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refactore

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This commit is contained in:
kleiax
2023-09-03 12:36:16 +02:00
parent faaa3603a7
commit 5f650982a7
30 changed files with 578 additions and 430 deletions
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lib/Navigation/navigation.cpp
-63
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@@ -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;