- remove NtripReconnect from Autopilot and CaptureRoute

- shiftet moveControl States in the class namespace
- added auto reconeect to NtripClient
- a lot of refactor

lib/Navigation/navigation.h

@@ -29,7 +29,7 @@
  * around the half accuracy of the positioning system
  * 
  */
-#define MIN_DISTANCE_BETWEEN_POINTS 0.1
+#define MIN_DISTANCE_BETWEEN_POINTS 0.3
 #define MIN_DISTANCE_TO_REACH_POINT 0.5
 #define AZIMUTH_UPDATE_DELAY 20
 
@@ -55,6 +55,14 @@ struct CourseCorrection {
  */
 class Navigation {
     public:
+        enum Status {
+            InsufficientAccuracy,
+            Unchanged,
+            Updated,
+            Complete
+        };
+
+
         /**
          * @brief Construct a new Navigation object and using I2C
          * 
@@ -123,7 +131,7 @@ class Navigation {
          * @return true if new correction data provided
          * @return false if route is finished 
          */
-        bool getCourseCorrection(CourseCorrection& correction);
+        Status getCourseCorrection(CourseCorrection& correction);
 
         /**
          * @brief Tries to add the current Position to the route
@@ -133,7 +141,7 @@ class Navigation {
          * @return true successful added point
          * @return false no point added to route
          */
-        bool addCurrentPosToRoute();
+        Status addCurrentPosToRoute();
 
     	// TODO: can be deleted?
         // bool setPointBeforeTurn();
@@ -189,6 +197,7 @@ class Navigation {
 
     private:
         void updateCurrentLocation();
+        int16_t calculateCourseCorrection();
 
         /**
          * @brief Set the next point as target
@@ -215,10 +224,11 @@ class Navigation {
         NTRIPClient* ntripClient = nullptr;
         QMC5883LCompass* compass;
 
-        Point lastPoint;
+        Point lastPointRouteInsert;
+        Point lastPointCalcCorrection;
         Point targetPoint;
         Point currentPosition;
-        Point beforeTurnPoint;
+        Point::Accuracy minAccuracy = Point::Accuracy::twoDigOfCM;
 
 
         bool navigationStarted = false;