* Call the callback, if new package received */
+    /* Warning! Logging below can cause errors and freezes */
+    while (_controller->available()) {
+        int c = _controller->read();
+        if (c == -1) {
+            _buffer.clear();
+        } else if (c == message_delimeter) {
+            if (_newPackageReceivedCb) {
+                _newPackageReceivedCb(_buffer.buf);
+            }
+            _buffer.clear();
+        } else {
+            _buffer += (char) c;
+        }
+    }
+}
+
+BluetoothDispatcher::~BluetoothDispatcher() {
+    _controller->end();
+    delete _controller;
+}
+
+void BluetoothDispatcher::_onConfirmRequest(uint16_t pin) {
+    ESP_LOGI(_tag, "The Bluetooth PIN is: %06lu", (long unsigned int) pin);
+    _controller->confirmReply(true);
+}
+
+void BluetoothDispatcher::_onAuthComplete(boolean success) const {
+    if (success) {
+        ESP_LOGI(_tag, "Pairing success!");
+    } else {
+        ESP_LOGI(_tag, "Pairing failed, rejected by user!");
+    }
+}
+
+void BluetoothDispatcher::_onDeviceConnected(BTAddress device) {
+    ESP_LOGI(_tag, "New device connected: %s", device.toString(true).c_str());
+    _buffer.clear();
+    _controller->flush();
+    if (_deviceConnectedCallback) {
+        _deviceConnectedCallback(device);
+    }
+}
+
+void BluetoothDispatcher::onNewDeviceConnected(DeviceConnectedCb deviceConnectedCb) {
+    /* Callback called if device connected successfully. */
+    _deviceConnectedCallback = std::move(deviceConnectedCb);
+}
+
+void BluetoothDispatcher::sendPackage(const char *package) {
+    if (!_controller->hasClient())
+        return;
+    _controller->println(package);
+}
+
+
+static void deviceConnectedStaticCallback(esp_spp_cb_event_t event, esp_spp_cb_param_t *param) {
+    if (event == ESP_SPP_SRV_OPEN_EVT and param->srv_open.status == ESP_SPP_SUCCESS
+        and deviceConnectedCallback) {
+        deviceConnectedCallback(BTAddress(param->srv_open.rem_bda));
+    }
+}

src/RF/BluetoothDispatcher.hpp

@@ -0,0 +1,62 @@
+// 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
+#pragma once
+
+#define TX_QUEUE_SIZE 512
+
+#include "BluetoothSerial.h"
+#include "HardwareSerial.h"
+#include "esp_log.h"
+#include "mString.h"
+
+/* Check the ESP configuration */
+#if not defined(CONFIG_BT_ENABLED) || not defined(CONFIG_BLUEDROID_ENABLED)
+#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
+#endif
+
+
+#if not defined(CONFIG_BT_SPP_ENABLED)
+#error Serial Port Profile for Bluetooth is not available or not enabled. It is only available for the ESP32 chip.
+#endif
+
+
+#if not defined(CONFIG_BT_SSP_ENABLED)
+#error Simple Secure Pairing for Bluetooth is not available or not enabled.
+#endif
+/* ************************* */
+
+typedef std::function<void(BTAddress device)> DeviceConnectedCb;
+typedef std::function<void(char *package)> NewPackageCallback;
+
+class BluetoothDispatcher {
+public:
+    BluetoothDispatcher(BluetoothSerial *controller, const char *device_name = "Helicopter");
+
+    bool initialize(int readTimeoutMS = 10);
+
+    void tick(const char message_delimeter = '\n');
+
+    void onNewPackageReceived(NewPackageCallback newPackageReceivedCb);
+
+    void onNewDeviceConnected(DeviceConnectedCb deviceConnectedCb);
+
+    void sendPackage(const char *package);
+
+    ~BluetoothDispatcher();
+
+private:
+    void _onConfirmRequest(uint16_t pin);
+
+    void _onAuthComplete(boolean success) const;
+
+    void _onDeviceConnected(BTAddress device);
+
+    const char *_device_name = nullptr;
+    BluetoothSerial *_controller = nullptr;
+    DeviceConnectedCb _deviceConnectedCallback = nullptr;
+    NewPackageCallback _newPackageReceivedCb = nullptr;
+    constexpr static const char *_tag = "BluetoothDispatcher";
+
+    static constexpr uint16_t _buffer_size = 512;
+    mString<_buffer_size> _buffer;
+};

