zwischenstand, ich habe Lust mache jetzt weiter :)

src/driveModi/Modi/Autopilot/autopilot.cpp

@@ -1,12 +1,9 @@
 #include "driveModi/Modi/Autopilot/autopilot.h"
 
 Autopilot::Autopilot() {
-    this->debug = new DebugMqtt("Autopilot");
 }
 
-void Autopilot::init(Route *route, MoveControl *moveControl) {
-    this->route = route;
-    this->moveControl = moveControl;
+void Autopilot::init() {
 }
 
 void Autopilot::runAutopilot() {

src/driveModi/Modi/Autopilot/autopilot.h

@@ -12,13 +12,12 @@ class Autopilot : DriveModi{
     public:
         Autopilot();
 
-        void init(Route *route, MoveControl *moveControl);
+        void init();
         void loop();
         void runAutopilot();
 
 
     private:
-        Route *route;
         MoveControl *moveControl;
         DebugMqtt *debug;
 

src/main.cpp

@@ -18,7 +18,7 @@ DriveManager driveManager(&moveController);
 
 void setup() {
     Serial.begin(115200);
-    Serial.println("Welcome...");
+    Serial.println("Welcome to Kleiax-Rover");
 
     Network::setIps();
     Network::connectWifi();
@@ -30,11 +30,15 @@ void setup() {
     Ps3.begin();
 
     driveManager.changeModus(Modi::ManualControl);
+
+    Serial1.begin(GPS_BAUD, SERIAL_8N1, GPS_RX, GPS_TX);
 }
 
 void loop() {
     Network::checkMQTT();
     driveManager.loop();
+    while (Serial1.available() > 0)
+        Serial.print(Serial1.read());
 }
 
 void callbackControllerAction() {

src/route.cpp

@@ -1,80 +1,80 @@
-#include "route.h"
-#include "config.h"
+// #include "route.h"
+// #include "config.h"
 
-Route::Route() {
-    Serial1.begin(GPS_BAUD, SERIAL_8N1, GPS_RX, GPS_TX);
-    this->debug = new DebugMqtt("Route");
-}
+// Route::Route() {
+//     Serial1.begin(GPS_BAUD, SERIAL_8N1, GPS_RX, GPS_TX);
+//     this->debug = new DebugMqtt("Route");
+// }
 
-void Route::runRoute() {
-    static uint64_t last_millis = 0;
-    if (millis() - last_millis < 123456789) {
-        return;
-    }
-    last_millis = millis();
+// void Route::runRoute() {
+//     static uint64_t last_millis = 0;
+//     if (millis() - last_millis < 123456789) {
+//         return;
+//     }
+//     last_millis = millis();
 
-    while (Serial1.available() > 0)
-        gps.encode(Serial1.read());
+//     while (Serial1.available() > 0)
+//         gps.encode(Serial1.read());
 
-    if (gps.location.isUpdated() && gps.location.isValid()) {
-        this->currentLocation.lat = gps.location.lat();
-        this->currentLocation.lon = gps.location.lng();
-    }
-}
+//     if (gps.location.isUpdated() && gps.location.isValid()) {
+//         this->currentLocation.lat = gps.location.lat();
+//         this->currentLocation.lon = gps.location.lng();
+//     }
+// }
 
-void Route::addPointToRoute(Point point) {
-    this->points.push_back(point);
-    this->count_points++;
-}
+// void Route::addPointToRoute(Point point) {
+//     this->points.push_back(point);
+//     this->count_points++;
+// }
 
-void Route::addCurrentLocationToRoute() {
-    if (*this->points.end() == this->currentLocation  &&
-        !this->nearlySameLocation(*this->points.end(), this->currentLocation)) {
-        return;
-    }
-    this->addPointToRoute(currentLocation);
-}
+// void Route::addCurrentLocationToRoute() {
+//     if (*this->points.end() == this->currentLocation  &&
+//         !this->nearlySameLocation(*this->points.end(), this->currentLocation)) {
+//         return;
+//     }
+//     this->addPointToRoute(currentLocation);
+// }
 
-void Route::delRoute() {
-    this->points.clear();
-    this->count_points = 0;
-}
+// void Route::delRoute() {
+//     this->points.clear();
+//     this->count_points = 0;
+// }
 
-Point Route::startRoute() {
-    this->route_started = true;
-    this->route_finished = false;
+// Point Route::startRoute() {
+//     this->route_started = true;
+//     this->route_finished = false;
 
-    this->it = this->points.begin();
-    return *it;
-}
+//     this->it = this->points.begin();
+//     return *it;
+// }
 
-Point Route::getNextPoint() {
-    if (this->route_started && !route_finished) {
-        it++;
-        return *it;
-    }
+// Point Route::getNextPoint() {
+//     if (this->route_started && !route_finished) {
+//         it++;
+//         return *it;
+//     }
 
-    if (it == this->points.end()) {
-        this->route_finished = true;
-    }
+//     if (it == this->points.end()) {
+//         this->route_finished = true;
+//     }
 
-    Point fail;
-    return fail;
-}
+//     Point fail;
+//     return fail;
+// }
 
-uint16_t Route::getNumberOfPoints() {
-    return this->count_points;
-}
+// uint16_t Route::getNumberOfPoints() {
+//     return this->count_points;
+// }
 
-double Route::getDis(Point point_1, Point point_2) {
-    double lat = (point_1.lat + point_2.lat) / 2 * 0.1745;
-    double dx = 111.3 * cos(lat) * (point_1.lon - point_2.lon);
-    double dy = 111.3 * (point_1.lat - point_2.lat);
-    return sqrt(dx * dx + dy * dy);
-}
+// double Route::getDis(Point point_1, Point point_2) {
+//     double lat = (point_1.lat + point_2.lat) / 2 * 0.1745;
+//     double dx = 111.3 * cos(lat) * (point_1.lon - point_2.lon);
+//     double dy = 111.3 * (point_1.lat - point_2.lat);
+//     return sqrt(dx * dx + dy * dy);
+// }
 
-bool Route::nearlySameLocation(Point p1, Point p2) {
-    if (this->getDis(p1, p2) < 0.5)
-        return true;
-    return false;
-}
+// bool Route::nearlySameLocation(Point p1, Point p2) {
+//     if (this->getDis(p1, p2) < 0.5)
+//         return true;
+//     return false;
+// }