From f22d7c906ae0dc575977d153036a82b6d7e8eb49 Mon Sep 17 00:00:00 2001
From: Peter Hall <33176108+IamPete1@users.noreply.github.com>
Date: Tue, 7 May 2019 19:20:02 +0100
Subject: [PATCH] Rover: move to use new sailboat class

---
 APMrover2/Log.cpp         |  6 +++---
 APMrover2/mode.cpp        | 10 +++++-----
 APMrover2/mode_acro.cpp   |  9 +++++----
 APMrover2/mode_loiter.cpp |  2 +-
 4 files changed, 14 insertions(+), 13 deletions(-)

diff --git a/APMrover2/Log.cpp b/APMrover2/Log.cpp
index 7835654d64..050ec0ea4d 100644
--- a/APMrover2/Log.cpp
+++ b/APMrover2/Log.cpp
@@ -46,7 +46,7 @@ void Rover::Log_Write_Attitude()
     }
 
     // log heel to sail control for sailboats
-    if (g2.motors.has_sail()) {
+    if (rover.g2.sailboat.enabled()) {
         logger.Write_PID(LOG_PIDR_MSG, g2.attitude_control.get_sailboat_heel_pid().get_pid_info());
     }
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@@ -141,7 +141,7 @@ void Rover::Log_Write_Nav_Tuning()
 void Rover::Log_Write_Sail()
 {
     // only log sail if present
-    if (!g2.motors.has_sail()) {
+    if (!rover.g2.sailboat.enabled()) {
         return;
     }
 
@@ -164,7 +164,7 @@ void Rover::Log_Write_Sail()
                         (double)wind_speed_true,
                         (double)wind_speed_apparent,
                         (double)g2.motors.get_mainsail(),
-                        (double)sailboat_get_VMG());
+                        (double)g2.sailboat.get_VMG());
 }
 
 struct PACKED log_Steering {
diff --git a/APMrover2/mode.cpp b/APMrover2/mode.cpp
index 277a106628..b82825fd46 100644
--- a/APMrover2/mode.cpp
+++ b/APMrover2/mode.cpp
@@ -45,7 +45,7 @@ bool Mode::enter()
         set_reversed(false);
 
         // clear sailboat tacking flags
-        rover.sailboat_clear_tack();
+        rover.g2.sailboat.clear_tack();
     }
 
     return ret;
@@ -257,7 +257,7 @@ void Mode::handle_tack_request()
 {
     // autopilot modes handle tacking
     if (is_autopilot_mode()) {
-        rover.sailboat_handle_tack_request_auto();
+        rover.g2.sailboat.handle_tack_request_auto();
     }
 }
 
@@ -288,7 +288,7 @@ void Mode::calc_throttle(float target_speed, bool avoidance_enabled)
     }
 
     // update mainsail position if present
-    rover.sailboat_update_mainsail(target_speed);
+    rover.g2.sailboat.update_mainsail(target_speed);
 
     // send to motor
     g2.motors.set_throttle(throttle_out);
@@ -395,9 +395,9 @@ void Mode::navigate_to_waypoint()
     calc_throttle(desired_speed, true);
 
     float desired_heading_cd = g2.wp_nav.wp_bearing_cd();
-    if (rover.sailboat_use_indirect_route(desired_heading_cd)) {
+    if (g2.sailboat.use_indirect_route(desired_heading_cd)) {
         // sailboats use heading controller when tacking upwind
-        desired_heading_cd = rover.sailboat_calc_heading(desired_heading_cd);
+        desired_heading_cd = g2.sailboat.calc_heading(desired_heading_cd);
         calc_steering_to_heading(desired_heading_cd, g2.wp_nav.get_pivot_rate());
     } else {
         // call turn rate steering controller
diff --git a/APMrover2/mode_acro.cpp b/APMrover2/mode_acro.cpp
index 30d15d9ae1..10f4e37c39 100644
--- a/APMrover2/mode_acro.cpp
+++ b/APMrover2/mode_acro.cpp
@@ -23,11 +23,12 @@ void ModeAcro::update()
     // handle sailboats
     if (!is_zero(desired_steering)) {
         // steering input return control to user
-        rover.sailboat_clear_tack();
+        rover.g2.sailboat.clear_tack();
     }
-    if (g2.motors.has_sail() && rover.sailboat_tacking()) {
+    if (rover.g2.sailboat.tacking()) {
         // call heading controller during tacking
-        steering_out = attitude_control.get_steering_out_heading(rover.sailboat_get_tack_heading_rad(),
+
+        steering_out = attitude_control.get_steering_out_heading(rover.g2.sailboat.get_tack_heading_rad(),
                                                                  g2.wp_nav.get_pivot_rate(),
                                                                  g2.motors.limit.steer_left,
                                                                  g2.motors.limit.steer_right,
@@ -54,5 +55,5 @@ bool ModeAcro::requires_velocity() const
 // sailboats in acro mode support user manually initiating tacking from transmitter
 void ModeAcro::handle_tack_request()
 {
-    rover.sailboat_handle_tack_request_acro();
+    rover.g2.sailboat.handle_tack_request_acro();
 }
diff --git a/APMrover2/mode_loiter.cpp b/APMrover2/mode_loiter.cpp
index 1ce2cc3ba0..0f3eda65f0 100644
--- a/APMrover2/mode_loiter.cpp
+++ b/APMrover2/mode_loiter.cpp
@@ -25,7 +25,7 @@ void ModeLoiter::update()
     // if within loiter radius slew desired speed towards zero and use existing desired heading
     if (_distance_to_destination <= g2.loit_radius) {
         // sailboats do not stop
-        const float desired_speed_within_radius = g2.motors.has_sail() ? 0.1f : 0.0f;
+        const float desired_speed_within_radius = rover.g2.sailboat.enabled() ? 0.1f : 0.0f;
         _desired_speed = attitude_control.get_desired_speed_accel_limited(desired_speed_within_radius, rover.G_Dt);
     } else {
         // P controller with hard-coded gain to convert distance to desired speed