src/Sensors/Barometer.hpp

@@ -0,0 +1,82 @@
+// 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
+#pragma once
+
+#include "GyverBME280.h"
+
+typedef std::function<void()> OnMeasuringFinishedCb;
+
+class Barometer {
+public:
+    explicit Barometer(GyverBME280 *bme) {
+        assert(bme != nullptr);
+        _bme = bme;
+    }
+
+    ~Barometer() {
+        delete this->_bme;
+    }
+
+    bool initialize(void) {
+        _bme->setMode(NORMAL_MODE);
+        _bme->setFilter(FILTER_COEF_16);
+        _bme->setTempOversampling(OVERSAMPLING_2);
+        _bme->setPressOversampling(OVERSAMPLING_16);
+        _bme->setStandbyTime(STANDBY_500US);
+        return _bme->begin();
+    }
+
+    void measureBaseAltitudeSync(void) {
+        for (int i = 0; i < _calibrationIterationsCount; ++i) {
+            _startedAltitude += altitude();
+            delay(_calibrationIterationDelay);
+        }
+        _startedAltitude /= _calibrationIterationsCount;
+    }
+
+    void measureBaseAltitudeAsync(void) {
+        _calibrationIterationsCounter = 0;
+        _calibrationTimer = millis();
+        _isCalibration = true;
+        _startedAltitude = 0.f;
+    }
+
+    float altitude() /* [cm] */ {
+        return pressureToAltitude(_bme->readPressure()) * 100;
+    }
+
+    float flightHeight() /* [cm] */ {
+        if (_isCalibration)
+            return 0.f;
+        return round(altitude() - _startedAltitude);
+    }
+
+    void onMeasuaringHeightFinished(OnMeasuringFinishedCb callback) {
+        _measuaringHeightFinishedCb = std::move(callback);
+    }
+
+    void tick() {
+        if (_isCalibration) {
+            if (millis() - _calibrationTimer >= _calibrationIterationDelay) {
+                _startedAltitude += altitude();
+            }
+            if (++_calibrationIterationsCounter >= _calibrationIterationsCount) {
+                _startedAltitude /= _calibrationIterationsCount;
+                _isCalibration = false;
+                if (_measuaringHeightFinishedCb) {
+                    _measuaringHeightFinishedCb();
+                }
+            }
+        }
+    }
+
+private:
+    GyverBME280 *_bme;
+    float _startedAltitude = 0.f;
+    bool _isCalibration = false;
+    uint32_t _calibrationTimer = 0;
+    int _calibrationIterationsCounter = 0;
+    OnMeasuringFinishedCb _measuaringHeightFinishedCb = nullptr;
+    static constexpr int _calibrationIterationsCount = 800;
+    static constexpr int _calibrationIterationDelay = 1; // [ms]
+};

src/Sensors/BarometerBMP280.hpp

@@ -0,0 +1,81 @@
+// 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
+#pragma once
+
+#include "GyverBME280.h"
+
+typedef std::function<void()> OnMeasuringFinishedCb;
+
+class Barometer {
+public:
+    Barometer(GyverBME280 *bme) {
+        _bme = bme;
+    };
+
+    ~Barometer() {
+        delete this->_bme;
+    }
+
+    bool initialize(void) {
+        _bme->setMode(NORMAL_MODE);
+        _bme->setFilter(FILTER_COEF_16);
+        _bme->setTempOversampling(OVERSAMPLING_2);
+        _bme->setPressOversampling(OVERSAMPLING_16);
+        _bme->setStandbyTime(STANDBY_500US);
+        return _bme->begin();
+    }
+
+    void measureBaseAltitudeSync(void) {
+        for (int i = 0; i < _calibrationIterationsCount; ++i) {
+            _startedAltitude += altitude();
+            delay(_calibrationIterationDelay);
+        }
+        _startedAltitude /= _calibrationIterationsCount;
+    }
+
+    void measureBaseAltitudeAsync(void) {
+        _calibrationIterationsCounter = 0;
+        _calibrationTimer = millis();
+        _isCalibration = true;
+        _startedAltitude = 0.f;
+    }
+
+    float altitude() /* [cm] */ {
+        return pressureToAltitude(_bme->readPressure()) * 100;
+    }
+
+    float flightHeight() /* [cm] */ {
+        if (_isCalibration)
+            return 0.f;
+        else return round(altitude() - _startedAltitude);
+    }
+
+    void onMeasuaringHeightFinished(OnMeasuringFinishedCb callback) {
+        _measuaringHeightFinishedCb = std::move(callback);
+    }
+
+    void tick() {
+        if (_isCalibration) {
+            if (millis() - _calibrationTimer >= _calibrationIterationDelay) {
+                _startedAltitude += altitude();
+            }
+            if (++_calibrationIterationsCounter >= _calibrationIterationsCount) {
+                _startedAltitude /= _calibrationIterationsCount;
+                _isCalibration = false;
+                if (_measuaringHeightFinishedCb) {
+                    _measuaringHeightFinishedCb();
+                }
+            }
+        }
+    }
+
+private:
+    GyverBME280 *_bme;
+    float _startedAltitude = 0.f;
+    bool _isCalibration = false;
+    uint32_t _calibrationTimer = 0;
+    int _calibrationIterationsCounter = 0;
+    OnMeasuringFinishedCb _measuaringHeightFinishedCb = nullptr;
+    static constexpr int _calibrationIterationsCount = 800;
+    static constexpr int _calibrationIterationDelay = 1;  // [ms]
+};

