ntrip, testMode, zed9 gnss modul

src/driveModi/Modi/Autopilot/autopilot.cpp

@@ -25,11 +25,11 @@ void Autopilot::loop() {
     if (!this->selfDriving && this->navigationStarted)
         ManualControl::loop();
 
-    if (millis() - this->last_millis < delay)
+    if (millis() - this->lastMillis < delay)
         return;
 
     this->runAutopilot();
-    this->last_millis = millis();
+    this->lastMillis = millis();
 }
 
 void Autopilot::runAutopilot() {
@@ -76,7 +76,7 @@ void Autopilot::setSelfDriving(bool val) {
 
     this->selfDriving = val;
     this->moveControl->setSpeed(0);
-    this->moveControl->setRotationspeed(0);
+    this->moveControl->setRotationSpeed(0);
 }
 
 void Autopilot::setSpeedInRelToDistance(double distance) {
@@ -97,7 +97,7 @@ void Autopilot::setRotInRelToDistance(int16_t course) {
         steps = 1;
 
     if (course == 0)
-        this->moveControl->setRotationspeed(0);
+        this->moveControl->setRotationSpeed(0);
     else
-        this->moveControl->setRotationspeed(steps);
+        this->moveControl->setRotationSpeed(steps);
 }

src/driveModi/Modi/Autopilot/autopilot.h

@@ -127,7 +127,7 @@ class Autopilot : public ManualControl {
         bool selfDrivingAvailable = false;
         bool updateDisplay = false;
 
-        uint16_t last_millis = 0;
+        uint16_t lastMillis = 0;
         uint8_t delay = 40;
 };
 

src/driveModi/Modi/Autopilot/autopilotConfig.h

@@ -47,7 +47,7 @@
 /**
  * @brief Course correction factor
  * This value is used by the setRotInRelToDistance function and is used to calculate
- * the value for setRotationspeed.
+ * the value for setRotationSpeed.
  */
 #define COURSE_CORRECTION_FACTOR 30