gps now over spi

lib/Navigation/navigation.h

@@ -18,7 +18,6 @@
 #include <SPI.h>
 
 #include "route.h"
-#include "navigationUtils.h"
 #include "NTRIPClient.h"
 
 /**
@@ -64,7 +63,7 @@ class Navigation {
          * 
          * @param route with which to navigate
          */
-        Navigation(SPIClass spiPort, uint8_t csPin, Route* route = nullptr);
+        Navigation(SPIClass* spiPort, uint8_t csPin, Route* route = nullptr);
 
         /**
          * @brief Destroy the Navigation object
@@ -132,6 +131,8 @@ class Navigation {
          * @return SFE_UBLOX_GNSS* 
          */
         SFE_UBLOX_GNSS* getGPS() { return this->gps; }
+        static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
+        static void setOutputStatusPrintPVTdata(bool status);
         
         /**
          * @brief Returns the NTRIPClient object
@@ -151,12 +152,7 @@ class Navigation {
         RouteInfo getRouteInfo() const { return this->route->getRouteInfo(); }
 
     private:
-        /**
-         * @brief Returns the current Location
-         * 
-         * @return Point 
-         */
-        Point currentLocation();
+        void updateCurrentLocation();
 
         /**
          * @brief Set the next point as target
@@ -175,24 +171,6 @@ class Navigation {
          */
         bool setTargetPoint(Point target);
 
-        /**
-         * @brief Calculate the distance between to points
-         * 
-         * @param p1 point 1
-         * @param p2 point 2
-         * @return double distance in meter
-         */
-        static double distanceBetween(Point p1, Point p2);
-
-        /**
-         * @brief Calculates the course from point1 to point2
-         * 
-         * @param p1 point 1
-         * @param p2 point 2
-         * @return double degree north = 0° west = 270°
-         */
-        static double courseTo(Point p1, Point p2);
-
         void init(Route* route);
 
         SFE_UBLOX_GNSS* gps;
@@ -201,6 +179,7 @@ class Navigation {
 
         Point lastPoint;
         Point targetPoint;
+        Point currentPosition;
 
         bool navigationStarted = false;
         bool navigationFinished = false;
@@ -211,9 +190,11 @@ class Navigation {
         char* user;
         char* password;
 
-        uint8_t timeToWait = 5;
+        uint8_t timeToWait = 200;
         uint16_t port;
         uint32_t lastMillis = 0;
+
+        static bool outputStatusPrintPVTdata;
 };
 
 #endif // NAVIGATION_H