fix merge bugs

.vscode/settings.json

@@ -150,6 +150,7 @@
         "Punica",
         "RHEDE",
         "Rtcm",
+        "Sats",
         "Schalke",
         "Soln",
         "Systeminformation",

lib/Component/component.cpp

@@ -19,7 +19,7 @@ void Component::loop()
             (*it)->loop();
         }
     }
-    this->runAsChild();F
+    this->runAsChild();
 
     if (this->onlyChilds)
     {

lib/Sensors/sensorData.cpp

@@ -68,46 +68,6 @@ void SensorData::enableCalcCompass()
     // TODO: !!! implementieren
 }
 
-void SensorData::enableGyroscope()
-{
-    this->gyroscope = new MPU6050();
-    this->gyroscope->initialize();
-    if (!this->gyroscope->testConnection())
-    {
-        std::cout << "SensorData::enableGyroscope: Gyroskop is not conntected. Freeze!" << std::endl;
-        while (true)
-        {
-        }
-    }
-
-    const uint8_t deviceStatus = this->gyroscope->dmpInitialize();
-
-    // TODO: !!! MagicNumer 6x
-    this->gyroscope->setXGyroOffset(220);
-    this->gyroscope->setYGyroOffset(76);
-    this->gyroscope->setZGyroOffset(-85);
-    this->gyroscope->setZAccelOffset(1788);
-
-    if (deviceStatus == 0)
-    {
-        this->gyroscope->CalibrateAccel(6);
-        this->gyroscope->CalibrateGyro(6);
-        this->gyroscope->PrintActiveOffsets();
-        this->gyroscope->setDMPEnabled(true);
-    }
-    else
-    {
-        // ERROR!
-        // 1 = initial memory load failed
-        // 2 = DMP configuration updates failed
-        // (if it's going to break, usually the code will be 1)
-        std::cout << "SensorData::enableGyroscope: DMP Initialization failed (code" << static_cast<int>(deviceStatus) << "). Freeze!" << std::endl;
-        while (true)
-        {
-        }
-    }
-}
-
 CalcAzimuth::State SensorData::getCalcAzimuthState() const
 {
     if (static_cast<bool>(this->calcCompass))
@@ -117,15 +77,6 @@ CalcAzimuth::State SensorData::getCalcAzimuthState() const
     return CalcAzimuth::State::Invalid;
 }
 
-NTRIPClientStates SensorData::getNtripState() const
-{
-    if (static_cast<bool>(this->ntripClient))
-    {
-        return this->ntripClient->getClientState();
-    }
-    return NTRIPClientStates::notAvailable;
-}
-
 void SensorData::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
 {
     static constexpr uint8_t stringSize = 32;
@@ -220,13 +171,6 @@ void SensorData::run()
         this->realCompass->read();
         this->realAzimuth = this->realCompass->getAzimuth();
     }
-
-    if (static_cast<bool>(this->gyroscope) && this->gyroscope->dmpGetCurrentFIFOPacket(static_cast<uint8_t *>(this->gyroBuffer)))
-    {
-        this->gyroscope->dmpGetQuaternion(&this->quaternion, static_cast<uint8_t *>(this->gyroBuffer));
-        this->gyroscope->dmpGetGravity(&this->gravity, &this->quaternion);
-        this->gyroscope->dmpGetYawPitchRoll(static_cast<float *>(this->yawPitchRoll), &this->quaternion, &this->gravity);
-    }
 }
 
 void SensorData::runAsChild()

lib/Sensors/sensorData.h

@@ -21,7 +21,6 @@
 
 #include <SparkFun_u-blox_GNSS_Arduino_Library.h>
 #include <QMC5883LCompass.h>
-#include <MPU6050_6Axis_MotionApps20.h>
 #include "calcAzimuth.h"
 
 #include "point.h"
@@ -37,8 +36,6 @@ public:
     SensorData();
     ~SensorData();
 
-    void enableNtrip(String host, uint16_t port, String mountPoint, String user, String password);
-
     /**
      * @brief Enable the gnss module over spi
      *
@@ -54,7 +51,6 @@ public:
 
     void enableRealCompass();
     void enableCalcCompass();
-    void enableGyroscope();
 
     // Interface Const
     /**
@@ -84,19 +80,6 @@ public:
 
