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Merge pull request #76 from quantenschaum/75-true-wind
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tried to fix wind conversion, disabled wind calculation
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@wellenvogel
wellenvogel authored Sep 29, 2024
2 parents 4ede06e + 26d1fd4 commit 358710e
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Showing 3 changed files with 91 additions and 83 deletions.
53 changes: 27 additions & 26 deletions lib/boatData/GwBoatData.h
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Original file line number Diff line number Diff line change
Expand Up @@ -175,41 +175,42 @@ class GwBoatData{
GwBoatItemBase::GwBoatItemMap values;
public:

GWBOATDATA(double,COG,4000,formatCourse)
GWBOATDATA(double,TWD,4000,formatCourse)
GWBOATDATA(double,SOG,4000,formatKnots)
GWBOATDATA(double,STW,4000,formatKnots)
GWBOATDATA(double,TWS,4000,formatKnots)
GWBOATDATA(double,AWS,4000,formatKnots)
GWBOATDATA(double,MaxTws,0,formatKnots)
GWBOATDATA(double,COG,4000,formatCourse) // course over ground
GWBOATDATA(double,SOG,4000,formatKnots) // speed over ground
GWBOATDATA(double,HDT,4000,formatCourse) // true heading
GWBOATDATA(double,HDM,4000,formatCourse) // magnetic heading
GWBOATDATA(double,STW,4000,formatKnots) // water speed
GWBOATDATA(double,VAR,4000,formatWind) // variation
GWBOATDATA(double,DEV,4000,formatWind) // deviation
GWBOATDATA(double,AWA,4000,formatWind) // apparent wind ANGLE
GWBOATDATA(double,AWS,4000,formatKnots) // apparent wind speed
GWBOATDATA(double,MaxAws,0,formatKnots)
GWBOATDATA(double,AWA,4000,formatWind)
GWBOATDATA(double,HDG,4000,formatCourse) //true heading
GWBOATDATA(double,MHDG,4000,formatCourse) //magnetic heading
GWBOATDATA(double,ROT,4000,formatRot)
GWBOATDATA(double,VAR,4000,formatCourse) //Variation
GWBOATDATA(double,DEV,4000,formatCourse) //Deviation
GWBOATDATA(double,TWD,4000,formatCourse) // true wind DIRECTION
GWBOATDATA(double,TWA,4000,formatWind) // true wind ANGLE
GWBOATDATA(double,TWS,4000,formatKnots) // true wind speed
GWBOATDATA(double,MaxTws,0,formatKnots)
GWBOATDATA(double,ROT,4000,formatRot) // rate of turn
GWBOATDATA(double,RPOS,4000,formatWind) // rudder position
GWBOATDATA(double,PRPOS,4000,formatWind) // secondary rudder position
GWBOATDATA(double,LAT,4000,formatLatitude)
GWBOATDATA(double,LON,4000,formatLongitude)
GWBOATDATA(double,ALT,4000,formatFixed0) //altitude
GWBOATDATA(double,HDOP,4000,formatDop)
GWBOATDATA(double,PDOP,4000,formatDop)
GWBOATDATA(double,VDOP,4000,formatDop)
GWBOATDATA(double,RPOS,4000,formatWind) //RudderPosition
GWBOATDATA(double,PRPOS,4000,formatWind) //second rudder pos
GWBOATDATA(double,LAT,4000,formatLatitude)
GWBOATDATA(double,LON,4000,formatLongitude)
GWBOATDATA(double,ALT,4000,formatFixed0) //altitude
GWBOATDATA(double,DBS,4000,formatDepth) //waterDepth (below surface)
GWBOATDATA(double,DBT,4000,formatDepth) //DepthTransducer
GWBOATDATA(double,GPST,4000,formatTime) //GpsTime
GWBOATDATA(double,GPST,4000,formatTime) // GPS time (seconds of day)
GWBOATDATA(uint32_t,GPSD,4000,formatDate) // GPS date (days since 1979-01-01)
GWBOATDATA(int16_t,TZ,8000,formatFixed0)
GWBOATDATA(double,WTemp,4000,kelvinToC)
GWBOATDATA(double,XTE,4000,formatXte)
GWBOATDATA(double,DTW,4000,mtr2nm) //distance wp
GWBOATDATA(double,BTW,4000,formatCourse) //bearing wp
GWBOATDATA(double,WPLat,4000,formatLatitude)
GWBOATDATA(double,WPLon,4000,formatLongitude)
GWBOATDATA(uint32_t,Log,16000,mtr2nm)
GWBOATDATA(uint32_t,TripLog,16000,mtr2nm)
GWBOATDATA(uint32_t,GPSD,4000,formatDate) //Date
GWBOATDATA(int16_t,TZ,8000,formatFixed0)
GWBOATDATA(double,DTW,4000,mtr2nm) // distance to waypoint
GWBOATDATA(double,BTW,4000,formatCourse) // bearing to waypoint
GWBOATDATA(double,XTE,4000,formatXte) // cross track error
GWBOATDATA(double,WPLat,4000,formatLatitude) // waypoint latitude
GWBOATDATA(double,WPLon,4000,formatLongitude) // waypoint longitude
GWSPECBOATDATA(GwBoatDataSatList,SatInfo,GwSatInfoList::lifeTime,formatFixed0);
public:
GwBoatData(GwLog *logger);
Expand Down
68 changes: 33 additions & 35 deletions lib/nmea0183ton2k/NMEA0183DataToN2K.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -399,20 +399,20 @@ class NMEA0183DataToN2KFunctions : public NMEA0183DataToN2K
return;
}
tN2kMsg n2kMsg;
tN2kWindReference n2kRef;
tN2kWindReference n2kRef;
bool shouldSend=false;
WindAngle=formatDegToRad(WindAngle);
switch(Reference){
case NMEA0183Wind_Apparent:
n2kRef=N2kWind_Apparent;
shouldSend=updateDouble(boatData->AWA,WindAngle,msg.sourceId) &&
updateDouble(boatData->AWS,WindSpeed,msg.sourceId);
updateDouble(boatData->AWS,WindSpeed,msg.sourceId);
if (WindSpeed != NMEA0183DoubleNA) boatData->MaxAws->updateMax(WindSpeed);
break;
case NMEA0183Wind_True:
n2kRef=N2kWind_True_North;
shouldSend=updateDouble(boatData->TWD,WindAngle,msg.sourceId) &&
updateDouble(boatData->TWS,WindSpeed,msg.sourceId);
n2kRef=N2kWind_True_water;
shouldSend=updateDouble(boatData->TWA,WindAngle,msg.sourceId) &&
updateDouble(boatData->TWS,WindSpeed,msg.sourceId);
if (WindSpeed != NMEA0183DoubleNA) boatData->MaxTws->updateMax(WindSpeed);
break;
default:
Expand Down Expand Up @@ -467,20 +467,19 @@ class NMEA0183DataToN2KFunctions : public NMEA0183DataToN2K

