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AP_WindVane: rename abs to true wind

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This commit is contained in:
Peter Hall 2019-07-28 22:10:21 +01:00 committed by Randy Mackay
parent 412be730e4
commit 102a231c3f
2 changed files with 7 additions and 7 deletions
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8
libraries/AP_WindVane/AP_WindVane.cpp
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@ -293,7 +293,7 @@ void AP_WindVane::update()
update_true_wind_speed_and_direction();
} else {
// no wind speed sensor, so can't do true wind calcs
_direction_absolute = _direction_apparent_ef;
_direction_true = _direction_apparent_ef;
_speed_true = 0.0f;
return;
}
@ -331,7 +331,7 @@ void AP_WindVane::send_wind(mavlink_channel_t chan)
// send wind
mavlink_msg_wind_send(
chan,
wrap_360(degrees(get_absolute_wind_direction_rad())),
wrap_360(degrees(get_true_wind_direction_rad())),
get_true_wind_speed(),
0);
}
@ -344,7 +344,7 @@ void AP_WindVane::update_true_wind_speed_and_direction()
Vector3f veh_velocity;
if (!AP::ahrs().get_velocity_NED(veh_velocity)) {
// if no vehicle speed use apparent speed and direction directly
_direction_absolute = _direction_apparent_ef;
_direction_true = _direction_apparent_ef;
_speed_true = _speed_apparent;
return;
}
@ -357,7 +357,7 @@ void AP_WindVane::update_true_wind_speed_and_direction()
Vector2f wind_true_vec = Vector2f(wind_apparent_vec.x + veh_velocity.x, wind_apparent_vec.y + veh_velocity.y);
// calculate true speed and direction
_direction_absolute = wrap_PI(atan2f(wind_true_vec.y, wind_true_vec.x) - radians(180));
_direction_true = wrap_PI(atan2f(wind_true_vec.y, wind_true_vec.x) - radians(180));
_speed_true = wind_true_vec.length();
}

6
libraries/AP_WindVane/AP_WindVane.h
View File

@ -57,8 +57,8 @@ public:
return wrap_PI(_direction_apparent_ef - AP::ahrs().yaw);
}
// get the absolute wind direction in radians, 0 = wind coming from north
float get_absolute_wind_direction_rad() const { return _direction_absolute; }
// get the true wind direction in radians, 0 = wind coming from north
float get_true_wind_direction_rad() const { return _direction_true; }
// Return apparent wind speed
float get_apparent_wind_speed() const { return _speed_apparent; }
@ -112,7 +112,7 @@ private:
// wind direction variables
float _direction_apparent_ef; // wind's apparent direction in radians (0 = ahead of vehicle)
float _direction_absolute; // wind's absolute direction in radians (0 = North)
float _direction_true; // wind's true direction in radians (0 = North)
// wind speed variables
float _speed_apparent; // wind's apparent speed in m/s