kleiax
38c8a58988
- activatre auto load calibration data - give possibility to force update in navigation getCourseCorrection - added drive mode for compass calibration - removed compass calibration manualControl
58 lines
1.2 KiB
C++
58 lines
1.2 KiB
C++
/**
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* @file calibrateCompass.h
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* @author Alexander Klein (alex@kleiax.de)
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* @brief
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* @version 0.1
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* @date 2023-05-23
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*
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* @copyright Copyright (c) 2023
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*
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*/
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#pragma once
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#include <QMC5883LCompass.h>
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#include <Preferences.h>
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#include <iostream>
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class CalibrateCompass {
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public:
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enum State {
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Ready,
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Calibrating,
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Finished
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};
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struct CallibrationData {
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int data[3][2];
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};
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CalibrateCompass(QMC5883LCompass* compass);
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void loop();
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void start();
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void useData();
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void removeCalibration();
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void reset();
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void saveData();
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void loadData();
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State getState() const { return this->state; }
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CallibrationData getCallibrationData() const { return this->data; }
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friend std::ostream& operator<<(std::ostream& os, const CalibrateCompass& caliComp);
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private:
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void checkDataValidity();
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QMC5883LCompass* compass;
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State state;
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CallibrationData data;
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void clearData();
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bool dataValid = false;
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const uint16_t maxTimeWithoutChange = 5000;
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uint32_t lastChange = 0;
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};
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