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esp32-nmea2000-obp60
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another wndCenter fix; TWD calc with HDM and no VAR; COG valid check; dflt range 60°

This commit is contained in:
Ulrich Meine 2025-08-11 20:49:39 +02:00
parent 05f8b3ec65
commit 398b8e0d02
3 changed files with 33 additions and 30 deletions
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28
lib/obp60task/OBPDataOperations.cpp
View File

@ -83,24 +83,26 @@ bool WindUtils::calcTrueWind(const double* awaVal, const double* awsVal,
{ {
double stw, hdt, ctw; double stw, hdt, ctw;
double twd, tws, twa; double twd, tws, twa;
double minSogVal = 0.1; // SOG below this value (m/s) is assumed to be data noise from GPS sensor
static const double DBL_MIN = std::numeric_limits<double>::lowest(); static const double DBL_MIN = std::numeric_limits<double>::lowest();
Serial.println("\ncalcTrueWind: HDT: " + String(*hdtVal) + ", HDM: " + String(*hdmVal) + ", VAR: " + String(*varVal) + ", SOG: " + String(*sogVal) + ", COG: " + String(*cogVal));
if (*hdtVal != DBL_MIN) { if (*hdtVal != DBL_MIN) {
hdt = *hdtVal; // Use HDT if available hdt = *hdtVal; // Use HDT if available
} else { } else {
if (*hdmVal != DBL_MIN && *varVal != DBL_MIN) { if (*hdmVal != DBL_MIN) {
hdt = *hdmVal + *varVal; // Use corrected HDM if HDT is not available hdt = *hdmVal + (*varVal != DBL_MIN ? *varVal : 0.0); // Use corrected HDM if HDT is not available (or just HDM if VAR is not available)
hdt = to2PI(hdt); hdt = to2PI(hdt);
} else if (*cogVal != DBL_MIN) { } else if (*cogVal != DBL_MIN && *sogVal >= minSogVal) {
hdt = *cogVal; // Use COG as fallback if HDT and HDM are not available hdt = *cogVal; // Use COG as fallback if HDT and HDM are not available, and SOG is not data noise
} else { } else {
return false; // Cannot calculate without valid HDT or HDM+VAR or COG return false; // Cannot calculate without valid HDT or HDM+VAR or COG
} }
} }
if (*cogVal != DBL_MIN) { if (*cogVal != DBL_MIN && *sogVal >= minSogVal ) { // if SOG is data noise, we don't trust COG
ctw = *cogVal; // Use COG as CTW if available
// ctw = *cogVal + ((*cogVal - hdt) / 2); // Estimate CTW from COG ctw = *cogVal; // Use COG for CTW if available
} else { } else {
ctw = hdt; // 2nd approximation for CTW; hdt must exist if we reach this part of the code ctw = hdt; // 2nd approximation for CTW; hdt must exist if we reach this part of the code
} }
@ -113,6 +115,7 @@ bool WindUtils::calcTrueWind(const double* awaVal, const double* awsVal,
// If STW and SOG are not available, we cannot calculate true wind // If STW and SOG are not available, we cannot calculate true wind
return false; return false;
} }
Serial.println("\ncalcTrueWind: HDT: " + String(hdt) + ", CTW: " + String(ctw) + ", STW: " + String(stw));
if ((*awaVal == DBL_MIN) || (*awsVal == DBL_MIN)) { if ((*awaVal == DBL_MIN) || (*awsVal == DBL_MIN)) {
// Cannot calculate true wind without valid AWA, AWS; other checks are done earlier // Cannot calculate true wind without valid AWA, AWS; other checks are done earlier
@ -140,15 +143,12 @@ void HstryBuf::fillWndBufSimData(tBoatHstryData& hstryBufs)
} }
} }
/* double genTwdSimDat() /* void HstryBuf::simWndDir(double &wndDir)
{ {
simTwd += random(-20, 20); wndDir += random(-20, 20);
if (simTwd < 0.0) wndDir = WindUtils::to360(wndDir);
simTwd += 360.0;
if (simTwd >= 360.0)
simTwd -= 360.0;
int16_t z = static_cast<int16_t>(DegToRad(simTwd) * 1000.0); int16_t z = static_cast<int16_t>(DegToRad(wndDir) * 1000.0);
