From da4c66bec2e0ea4d9fb4a1dd16106212879dc170 Mon Sep 17 00:00:00 2001
From: Ulrich Meine <145987006+Scorgan01@users.noreply.github.com>
Date: Mon, 6 Jul 2026 22:31:28 +0200
Subject: [PATCH] Add a class to movingAvg class for calculation of averages
 for angle data

---
 lib/obp60task/movingAvg.h   |  27 +++++++++
 lib/obp60task/movingAvg.tpp | 107 ++++++++++++++++++++++++++++++++++--
 2 files changed, 128 insertions(+), 6 deletions(-)

diff --git a/lib/obp60task/movingAvg.h b/lib/obp60task/movingAvg.h
index 1d905d4..9e9451a 100644
--- a/lib/obp60task/movingAvg.h
+++ b/lib/obp60task/movingAvg.h
@@ -22,6 +22,7 @@ class movingAvg
         int getCount() { return m_nbrReadings; }
         void reset();
         T* getReadings() { return m_readings; }
+        T to2PI(T a);
 
     private:
         int m_interval;     // number of data points for the moving average
@@ -33,6 +34,32 @@ class movingAvg
         T* m_readings;      // pointer to the dynamically allocated interval array
 };
 
+// moving average for angle type of data (wind, course, rotation)
+// makes sense for data types double and float; angle in radians [0..2pi]
+template <typename T>
+class movingAvgAngle
+{
+    public:
+        movingAvgAngle(int interval)
+            : m_interval{interval}, m_nbrReadings{0}, m_sumSin{0}, m_sumCos{0}, m_next{0}, m_buffer{nullptr} {}
+        ~movingAvgAngle() { delete[] m_buffer; }
+        void begin();
+        T reading(T newReading);
+        T getAvg();
+        T getAvg(int nPoints);
+        int getCount() { return m_nbrReadings; }
+        void reset();
+        T* getReadings() { return m_buffer; }
+        T to2PI(T a);
+
+    private:
+        int m_interval;            // number of data points for the moving average
+        int m_nbrReadings;         // number of readings
+        double m_sumSin, m_sumCos; // sum for angle values should always be double for precision reasons, regardless of class type
+        int m_next;                // index to the next reading
+        T* m_buffer;               // pointer to the dynamically allocated interval array
+};
+
 // Include the implementation to satisfy template instantiation requirements
 #include "movingAvg.tpp"
 
diff --git a/lib/obp60task/movingAvg.tpp b/lib/obp60task/movingAvg.tpp
index 4468ee0..f46473a 100644
--- a/lib/obp60task/movingAvg.tpp
+++ b/lib/obp60task/movingAvg.tpp
@@ -5,11 +5,6 @@
 
 // Extended to template class for handling of multiple data types
 
-//template <typename T>
-//movingAvg<T>::movingAvg(int interval)
-//    : m_interval{interval}, m_nbrReadings{0}, m_sum{0}, m_next{0}, m_readings{nullptr}
-//{}
-
 // initialize - allocate the interval array
 template <typename T>
 void movingAvg<T>::begin()
@@ -85,4 +80,104 @@ void movingAvg<T>::reset()
     m_nbrReadings = 0;
     m_sum = 0;
     m_next = 0;
-}
\ No newline at end of file
+}
+// --- End Class movingAvg ---------------
+
+// --- Class MovingAvgAngle ---------------
+template <typename T>
+void movingAvgAngle<T>::begin()
+{
+    m_buffer = new T[m_interval];
+}
+
+// add a new reading and return the new moving average
+template <typename T>
+T movingAvgAngle<T>::reading(T newReading)
+{
+    double s = std::sin(newReading);
+    double c = std::cos(newReading);
+
+    // add each new data point to the sum until the m_readings array is filled
+    if (m_nbrReadings < m_interval) {
+        ++m_nbrReadings;
+        m_sumSin += s;
+        m_sumCos += c;
+
+    } else {
+        // array is filled; subtract the oldest data point and add the new one
+        m_sumSin = m_sumSin - sin(m_buffer[m_next]) + s;
+        m_sumCos = m_sumCos - cos(m_buffer[m_next]) + c;
+    }
+    m_buffer[m_next] = newReading;
+
+    if (++m_next >= m_interval)
+        m_next = 0;
+
+    return getAvg();
+}
+
+// return the current moving average
+template <typename T>
+T movingAvgAngle<T>::getAvg()
+{
+    if (m_nbrReadings == 0)
+        return 0;
+
+    // check size of vector; if near 0, set it to 0
+    const double len = m_sumSin * m_sumSin + m_sumCos * m_sumCos;
+    if (len < 1e-24)
+        return 0.0;   // average direction undefined  
+
+    return static_cast<T>(to2PI(std::atan2(m_sumSin, m_sumCos)));
+}
+
+// return the current moving average for a subset of the data, the most recent nPoints readings.
+// for invalid values of nPoints, return zero.
+template <typename T>
+T movingAvgAngle<T>::getAvg(int nPoints)
+{
+    if (nPoints < 1 || nPoints > m_interval || nPoints > m_nbrReadings)
+        return 0;
+
+    double sumSin = 0.0;
+    double sumCos = 0.0;
+
+    int i = m_next;
+    for (int n = 0; n < nPoints; ++n) {
+        if (i == 0)
+            i = m_interval - 1;
+        else
+            --i;
+
+        sumSin += std::sin(m_buffer[i]);
+        sumCos += std::cos(m_buffer[i]);
+    }
+
+    // check size of vector; if near 0, set it to 0
+    const double len = m_sumSin * m_sumSin + m_sumCos * m_sumCos;
+    if (len < 1e-24)
+        return 0.0;   // average direction undefined  
+
+    return static_cast<T>(to2PI(std::atan2(sumSin, sumCos)));
+}
+
+// start the moving average over again
+template <typename T>
+void movingAvgAngle<T>::reset()
+{
+    m_nbrReadings = 0;
+    m_sumSin = 0;
+    m_sumCos = 0;
+    m_next = 0;
+}
+
+template <typename T>
+T movingAvgAngle<T>::to2PI(T a)
+{
+    a = fmod(a, M_TWOPI);
+    if (a < 0.0) {
+        a += M_TWOPI;
+    }
+    return a;
+}
+// --- End class MovingAvgAngle ---------------