Rover: rename abs to true wind

APMrover2/Log.cpp

@@ -133,12 +133,12 @@ void Rover::Log_Write_Sail()
     float wind_speed_true = logger.quiet_nanf();
     float wind_speed_apparent = logger.quiet_nanf();
     if (rover.g2.windvane.enabled()) {
-        wind_dir_abs = degrees(g2.windvane.get_absolute_wind_direction_rad());
+        wind_dir_abs = degrees(g2.windvane.get_true_wind_direction_rad());
         wind_dir_rel = degrees(g2.windvane.get_apparent_wind_direction_rad());
         wind_speed_true = g2.windvane.get_true_wind_speed();
         wind_speed_apparent = g2.windvane.get_apparent_wind_speed();
     }
-    logger.Write("SAIL", "TimeUS,WindDirAbs,WindDirApp,WindSpdTrue,WindSpdApp,SailOut,VMG",
+    logger.Write("SAIL", "TimeUS,WindDirTrue,WindDirApp,WindSpdTrue,WindSpdApp,SailOut,VMG",
                         "shhnn%n", "F000000", "Qffffff",
                         AP_HAL::micros64(),
                         (double)wind_dir_abs,

APMrover2/sailboat.cpp

@@ -242,7 +242,7 @@ void Sailboat::handle_tack_request_acro()
     }
     // set tacking heading target to the current angle relative to the true wind but on the new tack
     currently_tacking = true;
-    tack_heading_rad = wrap_2PI(rover.ahrs.yaw + 2.0f * wrap_PI((rover.g2.windvane.get_absolute_wind_direction_rad() - rover.ahrs.yaw)));
+    tack_heading_rad = wrap_2PI(rover.ahrs.yaw + 2.0f * wrap_PI((rover.g2.windvane.get_true_wind_direction_rad() - rover.ahrs.yaw)));
 
     auto_tack_request_ms = AP_HAL::millis();
 }
@@ -290,7 +290,7 @@ bool Sailboat::use_indirect_route(float desired_heading_cd) const
     const float desired_heading_rad = radians(desired_heading_cd * 0.01f);
 
     // check if desired heading is in the no go zone, if it is we can't go direct
-    return fabsf(wrap_PI(rover.g2.windvane.get_absolute_wind_direction_rad() - desired_heading_rad)) <= radians(sail_no_go);
+    return fabsf(wrap_PI(rover.g2.windvane.get_true_wind_direction_rad() - desired_heading_rad)) <= radians(sail_no_go);
 }
 
 // if we can't sail on the desired heading then we should pick the best heading that we can sail on
@@ -312,8 +312,9 @@ float Sailboat::calc_heading(float desired_heading_cd)
     }
 
     // calculate left and right no go headings looking upwind
-    const float left_no_go_heading_rad = wrap_2PI(rover.g2.windvane.get_absolute_wind_direction_rad() + radians(sail_no_go));
-    const float right_no_go_heading_rad = wrap_2PI(rover.g2.windvane.get_absolute_wind_direction_rad() - radians(sail_no_go));
+    const float true_wind_rad = rover.g2.windvane.get_true_wind_direction_rad();
+    const float left_no_go_heading_rad = wrap_2PI(true_wind_rad + radians(sail_no_go));
+    const float right_no_go_heading_rad = wrap_2PI(true_wind_rad - radians(sail_no_go));
 
     // calculate current tack, Port if heading is left of no-go, STBD if right of no-go
     Sailboat_Tack current_tack;