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Sensor Fusion Modifications:
The error returns are very simple and should be changed to enums that provide more info.
The sensor fusion frequency constant could be defined in a better location for organization.
MadGWick algorithm did not work as expected. Find new one
Safety
It’s just weird. Bad function names, bad comments, redundant functions… There’s not that much of it, but it’d be realllly nice to go thru the whole thing and clean up.
main.cpp should just be main.c in safety. CubeMX is bad with C++. We’ll need to write interfaces to the c++ crap eventually.Output mixing is gross
Telemetry Manager
Tests do not mock static getInstance() method in XBEE class. Instead we use preprocessors to get by. We need to figure out how to mock static methods