Crash dump & refactoring

[matl-gh]

Hi @gereic,

nice piece of work, thanks for making it publicly available!

I created my own device and flashed it with your SW. This week I did a test flight with it and realized later in the tracklog that three tracks where created instead of only one. During the flight the baro height was not sent via bluetooth for some time but came back later. I assume the SW crashed twice for whatever reason. Given the flag "esp32_exception_decoder" is set in the platformIO.ini, I assume a crash dump is stored. Is this true? If yes how can I extract it?

I plan some changes, e.g. using a bmp380 and ICM20948, and I had to use different pins since the choice for i2c was not working for me (this is a known issue with the esp32 boards). Before making changes, I would do some refactoring to make the code more readable and structured. Do you accept a clean-up/refactoring PR or would you rather not want to have it?