GY-63_MS5611/libraries/AverageAngle

AverageAngle

Arduino library to calculate correctly the average of multiple angles

Description

AverageAngle is an class to calculate the average of angles.

This is especially useful when angles are around 0 degrees, e.g. from a compass sensor or the resultant of a track. Example, the average angle of 359 and 1 is 0, not 179 (most of the time)

Furthermore the AverageAngle can also include the length (weight) of the angle as if it is a vector. Default this length is set to 1 so all angles are by default of equal weight.

Example: The average angle of 359 (len=2) and 1(len=1) is 359.something not zero.

See also runningAngle class.

Interface

• **enum AngleType { DEGREES, RADIANS } ** idem.
• AverageAngle(AngleType type = DEGREES) constructor defaults to degrees.
• add(float alpha, float length = 1.0) add a new angle, optional with length. add() returns the number of elements (count).
• reset() clears internal buffers.
• count() the amount of angles added.
• **getAverage() ** returns the average.
• **getTotalLength() ** the length of the resulting 'angle' when we see them as vectors.
• getAverageLength() returns the average length of the angles added.
• AngleType type() returns DEGREES or RADIANS.

Operation

If you want to average 5 compass readings you can just add the angles and do not use the length parameter.

  AA.reset();
  for (int i = 0; i < 5; i++)
  {
    AA.add(compass.readHeading());
    delay(100); // e.g. compass needs some time
  }
  Serial.println(AA.getAverage());

If you want to average a track, e.g. 5 steps North, 3 steps west etc, you need to include the length of each step.

  AA.reset();
  AA.add(90, 5); 	// 5 steps north
  AA.add(180, 3);	// 3 steps west
  Serial.println(AA.getAverage());
  Serial.println(AA.getTotalLength());