From 2af685443766a9347ce8f0a8993b1e9b2c28dee6 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 10 Apr 2021 21:19:52 +0100
Subject: [PATCH] Rover: move wind logging to windvane

---
 Rover/Log.cpp | 31 +++++++++++--------------------
 1 file changed, 11 insertions(+), 20 deletions(-)

diff --git a/Rover/Log.cpp b/Rover/Log.cpp
index 2c8b068e6e..af3b63a15a 100644
--- a/Rover/Log.cpp
+++ b/Rover/Log.cpp
@@ -140,36 +140,27 @@ void Rover::Log_Write_Sail()
         return;
     }
 
-    // get wind direction
-    float wind_dir_abs = logger.quiet_nanf();
-    float wind_dir_rel = logger.quiet_nanf();
-    float wind_speed_true = logger.quiet_nanf();
-    float wind_speed_apparent = logger.quiet_nanf();
+    float wind_dir_tack = logger.quiet_nanf();
+    uint8_t current_tack = 0;
     if (rover.g2.windvane.enabled()) {
-        wind_dir_abs = degrees(g2.windvane.get_true_wind_direction_rad());
-        wind_dir_rel = degrees(g2.windvane.get_apparent_wind_direction_rad());
-        wind_speed_true = g2.windvane.get_true_wind_speed();
-        wind_speed_apparent = g2.windvane.get_apparent_wind_speed();
+        wind_dir_tack = degrees(g2.windvane.get_tack_threshold_wind_dir_rad());
+        current_tack = uint8_t(g2.windvane.get_current_tack());
     }
 
 // @LoggerMessage: SAIL
 // @Description: Sailboat information
 // @Field: TimeUS: Time since system startup
-// @Field: WndDrTru: True wind direction
-// @Field: WndDrApp: Apparent wind direction, in body-frame
-// @Field: WndSpdTru: True wind speed
-// @Field: WndSpdApp: Apparent wind Speed
-// @Field: MainOut: Normalized mainsail output 
+// @Field: Tack: Current tack, 0 = port, 1 = starboard
+// @Field: TackThr: Apparent wind angle used for tack threshold
+// @Field: MainOut: Normalized mainsail output
 // @Field: WingOut: Normalized wingsail output
 // @Field: VMG: Velocity made good (speed at which vehicle is making progress directly towards destination)
 
-    logger.Write("SAIL", "TimeUS,WndDrTru,WndDrApp,WndSpdTru,WndSpdApp,MainOut,WingOut,VMG",
-                        "shhnn%%n", "F0000000", "Qfffffff",
+    logger.Write("SAIL", "TimeUS,Tack,TackThr,MainOut,WingOut,VMG",
+                        "s-d%%n", "F00000", "QBffff",
                         AP_HAL::micros64(),
-                        (double)wind_dir_abs,
-                        (double)wind_dir_rel,
-                        (double)wind_speed_true,
-                        (double)wind_speed_apparent,
+                        current_tack,
+                        (double)wind_dir_tack,
                         (double)g2.motors.get_mainsail(),
                         (double)g2.motors.get_wingsail(),
                         (double)g2.sailboat.get_VMG());