src/Sensors/BatteryController.hpp

@@ -0,0 +1,40 @@
+// 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
+#pragma once
+
+#include "board_pins.h"
+
+
+class BatteryController {
+public:
+    BatteryController(const uint16_t batteryPin, const uint16_t battery_data_switch_pin) {
+        _battery_pin = batteryPin;
+        _battery_data_switch_pin = battery_data_switch_pin;
+    }
+
+    void initialize() const {
+        pinMode(_battery_data_switch_pin, OUTPUT);
+        digitalWrite(_battery_data_switch_pin, HIGH);
+        analogReadResolution(12);
+        analogSetWidth(12);
+        adcAttachPin(_battery_pin);
+    }
+
+    int percent(const float minVoltage = 7.2f, const float maxVoltage = 8.4f,
+                const float r1 = 3.f, const float r2 = 2.f, const float k = 2.85f) {
+        // It's magic. I will return and refactor it.
+        float pinVoltage = analogReadMilliVolts(_battery_pin) / 1000.f;
+        // k = (r1 + r2) / r2
+        float batteryVoltage = pinVoltage * k;
+        return constrain(_map(batteryVoltage, minVoltage, maxVoltage, 0, 100), 0, 100);
+    }
+
+private:
+    uint16_t _battery_pin;
+    uint16_t _battery_data_switch_pin;
+    static constexpr const char *_tag = "BatteryController";
+
+    static float _map(float x, float in_min, float in_max, float out_min, float out_max) {
+        return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+    }
+};

