kleiax/Bachelorarbeit-Rover
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases 1 Wiki Activity

added increase and decrease to navigation

Browse Source
This commit is contained in:
kleiax
2023-05-24 14:47:59 +02:00
parent 52590e9e2f
commit 49e0c2d1ef
3 changed files with 13 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
lib/Navigation/navigation.cpp
+2 -1
View File
@@ -130,8 +130,9 @@ bool Navigation::getCourseCorrection(CourseCorrection& correction) {
return false;
// Check if I need a new Point
if (distance < MIN_DISTANCE_TO_REACH_POINT && this->preventNextPoint == false) {
if (distance < this->minDistanceToReachPoint && this->preventNextPoint == false) {
if (!this->nextPoint()) {
std::cout << "Navigation::getCourseCorrection finished" << std::endl;
this->navigationFinished = true;
this->navigationStarted = false;
return false; // End of navigation
lib/Navigation/navigation.h
+5
View File
@@ -110,6 +110,9 @@ class Navigation {
*/
bool startNavigation();
void freezeTargetPoint(bool val = true) { this->preventNextPoint = val; };
double increaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint += 0.1; }
double decreaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint -= 0.1; }
/**
* @brief Get the Course Correction object
@@ -234,6 +237,8 @@ class Navigation {
uint32_t lastMillis = 0;
uint32_t ubxUpdateTime = 0;
double minDistanceToReachPoint = 0.5;
static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
static void savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);