     Point getCurrentPos() const { return this->currentPosition; }
     const UBX_NAV_PVT_data_t *getGnssData() const { return this->gnssData; };
-    NTRIPClientStates getNtripState() const;
-
-    /**
-     * @brief Get the data from the gyroscope
-     *
-     * The returned float pointer is an array of 3 floats
-     * - Yaw
-     * - Pitch
-     * - Roll
-     *
-     * @return const float*
-     */
-    const float *getGyroData() const { return this->yawPitchRoll; }
 
     /**
      * @brief Get the CalcCompass object
@@ -110,18 +93,6 @@ public:
      */
     QMC5883LCompass *getRealCompass() const { return this->realCompass; }
 
-    /**
-     * @brief Get the NTRIPClient object
-     * @return NTRIPClient*
-     */
-    NTRIPClient *getNtripClient() const { return this->ntripClient; }
-
-    /**
-     * @brief Get the Gyroscope object
-     * @return MPU6050*
-     */
-    MPU6050 *getGyroscope() const { return this->gyroscope; }
-
     // static
     /**
      * @brief Set the output status for PVTdata.
@@ -142,29 +113,14 @@ private:
     QMC5883LCompass *realCompass = nullptr;
     CalcAzimuth *calcCompass = nullptr;
     SFE_UBLOX_GNSS *gnss = nullptr;
-    NTRIPClient *ntripClient = nullptr;
-    MPU6050 *gyroscope = nullptr;
 
     UBX_NAV_PVT_data_t *gnssData = nullptr;
     Point currentPosition;
-    Quaternion quaternion;
-    VectorFloat gravity;
 
-    char *host = nullptr;
-    char *mountPoint = nullptr;
-    char *user = nullptr;
-    char *password = nullptr;
-
-    bool isNtripInit = false;
-
-    uint8_t gyroBuffer[64];
-    uint16_t port = 0;
     int16_t realAzimuth = INT16_MAX;
     int16_t calcAzimuth = INT16_MAX;
     uint32_t lastUbxUpdate = 0;
 
-    float yawPitchRoll[3]{0, 0, 0};
-
     // static
     static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
     static void savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);

src/SpecialMenus/SensorData/menuSensorData.cpp

@@ -30,15 +30,6 @@ void MenuSensorData::printPage() const
 
     switch (this->getCurrentPage())
     {
-    case 0:
-        lineOne = " Y     P     R :";
-        lineTwo.concat(this->sensorData->getGyroData()[0]);
-        lineTwo.concat(" ");
-        lineTwo.concat(this->sensorData->getGyroData()[1]);
-        lineTwo.concat(" ");
-        lineTwo.concat(this->sensorData->getGyroData()[2]);
-        break;
-
     case 1:
         lineOne = "Real Azimuth:";
         lineTwo.concat(this->sensorData->getRealAzimuth());
@@ -91,43 +82,6 @@ void MenuSensorData::printPage() const
 
         break;
 
-    case 5:
-    {
-        lineOne = "CarSol: ";
-        lineTwo = "Ntrip: ";
-        const uint8_t carrSoln = gpsData->flags.bits.carrSoln;
-        if (carrSoln == 0)
-        {
-            lineOne.concat("None");
-        }
-        else if (carrSoln == 1)
-        {
-            lineOne.concat("Floating");
-        }
-        else if (carrSoln == 2)
-        {
-            lineOne.concat("Fixed");
-        }
-        else
-        {
-            lineOne = "UNKNOWN";
-        }
-        const NTRIPClientStates status = this->sensorData->getNtripState();
-        if (status == NTRIPClientStates::pushData)
-        {
-            lineTwo.concat("enabled");
-        }
-        else if (status == NTRIPClientStates::notAvailable)
-        {
-            lineTwo.concat(" N/A");
-        }
-        else
-        {
-            lineTwo.concat("disabled");
-        }
-    }
-    break;
-
     case 6:
         lineOne = "HAcc: ";
         lineTwo = "Sats: ";

src/main.cpp

@@ -43,7 +43,6 @@
 #include "SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.h"
 #include "SpecialMenus/Systeminformation/menuSysteminformation.h"
 #include "SpecialMenus/PID/menuPidSettings.h"
-#include "SpecialMenus/Route/menuRoute.h"
 #include "SpecialMenus/SensorData/menuSensorData.h"
 #include "SpecialMenus/CalibrateBattery/menuCalibrateBattery.h"
 
