From d867364088ce34c10611d27ebc4d84cbc02800b7 Mon Sep 17 00:00:00 2001
From: Andy Little <kwikius@yahoo.com>
Date: Tue, 20 Feb 2024 11:36:32 +0000
Subject: [PATCH] Rover: Sailboat: revert friends and private Sailboat
 functions. See
 https://github.com/ArduPilot/ardupilot/pull/26152#discussion_r1495156661

---
 Rover/sailboat.h | 74 +++++++++++++++++++++++-------------------------
 1 file changed, 35 insertions(+), 39 deletions(-)

diff --git a/Rover/sailboat.h b/Rover/sailboat.h
index b6d529c44a..e0f9d06f30 100644
--- a/Rover/sailboat.h
+++ b/Rover/sailboat.h
@@ -18,15 +18,6 @@
 */
 class Sailboat
 {
-
-   friend class Rover;
-   friend class Mode;
-   friend class ModeManual;
-   friend class ModeHold;
-   friend class ModeLoiter;
-   friend class ModeAcro;
-   friend class RC_Channel_Rover;
-
 public:
 
     // constructor
@@ -38,15 +29,39 @@ public:
     // true if sailboat navigation (aka tacking) is enabled
     bool tack_enabled() const;
 
+    // setup
+    void init();
+
+    // initialise rc input (channel_mainsail)
+    void init_rc_in();
+
+    // calculate throttle and set sail
+    void get_throttle_and_set_mainsail(float desired_speed, float &throttle_out);
+
     // Velocity Made Good, this is the speed we are traveling towards the desired destination
     float get_VMG() const;
 
+    // handle user initiated tack while in acro mode
+    void handle_tack_request_acro();
+
+    // return target heading in radians when tacking (only used in acro)
+    float get_tack_heading_rad();
+
+    // handle user initiated tack while in autonomous modes (Auto, Guided, RTL, SmartRTL, etc)
+    void handle_tack_request_auto();
+
+    // clear tacking state variables
+    void clear_tack();
+
     // returns true if boat is currently tacking
     bool tacking() const;
 
     // returns true if sailboat should take a indirect navigation route to go upwind
     bool use_indirect_route(float desired_heading_cd) const;
 
+    // calculate the heading to sail on if we cant go upwind
+    float calc_heading(float desired_heading_cd);
+
     // states of USE_MOTOR parameter and motor_state variable
     enum class UseMotor {
         USE_MOTOR_NEVER  = 0,
@@ -54,46 +69,27 @@ public:
         USE_MOTOR_ALWAYS = 2
     };
 
-    // return sailboat loiter radius
-    float get_loiter_radius() const {return loit_radius;}
-
-    // var_info for holding Parameter information
-    static const struct AP_Param::GroupInfo var_info[];
-
-private:
-
-    // handle user initiated tack while in acro mode
-    void handle_tack_request_acro();
-
-  // setup
-    void init();
-
-    // initialise rc input (channel_mainsail)
-    void init_rc_in();
-
-    // return target heading in radians when tacking (only used in acro)
-    float get_tack_heading_rad();
-
-    // clear tacking state variables
-    void clear_tack();
-
-    // handle user initiated tack while in autonomous modes (Auto, Guided, RTL, SmartRTL, etc)
-    void handle_tack_request_auto();
-
     // set state of motor
     // if report_failure is true a message will be sent to all GCSs
     void set_motor_state(UseMotor state, bool report_failure = true);
 
-        // calculate the heading to sail on if we cant go upwind
-    float calc_heading(float desired_heading_cd);
+    // var_info for holding Parameter information
+    static const struct AP_Param::GroupInfo var_info[];
 
+    // return sailboat loiter radius
+    float get_loiter_radius() const {return loit_radius;}
+
+    // set mainsail according to pilot input
     void set_pilot_desired_mainsail();
 
+    // set mainsail in auto modes
     void set_auto_mainsail(float desired_speed);
+
+    // as far as possible stop sails driving the boat
+    // by feathering or sheeting right out
     void relax_sails();
 
-    // calculate throttle and set sail
-    void get_throttle_and_set_mainsail(float desired_speed, float &throttle_out);
+private:
 
     // true if motor is on to assist with slow tack
     bool motor_assist_tack() const;