From 98f3cb93f0d212e73a521661337896d648b76071 Mon Sep 17 00:00:00 2001
From: Alexander Klein <alex@kleiax.de>
Date: Wed, 9 Aug 2023 15:34:03 +0200
Subject: [PATCH] calc Azimuth finished

---
 .version_no_increment                      |  0
 include/Version.h                          |  4 ++--
 lib/Navigation/navigation.cpp              |  2 ++
 src/driveModi/Modi/Autopilot/autopilot.cpp |  2 +-
 src/driveModi/Modi/Autopilot/autopilot.h   | 10 +---------
 version                                    |  2 +-
 6 files changed, 7 insertions(+), 13 deletions(-)
 delete mode 100644 .version_no_increment

diff --git a/.version_no_increment b/.version_no_increment
deleted file mode 100644
index e69de29..0000000
diff --git a/include/Version.h b/include/Version.h
index 79e1506..534eccd 100644
--- a/include/Version.h
+++ b/include/Version.h
@@ -1,9 +1,9 @@
 
     // AUTO GENERATED FILE, DO NOT EDIT
     #ifndef VERSION
-        #define VERSION "0.8.21"
+        #define VERSION "0.8.27"
     #endif
     #ifndef BUILD_TIMESTAMP
-        #define BUILD_TIMESTAMP "2023-08-08 22:55:37.389313"
+        #define BUILD_TIMESTAMP "2023-08-09 10:33:06.900861"
     #endif
     
\ No newline at end of file
diff --git a/lib/Navigation/navigation.cpp b/lib/Navigation/navigation.cpp
index 70ad78c..4a5ec70 100644
--- a/lib/Navigation/navigation.cpp
+++ b/lib/Navigation/navigation.cpp
@@ -126,6 +126,7 @@ void Navigation::drivingDirectionChange() {
     if (tmp.isInit() && tmp.isValid()) {
         this->directionChangeMode = true;
         this->lastPointDrivingDirectionChange = tmp;
+        this->calcAzimuthState = CalcAzimuthState::Invalid;
     }
 }
 
@@ -200,6 +201,7 @@ void Navigation::updateMagneticDeclination() {
         || this->lastPointDrivingDirectionChange.distanceTo(this->currentPosition) < 1.0) 
     {
         this->calcAzimuthState = CalcAzimuthState::Invalid;
+        this->calcAzimuth = 999;
         return;
     }
 
diff --git a/src/driveModi/Modi/Autopilot/autopilot.cpp b/src/driveModi/Modi/Autopilot/autopilot.cpp
index c3d413f..e6a9e94 100644
--- a/src/driveModi/Modi/Autopilot/autopilot.cpp
+++ b/src/driveModi/Modi/Autopilot/autopilot.cpp
@@ -29,8 +29,8 @@ void DirectionChangeSignal::action() {
 Autopilot::Autopilot(MoveControl* moveControl, const ControlPadInput *input, Navigation* navigation)
     : ManualControl(moveControl, input) {
         this->setInputMode(ManualControl::InputMode::Digital);
-        this->setDirectionChangeCallback(this->directionChangeSignal);
         this->directionChangeSignal = new DirectionChangeSignal(navigation);
+        this->setDirectionChangeCallback(this->directionChangeSignal);
         this->navigation = navigation;
         this->init();
 }
diff --git a/src/driveModi/Modi/Autopilot/autopilot.h b/src/driveModi/Modi/Autopilot/autopilot.h
index fa33412..dfbf21c 100644
--- a/src/driveModi/Modi/Autopilot/autopilot.h
+++ b/src/driveModi/Modi/Autopilot/autopilot.h
@@ -76,15 +76,6 @@ class Autopilot : public ManualControl {
          */
         void loop();
 
-        /**
-         * @brief Manges the autopilot
-         * 
-         * If the first Point is near to current location you can turn
-         * the autopilot on.
-         * Gets the course correction and decide what to do.
-         */
-        void runAutopilot();
-
         void restart();
 
         /**
@@ -120,6 +111,7 @@ class Autopilot : public ManualControl {
         void init();
         void drive();
         void rotate();
+        void runAutopilot();
         void checkButtonInput();
         void askNavigationForOrder();
         void selfDriving();
diff --git a/version b/version
index 49d791b..bdf3118 100644
--- a/version
+++ b/version
@@ -1 +1 @@
-0.8.21
\ No newline at end of file
+0.8.27
\ No newline at end of file