- added wifi channel on boot screen

- added wifi to systeminformation
- added accuracy settings to capturee route and autopilot
- fix data loss in calibrate compass
- fix autopilot dont switch to ready for selfdriving

include/network.h

@@ -16,6 +16,7 @@
 #include <WiFi.h>
 #include <PubSubClient.h>
 #include <esp_now.h>
+#include <esp_wifi.h>
 
 #include "networkConfig.h"
 
@@ -44,6 +45,7 @@ class Network {
          */
         static bool connectWifi();
         static bool connectEspNow(recieveCallbackPtr reci, sendCallbackPtr send);
+        static uint8_t getCurrentChannel();
 
         /**
          * @brief Set all general settings to connect to a broker.

lib/MotorControl/motorControl.h

@@ -21,7 +21,7 @@
 #define PWMRES 8
 #define POWERSTEPS 2       //  A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
 #define PWMMIN 55
-#define PWMMAX 80         // Max 98% of 2^PWM_RES
+#define PWMMAX 90         // Max 98% of 2^PWM_RES
 
 /**
  * @brief A class which use PWM to control the power of DC Motor

lib/Navigation/navigation.h

@@ -185,6 +185,9 @@ class Navigation {
         uint16_t getAzimuth() const { return this->azimuth; }
         QMC5883LCompass* getCompass() const { return this->compass; }
 
+        Point::Accuracy getMinAccuracy() const { return this->minAccuracy; }
+        void setMinAccuracy(Point::Accuracy accuracy) { this->minAccuracy = accuracy; }
+
         /**
          * @brief Set the output status for PVTdata.
          * 

src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp

@@ -12,7 +12,7 @@
 #include "menuSysteminformation.h"
 
 MenuSysteminformation::MenuSysteminformation(Battery* mainBattery) 
-            : MenuInformationSites(5) {
+            : MenuInformationSites(6) {
     this->mainBattery = mainBattery;
 }
 
@@ -44,6 +44,12 @@ void MenuSysteminformation::printPage() const {
             break;
 
         case 4:
+            lineOne = "Current WiFi";
+            lineTwo = "channel: ";
+            lineTwo.concat(Network::getCurrentChannel());
+            break;
+
+        case 5:
             lineOne = "Kleiax Rover by";
             lineTwo = "Alexander Klein";
             break;

src/SpecialMenus/Systeminformation/menuSysteminformation.h

@@ -17,6 +17,7 @@
 #include "controlPadInput.h"
 #include "menuInformationSites.h"
 #include "battery.h"
+#include "network.h"
 
 /**
  * @brief Prints information about the current system status.

src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp

@@ -158,6 +158,14 @@ void MenuAutopilot::printPage() const {
             lineTwo.concat(" - Decrease");
             break;
 
+        case 10:
+            lineOne = "Current minimal";
+            if (this->driveManager->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
+                lineTwo = "accuracy is high";
+            else 
+                lineTwo = "accuracy is low";
+            break;
+
         default:
             this->printDefault();
             return;
@@ -189,6 +197,13 @@ void MenuAutopilot::runCommand() const {
         case 9:
             this->minDistance = this->driveManager->getNavigation()->decreaseMinDistanceToReachPoint();
             break;
+
+        case 10:
+            if (this->driveManager->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
+                this->driveManager->getNavigation()->setMinAccuracy(Point::Accuracy::none);
+            else 
+                this->driveManager->getNavigation()->setMinAccuracy(Point::Accuracy::twoDigOfCM);
+            break;
         
         default:
             break;
@@ -204,7 +219,7 @@ void MenuAutopilot::update() {
 }
 
 void MenuAutopilot::init() {
-    this->setCountPages(10);
+    this->setCountPages(11);
     this->driveManager->changeModus(Modi::Autopilot);
     this->autopilot = (Autopilot*) this->driveManager->getDriveModiPtr();
     this->routeInfo = this->autopilot->getRouteInfo();

src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp

@@ -77,20 +77,25 @@ void MenuCalibrateCompass::printPage() const {
             break;
 
         case 7:
+            lineOne = "Reset for new";
+            lineTwo = "calibration run";
+            break;
+
+        case 8:
             lineOne = "X min: ";
             lineOne.concat(this->caliCompass->getCallibrationData().data[0][0]);
             lineTwo = "X max: ";
             lineTwo.concat(this->caliCompass->getCallibrationData().data[0][1]);
             break;
 
