quite some fixes

lib/Sensors/sensorData.cpp

@@ -12,7 +12,6 @@
 #include "sensorData.h"
 
 bool SensorData::outputStatusPrintPVTdata = false;
-bool SensorData::newData = false;
 uint32_t SensorData::ubxUpdateTimeStatic = 0;
 UBX_NAV_PVT_data_t* SensorData::ubxDataStatic = nullptr;
 
@@ -161,7 +160,6 @@ void SensorData::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
 void SensorData::savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
     SensorData::printPVTdata(ubxDataStruct);
 
-    SensorData::newData = true;
     SensorData::ubxDataStatic = ubxDataStruct;
     SensorData::ubxUpdateTimeStatic = millis();
 }
@@ -189,12 +187,9 @@ void SensorData::runAsChild() {
     if (this->gnss) {
         this->gnss->checkUblox();
         this->gnss->checkCallbacks();
-    }
-
-    if (SensorData::newData) {
-        SensorData::newData = false;
-        // TODO: Update data
-    }
+        if (SensorData::ubxUpdateTimeStatic != this->lastUbxUpdate)
+            this->updateUbxData();
+    }        
 }
 
 void SensorData::initGnss() {
@@ -210,3 +205,14 @@ void SensorData::initGnss() {
     this->gnss->setNavigationFrequency(1);
     this->gnss->setAutoPVT(true);
 }
+
+void SensorData::updateUbxData() {
+    this->gnssData = SensorData::ubxDataStatic;
+    this->lastUbxUpdate = SensorData::ubxUpdateTimeStatic;
+
+    Point::Coordinates coords;
+    coords.lat = this->gnssData->lat / 10000000.0;
+    coords.lon = this->gnssData->lon / 10000000.0;
+
+    this->currentPosition = Point(coords, this->gnssData->hAcc);
+}

lib/Sensors/sensorData.h

@@ -70,6 +70,8 @@ class SensorData : public Component {
         void run() override;
         void runAsChild() override;
         void initGnss();
+        void updateUbxData();
+
 
         QMC5883LCompass* realCompass = nullptr;
         CalcAzimuth* calcCompass = nullptr;
@@ -93,8 +95,9 @@ class SensorData : public Component {
         uint16_t port;
         int16_t realAzimuth = INT16_MAX;
         int16_t calcAzimuth = INT16_MAX;
+        uint32_t lastUbxUpdate = 0;
 
-        float yawPitchRoll[3];
+        float yawPitchRoll[3] {0, 0, 0};
 
         // static
         static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
@@ -103,7 +106,6 @@ class SensorData : public Component {
         static UBX_NAV_PVT_data_t* ubxDataStatic;
         static uint32_t ubxUpdateTimeStatic;
         static bool outputStatusPrintPVTdata;
-        static bool newData;
 };
 
 #endif //SENSOR_DATA_H