ready to test capture Route and Autopiloz

2022-02-03 19:50:48 +01:00
parent 5ca21b09b2
commit bc37abcb66
20 changed files with 226 additions and 39 deletions
@@ -26,7 +26,7 @@ struct CourseCorrection {
 };
 class Navigation {
    public:
-        Navigation(uint8_t rx, uint8_t tx);
+        Navigation(uint8_t rx, uint8_t tx, Route* route = nullptr);
        ~Navigation();
        void loop();

@@ -38,6 +38,7 @@ class Navigation {
        bool addCurrentPosToRoute();

        TinyGPSPlus* getGPS() { return this->gps; }
+        RouteInfo getRouteInfo() const { return this->route->getRouteInfo(); }

    private:
        Point currentLocation();
@@ -47,7 +48,7 @@ class Navigation {
        static double courseTo(Point p1, Point p2);

        TinyGPSPlus* gps;
-        Route* route;
+        Route* route = nullptr;

        Point lastPoint;
        Point targetPoint;