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lib/Navigation/navigation.cpp

@@ -144,7 +144,7 @@ bool Navigation::addCurrentPosToRoute() {
         return true;
     }
 
-    // Ever Point after the first
+    // Every Point after the first
     if (MIN_DISTANCE_BETWEEN_POINTS <= this->currentPosition.distanceTo(this->lastPoint)) {
         this->route->addPointToRoute(this->currentPosition);
         this->lastPoint = this->currentPosition;
@@ -170,10 +170,10 @@ void Navigation::updateCurrentLocation() {
 }
 
 bool Navigation::nextPoint() {
+    
     if (!this->navigationStarted)
         return false;
-    Point newTargetPoint = this->route->getNextPoint();
-    return this->setTargetPoint(newTargetPoint);
+    return this->setTargetPoint(this->route->getNextPoint());
 }
 
 bool Navigation::setTargetPoint(Point target) {

src/driveModi/Modi/Autopilot/autopilot.cpp

@@ -15,7 +15,7 @@ Autopilot::Autopilot(MoveControl* moveControl, Navigation* navigation)
     : ManualControl(moveControl) {
         this->navigation = navigation;
         this->navigationStarted = this->navigation->startNavigation();
-        this->navigation->getRouteInfo();
+        this->routeInfo = this->navigation->getRouteInfo();
         this->courseCorrection.correction = 0;
         this->courseCorrection.distance = 0;
         this->updateDisplay = true;