From ecd1f8e6580681139b9743214d20fa78c6f5cc3b Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 1 Nov 2018 14:26:07 +0900
Subject: [PATCH] AP_WindVane: add send_wind

---
 libraries/AP_WindVane/AP_WindVane.cpp | 16 ++++++++++++++++
 libraries/AP_WindVane/AP_WindVane.h   |  3 +++
 2 files changed, 19 insertions(+)

diff --git a/libraries/AP_WindVane/AP_WindVane.cpp b/libraries/AP_WindVane/AP_WindVane.cpp
index 79f3312120..db283e4770 100644
--- a/libraries/AP_WindVane/AP_WindVane.cpp
+++ b/libraries/AP_WindVane/AP_WindVane.cpp
@@ -243,6 +243,22 @@ bool AP_WindVane::start_calibration()
     return false;
 }
 
+// send mavlink wind message
+void AP_WindVane::send_wind(mavlink_channel_t chan)
+{
+    // exit immediately if not enabled
+    if (!enabled()) {
+        return;
+    }
+
+    // send wind
+    mavlink_msg_wind_send(
+        chan,
+        wrap_360(degrees(get_absolute_wind_direction_rad())),
+        get_true_wind_speed(),
+        0);
+}
+
 // read an analog port and calculate the wind direction in earth-frame in radians
 // assumes voltage increases as wind vane moves clockwise
 float AP_WindVane::read_analog_direction_ef()
diff --git a/libraries/AP_WindVane/AP_WindVane.h b/libraries/AP_WindVane/AP_WindVane.h
index aa1cef898f..6d94180a4d 100644
--- a/libraries/AP_WindVane/AP_WindVane.h
+++ b/libraries/AP_WindVane/AP_WindVane.h
@@ -67,6 +67,9 @@ public:
     // start calibration routine
     bool start_calibration();
 
+    // send mavlink wind message
+    void send_wind(mavlink_channel_t chan);
+
     // parameter block
     static const struct AP_Param::GroupInfo var_info[];