AP_WindVane: rename abs to true wind

libraries/AP_WindVane/AP_WindVane.cpp

@@ -293,7 +293,7 @@ void AP_WindVane::update()
         update_true_wind_speed_and_direction();
     } else {
         // no wind speed sensor, so can't do true wind calcs
-        _direction_absolute = _direction_apparent_ef;
+        _direction_true = _direction_apparent_ef;
         _speed_true = 0.0f;
         return;
     }
@@ -331,7 +331,7 @@ void AP_WindVane::send_wind(mavlink_channel_t chan)
     // send wind
     mavlink_msg_wind_send(
         chan,
-        wrap_360(degrees(get_absolute_wind_direction_rad())),
+        wrap_360(degrees(get_true_wind_direction_rad())),
         get_true_wind_speed(),
         0);
 }
@@ -344,7 +344,7 @@ void AP_WindVane::update_true_wind_speed_and_direction()
     Vector3f veh_velocity;
     if (!AP::ahrs().get_velocity_NED(veh_velocity)) {
         // if no vehicle speed use apparent speed and direction directly
-        _direction_absolute = _direction_apparent_ef;
+        _direction_true = _direction_apparent_ef;
         _speed_true = _speed_apparent;
         return;
     }
@@ -357,7 +357,7 @@ void AP_WindVane::update_true_wind_speed_and_direction()
     Vector2f wind_true_vec = Vector2f(wind_apparent_vec.x + veh_velocity.x, wind_apparent_vec.y + veh_velocity.y);
 
     // calculate true speed and direction
-    _direction_absolute = wrap_PI(atan2f(wind_true_vec.y, wind_true_vec.x) - radians(180));
+    _direction_true = wrap_PI(atan2f(wind_true_vec.y, wind_true_vec.x) - radians(180));
     _speed_true = wind_true_vec.length();
 }
 

libraries/AP_WindVane/AP_WindVane.h

@@ -57,8 +57,8 @@ public:
         return wrap_PI(_direction_apparent_ef - AP::ahrs().yaw);
     }
 
-    // get the absolute wind direction in radians, 0 = wind coming from north
-    float get_absolute_wind_direction_rad() const { return _direction_absolute; }
+    // get the true wind direction in radians, 0 = wind coming from north
+    float get_true_wind_direction_rad() const { return _direction_true; }
 
     // Return apparent wind speed
     float get_apparent_wind_speed() const { return _speed_apparent; }
@@ -112,7 +112,7 @@ private:
 
     // wind direction variables
     float _direction_apparent_ef;                   // wind's apparent direction in radians (0 = ahead of vehicle)
-    float _direction_absolute;                      // wind's absolute direction in radians (0 = North)
+    float _direction_true;                          // wind's true direction in radians (0 = North)
 
     // wind speed variables
     float _speed_apparent;                          // wind's apparent speed in m/s