Merge branch 'main' into projektarbeit

src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp

@@ -10,13 +10,11 @@
  */
 #include "menuCalibrateCompass.h"
 
-MenuCalibrateCompass::MenuCalibrateCompass(DriveManager* driveManager) : MenuDriveMode(driveManager) {
-    this->caliCompass = new CalibrateCompass(this->driveManager->getNavigation()->getCompass());
-}
+MenuCalibrateCompass::MenuCalibrateCompass(DriveManager* driveManager) : MenuDriveMode(driveManager) {}
 
 MenuCalibrateCompass::~MenuCalibrateCompass() {
     delete this->caliCompass;
-    this->manualControl->setCalibrateCompass();
+    this->caliCompassMode->setCalibrateCompass();
 }
 
 void MenuCalibrateCompass::printPage() const {
@@ -31,7 +29,7 @@ void MenuCalibrateCompass::printPage() const {
 
         case 1:
             lineOne = "Azimuth:";
-            lineTwo.concat(this->driveManager->getNavigation()->getAzimuth());
+            lineTwo.concat(this->caliCompassMode->getSensorData()->getRealAzimuth());
             break;        
         
         case 2:
@@ -112,8 +110,9 @@ void MenuCalibrateCompass::printPage() const {
 
 void MenuCalibrateCompass::init() {
     this->firstPrint = false;
-    this->driveManager->changeModus(Modi::ManualControl);
-    this->manualControl = (ManualControl*) this->driveManager->getDriveModiPtr();
+    this->driveManager->changeModus(Modi::CalibrateCompass);
+    this->caliCompassMode = (CalibrateCompassM*) this->driveManager->getDriveModiPtr();
+    this->caliCompass = new CalibrateCompass(this->caliCompassMode->getSensorData()->getRealCompass());
     this->setCountPages(11);
     this->updateDelay = 500; 
 }
@@ -123,12 +122,12 @@ void MenuCalibrateCompass::runCommand() const {
         case 2:
             switch (this->caliCompass->getState()) {
                 case CalibrateCompass::State::Ready :
-                    this->manualControl->setCalibrateCompass(this->caliCompass);
+                    this->caliCompassMode->setCalibrateCompass(this->caliCompass);
                     this->caliCompass->start();
                     break;
 
                 case CalibrateCompass::State::Finished:
-                    this->manualControl->setCalibrateCompass();
+                    this->caliCompassMode->setCalibrateCompass();
                     this->caliCompass->useData();
                     break;
                 

src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.h

@@ -13,6 +13,7 @@
 #define MENU_CALIBRATE_COMPASS_H
 
 #include "SpecialMenus/driveModi/menuDriveMode.h"
+#include "driveModi/Modi/CalibrateCompass/calibrateCompassM.h"
 #include "calibrateCompass.h"
 
 /**
@@ -44,7 +45,7 @@ class MenuCalibrateCompass : public MenuDriveMode {
         void runCommand() const override;
 
     private:
-        ManualControl* manualControl;
+        CalibrateCompassM* caliCompassMode;
         CalibrateCompass* caliCompass;
 };