- broke nearly everthing

- create Sensor Manager

lib/Navigation/navigation.cpp

@@ -17,58 +17,21 @@ uint32_t Navigation::ubxUpdateTimeStatic = 0;
 UBX_NAV_PVT_data_t* Navigation::ubxDataStatic = nullptr;
 
 Navigation::Navigation(Route* route) {
-    this->gps = new SFE_UBLOX_GNSS();
-    if (this->gps->begin() == false) {
-        std::cout << "u-blox GNSS not detected at default I2C address. Please check wiring. Freezing." << std::endl;
-        while (1);
-    }
-    this->init(route);
-}
-
-Navigation::Navigation(SPIClass* spiPort, uint8_t csPin, Route* route) {
-    this->gps = new SFE_UBLOX_GNSS();
-    if (this->gps->begin(*spiPort, csPin, 4000000) == false) {
-        std::cout << "u-blox GNSS not detected on SPI bus. Please check wiring. Freezing." << std::endl;
-        while (1);
-    }
     this->init(route);
 }
 
 void Navigation::init(Route* route) {
-    uint8_t versionHigh = this->gps->getProtocolVersionHigh();
-    uint8_t versionLow = this->gps->getProtocolVersionLow();
-    std::cout << "u-blox protocol version: " << unsigned(versionHigh) << "." << unsigned(versionLow) << std::endl;
-
-    this->gps->setSPIOutput(COM_TYPE_UBX);
-    this->gps->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10);
-    this->gps->setUSBOutput(COM_TYPE_UBX | COM_TYPE_NMEA);
-    this->gps->setAutoPVTcallbackPtr(&(Navigation::savePVTdata));
-    // Navigation::setOutputStatusPrintPVTdata(true);
-    this->gps->setNavigationFrequency(1);
-    this->gps->setAutoPVT(true);
+    
 
     if (route)
         this->route = route;
     else
         this->route = new Route();
 
-    this->compass = new QMC5883LCompass();
-    // Init Compass
-    Wire.beginTransmission(0x0d);
-    Wire.write(0x0b);
-    Wire.write(0x01);
-    Wire.endTransmission();
-    this->compass->setMode(0x01,0x0C,0x10,0X00);
-    CalibrateCompass caliCompass(this->compass);
-    caliCompass.loadData();
-    caliCompass.useData();
-
     Component::loopDelay = Navigation::loopDelay;
 }
 
 Navigation::~Navigation() {
-    delete this->gps;
-    delete this->compass;
     delete this->route;
     if (this->ntripClient)
         delete this->ntripClient;
@@ -84,21 +47,9 @@ void Navigation::initNtrip(String host, uint16_t port, String mountPoint, String
 }
 
 void Navigation::run() {
-    this->compass->read();
-    this->realAzimuth = this->compass->getAzimuth();
-
     this->updateMagneticDeclination();
 }
 
-void Navigation::runAsChild() {
-    this->gps->checkUblox();
-    this->gps->checkCallbacks();
-
-    if (Navigation::newData) {
-        this->updateCurrentLocation();
-        Navigation::newData = false;
-    }
-}
 
 void Navigation::newRoute() {
     if (this->route)
@@ -276,10 +227,6 @@ bool Navigation::setTargetPoint(Point target) {
     return false;
 }
 
-void Navigation::setOutputStatusPrintPVTdata(bool status) {
-    Navigation::outputStatusPrintPVTdata = status;
-}
-
 int16_t Navigation::fixDegree(int16_t degree) {
     while (degree < -180 || degree > 180) {
         if (degree > 180)
@@ -289,59 +236,3 @@ int16_t Navigation::fixDegree(int16_t degree) {
     }
     return degree;
 }
-
-void Navigation::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
-    if (!Navigation::outputStatusPrintPVTdata)
-        return;
-
-    double latitude = (double) ubxDataStruct->lat / 10000000.0;
-    double longitude = (double) ubxDataStruct->lon / 10000000.0;
-    double altitude = (double) ubxDataStruct->hMSL / 1000.0;
-
-    uint8_t fixType = ubxDataStruct->fixType;
-    char fixTypeString[32];
-    if (fixType == 0)
-        strcpy(fixTypeString, "None");
-    else if (fixType == 1)
-        strcpy(fixTypeString, "Dead Reckoning");
-    else if (fixType == 2)
-        strcpy(fixTypeString, "2D");
-    else if (fixType == 3)
-        strcpy(fixTypeString, "3D");
-    else if (fixType == 3)
-        strcpy(fixTypeString, "GNSS + Dead Reckoning");
-    else if (fixType == 5)
-        strcpy(fixTypeString, "Time Only");
-    else
-        strcpy(fixTypeString, "UNKNOWN");
-
-    uint8_t carrSoln = ubxDataStruct->flags.bits.carrSoln;
-    char carrSolnString[16];
-    if (carrSoln == 0)
-        strcpy(carrSolnString, "None");
-    else if (carrSoln == 1)
-        strcpy(carrSolnString, "Floating");
-    else if (carrSoln == 2)
-        strcpy(carrSolnString, "Fixed");
-    else
-        strcpy(carrSolnString, "UNKNOWN");
-
-    uint32_t hAcc = ubxDataStruct->hAcc;
-
-    std::cout << "Lat: " << latitude
-              << " Lng: " << longitude
-              << " Alt: " << altitude << std::endl;
-
-    std::cout << "Fix: " << fixTypeString
-              << " Carrier Solution: " << carrSolnString
-              << " Horizontal Accuracy Estimate: " << hAcc << " mm" << std::endl;
-}
-
-void Navigation::savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
-    Navigation::printPVTdata(ubxDataStruct);
-
-    Navigation::newData = true;
-    Navigation::ubxDataStatic = ubxDataStruct;
-    Navigation::ubxUpdateTimeStatic = millis();
-}
-