- added data validation in calibrate compass

- activatre auto load calibration data
- give possibility to force update in navigation getCourseCorrection
- added drive mode for compass calibration
- removed compass calibration manualControl

src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp

@@ -0,0 +1,155 @@
+/**
+ * @file menuCalibrateCompass.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Contains an implementation of the class MenuManualDrive
+ * @version 0.1
+ * @date 2022-01-20
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+#include "menuCalibrateCompass.h"
+
+MenuCalibrateCompass::MenuCalibrateCompass(DriveManager* driveManager) : MenuDriveMode(driveManager) {
+    this->caliCompass = new CalibrateCompass(this->driveManager->getNavigation()->getCompass());
+}
+
+MenuCalibrateCompass::~MenuCalibrateCompass() {
+    delete this->caliCompass;
+    this->manualControl->setCalibrateCompass();
+}
+
+void MenuCalibrateCompass::printPage() const {
+    String lineOne = "";
+    String lineTwo = "";
+
+    switch (this->getCurrentPage()) {
+        case 0:
+            lineOne = "-Ready to drive-";
+            lineTwo = "Compass Mode";
+            break;
+
+        case 1:
+            lineOne = "Azimuth:";
+            lineTwo.concat(this->driveManager->getNavigation()->getAzimuth());
+            break;        
+        
+        case 2:
+            switch (this->caliCompass->getState()) {
+                case CalibrateCompass::State::Ready :
+                    lineOne = "Start compass";
+                    lineTwo = "calibration";
+                    break;
+
+                case CalibrateCompass::State::Calibrating :
+                    lineOne = "Calibrating...";
+                    lineTwo = "Move around";
+                    break;
+
+                case CalibrateCompass::State::Finished:
+                    lineOne = "Calibration";
+                    lineTwo = "finished";
+                    break;
+                
+                default:
+                    break;
+            }
+            break;
+
+        case 3:
+            lineOne = "Save compass";
+            lineTwo = "data in flash";
+            break;
+
+        case 4:
+            lineOne = "Load data";
+            lineTwo = "from flash";
+            break;
+
+        case 5:
+            lineOne = "Remove";
+            lineTwo = "calibration data";
+            break;
+
+        case 6:
+            lineOne = "Use current";
+            lineTwo = "calibration data";
+            break;
+
+        case 7:
+            lineOne = "X min: ";
+            lineOne.concat(this->caliCompass->getCallibrationData().data[0][0]);
+            lineTwo = "X max: ";
+            lineTwo.concat(this->caliCompass->getCallibrationData().data[0][1]);
+            break;
+
+        case 8:
+            lineOne = "Y min: ";
+            lineOne.concat(this->caliCompass->getCallibrationData().data[1][0]);
+            lineTwo = "Y max: ";
+            lineTwo.concat(this->caliCompass->getCallibrationData().data[1][1]);
+            break;
+
+        case 9:
+            lineOne = "Z min: ";
+            lineOne.concat(this->caliCompass->getCallibrationData().data[2][0]);
+            lineTwo = "Z max: ";
+            lineTwo.concat(this->caliCompass->getCallibrationData().data[2][1]);
+            break;
+
+        default:
+            this->printDefault();
+        return;
+    }
+
+    this->print(lineOne, lineTwo);
+}
+
+void MenuCalibrateCompass::init() {
+    this->firstPrint = false;
+    this->driveManager->changeModus(Modi::ManualControl);
+    this->manualControl = (ManualControl*) this->driveManager->getDriveModiPtr();
+    this->setCountPages(10);
+    this->updateDelay = 500; 
+}
+
+void MenuCalibrateCompass::runCommand() const {
+    switch (this->getCurrentPage()) {
+        case 2:
+            switch (this->caliCompass->getState()) {
+                case CalibrateCompass::State::Ready :
+                    this->manualControl->setCalibrateCompass(this->caliCompass);
+                    this->caliCompass->start();
+                    break;
+
+                case CalibrateCompass::State::Finished:
+                    this->manualControl->setCalibrateCompass();
+                    this->caliCompass->useData();
+                    this->caliCompass->reset();
+                    break;
+                
+                default:
+                    break;
+            }
+            break;
+
+        case 3:
+            this->caliCompass->saveData();
+            break;
+
+        case 4:
+            this->caliCompass->loadData();
+            break;
+
+        case 5:
+            this->caliCompass->removeCalibration();
+            break;
+
+        case 6:
+            this->caliCompass->useData();
+            break;        
+        
+        default:
+            break;
+    }
+}

