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circle mode for autopilot
menu entry for circle mode
This commit is contained in:
kleiax
2023-08-14 08:25:24 +02:00
parent 9adbdece7f
commit 010544a35a
5 changed files with 97 additions and 67 deletions
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src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp
+70 -56
View File
@@ -42,7 +42,7 @@ void MenuAutopilot::printPage() const {
lineOne = "Status: ";
lineTwo = "";
switch (this->autopilot->getState()) {
case Autopilot::State::InsufficientAccuarcy :
case Autopilot::State::InsufficientAccuracy :
lineTwo = "Err: LowAccuracy";
break;
@@ -75,15 +75,20 @@ void MenuAutopilot::printPage() const {
break;
default:
lineTwo = "UNKOWN";
lineTwo = "UNKOWN - ";
lineTwo.concat(static_cast<int>(this->autopilot->getState()));
break;
}
break;
}
case 1:
if (!navigationStarted)
if (!navigationStarted) {
lineOne = "Navigation is";
lineTwo = "not started";
break;
}
lineOne = "Distance: ";
lineOne.concat(distanceString);
lineTwo = "Turn: ";
@@ -100,39 +105,75 @@ void MenuAutopilot::printPage() const {
case 3: {
NTRIPClientStates status = this->driveManager->getNavigation()->getNTRIPClient()->getClientState();
lineOne = "NTRIP Client is";
uint8_t carrSoln = gpsData->flags.bits.carrSoln;
lineOne = "GNSS: ";
if (status == NTRIPClientStates::pushData)
lineTwo = "enabled";
if (carrSoln == 0)
lineOne.concat("None");
else if (carrSoln == 1)
lineOne.concat("Floating");
else if (carrSoln == 2)
lineOne.concat("Fixed");
else
lineOne.concat("UNKNOWN");
else if (status == NTRIPClientStates::notAvailable)
lineTwo = "not available";
lineOne.concat("No WiFi");
else
lineTwo = "disabled";
lineOne.concat("Offline");
lineTwo = "hAcc: ";
if (gpsData->fixType)
lineTwo.concat(gpsData->hAcc);
else
lineTwo.concat("0");
break;
}
case 4: {
lineOne = "Carrier Solution";
uint8_t carrSoln = gpsData->flags.bits.carrSoln;
if (carrSoln == 0)
lineTwo = "None";
else if (carrSoln == 1)
lineTwo = "Floating";
else if (carrSoln == 2)
lineTwo = "Fixed";
else
lineTwo = "UNKNOWN";
case 4:
if (this->driveManager->getNavigation()->getCalcAzimuthState() == Navigation::CalcAzimuthState::Good
||this->driveManager->getNavigation()->getCalcAzimuthState() == Navigation::CalcAzimuthState::Super)
{
lineOne = "Calc Azi: ";
lineTwo = "State: ";
lineOne.concat(this->driveManager->getNavigation()->getCalcAzimuth());
switch (this->driveManager->getNavigation()->getCalcAzimuthState()) {
case Navigation::CalcAzimuthState::Bad :
lineTwo.concat("Bad");
break;
case Navigation::CalcAzimuthState::Good :
lineTwo.concat("Good");
break;
case Navigation::CalcAzimuthState::Invalid :
lineTwo.concat("Invalid");
break;
case Navigation::CalcAzimuthState::Ok :
lineTwo.concat("Ok");
break;
case Navigation::CalcAzimuthState::Super :
lineTwo.concat("Super");
break;
default:
lineTwo.concat("Unkown");
break;
}
} else {
lineOne = "Real Azi: ";
lineOne.concat(this->driveManager->getNavigation()->getAzimuth());
}
break;
}
case 5:
lineOne = "hAccuracy: ";
lineTwo = "Azimuth: ";
lineTwo.concat(this->driveManager->getNavigation()->getAzimuth());
if (gpsData->fixType)
lineOne.concat(gpsData->hAcc);
lineOne = "Loop mode is";
if (this->autopilot->getLoopMode())
lineTwo = "enabled";
else
lineOne.concat("0");
lineTwo = "disabled";
break;
case 6:
@@ -170,37 +211,6 @@ void MenuAutopilot::printPage() const {
lineTwo = "accuracy is low";
break;
case 11:
lineOne = "CalcAzi: ";
lineTwo = "State: ";
lineOne.concat(this->driveManager->getNavigation()->getCalcAzimuth());
switch (this->driveManager->getNavigation()->getCalcAzimuthState()) {
case Navigation::CalcAzimuthState::Bad :
lineTwo.concat("Bad");
break;
case Navigation::CalcAzimuthState::Good :
lineTwo.concat("Good");
break;
case Navigation::CalcAzimuthState::Invalid :
lineTwo.concat("Invalid");
break;
case Navigation::CalcAzimuthState::Ok :
lineTwo.concat("Ok");
break;
case Navigation::CalcAzimuthState::Super :
lineTwo.concat("Super");
break;
default:
lineTwo.concat("Unkown");
break;
}
break;
case 12:
lineOne = "Test rotate";
lineTwo = "180 degree";
@@ -231,6 +241,10 @@ void MenuAutopilot::printPage() const {
void MenuAutopilot::runCommand() const {
switch (this->getCurrentPage()) {
case 5:
this->autopilot->switchLoopMode();
break;
case 6:
this->autopilot->restart();
break;