pageData.boatHstry.twdHstry->add(z); // Fill the buffer with some test data pageData.boatHstry.twdHstry->add(z); // Fill the buffer with some test data
simTws += random(-200, 150) / 10.0; // TWS value in knots simTws += random(-200, 150) / 10.0; // TWS value in knots

27
lib/obp60task/PageWindPlot.cpp
View File

@ -118,7 +118,7 @@ public:
GwConfigHandler* config = commonData->config; GwConfigHandler* config = commonData->config;
GwLog* logger = commonData->logger; GwLog* logger = commonData->logger;
float twsValue; // TWS value in chart area // float twsValue; // TWS value in chart area
static String twdName, twdUnit; // TWD name and unit static String twdName, twdUnit; // TWD name and unit
static int updFreq; // Update frequency for TWD static int updFreq; // Update frequency for TWD
static int16_t twdLowest, twdHighest; // TWD range static int16_t twdLowest, twdHighest; // TWD range
@ -161,7 +161,7 @@ public:
static int wndRight; // chart wind right value position static int wndRight; // chart wind right value position
static int chrtRng; // Range of wind values from mid wind value to min/max wind value in degrees static int chrtRng; // Range of wind values from mid wind value to min/max wind value in degrees
int diffRng; // Difference between mid and current wind value int diffRng; // Difference between mid and current wind value
static const int dfltRng = 40; // Default range for chart static const int dfltRng = 60; // Default range for chart
int midWndDir; // New value for wndCenter after chart start / shift int midWndDir; // New value for wndCenter after chart start / shift
static int simTwd; // Simulation value for TWD static int simTwd; // Simulation value for TWD
static float simTws; // Simulation value for TWS static float simTws; // Simulation value for TWS
@ -189,7 +189,7 @@ public:
numNoData = 0; numNoData = 0;
simTwd = pageData.boatHstry.twdHstry->getLast() / 1000.0 * radToDeg; simTwd = pageData.boatHstry.twdHstry->getLast() / 1000.0 * radToDeg;
simTws = 0; simTws = 0;
twsValue = 0; // twsValue = 0;
bufStart = 0; bufStart = 0;
oldDataIntv = 0; oldDataIntv = 0;
numAddedBufVals, currIdx, lastIdx = 0; numAddedBufVals, currIdx, lastIdx = 0;
@ -264,6 +264,7 @@ public:
} else if (diffRng + 10 < chrtRng) { // Reduce chart range for higher resolution if possible } else if (diffRng + 10 < chrtRng) { // Reduce chart range for higher resolution if possible
chrtRng = max(dfltRng, int((diffRng + (diffRng >= 0 ? 9 : -1)) / 10) * 10); chrtRng = max(dfltRng, int((diffRng + (diffRng >= 0 ? 9 : -1)) / 10) * 10);
} }
LOG_DEBUG(GwLog::DEBUG, "PageWindPlot Range adjust: wndCenter: %d, diffRng: %d, chrtRng: %d", wndCenter, diffRng, chrtRng);
} }
chrtScl = float(width) / float(chrtRng) / 2.0; // Chart scale: pixels per degree chrtScl = float(width) / float(chrtRng) / 2.0; // Chart scale: pixels per degree
wndLeft = wndCenter - chrtRng; wndLeft = wndCenter - chrtRng;
@ -331,8 +332,7 @@ public:
x = ((chrtVal - wndLeft + 360) % 360) * chrtScl; x = ((chrtVal - wndLeft + 360) % 360) * chrtScl;
y = yOffset + cHeight - i; // Position in chart area y = yOffset + cHeight - i; // Position in chart area
// if (i >= (numWndVals / dataIntv) - 10) if (i >= (numWndVals / dataIntv) - 1) // log chart data for 1 or more lines
if (i >= (numWndVals / dataIntv) - 1)
LOG_DEBUG(GwLog::DEBUG, "PageWindPlot Chart: i: %d, chrtVal: %d, bufStart: %d, count: %d, linesToShow: %d", i, chrtVal, bufStart, count, (numWndVals / dataIntv)); LOG_DEBUG(GwLog::DEBUG, "PageWindPlot Chart: i: %d, chrtVal: %d, bufStart: %d, count: %d, linesToShow: %d", i, chrtVal, bufStart, count, (numWndVals / dataIntv));