@@ -123,12 +122,6 @@ void setup()
     sensorData = new SensorData();
     sensorData->enableGnss(spiPort, PinNumbers::gnssSpiCs);
     sensorData->enableRealCompass();
-    sensorData->enableNtrip(static_cast<const char *>(NtripConfig::host),
-                            NtripConfig::port,
-                            static_cast<const char *>(NtripConfig::mountPoint),
-                            static_cast<const char *>(NtripConfig::user),
-                            static_cast<const char *>(NtripConfig::password));
-    // sensorData->enableGyroscope();
     driveManager = new DriveManager(&moveController, sensorData, controlPad->getControlPadDataPtr());
 
     char wifiIndicator = 'X';
@@ -158,7 +151,7 @@ void loop()
     lcdWrapper->loop();
     mainBattery->loop();
 
-    // new Value ervery 0.5s
+    // new Value every 0.5s
     if (mainBattery->isNewValue())
     {
         static uint8_t batteryLowCounter = 0;
@@ -191,14 +184,14 @@ void loop()
 void i2cScanner()
 {
     constexpr uint8_t checkForLength = 16;
-    constexpr uint8_t maxAdresses = UINT8_MAX / 2;
+    constexpr uint8_t maxAddresses = UINT8_MAX / 2;
     std::cout << "\nI2C Scanner" << std::endl;
 
     byte error = 0;
     byte address = 0;
     int nDevices = 0;
     std::cout << "Scanning..." << std::endl;
-    for (address = 1; address < maxAdresses; address++)
+    for (address = 1; address < maxAddresses; address++)
     {
         Wire.beginTransmission(address);
         error = Wire.endTransmission();
@@ -252,24 +245,18 @@ void makeMenu()
     auto *pidr_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(1)));
     auto *speed_m = new MenuIntInput(2, new MenuSpeed(driveManager->getDrivingSpeedsRef()));
     auto *man_m = new MenuManualControl(driveManager);
-    auto *cap_m = new MenuCaptureRoute(driveManager);
-    auto *auto_m = new MenuAutopilot(driveManager);
     auto *testM_m = new MenuTestMode(driveManager);
     auto *comp_m = new MenuCalibrateCompass(driveManager);
     auto *sys_m = new MenuSysteminformation(mainBattery);
     auto *sen_m = new MenuSensorData(sensorData);
-    // TODO: Wie bekommt jeder die dumme Route?
-    auto *rout_m = new MenuRoute(new Route());
     auto *bat_m = new MenuCalibrateBattery(mainBattery);
 
-    auto_m->setUpdateDelay(displayUpdateDelay);
     sys_m->setUpdateDelay(displayUpdateDelay);
     sen_m->setUpdateDelay(displayUpdateDelay);
 
     // Entry for the main menu
     main_m->addEntry(new MenuAction("Mode", mode_m));
     main_m->addEntry(new MenuAction("Sensor", sen_m));
-    main_m->addEntry(new MenuAction("Route", rout_m));
     main_m->addEntry(new MenuAction("Settings", set_m));
     main_m->addEntry(new MenuAction("Systeminfo", sys_m));
     main_m->addEntry(new MenuAction("Restart", restart));
@@ -353,16 +340,16 @@ void lcdWrapperCallback(const char data[][LcdWrapper::totalRows], uint8_t lines,
 
 NetworkAddresses setIPs()
 {
-    NetworkAddresses adresses;
+    NetworkAddresses addresses;
-    adresses.localIP.fromString(static_cast<const char *>(NetworkConfig::ip));
+    addresses.localIP.fromString(static_cast<const char *>(NetworkConfig::ip));
-    adresses.subnet.fromString(static_cast<const char *>(NetworkConfig::subnet));
+    addresses.subnet.fromString(static_cast<const char *>(NetworkConfig::subnet));
-    adresses.gateway.fromString(static_cast<const char *>(NetworkConfig::gateway));
+    addresses.gateway.fromString(static_cast<const char *>(NetworkConfig::gateway));
-    adresses.dnsServer.fromString(static_cast<const char *>(NetworkConfig::dns));
+    addresses.dnsServer.fromString(static_cast<const char *>(NetworkConfig::dns));
     if (NetworkConfig::mqtt)
     {
-        adresses.mqttServer.fromString(static_cast<const char *>(MqttConfig::server));
+        addresses.mqttServer.fromString(static_cast<const char *>(MqttConfig::server));
-        adresses.mqttPort = MqttConfig::port;
+        addresses.mqttPort = MqttConfig::port;
     }
 
-    return adresses;
+    return addresses;
 }