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Rover: rename abs to true wind

This commit is contained in:
Peter Hall 2019-07-28 22:09:53 +01:00 committed by Randy Mackay
parent 5147b607c0
commit 412be730e4
2 changed files with 7 additions and 6 deletions
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4
APMrover2/Log.cpp
View File

@ -133,12 +133,12 @@ void Rover::Log_Write_Sail()
float wind_speed_true = logger.quiet_nanf(); float wind_speed_true = logger.quiet_nanf();
float wind_speed_apparent = logger.quiet_nanf(); float wind_speed_apparent = logger.quiet_nanf();
if (rover.g2.windvane.enabled()) { if (rover.g2.windvane.enabled()) {
wind_dir_abs = degrees(g2.windvane.get_absolute_wind_direction_rad()); wind_dir_abs = degrees(g2.windvane.get_true_wind_direction_rad());
wind_dir_rel = degrees(g2.windvane.get_apparent_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_true = g2.windvane.get_true_wind_speed();
wind_speed_apparent = g2.windvane.get_apparent_wind_speed(); wind_speed_apparent = g2.windvane.get_apparent_wind_speed();
} }
logger.Write("SAIL", "TimeUS,WindDirAbs,WindDirApp,WindSpdTrue,WindSpdApp,SailOut,VMG", logger.Write("SAIL", "TimeUS,WindDirTrue,WindDirApp,WindSpdTrue,WindSpdApp,SailOut,VMG",
"shhnn%n", "F000000", "Qffffff", "shhnn%n", "F000000", "Qffffff",
AP_HAL::micros64(), AP_HAL::micros64(),
(double)wind_dir_abs, (double)wind_dir_abs,

9
APMrover2/sailboat.cpp
View File

@ -242,7 +242,7 @@ void Sailboat::handle_tack_request_acro()
} }
// set tacking heading target to the current angle relative to the true wind but on the new tack // set tacking heading target to the current angle relative to the true wind but on the new tack
currently_tacking = true; currently_tacking = true;
tack_heading_rad = wrap_2PI(rover.ahrs.yaw + 2.0f * wrap_PI((rover.g2.windvane.get_absolute_wind_direction_rad() - rover.ahrs.yaw))); tack_heading_rad = wrap_2PI(rover.ahrs.yaw + 2.0f * wrap_PI((rover.g2.windvane.get_true_wind_direction_rad() - rover.ahrs.yaw)));
auto_tack_request_ms = AP_HAL::millis(); auto_tack_request_ms = AP_HAL::millis();
} }
@ -290,7 +290,7 @@ bool Sailboat::use_indirect_route(float desired_heading_cd) const
const float desired_heading_rad = radians(desired_heading_cd * 0.01f); const float desired_heading_rad = radians(desired_heading_cd * 0.01f);
// check if desired heading is in the no go zone, if it is we can't go direct // check if desired heading is in the no go zone, if it is we can't go direct
return fabsf(wrap_PI(rover.g2.windvane.get_absolute_wind_direction_rad() - desired_heading_rad)) <= radians(sail_no_go); return fabsf(wrap_PI(rover.g2.windvane.get_true_wind_direction_rad() - desired_heading_rad)) <= radians(sail_no_go);
} }
// if we can't sail on the desired heading then we should pick the best heading that we can sail on // if we can't sail on the desired heading then we should pick the best heading that we can sail on
@ -312,8 +312,9 @@ float Sailboat::calc_heading(float desired_heading_cd)
} }
// calculate left and right no go headings looking upwind // calculate left and right no go headings looking upwind
const float left_no_go_heading_rad = wrap_2PI(rover.g2.windvane.get_absolute_wind_direction_rad() + radians(sail_no_go)); const float true_wind_rad = rover.g2.windvane.get_true_wind_direction_rad();
const float right_no_go_heading_rad = wrap_2PI(rover.g2.windvane.get_absolute_wind_direction_rad() - radians(sail_no_go)); const float left_no_go_heading_rad = wrap_2PI(true_wind_rad + radians(sail_no_go));
const float right_no_go_heading_rad = wrap_2PI(true_wind_rad - radians(sail_no_go));
// calculate current tack, Port if heading is left of no-go, STBD if right of no-go // calculate current tack, Port if heading is left of no-go, STBD if right of no-go
Sailboat_Tack current_tack; Sailboat_Tack current_tack;