void convertMWD(const SNMEA0183Msg &msg)
{
double WindAngle = NMEA0183DoubleNA, WindAngleMagnetic=NMEA0183DoubleNA,
WindSpeed = NMEA0183DoubleNA;
double WindDirection = NMEA0183DoubleNA, WindDirectionMagnetic=NMEA0183DoubleNA, WindSpeed = NMEA0183DoubleNA;
if (msg.FieldCount() < 8 )
{
LOG_DEBUG(GwLog::DEBUG, "failed to parse MWD %s", msg.line);
return;
}
if (msg.FieldLen(0) > 0 && msg.Field(1)[0] == 'T')
{
WindAngle = formatDegToRad(atof(msg.Field(0)));
WindDirection = formatDegToRad(atof(msg.Field(0)));
}
if (msg.FieldLen(2) > 0 && msg.Field(3)[0] == 'M')
{
WindAngleMagnetic = formatDegToRad(atof(msg.Field(2)));
WindDirectionMagnetic = formatDegToRad(atof(msg.Field(2)));
}
if (msg.FieldLen(4) > 0 && msg.Field(5)[0] == 'N')
{
Expand All @@ -497,61 +496,60 @@ class NMEA0183DataToN2KFunctions : public NMEA0183DataToN2K
}
tN2kMsg n2kMsg;
bool shouldSend = false;
if (WindAngle != NMEA0183DoubleNA){
shouldSend = updateDouble(boatData->TWD, WindAngle, msg.sourceId) &&
if (WindDirection != NMEA0183DoubleNA){
shouldSend = updateDouble(boatData->TWD, WindDirection, msg.sourceId) &&
updateDouble(boatData->TWS, WindSpeed, msg.sourceId);
if (WindSpeed != NMEA0183DoubleNA) boatData->MaxTws->updateMax(WindSpeed);
}
if (shouldSend)
{
SetN2kWindSpeed(n2kMsg, 1, WindSpeed, WindAngle, N2kWind_True_North);
send(n2kMsg,msg.sourceId,String(n2kMsg.PGN)+String((int)N2kWind_True_North));
}
if (WindAngleMagnetic != NMEA0183DoubleNA && shouldSend){
SetN2kWindSpeed(n2kMsg, 1, WindSpeed, WindAngleMagnetic, N2kWind_Magnetic);
send(n2kMsg,msg.sourceId,String(n2kMsg.PGN)+String((int)N2kWind_Magnetic));
if(shouldSend && boatData->HDT->isValid()) {
double twa = WindDirection-boatData->HDT->getData();
if(twa<0) { twa+=2*M_PI; }
updateDouble(boatData->TWA, twa, msg.sourceId);
SetN2kWindSpeed(n2kMsg, 1, WindSpeed, twa, N2kWind_True_water);
send(n2kMsg,msg.sourceId,String(n2kMsg.PGN)+String((int)N2kWind_True_water));
}
}
}

