derivative gain max

axis-ptz-controller/axis_ptz_controller.py

@@ -65,8 +65,10 @@ def __init__(
  tripod_pitch: float = 0.0,
  tripod_roll: float = 0.0,
  pan_gain: float = 0.2,
+ pan_derivative_gain_max: float = 10.0,
  pan_rate_max: float = 150.0,
  tilt_gain: float = 0.2,
+ tilt_derivative_gain_max: float = 10.0,
  tilt_rate_max: float = 150.0,
  zoom: int = 6000,
  focus: int = 8749,
@@ -136,10 +138,14 @@ def __init__(
  Roll angle of camera tripod from level North [degrees]
  pan_gain: float
  Proportional control gain for pan error [1/s]
+ pan_derivative_gain_max: float
+ Maximum gain level from the object's pan derivative
  pan_rate_max: float
  Camera pan rate maximum [deg/s]
  tilt_gain: float
  Proportional control gain for tilt error [1/s]
+ tilt_derivative_gain_max: float
+ Maximum gain level from the object's tilt derivative
  tilt_rate_max: float
  Camera tilt rate maximum [deg/s]
  zoom: int
@@ -197,7 +203,9 @@ def __init__(
  self.capture_dir = capture_dir
  self.tracking_interval = tracking_interval
  self.pan_gain = pan_gain
+ self.pan_derivative_gain_max = pan_derivative_gain_max
  self.tilt_gain = tilt_gain
+ self.tilt_derivative_gain_max = tilt_derivative_gain_max
  self.jpeg_resolution = jpeg_resolution
  self.jpeg_compression = jpeg_compression
  self.use_mqtt = use_mqtt
@@ -440,6 +448,7 @@ def _config_callback(
  config["tripod_latitude"],
  config["tripod_altitude"],
  )
+
  else:
  logging.error(
  "Tripod longitude, latitude, and altitude must be set together"
@@ -465,6 +474,12 @@ def _config_callback(
 
  self.pan_gain = config.get("pan_gain", self.pan_gain) # [1/s]
  self.tilt_gain = config.get("tilt_gain", self.tilt_gain) # [1/s]
+ self.pan_derivative_gain_max = config.get(
+ "pan_derivative_gain_max", self.pan_derivative_gain_max
+ )
+ self.tilt_derivative_gain_max = config.get(
+ "tilt_derivative_gain_max", self.tilt_derivative_gain_max
+ )
 
  if "zoom" in config:
  self.camera.update_zoom(config["zoom"])
@@ -529,7 +544,9 @@ def _log_config(self) -> None:
  "tripod_pitch": self.camera.tripod_pitch,
  "tripod_roll": self.camera.tripod_roll,
  "pan_gain": self.pan_gain,
+ "pan_derivative_gain_max": self.pan_derivative_gain_max,
  "tilt_gain": self.tilt_gain,
+ "tilt_derivative_gain_max": self.tilt_derivative_gain_max,
  "pan_rate_max": self.camera.pan_rate_max,
  "tilt_rate_max": self.camera.tilt_rate_max,
  "zoom": self.camera.zoom,
@@ -1128,8 +1145,10 @@ def make_controller() -> AxisPtzController:
  tripod_pitch=float(os.environ.get("TRIPOD_PITCH", 0.0)),
  tripod_roll=float(os.environ.get("TRIPOD_ROLL", 0.0)),
  pan_gain=float(os.environ.get("PAN_GAIN", 0.2)),
+ pan_derivative_gain_max=float(os.environ.get("PAN_DERIVATIVE_GAIN_MAX", 10.0)),
  pan_rate_max=float(os.environ.get("PAN_RATE_MAX", 150.0)),
  tilt_gain=float(os.environ.get("TILT_GAIN", 0.2)),
+ tilt_derivative_gain_max=float(os.environ.get("TILT_DERIVATIVE_GAIN_MAX", 10.0)),
  tilt_rate_max=float(os.environ.get("TILT_RATE_MAX", 150.0)),
  zoom=int(os.environ.get("ZOOM", 6000)),
  focus=int(os.environ.get("FOCUS", 8749)),