-        case 8:
+        case 9:
             lineOne = "Y min: ";
             lineOne.concat(this->caliCompass->getCallibrationData().data[1][0]);
             lineTwo = "Y max: ";
             lineTwo.concat(this->caliCompass->getCallibrationData().data[1][1]);
             break;
 
-        case 9:
+        case 10:
             lineOne = "Z min: ";
             lineOne.concat(this->caliCompass->getCallibrationData().data[2][0]);
             lineTwo = "Z max: ";
@@ -109,7 +114,7 @@ void MenuCalibrateCompass::init() {
     this->firstPrint = false;
     this->driveManager->changeModus(Modi::ManualControl);
     this->manualControl = (ManualControl*) this->driveManager->getDriveModiPtr();
-    this->setCountPages(10);
+    this->setCountPages(11);
     this->updateDelay = 500; 
 }
 
@@ -125,7 +130,6 @@ void MenuCalibrateCompass::runCommand() const {
                 case CalibrateCompass::State::Finished:
                     this->manualControl->setCalibrateCompass();
                     this->caliCompass->useData();
-                    this->caliCompass->reset();
                     break;
                 
                 default:
@@ -147,7 +151,11 @@ void MenuCalibrateCompass::runCommand() const {
 
         case 6:
             this->caliCompass->useData();
-            break;        
+            break;     
+
+        case 7:
+            this->caliCompass->reset();
+            break;   
         
         default:
             break;

src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp

@@ -91,6 +91,14 @@ void MenuCaptureRoute::printPage() const {
             else
                 lineOne.concat("0");
             break;
+
+        case 7:
+            lineOne = "Current minimal";
+            if (this->driveManager->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
+                lineTwo = "accuracy is high";
+            else 
+                lineTwo = "accuracy is low";
+            break;
         
         default:
             this->printDefault();
@@ -106,8 +114,23 @@ void MenuCaptureRoute::update() {
     this->printMenu();
 }
 
+void MenuCaptureRoute::runCommand() const {
+    switch (this->getCurrentPage())
+    {
+    case 7:
+        if (this->driveManager->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
+            this->driveManager->getNavigation()->setMinAccuracy(Point::Accuracy::none);
+        else 
+            this->driveManager->getNavigation()->setMinAccuracy(Point::Accuracy::twoDigOfCM);
+        break;
+    
+    default:
+        break;
+    }
+}
+
 void MenuCaptureRoute::init() {
-    this->setCountPages(7);
+    this->setCountPages(8);
     this->updateDelay = 500;
     this->driveManager->changeModus(Modi::CaptureRoute);
     this->captureRoute = (CaptureRoute*) this->driveManager->getDriveModiPtr();

src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h

@@ -42,6 +42,8 @@ class MenuCaptureRoute : public MenuDriveMode {
          */
         void update() override;
 
+        void runCommand() const override;
+
     private:
         void init() override;
 

src/driveModi/Modi/Autopilot/autopilot.cpp

@@ -53,6 +53,7 @@ void Autopilot::runAutopilot() {
 
         case State::NavigationStarted:
             this->askNavigationForOrder();
+            this->checkButtonInput();
             break;
 
         case State::GetToStartPoint:
@@ -128,15 +129,14 @@ void Autopilot::checkButtonInput() {
     if (ControlPadButton::isControlPadButtonPressed(this->input, ControlPadButton::PadButton::Action)
         && millis() - this->lastAutopilotChangeMillis > this->autopilotChangeDelayMillis) {
         
-        if (this->state  == State::SelfDrivingAvailable) {
+        if (this->state  == State::SelfDrivingAvailable)
             this->state = State::SelfDriving;
-            this->updateDisplay = true;
+        else if (this->state == State::SelfDriving)
-            this->lastAutopilotChangeMillis = millis();
-        } else if (this->state == State::SelfDriving) {
             this->state = State::SelfDrivingAvailable;
-            this->updateDisplay = true;
+        else if (this->state == State::NavigationStarted)
-            this->lastAutopilotChangeMillis = millis();
+            this->state = State::GetToStartPoint;
-        }
+        this->updateDisplay = true;
+        this->lastAutopilotChangeMillis = millis();
     }
 }
 

src/main.cpp

@@ -118,7 +118,7 @@ void setup() {
     lcd->backlight();
     lcd->printf("%c Kleiax-Rover %c", wifiIndicator, wifiIndicator);
     lcd->setCursor(0, 1);
-    lcd->print("Press PS-Button");
+    lcd->printf("WiFi channel %u", Network::getCurrentChannel());
     lcdWrapper = new LcdWrapper(lcd);
     lcdWrapper->setCallback(lcdWrapperCallback);
 