src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.h

@@ -0,0 +1,51 @@
+/**
+ * @file menuCalibrateCompass.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Contains a class to print information about the class ManualControl
+ * @version 0.1
+ * @date 2022-01-20
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#ifndef MENU_CALIBRATE_COMPASS_H
+#define MENU_CALIBRATE_COMPASS_H
+
+#include "SpecialMenus/driveModi/menuDriveMode.h"
+#include "calibrateCompass.h"
+
+/**
+ * @brief A class to print informations about the class ManualControl
+ * 
+ */
+class MenuCalibrateCompass : public MenuDriveMode {
+    public:
+        /**
+         * @brief Construct a new Menu Manual Control object
+         * 
+         * @param driveManager 
+         */
+        MenuCalibrateCompass(DriveManager* driveManager);
+        ~MenuCalibrateCompass();
+
+        /**
+    	 * @brief Prints the Information to display and console
+    	 * 
+         * The informations are only printed to the display if it
+         * set.
+         * 
+         * Changes the DriveModi to Autopilot if it is the first time called.
+         */
+        void printPage() const override;
+
+    protected:
+        void init() override;
+        void runCommand() const override;
+
+    private:
+        ManualControl* manualControl;
+        CalibrateCompass* caliCompass;
+};
+
+#endif // MENU_CALIBRATE_COMPASS_H

src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp

@@ -11,12 +11,10 @@
 #include "menuManualDrive.h"
 
 MenuManualControl::MenuManualControl(DriveManager* driveManager) : MenuDriveMode(driveManager) {
-    this->caliCompass = new CalibrateCompass(this->driveManager->getNavigation()->getCompass());
+
 }
 
 MenuManualControl::~MenuManualControl() {
-    delete this->caliCompass;
-    this->manualControl->setCalibrateCompass();
 }
 
 void MenuManualControl::printPage() const {
@@ -61,32 +59,10 @@ void MenuManualControl::printPage() const {
             lineOne = "Dutycycle Right:";
             lineTwo.concat(this->manualControl->getDutycycleRight());
             break;
-        
+
         case 7:
-            switch (this->caliCompass->getState()) {
-                case CalibrateCompass::State::Ready :
-                    lineOne = "Start compass";
-                    lineTwo = "calibration";
-                    break;
-
-                case CalibrateCompass::State::Calibrating :
-                    lineOne = "Calibrating...";
-                    lineTwo = "Move around";
-                    break;
-
-                case CalibrateCompass::State::Finished:
-                    lineOne = "Calibration";
-                    lineTwo = "finished";
-                    break;
-                
-                default:
-                    break;
-            }
-            break;
-
-        case 8:
-            lineOne = "Save compass";
-            lineTwo = "data in flash";
+            lineOne = "Azimuth:";
+            lineTwo.concat(this->driveManager->getNavigation()->getAzimuth());
             break;
 
         default:
@@ -101,7 +77,7 @@ void MenuManualControl::init() {
     this->firstPrint = false;
     this->driveManager->changeModus(Modi::ManualControl);
     this->manualControl = (ManualControl*) this->driveManager->getDriveModiPtr();
-    this->setCountPages(9);
+    this->setCountPages(8);
     this->updateDelay = 500; 
 }
 
