- added calc azimuth to autopilot menu

- getters in navigation for calc azimuth
- wrapper for manualControl for automatic orintaion change

doc/TODO allgemein.txt

@@ -8,4 +8,5 @@ Besser zügig:
     Speedometer buffer ergibt kaum Sinn
     Abweichung max 25 cm bevor zu ungenau damit nie mehr als 50 cm gesamt.
     Doxygen Kommentare aktualisieren
+    Motortreiber vielleicht bei wenigster Leistung ohne Kurve
     

include/Version.h

@@ -1,9 +1,9 @@
 
     // AUTO GENERATED FILE, DO NOT EDIT
     #ifndef VERSION
-        #define VERSION "0.8.20"
+        #define VERSION "0.8.21"
     #endif
     #ifndef BUILD_TIMESTAMP
-        #define BUILD_TIMESTAMP "2023-08-08 14:33:17.266785"
+        #define BUILD_TIMESTAMP "2023-08-08 22:55:37.389313"
     #endif
     

lib/Navigation/navigation.h

@@ -194,6 +194,8 @@ class Navigation {
          */
         int16_t getAzimuth() const { return this->realAzimuth; }
         QMC5883LCompass* getCompass() const { return this->compass; }
+        int16_t getCalcAzimuth() const { return this->calcAzimuth; }
+        CalcAzimuthState getCalcAzimuthState() const { return this->calcAzimuthState; }
 
         Point::Accuracy getMinAccuracy() const { return this->minAccuracy; }
         void setMinAccuracy(Point::Accuracy accuracy) { this->minAccuracy = accuracy; }

src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp

@@ -166,10 +166,41 @@ void MenuAutopilot::printPage() const {
                 lineTwo = "accuracy is low";
             break;
 
-        default:
+        case 11:
-            this->printDefault();
+            lineOne = "CalcAzi: ";
-            return;
+            lineTwo = "State: ";
-    }
+            lineOne.concat(this->driveManager->getNavigation()->getCalcAzimuth());
+            switch (this->driveManager->getNavigation()->getCalcAzimuthState()) {
+                case Navigation::CalcAzimuthState::Bad :
+                    lineTwo.concat("Bad");
+                    break;
+                
+                case Navigation::CalcAzimuthState::Good :
+                    lineTwo.concat("Good");
+                    break;
+
+                case Navigation::CalcAzimuthState::Invalid :
+                    lineTwo.concat("Invalid");
+                    break;
+
+                case Navigation::CalcAzimuthState::Ok :
+                    lineTwo.concat("Ok");
+                    break;
+
+                case Navigation::CalcAzimuthState::Super :
+                    lineTwo.concat("Super");
+                    break;
+
+                default:
+                    lineTwo.concat("Unkown");
+                    break;
+            }
+            break;
+
+            default:
+                this->printDefault();
+                return;
+            }
 
     this->print(lineOne, lineTwo);
 }
@@ -219,7 +250,7 @@ void MenuAutopilot::update() {
 }
 
 void MenuAutopilot::init() {
-    this->setCountPages(11);
+    this->setCountPages(12);
     this->driveManager->changeModus(Modi::Autopilot);
     this->autopilot = (Autopilot*) this->driveManager->getDriveModiPtr();
     this->routeInfo = this->autopilot->getRouteInfo();

src/driveModi/Modi/Autopilot/autopilot.cpp

@@ -12,13 +12,31 @@
 #include "driveModi/Modi/Autopilot/autopilot.h"
 #include "autopilot.h"
 
+DirectionChangeSignal::DirectionChangeSignal(Navigation* navigation) {
+    this->navigation = navigation;
+    this->action();
+}
+
+DirectionChangeSignal::~DirectionChangeSignal() {
+    navigation->dissableCalcAzimuth();
+}
+
+void DirectionChangeSignal::action() {
+    this->navigation->drivingDirectionChange();
+}
+
+
 Autopilot::Autopilot(MoveControl* moveControl, const ControlPadInput *input, Navigation* navigation)
     : ManualControl(moveControl, input) {
+        this->setInputMode(ManualControl::InputMode::Digital);
+        this->setDirectionChangeCallback(this->directionChangeSignal);
+        this->directionChangeSignal = new DirectionChangeSignal(navigation);
         this->navigation = navigation;
         this->init();
 }
 
 Autopilot::~Autopilot() {
+    delete this->directionChangeSignal;
     // this->navigation->getNTRIPClient()->setActivated(false);
 }
 
@@ -121,8 +139,8 @@ void Autopilot::rotate() {
     if (this->courseCorrection.correction > 0)
         this->moveControl->setRotationSpeed(-this->rotationSpeed);
     else
-
+        this->moveControl->setRotationSpeed(this->rotationSpeed);
-    this->moveControl->setRotationSpeed(this->rotationSpeed);
+    this->navigation->drivingDirectionChange();
 }
 
 void Autopilot::checkButtonInput() {

src/driveModi/Modi/Autopilot/autopilot.h

@@ -17,6 +17,16 @@
 #include "moveControl.h"
 #include "driveModi/Modi/ManualControl/manualControl.h"
 
+class DirectionChangeSignal : public DirectionChangeWrapper {
+    public:
+        DirectionChangeSignal(Navigation* navigation);
+        ~DirectionChangeSignal();
+        void action() override;
+
+    private:
+        Navigation* navigation;
+};
+
 /**
  * @brief This class use the navigate class to drive automaticaly
  * 
@@ -120,6 +130,7 @@ class Autopilot : public ManualControl {
         State state = State::None;
         State lastState = State::None;
         Navigation::Status lastOrderStatus;
+        DirectionChangeSignal* directionChangeSignal;
 
         bool updateDisplay = false;
 

version

@@ -1 +1 @@
-0.8.20
+0.8.21