src/Sensors/MPU.hpp

@@ -0,0 +1,274 @@
+// 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
+#pragma once
+
+#include "MPU6050_6Axis_MotionApps20.h"
+#include "Preferences.h"
+#include "board_pins.h"
+#include "esp_log.h"
+
+static volatile bool _isDMPDataReady = false;
+
+static void IRAM_ATTR _dmpInterruption() {
+    _isDMPDataReady = true;
+}
+
+typedef std::function<void()> OnCalibrationFinishedCb;
+
+class MPU {
+public:
+    MPU(MPU6050_6Axis_MotionApps20 *mpu) {
+        assert(mpu != nullptr);
+        _mpu = mpu;
+    }
+
+    ~MPU() {
+        delete _mpu;
+    }
+
+    bool initialize() {
+        _mpu->initialize();
+
+        if (!_preferences.begin("imu")) {
+            ESP_LOGE(_TAG, "Failed to open the preferences!");
+        } else {
+            _loadOffsets();
+        }
+
+        delay(250);
+        if (!_mpu->testConnection()) {
+            ESP_LOGE(_TAG, "MPU6050 test connection failed!");
+            return false;
+        }
+        _mpu->setDLPFMode(MPU6050_DLPF_BW_10); // 10 Hz bandwidth
+        //mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_500); // set sensivity, not recommended
+        //mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_8);
+
+        if (_mpu->dmpInitialize()) {
+            ESP_LOGE(_TAG, "Failed to initialize DMP!");
+            return false;
+        }
+        _mpu->setDMPEnabled(true);
+        attachInterrupt(MPU6050_INT_PIN, _dmpInterruption, RISING);
+        return true;
+    }
+
+    bool tick(bool &err) {
+        err = false;
+        if (!_isDMPDataReady) {
+            return false;
+        }
+        if (!_mpu->dmpGetCurrentFIFOPacket(_fifoBuffer)) {
+            ESP_LOGE(_TAG, "Failed to get DMP data!");
+            err = true;
+            return false;
+        }
+
+        Quaternion q;
+        VectorFloat gravity;
+        VectorInt16 accel;
+        VectorInt16 gyro;
+        VectorInt16 accelReal;
+
+        _mpu->dmpGetQuaternion(&q, _fifoBuffer);
+        _mpu->dmpGetGravity(&gravity, &q);
+        _mpu->dmpGetYawPitchRoll(_ypr, &q, &gravity);
+        _mpu->dmpGetAccel(&accel, _fifoBuffer);
+        _mpu->dmpGetGyro(&gyro, _fifoBuffer);
+        _mpu->dmpGetLinearAccel(&accelReal, &accel, &gravity);
+        _isDMPDataReady = false;
+
+        _ax = accel.x / 8192.f;
+        _ay = accel.y / 8192.f;
+        _az = accel.z / 8192.f;
+
+        _gx = gyro.x / 131.f;
+        _gy = gyro.y / 131.f;
+        _gz = gyro.z / 131.f;
+
+        _calculateZInertial(gravity);
+
+        if (_isCalibration) {
+            if (_calibrationsIterCounter >= _calibrationIterCount) {
+                _axOffset /= _calibrationsIterCounter;
+                _ayOffset /= _calibrationsIterCounter;
+                _azOffset /= _calibrationsIterCounter;
+
+                _gxOffset /= _calibrationsIterCounter;
+                _gyOffset /= _calibrationsIterCounter;
+                _gzOffset /= _calibrationsIterCounter;
+
+                _prOffset[0] /= _calibrationsIterCounter;
+                _prOffset[1] /= _calibrationsIterCounter;
+
+                _prOffset[0] = DEG_TO_RAD * (180 - RAD_TO_DEG * _prOffset[0]);
+                _prOffset[1] = DEG_TO_RAD * (180 - RAD_TO_DEG * _prOffset[1]);
+                ESP_LOGI(_TAG, "Calibration offsets: roll: %f, pitch: %f", RAD_TO_DEG * _prOffset[1],
+                         RAD_TO_DEG * _prOffset[0]);
+
+                _isCalibration = false;
+                _updateOffsets();
+                _calibrationsIterCounter = 0;
+                if (_calibrationFinishedCb) {
+                    _calibrationFinishedCb();
+                }
+                ESP_LOGI(_TAG, "Calibration finished!");
+            } else {
+                _axOffset += _ax;
+                _ayOffset += _ay;
+                _azOffset += _az;
+                _gxOffset += _gx;
+                _gyOffset += _gy;
+                _gzOffset += _gz;
+                _prOffset[0] += pitch() * DEG_TO_RAD;
+                _prOffset[1] += roll() * DEG_TO_RAD;
