refactore

lib/Navigation/navigation.cpp

@@ -65,15 +65,6 @@ bool Navigation::startNavigation() {
     return this->navigationStarted;
 }
 
-void Navigation::drivingDirectionChange() {
-    Point tmp = this->currentPosition;
-    if (tmp.isInit() && tmp.isValid()) {
-        this->directionChangeMode = true;
-        this->lastPointDrivingDirectionChange = tmp;
-        this->calcAzimuthState = CalcAzimuthState::Invalid;
-    }
-}
-
 Navigation::Status Navigation::getCourseCorrection(CourseCorrection& correction, bool forceUpdate) {
     if (this->navigationFinished)
         return Status::Complete;
@@ -142,60 +133,6 @@ void Navigation::updateCurrentLocation() {
     this->currentPosition = Point(coords, this->ubxData->hAcc);
 }
 
-void Navigation::updateMagneticDeclination() {
-    if (!this->directionChangeMode
-        || this->lastPointDrivingDirectionChange.distanceTo(this->currentPosition) < 1.0) 
-    {
-        this->calcAzimuthState = CalcAzimuthState::Invalid;
-        this->calcAzimuth = 999;
-        return;
-    }
-
-    this->calcAzimuth = this->lastPointDrivingDirectionChange.courseTo(this->currentPosition);
-
-    // Map point accuracy to CalcAzimuthState
-    if (this->lastPointDrivingDirectionChange.getAccuracy() == Point::Accuracy::oneDigOfCM
-        || this->currentPosition.getAccuracy() == Point::Accuracy::oneDigOfCM) 
-    {
-        this->calcAzimuthState = CalcAzimuthState::Good;
-    } 
-    else if (this->lastPointDrivingDirectionChange.getAccuracy() == Point::Accuracy::twoDigOfCM
-        || this->currentPosition.getAccuracy() == Point::Accuracy::twoDigOfCM) 
-    {
-        this->calcAzimuthState = CalcAzimuthState::Ok;
-    } 
-    else if (this->lastPointDrivingDirectionChange.getAccuracy() == Point::Accuracy::threeDigOfCM
-        || this->currentPosition.getAccuracy() == Point::Accuracy::threeDigOfCM) 
-    {
-        this->calcAzimuthState = CalcAzimuthState::Bad;
-    } 
-    else 
-    {
-        this->calcAzimuthState = CalcAzimuthState::Invalid;
-    }
-
-    // Upgrade quality if the range grows up
-    if (this->lastPointDrivingDirectionChange.distanceTo(this->currentPosition) > 2.0) {
-        switch (this->calcAzimuthState) {
-            case CalcAzimuthState::Bad :
-                this->calcAzimuthState = CalcAzimuthState::Ok;
-                break;
-            
-            case CalcAzimuthState::Ok :
-                this->calcAzimuthState = CalcAzimuthState::Good;
-                break;
-
-            case CalcAzimuthState::Good :
-                this->calcAzimuthState = CalcAzimuthState::Super;
-                break;
-
-            default:
-                break;
-        }
-    }
-
-}
-
 int16_t Navigation::calculateCourseCorrection(Point& point) {
     int16_t targetCourse = point.courseTo(this->targetPoint);
     int16_t correctionCourse;

lib/Navigation/navigation.h

@@ -90,8 +90,7 @@ class Navigation : public Component {
          */
         bool startNavigation();
         void freezeTargetPoint(bool val = true) { this->preventNextPoint = val; };
-        void drivingDirectionChange();
-        void disableCalcAzimuth() { this->directionChangeMode = false; }
+        
         
         double increaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint += 0.1; }
         double decreaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint -= 0.1; }
@@ -148,20 +147,6 @@ class Navigation : public Component {
         Route* getRoute() const { return this->route; }
         Point getCurrentPosition() const { return this->currentPosition; }
 
-        /**
-         * @brief Get realAzimuth
-         * 
-         * This value represents the angle between north and 
-         * the line of sight. Clockwise.
-         * 
-         * @return uint16_t degree
-         */
-        int16_t getAzimuth() const { return this->realAzimuth; }
-        QMC5883LCompass* getCompass() const { return this->compass; }
-        int16_t getCalcAzimuth() const { return this->calcAzimuth; }
-        CalcAzimuthState getCalcAzimuthState() const { return this->calcAzimuthState; }
-        bool getLastUsedCalcAzimuth() const { return this->lastUsedCalcAzimuth; }
-
         Point::Accuracy getMinAccuracy() const { return this->minAccuracy; }
         void setMinAccuracy(Point::Accuracy accuracy) { this->minAccuracy = accuracy; }
 
@@ -170,7 +155,6 @@ class Navigation : public Component {
 
     private:
         void run() override;
-        void updateMagneticDeclination();
         void init(Route* route);
         bool nextPoint();
         bool setTargetPoint(Point target);
@@ -206,8 +190,6 @@ class Navigation : public Component {
         char* user;
         char* password;
 
-        int16_t calcAzimuth = INT16_MAX;
-
         uint8_t timeToWait = 200;
         uint16_t port;
         uint32_t lastMillis = 0;