From b4d5e976195424932e139849b8282a642ab8cf1c Mon Sep 17 00:00:00 2001
From: wellenvogel <andreas@wellenvogel.de>
Date: Wed, 16 Nov 2022 11:46:14 +0100
Subject: [PATCH] #44: implement workaround factor for ROT

---
 lib/boatData/GwBoatData.h               | 4 ++++
 lib/nmea0183ton2k/NMEA0183DataToN2K.cpp | 1 +
 lib/nmea2kto0183/N2kDataToNMEA0183.cpp  | 3 +--
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/lib/boatData/GwBoatData.h b/lib/boatData/GwBoatData.h
index 5ddebde2..71742cf1 100644
--- a/lib/boatData/GwBoatData.h
+++ b/lib/boatData/GwBoatData.h
@@ -7,6 +7,10 @@
 #define GW_BOAT_VALUE_LEN 32
 #define GWSC(name) static constexpr const __FlashStringHelper* name=F(#name)
 
+//see https://github.com/wellenvogel/esp32-nmea2000/issues/44
+//factor to convert from N2k/SI rad/s to current NMEA rad/min
+#define ROT_WA_FACTOR 60
+
 class GwJsonDocument;
 class GwBoatItemBase{
     public:
diff --git a/lib/nmea0183ton2k/NMEA0183DataToN2K.cpp b/lib/nmea0183ton2k/NMEA0183DataToN2K.cpp
index 0258f8cc..cd4fbc83 100644
--- a/lib/nmea0183ton2k/NMEA0183DataToN2K.cpp
+++ b/lib/nmea0183ton2k/NMEA0183DataToN2K.cpp
@@ -887,6 +887,7 @@ class NMEA0183DataToN2KFunctions : public NMEA0183DataToN2K
             LOG_DEBUG(GwLog::DEBUG,"unable to parse ROT %s",msg.line);
             return;
         }
+        ROT=ROT / ROT_WA_FACTOR; 
         if (! updateDouble(boatData->ROT,ROT,msg.sourceId)) return;
         tN2kMsg n2kMsg;
         SetN2kRateOfTurn(n2kMsg,1,ROT);
diff --git a/lib/nmea2kto0183/N2kDataToNMEA0183.cpp b/lib/nmea2kto0183/N2kDataToNMEA0183.cpp
index 3e900fde..1e61d8e6 100644
--- a/lib/nmea2kto0183/N2kDataToNMEA0183.cpp
+++ b/lib/nmea2kto0183/N2kDataToNMEA0183.cpp
@@ -32,7 +32,6 @@
 
 
 
-
 N2kDataToNMEA0183::N2kDataToNMEA0183(GwLog * logger, GwBoatData *boatData, 
   SendNMEA0183MessageCallback callback, String talkerId) 
     {
@@ -1055,7 +1054,7 @@ class N2kToNMEA0183Functions : public N2kDataToNMEA0183
         }
         if (!updateDouble(boatData->ROT,ROT)) return;
         tNMEA0183Msg nmeamsg;
-        if (NMEA0183SetROT(nmeamsg,ROT,talkerId)){
+        if (NMEA0183SetROT(nmeamsg,ROT * ROT_WA_FACTOR,talkerId)){
             SendMessage(nmeamsg);
         }
     }