+                _calibrationsIterCounter++;
+                ESP_LOGI(_TAG, "Angles on calibration: roll: %f, pitch: %f", roll(),
+                         pitch());
+            }
+        }
+
+        return true;
+    }
+
+    /* getters */
+    float accZInertial() const {
+        return _AccZInertial;
+    }
+
+    float yaw() const {
+        return degrees(_ypr[0]) + 180.f;
+    }
+
+    float pitch() const {
+        if (_isCalibration) {
+            return 360.f - (degrees(_ypr[1]) + 180);
+        } else {
+            return 360.f - (degrees(_ypr[1]) + 180) + degrees(_prOffset[0]);
+        }
+    }
+
+    float roll() const {
+        if (_isCalibration) {
+            return 360.f - (degrees(_ypr[2]) + 180);
+        } else {
+            return 360.f - (degrees(_ypr[2] + _prOffset[1]) + 180) + degrees(_prOffset[1]);
+        }
+    }
+
+    float ax() const {
+        if (_isCalibration) {
+            return _ax;
+        } else {
+            return _ax - _axOffset;
+        }
+    }
+
+    float ay() const {
+        if (_isCalibration) {
+            return _ay;
+        } else {
+            return _ay - _ayOffset;
+        }
+    }
+
+    float az() const {
+        if (_isCalibration) {
+            return _az;
+        } else {
+            return _az - _azOffset;
+        }
+    }
+
+    float gravityZ() const {
+        return _gravity;
+    }
+
+    float gx() const {
+        if (_isCalibration) {
+            return _gx;
+        } else {
+            return _gx - _gxOffset;
+        }
+    }
+
+    float gy() const {
+        if (_isCalibration) {
+            return _gy;
+        } else {
+            return _gy - _gyOffset;
+        }
+    }
+
+    float gz() const {
+        if (_isCalibration) {
+            return _gz;
+        } else {
+            return _gz - _gzOffset;
+        }
+    }
+
+    void startCalibration() {
+        _isCalibration = true;
+    }
+
+    void onCalibrationFinished(OnCalibrationFinishedCb callback) {
+        _calibrationFinishedCb = callback;
+    }
+
+private:
+    MPU6050_6Axis_MotionApps20 *_mpu = nullptr;
+    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] = {0}; // yaw isn't used
+
+    uint8_t _fifoBuffer[45] = {0};
+    Preferences _preferences;
+
+    const char *_TAG = "MPU6050 module";
+    static constexpr const int _calibrationIterCount = 250;
+
+    bool _isCalibration = false;
+    int _calibrationsIterCounter = 0;
+    OnCalibrationFinishedCb _calibrationFinishedCb = nullptr;
+
+    void _calculateZInertial(VectorFloat &gravity) {
+        const float anglePitch = _ypr[1];
+        const float angleRoll = _ypr[2];
+        _gravity = gravity.z;
+
+        _AccZInertial = -sin(anglePitch) * _ax + cos(anglePitch) * sin(angleRoll) * _ay
+                        + cos(anglePitch) * cos(angleRoll) * _az;
+        _AccZInertial = (_AccZInertial - 1) * gravity.z * 100.f;
+    }
+
+    void _loadOffsets() {
+        _axOffset = _preferences.getFloat("ax", 0.f);
+        _ayOffset = _preferences.getFloat("ax", 0.f);
+        _azOffset = _preferences.getFloat("az", 0.f);
+        _gxOffset = _preferences.getFloat("gx", 0.f);
+        _gyOffset = _preferences.getFloat("gy", 0.f);
+        _gzOffset = _preferences.getFloat("gz", 0.f);
+        _prOffset[0] = _preferences.getFloat("pitch", 0.f);
+        _prOffset[1] = _preferences.getFloat("roll", 0.f);
+        ESP_LOGI(_TAG, "Offsets loaded: pitch: %f, roll %f", _prOffset[0], _prOffset[1]);
+    }
+
+    void _updateOffsets() {
+        _preferences.putFloat("ax", _axOffset);
+        _preferences.putFloat("ay", _ayOffset);
+        _preferences.putFloat("az", _azOffset);
+        _preferences.putFloat("gx", _gxOffset);
+        _preferences.putFloat("gy", _gyOffset);
+        _preferences.putFloat("gz", _gzOffset);
+        _preferences.putFloat("pitch", _prOffset[0]);
+        _preferences.putFloat("roll", _prOffset[1]);
+        ESP_LOGI(_TAG, "Offsets saved.");
+    }
+};

