refactor autopilot

src/driveModi/Modi/Autopilot/autopilot.h

@@ -15,7 +15,6 @@
 
 #include "navigation.h"
 #include "moveControl.h"
-#include "driveModi/Modi/Autopilot/autopilotConfig.h"
 #include "driveModi/Modi/ManualControl/manualControl.h"
 
 /**
@@ -110,8 +109,8 @@ class Autopilot : public ManualControl {
     private:
         void init();
         void checkNtrip();
-        void setSpeedInRelToDistance(double distance);
-        void setRotInRelToDistance(int16_t course);
+        void drive();
+        void rotate();
 
         Navigation* navigation;
         CourseCorrection courseCorrection;
@@ -124,6 +123,7 @@ class Autopilot : public ManualControl {
         uint8_t loopDelayMillis = 40;
         uint8_t ntripReconnectAttemps = 0;
         uint8_t ntripReconnectMaxAttemps = 10;
+        uint8_t maxCourseDeviationBerforeAct = 5;
         uint16_t displayUpdateDelayMillis = 1000;
         uint16_t reconnectNtripDelayMillis = 1000;
         uint16_t autopilotChangeDelayMillis = 500;
@@ -131,6 +131,10 @@ class Autopilot : public ManualControl {
         uint32_t loopLastMillis = 0;
         uint32_t reconnectNtripLastMillis = 0;
         uint32_t lastAutopilotChangeMillis = 0;
+
+        double drivingSpeed = 1;
+        double rotationSpeed = 7;
+        double minRemainingDistance = 0.25;
 };
 
 #endif // AUTOPILOT_H