added average/median gps smoothing

libs/Location.py

@@ -22,7 +22,9 @@ def __init__(self, ip, port):
         self.bearing = 0.0
         self.running = True
         self.all_zero = True
-        self.wait_time = 1
+        self.gps_refresh = 0.05
+        self.wait_time = 0.5
+        self.num_coords = 11
 
     def config(self):
         # read from a file, probably configure this to work with
@@ -31,7 +33,8 @@ def config(self):
 
     # Returns distance in kilometers between given latitude and longitude
     def distance_to(self, lat:float, lon:float):
-        earth_radius = 6371.301
+        # https://nssdc.gsfc.nasa.gov/planetary/factsheet/earthfact.html (earth radii numbers)
+        earth_radius = 6371.000 # NASA - Volumetric mean radius (km) (+- 10 km variability)
         delta_lat = (lat - self.latitude) * (pi/180.0)
         delta_lon = (lon - self.longitude) * (pi/180.0)
 
@@ -72,17 +75,37 @@ def update_fields_loop(self):
                 self.old_latitude = self.latitude
                 self.old_longitude = self.longitude
 
-                self.latitude = gps.get_latitude()
-                self.longitude = gps.get_longitude()
+                # smoothing patch fix number 1: find average of 11 (parity doesn't matter, should probably be around 10) gps coords
+                lat_sum = 0
+                long_sum = 0
+                for i in range(self.num_coords): # gets gps coords
+                    lat_sum += gps.get_latitude() # adds lat and long to respective sums
+                    long_sum += gps.get_longitude()
+                    sleep(self.gps_refresh)
+                self.latitude = lat_sum / self.num_coords # sets lat and long as the average of the sums
+                self.longitude = long_sum / self.num_coords
+
+                # smoothing patch fix number 2: find median of 11 (other values such as 7 or 5 could work) gps coords
+                #lat_list = [] # lists to hold 11 lats and longs
+                #long_list = []
+                #for i in range (num_coords): # gets 11 gps coords
+                #    lat_list.append(self.get_latitude()) # adds lat and longs to respective lists
+                #    long_list.append(self.get_longitude())
+                #    sleep(self.gps_refresh)
+                #lat_list.sort() # sort lists
+                #long_list.sort()
+                #self.latitude = lat_list[num_coords/2] # sets lat and long as medians from lat and long lists
+                #self.longitude = long_list[num_coords/2]
+
                 self.height = gps.get_height()
                 self.time = gps.get_time()
                 self.error = gps.get_error()
                 self.bearing = self.calc_bearing(self.old_latitude, self.old_longitude, self.latitude, self.longitude)
                 self.all_zero = False
             else:
-                all_zero = True
+                self.all_zero = True
             # maybe print info or sleep or something idk
-            sleep(self.wait_time)
+            sleep(self.wait_time) # currently have it at .5 seconds, 1 might be too slow (.1 might be a good option as well)
         return
 
     # Calculates bearing between two points. 
@@ -95,7 +118,8 @@ def calc_bearing(self,lat1:float, lon1:float, lat2:float, lon2:float):
     # Calculate latitutde and longitude given distance (in km) and bearing (in degrees)
     def get_coordinates(self, distance:float, bearing:float):
         # https://stackoverflow.com/questions/7222382/get-lat-long-given-current-point-distance-and-bearing
-        R = 6371.301
+        # https://nssdc.gsfc.nasa.gov/planetary/factsheet/earthfact.html (earth radii numbers)
+        R = 6371.000 # NASA - Volumetric mean radius (km) (+- 10 km variability)
         brng = radians(bearing)      # Assuming bearing is in degrees
         d = distance