From 7c8406f4382976f35dcc0a2277fd16f9832519c4 Mon Sep 17 00:00:00 2001
From: Alexander Klein <alex@kleiax.de>
Date: Mon, 4 Sep 2023 20:01:40 +0200
Subject: [PATCH] fix bugs in gyro implematation

---
 lib/Sensors/sensorData.cpp | 1 +
 src/main.cpp               | 1 +
 2 files changed, 2 insertions(+)

diff --git a/lib/Sensors/sensorData.cpp b/lib/Sensors/sensorData.cpp
index 22ddd58..e7d4159 100644
--- a/lib/Sensors/sensorData.cpp
+++ b/lib/Sensors/sensorData.cpp
@@ -70,6 +70,7 @@ void SensorData::enableCalcCompass() {
 }
 
 void SensorData::enableGyroskop() {
+    this->gyroskop = new MPU6050();
     this->gyroskop->initialize();
     if (!this->gyroskop->testConnection()) {
         std::cout << "SensorData::enableGyroskop: Gyroskop is not conntected. Freeze!" << std::endl;
diff --git a/src/main.cpp b/src/main.cpp
index 3f85073..6f9b80a 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -121,6 +121,7 @@ void setup() {
     sensorData = new SensorData();
     sensorData->enableGnss(spiPort, PinNumbers::gnssSpiCs);
     sensorData->enableRealCompass();
+    sensorData->enableGyroskop();
     driveManager = new DriveManager(&moveController, sensorData, controlPad->getControlPadDataPtr());
 
     outputBuf->activateMqtt(true);