@@ -231,41 +231,25 @@ void makeMenu() {
     sys_m->setUpdateDelay(1500);
     rout_m->setLcd(lcdWrapper);
 
-
-
     // Entry for the main menu
-    MenuAction* mode_e = new MenuAction("Mode", mode_m);
+    main_m->addEntry(new MenuAction("Mode", mode_m));
-    MenuAction* gps_e = new MenuAction("GPS", gps_m);
+    main_m->addEntry(new MenuAction("GPS", gps_m));
-    MenuAction* pid_e = new MenuAction("PID", pid_m);
+    main_m->addEntry(new MenuAction("Route", rout_m));
-    MenuAction* restart_e = new MenuAction("Restart", restart);
+    main_m->addEntry(new MenuAction("PID", pid_m));
-    MenuAction* sys_e = new MenuAction("Systeminfo", sys_m);
+    main_m->addEntry(new MenuAction("Systeminfo", sys_m));
-    MenuAction* rout_e = new MenuAction("Route", rout_m);
+    main_m->addEntry(new MenuAction("Restart", restart));
-    main_m->addEntry(mode_e);
-    main_m->addEntry(gps_e);
-    main_m->addEntry(rout_e);
-    main_m->addEntry(pid_e);
-    main_m->addEntry(sys_e);
-    main_m->addEntry(restart_e);
 
     // Entry for the mode Menu
-    MenuAction* autopilot_e = new MenuAction("Autopilot", auto_m);
+    mode_m->addEntry(new MenuAction("Manual Control", man_m));
-    MenuAction* captureRoute_e = new MenuAction("Capture Route", cap_m);
+    mode_m->addEntry(new MenuAction("Capture Route", cap_m));
-    MenuAction* consolControl_e = new MenuAction("Consol Control", dummy);
+    mode_m->addEntry(new MenuAction("Autopilot", auto_m));
-    MenuAction* manualControl_e = new MenuAction("Manual Control", man_m);
+    mode_m->addEntry(new MenuAction("Gauge Compass", comp_m));
-    MenuAction* testMode_e = new MenuAction("Test Mode", testM_m);
+    mode_m->addEntry(new MenuAction("Test Mode", testM_m));
-    MenuAction* caliComp_e = new MenuAction("Gauge Compass", comp_m);
+    mode_m->addEntry(new MenuAction("Consol Control", dummy));
-    mode_m->addEntry(manualControl_e);
-    mode_m->addEntry(captureRoute_e);
-    mode_m->addEntry(autopilot_e);
-    mode_m->addEntry(caliComp_e);
-    mode_m->addEntry(testMode_e);
-    mode_m->addEntry(consolControl_e);
 
     // Entry for the PID Menu
-    MenuAction* pidl_e = new MenuAction("Left", pidl_m);
+    pid_m->addEntry(new MenuAction("Left", pidl_m));
-    MenuAction* pidr_e = new MenuAction("Right", pidr_m);
+    pid_m->addEntry(new MenuAction("Right", pidr_m));
-    pid_m->addEntry(pidl_e);
-    pid_m->addEntry(pidr_e);
 
     // Other config
     pidl_m->setMinMax(0, UINT8_MAX);

src/network.cpp

@@ -113,6 +113,19 @@ bool Network::connectEspNow(recieveCallbackPtr reci, sendCallbackPtr send) {
     return true;
 }
 
+uint8_t Network::getCurrentChannel() {
+    uint8_t channel;
+    wifi_second_chan_t secondChannel;
+    if (esp_wifi_get_channel(&channel, &secondChannel) != ESP_OK) {
+        std::cout << "Network::getCurrentChannel - Error!" << std::endl;
+        return -1;
+    }
+    // std::cout << "Network::getCurrentChannel - Current WiFi channel: " 
+    //           << (int) channel << " second channel: " << (int) secondChannel 
+    //           << std::endl;
+    return channel;
+}
+
 bool Network::checkMQTT() {
     static uint64_t lastReconnectAttempt = 0;
     if (!mqtt_client->connected()) {