void convertHDM(const SNMEA0183Msg &msg){
double MHDG=NMEA0183DoubleNA;
if (!NMEA0183ParseHDM_nc(msg, MHDG))
double HDM=NMEA0183DoubleNA;
if (!NMEA0183ParseHDM_nc(msg, HDM))
{
LOG_DEBUG(GwLog::DEBUG, "failed to parse HDM %s", msg.line);
return;
}
if (! UD(MHDG)) return;
if (! UD(HDM)) return;
tN2kMsg n2kMsg;
SetN2kMagneticHeading(n2kMsg,1,MHDG,
SetN2kMagneticHeading(n2kMsg,1,HDM,
boatData->VAR->getDataWithDefault(N2kDoubleNA),
boatData->DEV->getDataWithDefault(N2kDoubleNA)
);
send(n2kMsg,msg.sourceId,"127250M");
}

void convertHDT(const SNMEA0183Msg &msg){
double HDG=NMEA0183DoubleNA;
if (!NMEA0183ParseHDT_nc(msg, HDG))
double HDT=NMEA0183DoubleNA;
if (!NMEA0183ParseHDT_nc(msg, HDT))
{
LOG_DEBUG(GwLog::DEBUG, "failed to parse HDT %s", msg.line);
return;
}
if (! UD(HDG)) return;
if (! UD(HDT)) return;
tN2kMsg n2kMsg;
SetN2kTrueHeading(n2kMsg,1,HDG);
SetN2kTrueHeading(n2kMsg,1,HDT);
send(n2kMsg,msg.sourceId);
}