if ((i == 0) || (chrtPrevVal == INT16_MIN)) { if ((i == 0) || (chrtPrevVal == INT16_MIN)) {
@ -367,8 +367,11 @@ public:
int minWndDir = pageData.boatHstry.twdHstry->getMin(numWndVals) / 1000.0 * radToDeg; int minWndDir = pageData.boatHstry.twdHstry->getMin(numWndVals) / 1000.0 * radToDeg;
int maxWndDir = pageData.boatHstry.twdHstry->getMax(numWndVals) / 1000.0 * radToDeg; int maxWndDir = pageData.boatHstry.twdHstry->getMax(numWndVals) / 1000.0 * radToDeg;
LOG_DEBUG(GwLog::DEBUG, "PageWindPlot FreeTop: Minimum: %d, Maximum: %d, OldwndCenter: %d", minWndDir, maxWndDir, wndCenter); LOG_DEBUG(GwLog::DEBUG, "PageWindPlot FreeTop: Minimum: %d, Maximum: %d, OldwndCenter: %d", minWndDir, maxWndDir, wndCenter);
// if ((minWndDir + 540 >= wndCenter + 540) || (maxWndDir + 540 <= wndCenter + 540)) { // if (((minWndDir - wndCenter >= 0) && (minWndDir - wndCenter < 180)) || ((maxWndDir - wndCenter <= 0) && (maxWndDir - wndCenter >=180))) {
if (((minWndDir - wndCenter >= 0) && (minWndDir - wndCenter < 180)) || ((maxWndDir - wndCenter <= 0) && (maxWndDir - wndCenter >=180))) { if ((wndRight > wndCenter && (minWndDir >= wndCenter && minWndDir <= wndRight)) ||
(wndRight <= wndCenter && (minWndDir >= wndCenter || minWndDir <= wndRight)) ||
(wndLeft < wndCenter && (maxWndDir <= wndCenter && maxWndDir >= wndLeft)) ||
(wndLeft >= wndCenter && (maxWndDir <= wndCenter || maxWndDir >= wndLeft))) {
// Check if all wind value are left or right of center value -> optimize chart range // Check if all wind value are left or right of center value -> optimize chart range
midWndDir = pageData.boatHstry.twdHstry->getMid(numWndVals) / 1000.0 * radToDeg; midWndDir = pageData.boatHstry.twdHstry->getMid(numWndVals) / 1000.0 * radToDeg;
if (midWndDir != INT16_MIN) { if (midWndDir != INT16_MIN) {
@ -396,7 +399,7 @@ public:
int xPosTws; int xPosTws;
static const int yPosTws = yOffset + 40; static const int yPosTws = yOffset + 40;
twsValue = pageData.boatHstry.twsHstry->getLast() / 10.0 * 1.94384; // TWS value in knots // twsValue = pageData.boatHstry.twsHstry->getLast() / 10.0 * 1.94384; // TWS value in knots
xPosTws = flipTws ? 20 : width - 138; xPosTws = flipTws ? 20 : width - 138;
currentZone = (y >= yPosTws - 38) && (y <= yPosTws + 6) && (x >= xPosTws - 4) && (x <= xPosTws + 146) ? 1 : 0; // Define current zone for TWS value currentZone = (y >= yPosTws - 38) && (y <= yPosTws + 6) && (x >= xPosTws - 4) && (x <= xPosTws + 146) ? 1 : 0; // Define current zone for TWS value
@ -424,12 +427,12 @@ public:
} }
getdisplay().setFont(&Ubuntu_Bold12pt8b); getdisplay().setFont(&Ubuntu_Bold12pt8b);
getdisplay().setCursor(xPosTws + 82, yPosTws - 14); getdisplay().setCursor(xPosTws + 82, yPosTws - 14);
// getdisplay().print("TWS"); // Name // getdisplay().print("TWS"); // Name
getdisplay().print(BDataName[1]); // Name getdisplay().print(BDataName[1]); // Name
getdisplay().setFont(&Ubuntu_Bold8pt8b); getdisplay().setFont(&Ubuntu_Bold8pt8b);
// getdisplay().setCursor(xPosTws + 78, yPosTws + 1); // getdisplay().setCursor(xPosTws + 78, yPosTws + 1);
getdisplay().setCursor(xPosTws + 82, yPosTws + 1); getdisplay().setCursor(xPosTws + 82, yPosTws + 1);
// getdisplay().printf(" kn"); // Unit // getdisplay().printf(" kn"); // Unit
getdisplay().print(BDataUnit[1]); // Unit getdisplay().print(BDataUnit[1]); // Unit
} }
@ -472,7 +475,7 @@ PageDescription registerPageWindPlot(
createPage, // Action createPage, // Action
0, // Number of bus values depends on selection in Web configuration 0, // Number of bus values depends on selection in Web configuration
