watchrobot/libraries/AP_WindVane/AP_WindVane_SITL.cpp

/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "AP_WindVane_SITL.h"

// constructor
AP_WindVane_SITL::AP_WindVane_SITL(AP_WindVane &frontend) :
    AP_WindVane_Backend(frontend)
{
}

#if CONFIG_HAL_BOARD == HAL_BOARD_SITL

void AP_WindVane_SITL::update_direction()
{
    // temporarily store true speed and direction for easy access
    const float wind_speed = AP::sitl()->wind_speed_active;
    const float wind_dir_rad = radians(AP::sitl()->wind_direction_active);

    // Note than the SITL wind direction is defined as the direction the wind is traveling to
    // This is accounted for in these calculations

    // convert true wind speed and direction into a 2D vector
    Vector2f wind_vector_ef(cosf(wind_dir_rad) * wind_speed, sinf(wind_dir_rad) * wind_speed);

    // add vehicle speed to get apparent wind vector
    wind_vector_ef.x += AP::sitl()->state.speedN;
    wind_vector_ef.y += AP::sitl()->state.speedE;

    direction_update_frontend(atan2f(wind_vector_ef.y, wind_vector_ef.x));
}

void AP_WindVane_SITL::update_speed()
{
    // temporarily store true speed and direction for easy access
    const float wind_speed = AP::sitl()->wind_speed_active;
    const float wind_dir_rad = radians(AP::sitl()->wind_direction_active);

    // convert true wind speed and direction into a 2D vector
    Vector2f wind_vector_ef(cosf(wind_dir_rad) * wind_speed, sinf(wind_dir_rad) * wind_speed);

    // add vehicle speed to get apparent wind vector
    wind_vector_ef.x += AP::sitl()->state.speedN;
    wind_vector_ef.y += AP::sitl()->state.speedE;

    speed_update_frontend(wind_vector_ef.length());
}
#endif