void convertHDG(const SNMEA0183Msg &msg){
double MHDG=NMEA0183DoubleNA;
double VAR=NMEA0183DoubleNA;
double HDM=NMEA0183DoubleNA;
double DEV=NMEA0183DoubleNA;
double VAR=NMEA0183DoubleNA;
if (msg.FieldCount() < 5)
{
LOG_DEBUG(GwLog::DEBUG, "failed to parse HDG %s", msg.line);
return;
}
if (msg.FieldLen(0)>0){
MHDG=formatDegToRad(atof(msg.Field(0)));
HDM=formatDegToRad(atof(msg.Field(0)));
}
else{
return;
Expand All @@ -565,11 +563,11 @@ class NMEA0183DataToN2KFunctions : public NMEA0183DataToN2K
if (msg.Field(4)[0] == 'W') VAR=-VAR;
}

if (! UD(MHDG)) return;
if (! UD(HDM)) return;
UD(VAR);
UD(DEV);
tN2kMsg n2kMsg;
SetN2kMagneticHeading(n2kMsg,1,MHDG,DEV,VAR);
SetN2kMagneticHeading(n2kMsg,1,HDM,DEV,VAR);
send(n2kMsg,msg.sourceId,"127250M");
}

Expand Down Expand Up @@ -705,11 +703,11 @@ class NMEA0183DataToN2KFunctions : public NMEA0183DataToN2K
return;
}
tN2kMsg n2kMsg;
if (updateDouble(boatData->HDG,TrueHeading,msg.sourceId)){
if (updateDouble(boatData->HDT,TrueHeading,msg.sourceId)){
SetN2kTrueHeading(n2kMsg,1,TrueHeading);
send(n2kMsg,msg.sourceId);
}
if(updateDouble(boatData->MHDG,MagneticHeading,msg.sourceId)){
if(updateDouble(boatData->HDM,MagneticHeading,msg.sourceId)){
SetN2kMagneticHeading(n2kMsg,1,MagneticHeading,
boatData->DEV->getDataWithDefault(N2kDoubleNA),
boatData->VAR->getDataWithDefault(N2kDoubleNA)
Expand Down
53 changes: 31 additions & 22 deletions lib/nmea2kto0183/N2kDataToNMEA0183.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -185,13 +185,13 @@ class N2kToNMEA0183Functions : public N2kDataToNMEA0183
if (N2kIsNA(Variation)){
//no variation
if (ref == N2khr_magnetic){
updateDouble(boatData->MHDG,Heading);
updateDouble(boatData->HDM,Heading);
if (NMEA0183SetHDM(NMEA0183Msg,Heading,talkerId)){
SendMessage(NMEA0183Msg);
}
}
if (ref == N2khr_true){
updateDouble(boatData->HDG,Heading);
updateDouble(boatData->HDT,Heading);
if (NMEA0183SetHDT(NMEA0183Msg,Heading,talkerId)){
SendMessage(NMEA0183Msg);
}
Expand All @@ -206,8 +206,8 @@ class N2kToNMEA0183Functions : public N2kDataToNMEA0183
if (ref == N2khr_true){
MagneticHeading=Heading-Variation;
}
updateDouble(boatData->MHDG,MagneticHeading);
updateDouble(boatData->HDG,Heading);
updateDouble(boatData->HDM,MagneticHeading);
updateDouble(boatData->HDT,Heading);
if (!N2kIsNA(MagneticHeading)){
if (NMEA0183SetHDG(NMEA0183Msg, MagneticHeading,_Deviation,
Variation,talkerId))
Expand Down Expand Up @@ -252,8 +252,8 @@ class N2kToNMEA0183Functions : public N2kDataToNMEA0183
tNMEA0183Msg NMEA0183Msg;
updateDouble(boatData->STW, WaterReferenced);
unsigned long now = millis();
double MagneticHeading = (boatData->HDG->isValid(now) && boatData->VAR->isValid(now)) ? boatData->HDG->getData() + boatData->VAR->getData() : NMEA0183DoubleNA;
if (NMEA0183SetVHW(NMEA0183Msg, boatData->HDG->getDataWithDefault(NMEA0183DoubleNA), MagneticHeading, WaterReferenced,talkerId))
double MagneticHeading = (boatData->HDT->isValid(now) && boatData->VAR->isValid(now)) ? boatData->HDT->getData() + boatData->VAR->getData() : NMEA0183DoubleNA;
if (NMEA0183SetVHW(NMEA0183Msg, boatData->HDT->getDataWithDefault(NMEA0183DoubleNA), MagneticHeading, WaterReferenced,talkerId))
{
SendMessage(NMEA0183Msg);
}
Expand Down Expand Up @@ -468,37 +468,46 @@ class N2kToNMEA0183Functions : public N2kDataToNMEA0183
{
unsigned char SID;
tN2kWindReference WindReference;
tNMEA0183WindReference NMEA0183Reference = NMEA0183Wind_True;

