refactor all autopilot stuff

lib/Navigation/navigation.cpp

@@ -116,40 +116,40 @@ bool Navigation::startNavigation() {
     return this->navigationStarted;
 }
 
-CourseCorrection Navigation::getCourseCorrection() {
+bool Navigation::getCourseCorrection(CourseCorrection& correction) {
     //TODO: Check accuracy befor make something
-    CourseCorrection courseCorrection = {0, 0};
+    correction.correction = 0;
+    correction.distance = 0;
 
     int16_t targetCourse = this->currentPosition.courseTo(this->targetPoint);
     double distance = this->currentPosition.distanceTo(this->targetPoint);
 
     if (distance < 0 || this->navigationFinished)
-        return courseCorrection;
+        return false;
 
     // Check if I need a new Point
     if (distance < MIN_DISTANCE_TO_REACH_POINT) {
-        bool goOn = this->nextPoint();
-        if (!goOn) {
+        if (!this->nextPoint()) {
             this->navigationFinished = true;
             this->navigationStarted = false;
-            return courseCorrection; // End of navigation
+            return false; // End of navigation
         }
     }
 
     // correction = targetCourse - currentCourse
     int16_t signedAzimuth = this->azimuth > 180 ? this->azimuth - 360 : this->azimuth;
-    int16_t correction = targetCourse - signedAzimuth;
-    if (correction > 180)
-        correction -= 360;
-    else if (correction < -180)
-        correction += 360;
+    int16_t correctionCourse = targetCourse - signedAzimuth;
+    if (correctionCourse > 180)
+        correctionCourse -= 360;
+    else if (correctionCourse < -180)
+        correctionCourse += 360;
 
     // //Rotate result by 180° to corrigate Azimuth
-    // correction = correction > 180 ? correction -360 : correction;
+    // correctionCourse = correctionCourse > 180 ? correctionCourse -360 : correctionCourse;
 
-    courseCorrection.correction = correction;
-    courseCorrection.distance = distance;
-    return courseCorrection;
+    correction.correction = correctionCourse;
+    correction.distance = distance;
+    return true;
 }
 
 bool Navigation::addCurrentPosToRoute() {

lib/Navigation/navigation.h

@@ -114,9 +114,11 @@ class Navigation {
          * 
          * This should be called by the driver to get new instructions.
          * 
-         * @return CourseCorrection 
+         * @param correction passed as refernce to get the data
+         * @return true if new correction data provided
+         * @return false if route is finished 
          */
-        CourseCorrection getCourseCorrection();
+        bool getCourseCorrection(CourseCorrection& correction);
 
         /**
          * @brief Tries to add the current Position to the route