From d5f3cf50e46332cfbda3b65d7c9eb0ad55f14b30 Mon Sep 17 00:00:00 2001
From: Peter Hall <33176108+IamPete1@users.noreply.github.com>
Date: Tue, 7 May 2019 19:20:43 +0100
Subject: [PATCH] Rover: Parmeters: remove old sailboat params

---
 APMrover2/Parameters.cpp | 60 +++++-----------------------------------
 APMrover2/Parameters.h   | 10 ++-----
 2 files changed, 10 insertions(+), 60 deletions(-)

diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index e9ebddacb2..77b9be7253 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -585,50 +585,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/AP_WindVane/AP_WindVane.cpp
     AP_SUBGROUPINFO(windvane, "WNDVN_", 31, ParametersG2, AP_WindVane),
 
-    // @Param: SAIL_ANGLE_MIN
-    // @DisplayName: Sail min angle
-    // @Description: Mainsheet tight, angle between centerline and boom
-    // @Units: deg
-    // @Range: 0 90
-    // @Increment: 1
-    // @User: Standard
-    AP_GROUPINFO("SAIL_ANGLE_MIN", 32, ParametersG2, sail_angle_min, 0),
-
-    // @Param: SAIL_ANGLE_MAX
-    // @DisplayName: Sail max angle
-    // @Description: Mainsheet loose, angle between centerline and boom
-    // @Units: deg
-    // @Range: 0 90
-    // @Increment: 1
-    // @User: Standard
-    AP_GROUPINFO("SAIL_ANGLE_MAX", 33, ParametersG2, sail_angle_max, 90),
-
-    // @Param: SAIL_ANGLE_IDEAL
-    // @DisplayName: Sail ideal angle
-    // @Description: Ideal angle between sail and apparent wind
-    // @Units: deg
-    // @Range: 0 90
-    // @Increment: 1
-    // @User: Standard
-    AP_GROUPINFO("SAIL_ANGLE_IDEAL", 34, ParametersG2, sail_angle_ideal, 25),
-
-    // @Param: SAIL_HEEL_MAX
-    // @DisplayName: Sailing maximum heel angle
-    // @Description: When in auto sail trim modes the heel will be limited to this value using PID control
-    // @Units: deg
-    // @Range: 0 90
-    // @Increment: 1
-    // @User: Standard
-    AP_GROUPINFO("SAIL_HEEL_MAX", 35, ParametersG2, sail_heel_angle_max, 15),
-
-    // @Param: SAIL_NO_GO_ANGLE
-    // @DisplayName: Sailing no go zone angle
-    // @Description: The typical closest angle to the wind the vehicle will sail at. the vehicle will sail at this angle when going upwind
-    // @Units: deg
-    // @Range: 0 90
-    // @Increment: 1
-    // @User: Standard
-    AP_GROUPINFO("SAIL_NO_GO_ANGLE", 36, ParametersG2, sail_no_go, 45),
+    // 32 to 36 were old sailboat params
 
     // @Group: ARSPD
     // @Path: ../libraries/AP_Airspeed/AP_Airspeed.cpp
@@ -672,6 +629,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/AR_WPNav/AR_WPNav.cpp
     AP_SUBGROUPINFO(wp_nav, "WP_", 43, ParametersG2, AR_WPNav),
 
+    // @Group: SAIL_
+    // @Path: sailboat.cpp
+    AP_SUBGROUPINFO(sailboat, "SAIL_", 44, ParametersG2, Sailboat),
+
     AP_GROUPEND
 };
 
@@ -744,7 +705,8 @@ ParametersG2::ParametersG2(void)
     follow(),
     windvane(),
     airspeed(),
-    wp_nav(attitude_control, rover.L1_controller)
+    wp_nav(attitude_control, rover.L1_controller),
+    sailboat()
 {
     AP_Param::setup_object_defaults(this, var_info);
 }
@@ -817,14 +779,6 @@ void Rover::load_parameters(void)
         g2.crash_angle.set_default(30);
     }
 
-    // sailboat defaults
-    if (g2.motors.has_sail()) {
-        g2.crash_angle.set_default(0);
-        g2.loit_type.set_default(1);
-        g2.loit_radius.set_default(5);
-        g2.wp_nav.set_default_overshoot(10);
-    }
-
     const uint8_t old_rc_keys[14] = { Parameters::k_param_rc_1_old,  Parameters::k_param_rc_2_old,
                                       Parameters::k_param_rc_3_old,  Parameters::k_param_rc_4_old,
                                       Parameters::k_param_rc_5_old,  Parameters::k_param_rc_6_old,
diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index db6680308b..d3d471dd78 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -368,13 +368,6 @@ public:
     // Simple mode types
     AP_Int8 simple_type;
 
-    // sailboat parameters
-    AP_Float sail_angle_min;
-    AP_Float sail_angle_max;
-    AP_Float sail_angle_ideal;
-    AP_Float sail_heel_angle_max;
-    AP_Float sail_no_go;
-
     // windvane
     AP_WindVane windvane;
 
@@ -396,6 +389,9 @@ public:
 
     // waypoint navigation
     AR_WPNav wp_nav;
+
+    // Sailboat functions
+    Sailboat sailboat;
 };
 
 extern const AP_Param::Info var_info[];