driveManager gets now the object

src/driveModi/Modi/Autopilot/autopilot.cpp

@@ -26,12 +26,11 @@ void DirectionChangeSignal::action() {
 }
 
 
-Autopilot::Autopilot(DriveModiParams params, Navigation* navigation)
-    : ManualControl(params) {
+Autopilot::Autopilot() {
         this->setInputMode(ManualControl::InputMode::Digital);
         this->directionChangeSignal = new DirectionChangeSignal(this);
         this->setDirectionChangeCallback(this->directionChangeSignal);
-        this->navigation = navigation;
+        this->navigation = new Navigation(this->sensorData);
         this->init();
 }
 

src/driveModi/Modi/Autopilot/autopilot.h

@@ -47,7 +47,7 @@ class Autopilot : public ManualControl {
          * @param moveControl for ManualControl
          * @param navigation for route instructions
          */
-        Autopilot(DriveModiParams params, Navigation* navigation);
+        Autopilot();
 
         /**
          * @brief Destroy the Autopilot object
@@ -78,6 +78,7 @@ class Autopilot : public ManualControl {
          * @return State 
          */
         State getState() const { return this->state; }
+        Navigation* getNavigation() const { return this->navigation; }
         
         /**
          * @brief Tells if there are new informations to display

src/driveModi/Modi/CalibrateCompass/calibrateCompassM.cpp

@@ -11,7 +11,6 @@
 
 #include "calibrateCompassM.h"
 
-CalibrateCompassM::CalibrateCompassM(DriveModiParams params) : ManualControl(params) {}
 
 void CalibrateCompassM::setCalibrateCompass(CalibrateCompass *caliCompass) {
     if (caliCompass) {

src/driveModi/Modi/CalibrateCompass/calibrateCompassM.h

@@ -18,8 +18,6 @@
 
 class CalibrateCompassM : public ManualControl {
     public:
-        CalibrateCompassM(DriveModiParams params);
-
         void setCalibrateCompass(CalibrateCompass* caliCompass = nullptr);
 
     private:

src/driveModi/Modi/CaptureRoute/captureRoute.cpp

@@ -11,9 +11,8 @@
 
 #include "driveModi/Modi/CaptureRoute/captureRoute.h"
 
-CaptureRoute::CaptureRoute(DriveModiParams params, Navigation* navigation) 
-    : ManualControl(params) {
-        this->navigation = navigation;
+CaptureRoute::CaptureRoute() {
+        this->navigation = new Navigation(this->sensorData);
         this->navigation->getRoute()->clear();
         this->sensorData->getNtripClient()->setAutoReconnect(true);
         this->routeInfo = navigation->getRouteInfo();

src/driveModi/Modi/CaptureRoute/captureRoute.h

@@ -27,13 +27,7 @@
  */
 class CaptureRoute : public ManualControl {
     public:
-        /**
-         * @brief Construct a new Capture Route object
-         * 
-         * @param moveControl for ManualControl
-         * @param navigation to add Points
-         */
-        CaptureRoute(DriveModiParams params, Navigation* navigation);
+        CaptureRoute();
 
         /**
          * @brief Destroy the Capture Route object
@@ -56,6 +50,7 @@ class CaptureRoute : public ManualControl {
          */
         RouteInfo getRouteInfo() const { return this->routeInfo; }
         Navigation::Status getLastStatus() const { return this->status; }
+        Navigation* getNavigation() const { return this->navigation; }
 
         /**
          * @brief Get the distance to the last saved oint

src/driveModi/Modi/ManualControl/manualControl.h

@@ -33,8 +33,6 @@ class ManualControl : public DriveModi {
             Digital
         };
 
-        ManualControl(DriveModiParams params) : DriveModi(params){};
-
         void switchInputMode();
         void setInputMode(InputMode mode) { this->inputMode = mode; }
         InputMode getInputMode() const { return this->inputMode; }

src/driveModi/Modi/TestMode/testMode.cpp

@@ -10,15 +10,6 @@
  */
 #include "testMode.h"
 
-TestMode::TestMode(DriveModiParams params,  Navigation* navigation) 
-        : DriveModi(params) {
-    this->navigation = navigation;
-}
-
-TestMode::~TestMode() {
-    this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
-}
-
 void TestMode::run() {
     if (this->maneuver == Maneuver::Turn) {
         uint16_t delta = abs(this->azimuth - this->getSensorData()->getRealAzimuth());

src/driveModi/Modi/TestMode/testMode.h

@@ -38,15 +38,6 @@ class TestMode : public DriveModi {
             Drive
         };
 
-        /**
-         * @brief Construct a new Test Mode object
-         * 
-         * @param moveControl 
-         * @param navigation 
-         */
-        TestMode(DriveModiParams params, Navigation* navigation);
-        ~TestMode();
-
         bool drive(int16_t cm = 0, int16_t degree = 0);
 
         /**