- fix ntripClient

- fix gyroscope
- fix init screen

lib/LcdWrapper/LcdWrapper.cpp

@@ -14,7 +14,7 @@
 LcdWrapper::LcdWrapper(LiquidCrystal_I2C *lcd)
     : lcd{lcd}, changed{false}
 {
-    this->clear();
+    // this->clear();
 }
 
 void LcdWrapper::run()

lib/MotorControl/motorControl.cpp

@@ -194,6 +194,7 @@ void MotorControl::setRealPower(int8_t power)
     }
 
     ledcWrite(this->pwmChannel, pwm_val);
+    std::cout << "MotorControl::serRealPower - pwm: " << static_cast<int>(pwm_val) << std::endl;
     this->dutycycle = pwm_val;
 }
 

lib/NtripClient/ntripClient.cpp

@@ -12,8 +12,12 @@
 #include "ntripClient.h"
 
 NTRIPClient::NTRIPClient(SFE_UBLOX_GNSS *gnss, const char *host, uint16_t port, const char *mountPoint, const char *user, const char *password)
-    : gnss{gnss}, port{port}, host{host}, mountPoint{mountPoint}, user{user}, password{password}, ntripClient{new WiFiClient}, state{NTRIPClientStates::closingConnection}
+    : gnss{gnss}, port{port}, ntripClient{new WiFiClient}, state{NTRIPClientStates::closingConnection}
 {
+    strcpy(this->host, host);
+    strcpy(this->mountPoint, mountPoint);
+    strcpy(this->user, user);
+    strcpy(this->password, password);
     Component::loopDelay = NTRIPClient::loopDelay;
 }
 

lib/NtripClient/ntripClient.h

@@ -120,12 +120,13 @@ private:
     uint32_t lastGPGGAPushTime = 0;
     uint32_t lastReconnectTime = 0;
 
-    const char *host;
-    const char *mountPoint;
-    const char *user;
-    const char *password;
+    static const uint8_t connectionDataLength = 32;
+    char host[connectionDataLength];
+    char mountPoint[connectionDataLength];
+    char user[connectionDataLength];
+    char password[connectionDataLength];
     const uint8_t maxReconnectAttemps = 10;
-    const uint16_t reconnectDelayTime = 1000;
+    const uint16_t reconnectDelayTime = 5000;
     const uint16_t timeOut = 10000;
     const uint16_t bufferSize = 512;
     const uint16_t bufferSizePushGPGGA = 128;

lib/Sensors/sensorData.cpp

@@ -89,7 +89,7 @@ void SensorData::enableGyroscope()
     this->gyroscope->initialize();
     if (!this->gyroscope->testConnection())
     {
-        std::cout << "SensorData::enableGyroscope: Gyroskop is not conntected. Freeze!" << std::endl;
+        std::cout << "SensorData::enableGyroscope: Gyroscope is not connected. Freeze!" << std::endl;
         while (true)
         {
         }
@@ -107,7 +107,7 @@ void SensorData::enableGyroscope()
     {
         this->gyroscope->CalibrateAccel(6);
         this->gyroscope->CalibrateGyro(6);
-        this->gyroscope->PrintActiveOffsets();
+        // this->gyroscope->PrintActiveOffsets();
         this->gyroscope->setDMPEnabled(true);
     }
     else

lib/Sensors/sensorData.h

@@ -21,7 +21,7 @@
 
 #include <SparkFun_u-blox_GNSS_Arduino_Library.h>
 #include <QMC5883LCompass.h>
-#include <MPU6050_6Axis_MotionApps20.h>
+#include <MPU6050_6Axis_MotionApps612.h>
 #include "calcAzimuth.h"
 #include "ntripClient.h"