src/Sensors/RangingSensor.cpp

@@ -0,0 +1,13 @@
+#include "RangingSensor.hpp"
+#include "esp_log.h"
+
+RangingSensor::RangingSensor() {
+}
+
+void RangingSensor::startFlight() {
+}
+
+void RangingSensor::tick() {
+}
+
+uint32_t RangingSensor::getDistance() { return 0; }

src/Sensors/RangingSensor.hpp

@@ -0,0 +1,22 @@
+// 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
+#pragma once
+
+#ifndef HELICOPTER_FIRMWARE_RANGINGSENSOR_H
+#define HELICOPTER_FIRMWARE_RANGINGSENSOR_H
+
+#include "Arduino.h"
+
+class RangingSensor {
+public:
+    RangingSensor();
+
+    void tick();
+
+    void startFlight();
+
+    uint32_t getDistance();
+};
+
+
+#endif //HELICOPTER_FIRMWARE_RANGINGSENSOR_H

src/Sensors/Sensors.cpp

@@ -0,0 +1,140 @@
+// 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, RangingSensor *ranging_sensor, MPU *mpu, Kalman2DFilter *filter,
+                 BatteryController *battery, HeightSensor heightSensor) {
+    assert(barometer != nullptr);
+    assert(mpu != nullptr);
+    assert(filter != nullptr);
+    assert(battery != nullptr);
+    assert(ranging_sensor != nullptr);
+
+    _barometer = barometer;
+    _mpu = mpu;
+    _2d_filter = filter;
+    _battery = battery;
+    _ranging_sensor = ranging_sensor;
+    _heightSensor = heightSensor;
+
+    ESP_LOGI(_tag, "Initialize BMP280...");
+    if (_barometer->initialize()) {
+        ESP_LOGI(_tag, "BMP280 initialized");
+    } else {
+        ESP_LOGI(_tag, "BMP280 initialization failed!");
+        assert(false);
+    }
+
+    ESP_LOGI(_tag, "Initialize MPU6050...");
+    if (_mpu->initialize()) {
+        ESP_LOGI(_tag, "MPU6050 initialized");
+    } else {
+        ESP_LOGI(_tag, "MPU6050 initialization failed!");
+        //assert(false);
+    }
+
+    _battery->initialize();
+    ESP_LOGI(_tag, "BatteryController initialized");
+
+    ESP_LOGI(_tag, "Sensors initialized");
+}
+
+Sensors::~Sensors() {
+    delete _barometer;
+    delete _mpu;
+    delete _2d_filter;
+    delete _battery;
+    delete _ranging_sensor;
+}
+
+void Sensors::measureBaseAltitudeSync(void) {
+    _barometer->measureBaseAltitudeSync();
+}
+
+void Sensors::measureBaseAltitudeAsync(void) {
+    if (_heightSensor == HeightSensor::RangeMeterOnly) {
+        _ranging_sensor->startFlight();
+        if (_onMeasuaringAltitudeFinished) {
+            _onMeasuaringAltitudeFinished();
+        }
+        return;
+    }
+    _barometer->measureBaseAltitudeAsync();
+}
+
+float Sensors::rawFlightHeight(void) const {
+    /* Returns flight height from barometer immediately */
+    switch (_heightSensor) {
+        case HeightSensor::Hybrid:
+            if (_barometer->flightHeight() >= 200.f) {
+                return _barometer->flightHeight();
+            } else {
+                return (float) _ranging_sensor->getDistance();
+            }
+        case HeightSensor::BarometerOnly:
+            return _barometer->flightHeight();
+        case HeightSensor::RangeMeterOnly:
+            return (float) _ranging_sensor->getDistance();
+        default:
+            return _barometer->flightHeight();
+    }
+}
+
+float Sensors::flightHeight(void) const {
+    /* Returns flight height from cache immediately */
+    return _flightHeightFromBarometer;
+}
+
+MpuData Sensors::mpuData() const {
+    if (_mpuData.ax == 0.f and _mpuData.gravity == 0.f) {
+        ESP_LOGW(_tag, "MPU data looks like .tick() has never called");
+    }
+    return _mpuData;
+}
+
+bool Sensors::tick(void) {
+    /* Super loop iteraion */
+    /* Return true on update */
+    _barometer->tick();
+    _ranging_sensor->tick();
+    bool err;
+    bool isMpuDataReady = _mpu->tick(err);
+    if (isMpuDataReady and !err) {
+        _2d_filter->filter(_mpu->accZInertial(), _barometer->flightHeight(),
+                           _flightHeightFromBarometer, _zVelocityAltitude);
+        _zVelocityAltitude = _mpu->accZInertial();
+        _mpuData = {.ax = _mpu->ax(),
+                .ay = _mpu->ay(),
+                .az = _mpu->az(),
+                .gx = _mpu->gx(),
+                .gy = _mpu->gy(),
+                .gz = _mpu->gz(),
+                .yaw = _mpu->yaw(),
+                .pitch = _mpu->pitch(),
+                .roll = _mpu->roll(),
+                .gravity = _mpu->gravityZ(),
+                .zInertial = _mpu->accZInertial()};
+        return true;
+    } else if (err) {
+        ESP_LOGE(_tag, "Failed to get DMP data!");
+    }
+    return false;
+}
+
+int Sensors::batteryCharge(void) const {
+    return _battery->percent();
+}
+
+void Sensors::onMpuCalibrationFinished(OnCalibrationFinishedCb callback) {
+    _mpu->onCalibrationFinished(callback);
+}
+
+void Sensors::startMpuCalibration() {
+    _mpu->startCalibration();
+}
+
+void Sensors::onMeasuaringAltitudeFinished(OnMeasuringFinishedCb callback) {
+    _onMeasuaringAltitudeFinished = callback;
+    _barometer->onMeasuaringHeightFinished(std::move(callback));
+}