double x, y;
double WindAngle=N2kDoubleNA, WindSpeed=N2kDoubleNA;

if (ParseN2kWindSpeed(N2kMsg, SID, WindSpeed, WindAngle, WindReference))
{
if (ParseN2kWindSpeed(N2kMsg, SID, WindSpeed, WindAngle, WindReference)) {
tNMEA0183Msg NMEA0183Msg;
tNMEA0183WindReference NMEA0183Reference;
bool shouldSend = false;

if (WindReference == N2kWind_Apparent)
{
// MWV sentence contains apparent/true ANGLE and SPEED
// https://gpsd.gitlab.io/gpsd/NMEA.html#_mwv_wind_speed_and_angle
// https://docs.vaisala.com/r/M211109EN-L/en-US/GUID-7402DEF8-5E82-446F-B63E-998F49F3D743/GUID-C77934C7-2A72-466E-BC52-CE6B8CC7ACB6

if (WindReference == N2kWind_Apparent) {
NMEA0183Reference = NMEA0183Wind_Apparent;
updateDouble(boatData->AWA, WindAngle);
updateDouble(boatData->AWS, WindSpeed);
setMax(boatData->MaxAws, boatData->AWS);
}
if (WindReference == N2kWind_True_North)
{
shouldSend = true;
}
if (WindReference == N2kWind_True_water) {
NMEA0183Reference = NMEA0183Wind_True;
updateDouble(boatData->TWD, WindAngle);
updateDouble(boatData->TWA, WindAngle);
updateDouble(boatData->TWS, WindSpeed);
setMax(boatData->MaxTws, boatData->TWS);
shouldSend = true;
if (boatData->HDT->isValid()) {
double twd = WindAngle+boatData->HDT->getData();
if (twd>2*M_PI) { twd-=2*M_PI; }
updateDouble(boatData->TWD, twd);
}
}

if (NMEA0183SetMWV(NMEA0183Msg, formatCourse(WindAngle), NMEA0183Reference, WindSpeed,talkerId))
if (shouldSend && NMEA0183SetMWV(NMEA0183Msg, formatCourse(WindAngle), NMEA0183Reference, WindSpeed, talkerId)) {
SendMessage(NMEA0183Msg);
}

if (WindReference == N2kWind_Apparent && boatData->SOG->isValid())
/* if (WindReference == N2kWind_Apparent && boatData->SOG->isValid())
{ // Lets calculate and send TWS/TWA if SOG is available
x = WindSpeed * cos(WindAngle);
y = WindSpeed * sin(WindAngle);
double x = WindSpeed * cos(WindAngle);
double y = WindSpeed * sin(WindAngle);
updateDouble(boatData->TWD, atan2(y, -boatData->SOG->getData() + x));
updateDouble(boatData->TWS, sqrt((y * y) + ((-boatData->SOG->getData() + x) * (-boatData->SOG->getData() + x))));
Expand Down Expand Up @@ -534,7 +543,7 @@ class N2kToNMEA0183Functions : public N2kDataToNMEA0183
return;
SendMessage(NMEA0183Msg);
}
} */
}
}
//*****************************************************************************
Expand Down

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