From 75b461237e9c4233789b26865cff2c90bf487f03 Mon Sep 17 00:00:00 2001
From: Alexander Klein <alex@kleiax.de>
Date: Wed, 24 May 2023 11:42:03 +0200
Subject: [PATCH] load correction data for compass from flash

---
 lib/Navigation/navigation.cpp                          |  4 +++-
 lib/Navigation/navigation.h                            |  1 +
 .../driveModi/ManualDrive/menuManualDrive.cpp          | 10 +++++++++-
 3 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/lib/Navigation/navigation.cpp b/lib/Navigation/navigation.cpp
index bd8b333..f7afabb 100644
--- a/lib/Navigation/navigation.cpp
+++ b/lib/Navigation/navigation.cpp
@@ -65,7 +65,9 @@ void Navigation::init(Route* route) {
     Wire.write(0x01);
     Wire.endTransmission();
     this->compass->setMode(0x01,0x0C,0x10,0X00);
-    // this->compass->setCalibration(-1903, 367, -893, 1468, -1110, 310);
+    CalibrateCompass caliCompass(this->compass);
+    caliCompass.loadData();
+    caliCompass.useData();
 }
 
 Navigation::~Navigation() {
diff --git a/lib/Navigation/navigation.h b/lib/Navigation/navigation.h
index 7e1c299..08fdddf 100644
--- a/lib/Navigation/navigation.h
+++ b/lib/Navigation/navigation.h
@@ -20,6 +20,7 @@
 
 #include "route.h"
 #include "NTRIPClient.h"
+#include "calibrateCompass.h"
 
 /**
  * @brief The minimal distance between Points
diff --git a/src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp b/src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp
index 311e684..8d7e75a 100644
--- a/src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp
+++ b/src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp
@@ -84,6 +84,11 @@ void MenuManualControl::printPage() const {
             }
             break;
 
+        case 8:
+            lineOne = "Save compass";
+            lineTwo = "data in flash";
+            break;
+
         default:
             this->printDefault();
         return;
@@ -96,7 +101,7 @@ void MenuManualControl::init() {
     this->firstPrint = false;
     this->driveManager->changeModus(Modi::ManualControl);
     this->manualControl = (ManualControl*) this->driveManager->getDriveModiPtr();
-    this->setCountPages(7);
+    this->setCountPages(9);
     this->updateDelay = 500; 
 }
 
@@ -136,6 +141,9 @@ void MenuManualControl::runCommand() const {
                     break;
             }
             break;
+
+        case 8:
+            this->caliCompass->saveData();
         
         default:
             break;