src/Sensors/Sensors.hpp

@@ -0,0 +1,71 @@
+// 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
+
+#pragma once
+#include "Barometer.hpp"
+#include "BatteryController.hpp"
+#include "Filters/Kalman2DFilter.hpp"
+#include "RangingSensor.hpp"
+#include "MPU.hpp"
+#include "esp_log.h"
+
+/* Sensors module provides cached and filtered sensors values */
+
+struct MpuData {
+    float ax, ay, az;
+    float gx, gy, gz;
+    float yaw, pitch, roll;
+    float gravity;
+    float zInertial;
+};
+
+enum HeightSensor {
+    RangeMeterOnly,
+    BarometerOnly,
+    Hybrid
+};
+
+class Sensors {
+public:
+    Sensors(Barometer *barometer, RangingSensor *rangingSensor, MPU *mpu, Kalman2DFilter *filter,
+            BatteryController *battery, HeightSensor heightSensor = Hybrid);
+
+    ~Sensors();
+
+    void measureBaseAltitudeSync(void);
+
+    void measureBaseAltitudeAsync(void);
+
+    void onMeasuaringAltitudeFinished(OnMeasuringFinishedCb callback);
+
+    float rawFlightHeight(void) const;
+
+    float flightHeight(void) const;
+
+    void startMpuCalibration();
+
+    void onMpuCalibrationFinished(OnCalibrationFinishedCb callback);
+
+    MpuData mpuData(void) const;
+
+    int batteryCharge(void) const; // [%]
+
+    bool tick(void);
+
+private:
+    Barometer *_barometer = nullptr;
+    MPU *_mpu = nullptr;
+    BatteryController *_battery = nullptr;
+    Kalman2DFilter *_2d_filter = nullptr;
+    RangingSensor *_ranging_sensor = nullptr;
+    HeightSensor _heightSensor;
+    OnMeasuringFinishedCb _onMeasuaringAltitudeFinished = nullptr;
+
+    /* cached filtered values */
+    float _flightHeightFromBarometer = 0.f;
+    float _zVelocityAltitude = 0.f;
+    MpuData _mpuData = {0.f};
+
+
+    static constexpr const char *_tag = "Sensors";
+};

src/board_pins.h

@@ -0,0 +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
+
+#pragma once
+#define I2C_SDA_PIN 21
+#define I2C_SCL_PIN 18
+#define MPU6050_INT_PIN 19
+#define BATTERY_ADC_CHANNEL ADC2_CHANNEL_0
+#define BATTERY_DATA_PIN 4
+#define BATTERY_DATA_SWITCH_PIN 17

src/main.cpp

@@ -0,0 +1,40 @@
+// 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 "Sensors/RangingSensor.hpp"
+#include "LPS.h"
+
+BoardI2C i2c;
+
+static Application *app = nullptr;
+
+void setup() {
+    Serial.begin(115200);
+    try {
+        app = new Application(new FlightDispatcher(
+            new BluetoothDispatcher(new BluetoothSerial(), "Redmi Note 8 Pro"),
+            new FlightController(
+                new Sensors(new Barometer(new GyverBME280(i2c)),
+                            new RangingSensor(),
+                            new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)),
+                            new Kalman2DFilter(10.f, 1.f, 1.8f),
+                            new BatteryController(BATTERY_DATA_PIN, BATTERY_DATA_SWITCH_PIN),
+                            HeightSensor::BarometerOnly),
+                new SavedPidRegulator(3.5f, 0.0015f, 0.01f, "HeightControl"), // height
+                new SavedPidRegulator(2.f, 12.f, 0.f, "YawControl"), // yaw
+                new BrushedMotor(23, 16, 30000, 0, 10),
+                new BrushedMotor(26, 27, 30000, 1, 10),
+                new PIDController(210.f, 15.f, 20.f,
+                                  new BrushedMotor(25, 33, 30000, 3, 10),
+                                  "PitchControl"), // pitch
+                true)));
+    } catch (std::bad_alloc &e) {
+        ESP_LOGI("Main", "Failed to allocate memory: %s", e.what());
+    }
+}
+
+void loop() {
+    app->tick();
+}

test/README

@@ -0,0 +1,11 @@
+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html