better values

axis-ptz-controller/axis_ptz_controller.py

@@ -584,16 +584,16 @@ def _track_object(self, time_since_last_update: float) -> None:
  )
 
  # Compute slew rate differences
- self.delta_rho_dot_c = self.pan_gain * self.delta_rho 
- self.delta_tau_dot_c = self.tilt_gain * self.delta_tau
+ self.rho_c_gain = self.pan_gain * self.delta_rho 
+ self.tau_c_gain = self.tilt_gain * self.delta_tau
 
  # Compute position and velocity in the camera fixed (rst)
  # coordinate system of the object relative to the tripod at
  # time zero after pointing the camera at the object
 
  # Update camera pan and tilt rate
- self.rho_dot_c = self.object.rho_rate + self.delta_rho_dot_c
- self.tau_dot_c = self.object.tau_rate + self.delta_tau_dot_c
+ self.rho_dot_c = self.object.rho_rate + self.rho_c_gain
+ self.tau_dot_c = self.object.tau_rate + self.tau_c_gain
 
  # Get, or compute and set focus, command camera pan and tilt
  # rates, and begin capturing images, if needed
@@ -650,13 +650,13 @@ def _track_object(self, time_since_last_update: float) -> None:
  "tau_c": self.camera.tau,
  "rho_dot_c": self.rho_dot_c,
  "tau_dot_c": self.tau_dot_c,
+ "rho_c_gain": self.rho_c_gain,
+ "tau_c_gain": self.tau_c_gain,
  "distance": self.object.distance_to_tripod3d,
  "focus": _focus,
  "zoom": _zoom,
- "rho_lead_delta": self.object.rho_lead_delta,
- "tau_lead_delta": self.object.tau_lead_delta,
- "rho_rate_derivative": self.object.rho_rate_derivative,
- "tau_rate_derivative": self.object.tau_rate_derivative,
+ "rho_derivative": self.object.rho_derivative,
+ "tau_derivative": self.object.tau_derivative,
  "pan_rate_index": self.camera.pan_rate_index,
  "tilt_rate_index": self.camera.tilt_rate_index,
  "delta_rho_dot_c": self.delta_rho_dot_c,

axis-ptz-controller/object.py

@@ -260,12 +260,14 @@ def recompute_location(self) -> None:
  )
  )
 
+ time_delta = time() - self.location_update_time
+ self.location_update_time = time()
+ self.rho_derivative = (self.rho - self.rho_lead) / time_delta
+ self.tau_derivative = (self.tau - self.tau_lead) / time_delta
+
  self.rho = self.rho_lead
  self.tau = self.tau_lead
 
- self.rho_lead_delta = self.rho_lead - self.rho_now
- self.tau_lead_delta = self.tau_lead - self.tau_now
-
  camera_yaw, camera_pitch, camera_roll = self.camera.get_yaw_pitch_roll()
  camera_E_XYZ, camera_N_XYZ, camera_z_XYZ = self.camera.get_e_n_z()
  # Compute position and velocity in the camera fixed (rst)
@@ -310,10 +312,7 @@ def recompute_location(self) -> None:
  )
  / axis_ptz_utilities.norm(self.rst_point_now_relative_to_tripod) ** 2
  )
- time_delta = time() - self.location_update_time
- self.location_update_time = time()
- self.rho_rate_derivative = (self.rho_rate - math.degrees(-omega[2])) / time_delta
- self.tau_rate_derivative = (self.tau_rate - math.degrees(omega[0])) / time_delta
+
  self.rho_rate = math.degrees(-omega[2])
  self.tau_rate = math.degrees(omega[0])