spelling

circle mode for autopilot
menu entry for circle mode

src/driveModi/Modi/Autopilot/autopilot.h

@@ -39,7 +39,7 @@ class DirectionChangeSignal : public DirectionChangeWrapper {
 class Autopilot : public ManualControl {
     public:
         enum State {
-            InsufficientAccuarcy = -2,
+            InsufficientAccuracy = -2,
             NoRoute = -1,
             None = 0,
             NavigationStarted,
@@ -109,6 +109,8 @@ class Autopilot : public ManualControl {
         bool shouldUpdate();
         void testRotate(int16_t degree);
         void endRotate();
+        void switchLoopMode() { this->loopMode = !this->loopMode; }
+        bool getLoopMode() const { return this->loopMode; }
 
     private:
         void init();
@@ -119,6 +121,7 @@ class Autopilot : public ManualControl {
         void checkButtonInput();
         void askNavigationForOrder();
         void selfDriving();
+        void restartLoop();
 
         Navigation* navigation;
         CourseCorrection courseCorrection;
@@ -129,9 +132,10 @@ class Autopilot : public ManualControl {
         DirectionChangeSignal* directionChangeSignal;
 
         bool updateDisplay = false;
+        bool loopMode = false;
 
         uint8_t loopDelayMillis = 40;
-        uint8_t maxCourseDeviationBerforeAct = 5;
+        uint8_t maxCourseDeviationBeforeAct = 5;
         uint16_t displayUpdateDelayMillis = 1000;
         uint16_t autopilotChangeDelayMillis = 500;
         uint32_t displayUpdateLastMillis = 0;