@@ -123,27 +99,6 @@ void MenuManualControl::runCommand() const {
         case 4:
             this->manualControl->increaseMaxRotation();
             break;
-
-        case 7:
-            switch (this->caliCompass->getState()) {
-                case CalibrateCompass::State::Ready :
-                    this->manualControl->setCalibrateCompass(this->caliCompass);
-                    this->caliCompass->start();
-                    break;
-
-                case CalibrateCompass::State::Finished:
-                    this->manualControl->setCalibrateCompass();
-                    this->caliCompass->useData();
-                    this->caliCompass->reset();
-                    break;
-                
-                default:
-                    break;
-            }
-            break;
-
-        case 8:
-            this->caliCompass->saveData();
         
         default:
             break;

src/driveModi/Modi/Autopilot/autopilot.cpp

@@ -100,7 +100,7 @@ void Autopilot::init() {
         this->routeInfo = this->navigation->getRouteInfo();
         this->navigation->getNTRIPClient()->setAutoReconnect(true);
 
-        this->lastOrderStatus = this->navigation->getCourseCorrection(this->courseCorrection);
+        this->lastOrderStatus = this->navigation->getCourseCorrection(this->courseCorrection, true);
 
         this->courseCorrection.correction = 0;
         this->courseCorrection.distance = 0;

src/driveModi/Modi/ManualControl/manualControl.cpp

@@ -23,7 +23,7 @@ ManualControl::~ManualControl() {
 }
 
 void ManualControl::loop() {
-    if (caliCompass)
+    if (this->caliCompass)
         this->caliCompass->loop();
 
     if (millis() - this->lastMillis < delay) {

src/main.cpp

@@ -38,6 +38,7 @@
 #include "SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h"
 #include "SpecialMenus/driveModi/Autopilot/menuAutopilot.h"
 #include "SpecialMenus/driveModi/TestMode/menuTestMode.h"
+#include "SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.h"
 #include "SpecialMenus/Systeminformation/menuSysteminformation.h"
 #include "SpecialMenus/PID/menuPidSettings.h"
 #include "SpecialMenus/Route/menuRoute.h"
@@ -208,6 +209,7 @@ void makeMenu() {
     MenuCaptureRoute* cap_m = new MenuCaptureRoute(driveManager);
     MenuAutopilot* auto_m = new MenuAutopilot(driveManager);
     MenuTestMode* testM_m = new MenuTestMode(driveManager);
+    MenuCalibrateCompass* comp_m = new MenuCalibrateCompass(driveManager);
     MenuGPS* gps_m = new MenuGPS(driveManager);
     MenuSysteminformation* sys_m = new MenuSysteminformation(mainBattery);
     MenuRoute* rout_m = new MenuRoute(driveManager->getNavigation()->getRoute());
@@ -222,6 +224,7 @@ void makeMenu() {
     cap_m->setLcd(lcdWrapper);
     auto_m->setLcd(lcdWrapper);
     testM_m->setLcd(lcdWrapper);
+    comp_m->setLcd(lcdWrapper);
     gps_m->setLcd(lcdWrapper);
     gps_m->setUpdateDelay(1000);
     sys_m->setLcd(lcdWrapper);
@@ -250,11 +253,13 @@ void makeMenu() {
     MenuAction* consolControl_e = new MenuAction("Consol Control", dummy);
     MenuAction* manualControl_e = new MenuAction("Manual Control", man_m);
     MenuAction* testMode_e = new MenuAction("Test Mode", testM_m);
-    mode_m->addEntry(autopilot_e);
-    mode_m->addEntry(captureRoute_e);
+    MenuAction* caliComp_e = new MenuAction("Gauge Compass", comp_m);
     mode_m->addEntry(manualControl_e);
-    mode_m->addEntry(consolControl_e);
+    mode_m->addEntry(captureRoute_e);
+    mode_m->addEntry(autopilot_e);
+    mode_m->addEntry(caliComp_e);
     mode_m->addEntry(testMode_e);
+    mode_m->addEntry(consolControl_e);
 
     // Entry for the PID Menu
     MenuAction* pidl_e = new MenuAction("Left", pidl_m);