{ "TWD", "TWS" }, // Bus values we need in the page { "TWD", "TWS" }, // Bus values we need in the page
// {}, // Bus values we need in the page // {}, // Bus values we need in the page
true // Show display header on/off true // Show display header on/off
); );

8
lib/obp60task/obp60task.cpp
View File

@ -404,7 +404,7 @@ bool addTrueWind(GwApi* api, BoatValueList* boatValues) {
hdtVal = hdtBVal->valid ? hdtBVal->value : DBL_MIN; hdtVal = hdtBVal->valid ? hdtBVal->value : DBL_MIN;
hdmVal = hdmBVal->valid ? hdmBVal->value : DBL_MIN; hdmVal = hdmBVal->valid ? hdmBVal->value : DBL_MIN;
varVal = varBVal->valid ? varBVal->value : DBL_MIN; varVal = varBVal->valid ? varBVal->value : DBL_MIN;
api->getLogger()->logDebug(GwLog::DEBUG,"obp60task addTrueWind: AWA %.1f, AWS %.1f, COG %.1f, STW %.1f, SOG %.1f, HDT %.1f, HDM %.1f, VAR %.1f", awaBVal->value * RAD_TO_DEG, awsBVal->value * 3.6 / 1.852, api->getLogger()->logDebug(GwLog::DEBUG,"obp60task addTrueWind: AWA %.1f, AWS %.1f, COG %.1f, STW %.1f, SOG %.2f, HDT %.1f, HDM %.1f, VAR %.1f", awaBVal->value * RAD_TO_DEG, awsBVal->value * 3.6 / 1.852,
cogBVal->value * RAD_TO_DEG, stwBVal->value * 3.6 / 1.852, sogBVal->value * 3.6 / 1.852, hdtBVal->value * RAD_TO_DEG, hdmBVal->value * RAD_TO_DEG, varBVal->value * RAD_TO_DEG); cogBVal->value * RAD_TO_DEG, stwBVal->value * 3.6 / 1.852, sogBVal->value * 3.6 / 1.852, hdtBVal->value * RAD_TO_DEG, hdmBVal->value * RAD_TO_DEG, varBVal->value * RAD_TO_DEG);
isCalculated = WindUtils::calcTrueWind(&awaVal, &awsVal, &cogVal, &stwVal, &sogVal, &hdtVal, &hdmVal, &varVal, &twd, &tws, &twa); isCalculated = WindUtils::calcTrueWind(&awaVal, &awsVal, &cogVal, &stwVal, &sogVal, &hdtVal, &hdmVal, &varVal, &twd, &tws, &twa);
@ -423,7 +423,7 @@ bool addTrueWind(GwApi* api, BoatValueList* boatValues) {
twaBVal->valid = true; twaBVal->valid = true;
} }
} }
api->getLogger()->logDebug(GwLog::DEBUG,"obp60task addTrueWind: TWD_Valid %d, isCalculated %d, TWD %.1f, TWA %.1f, TWS %.1f", twdBVal->valid, isCalculated, twdBVal->value * RAD_TO_DEG, api->getLogger()->logDebug(GwLog::DEBUG,"obp60task addTrueWind: TWD_isValid %d, isCalculated %d, TWD %.1f, TWA %.1f, TWS %.1f", twdBVal->valid, isCalculated, twdBVal->value * RAD_TO_DEG,
twaBVal->value * RAD_TO_DEG, twsBVal->value * 3.6 / 1.852); twaBVal->value * RAD_TO_DEG, twsBVal->value * 3.6 / 1.852);
return isCalculated; return isCalculated;
@ -463,8 +463,8 @@ void handleHstryBuf(GwApi* api, BoatValueList* boatValues, tBoatHstryData hstryB
GwApi::BoatValue *twsBVal = boatValues->findValueOrCreate(hstryBufList.twsHstry->getName()); GwApi::BoatValue *twsBVal = boatValues->findValueOrCreate(hstryBufList.twsHstry->getName());
GwApi::BoatValue *twaBVal = boatValues->findValueOrCreate("TWA"); GwApi::BoatValue *twaBVal = boatValues->findValueOrCreate("TWA");
api->getLogger()->logDebug(GwLog::DEBUG,"obp60task handleHstryBuf: twdBVal: %.1f, twaBVal: %.1f, twsBVal: %.1f, TWD_isValid? %d", twdBVal->value * RAD_TO_DEG, api->getLogger()->logDebug(GwLog::DEBUG,"obp60task handleHstryBuf: TWD_isValid? %d, twdBVal: %.1f, twaBVal: %.1f, twsBVal: %.1f", twdBVal->valid, twdBVal->value * RAD_TO_DEG,
twaBVal->value * RAD_TO_DEG, twsBVal->value * 3.6 / 1.852, twdBVal->valid); twaBVal->value * RAD_TO_DEG, twsBVal->value * 3.6 / 1.852);
calBVal = new GwApi::BoatValue("TWD"); // temporary solution for calibration of history buffer values calBVal = new GwApi::BoatValue("TWD"); // temporary solution for calibration of history buffer values
calBVal->setFormat(twdBVal->getFormat()); calBVal->setFormat(twdBVal->getFormat());
if (twdBVal->valid) { if (twdBVal->valid) {