def compute_heading(self):
ap = self.ap
compass = ap.boatimu.SensorValues['heading_lowpass'].value
if ap.mode.value == 'true wind':
true_wind = resolv(ap.true_wind_compass_offset.value - compass)
ap.heading.set(true_wind)
elif ap.mode.value == 'wind':
wind = resolv(ap.wind_compass_offset.value - compass)
ap.heading.set(wind)
elif ap.mode.value == 'gps':
gps = resolv(compass + ap.gps_compass_offset.value, 180)
ap.heading.set(gps)
elif ap.mode.value == 'compass':
ap.heading.set(compass)
def update(self, data):
self.direction.set(resolv(data['direction'] + self.offset.value, 180))
if 'speed' in data:
self.speed.set(data['speed'])