def _updateAWA(self):
if STATIC_AWA == None:
# Sets the apparent wind angle
boat_bearing = self.arduinoData.hog
# Reverse direction for boat vector
if (boat_bearing >= 0):
boat_bearing -= 180
else:
boat_bearing += 180
boat_speed = self.arduinoData.sog
# Reverse direction for wind vector
wind_bearing = self.trueWindAngle
if (wind_bearing >= 0):
wind_bearing -= 180
else:
wind_bearing += 180
wind_speed = self.trueWindSpeed
boat_x = boat_speed * math.cos(boat_bearing)
boat_y = boat_speed * math.sin(boat_bearing)
wind_x = wind_speed * math.cos(wind_bearing)
wind_y = wind_speed * math.sin(wind_bearing)
x = boat_x + wind_x
y = boat_y + wind_y
if self.previousx is None:
self.previousx = x
awa = math.atan(y/x)
if (math.copysign(self.previousx, x) != self.previousx or self.flipflag):
if (not self.flipflag):
self.flipflag = True
elif (math.copysign(self.previousx, x) != self.previousx):
self.flipflag = False
print(str(self.previousx) + ", " + str(x))
if(awa > 0):
awa -= math.pi
else:
awa += math.pi
awa = math.degrees(awa)
awa -= self.arduinoData.hog
awa = standardcalc.boundTo180(awa)
self.previousx = x
else:
awa = standardcalc.boundTo180(standardcalc.boundTo360(STATIC_AWA)-standardcalc.boundTo180(self.arduinoData.hog))
self.arduinoData.awa = standardcalc.boundTo180(awa)
def testLessThanNegative360More(self):
self.assertEqual(standardcalc.boundTo360(self.num7), self.num7bounded)
def testGreaterThan360ToAbove180(self):
self.assertEqual(standardcalc.boundTo360(self.num5), self.num5bounded)
def testGreaterThan360(self):
self.assertEqual(standardcalc.boundTo360(self.num4), self.num4bounded)
def testLessThan180(self):
self.assertEqual(standardcalc.boundTo360(self.num3), self.num3bounded)
def testNoChange(self):
self.assertEqual(standardcalc.boundTo360(self.num1), self.num1bounded)
