Integrate wind speed and/or boat speed into local pathfinding

[tylerlum]

Right now, the magnitude of wind speed is completely ignored. We may or may not want to use it.

For instance, we could have it change the wind cost function. Perhaps upwind/downwind sailing isn't super bad with only 1km/h wind, but absolutely unacceptable every in 20km/h.

Perhaps the MOCK_controller could have the boat speed change based on wind speed and/or wind direction.

Perhaps the MOCK_controller should tell us if we "got stuck in irons" (went upwind to too long).

[Zephko]

Would be good to get a sailor's input on this. Not too sure what the ideal behaviour is here.

[kpfgallagher]

If the wind speed is super low, tacking is not a good idea as you may get stuck "in irons" (upwind).
If the wind changes direction and the wind angle is still 'sailable', the sail angle should change but not the rudder.
A lot of this can be left to the control team, since any angle except upwind is still able to be sailed.

[tylerlum]

From current discussion, ignoring wind speed makes sense, but care about boat speed. Essentially try to avoid using rudder turning in general, especially if we are going slowly.