From 1844a2a12e40753ae9783da8fa3c094a54365545 Mon Sep 17 00:00:00 2001
From: Alexander Klein <alex@kleiax.de>
Date: Tue, 23 May 2023 23:22:27 +0200
Subject: [PATCH] fixed a bug that caused navigation not to stop

---
 lib/Navigation/navigation.cpp | 4 ++--
 lib/Navigation/navigation.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/lib/Navigation/navigation.cpp b/lib/Navigation/navigation.cpp
index dfa2eac..bd8b333 100644
--- a/lib/Navigation/navigation.cpp
+++ b/lib/Navigation/navigation.cpp
@@ -128,7 +128,7 @@ bool Navigation::getCourseCorrection(CourseCorrection& correction) {
         return false;
 
     // Check if I need a new Point
-    if (distance < MIN_DISTANCE_TO_REACH_POINT && !this->preventNextPoint) {
+    if (distance < MIN_DISTANCE_TO_REACH_POINT && this->preventNextPoint == false) {
         if (!this->nextPoint()) {
             this->navigationFinished = true;
             this->navigationStarted = false;
@@ -199,7 +199,7 @@ bool Navigation::nextPoint() {
 }
 
 bool Navigation::setTargetPoint(Point target) {
-    if (target.isValid()) {
+    if (target.isInit()) {
         this->targetPoint = target;
         return true;
     }
diff --git a/lib/Navigation/navigation.h b/lib/Navigation/navigation.h
index 92d401b..423525a 100644
--- a/lib/Navigation/navigation.h
+++ b/lib/Navigation/navigation.h
@@ -29,7 +29,7 @@
  * 
  */
 #define MIN_DISTANCE_BETWEEN_POINTS 0.1
-#define MIN_DISTANCE_TO_REACH_POINT 3 // TODO: Only for testing!
+#define MIN_DISTANCE_TO_REACH_POINT 0.5
 #define AZIMUTH_UPDATE_DELAY 20
 
 /**