Update axis_ptz_controller.py

axis-ptz-controller/axis_ptz_controller.py

@@ -970,32 +970,32 @@ def _manual_control_callback(self, _client: Union[mqtt.Client, None],
         None
         """
         data = self.decode_payload(msg, "Manual Control")
-        if not set( ["pan", "tilt", "zoom"] ) <= set(data.keys()):
+        if not set( ["azimuth", "elevation", "zoom"] ) <= set(data.keys()):
             logging.info(f"Required keys missing from manual control message data: {data}")
             return
 
-        pan = data["pan"]
-        tilt = data["tilt"]
+        azimuth = data["azimuth"]
+        elevation = data["elevation"]
         self.zoom = data["zoom"]
         logging.info(f"Setting zoom to: {self.zoom}")
-        # Get camera pan and tilt
+        # Get camera azimuth and elevation
         self.rho_c, self.tau_c, _zoom, _focus = self.camera_control.get_ptz()
         logging.info(f"Camera pan and tilt: {self.rho_c}, {self.tau_c} [deg]")
         logging.info(
             f"Absolute move to pan: {self.rho_o}, and tilt: {self.tau_o}, with zoom: {self.zoom}"
         )
         try:
             self.camera_control.absolute_move(
-                pan, tilt, self.zoom, 50
+                azimuth, elevation, self.zoom, 50
             )
         except Exception as e:
             logging.error(f"Error: {e}")
-        logging.info(f"rho_c: {self.rho_c}, rho_o: {pan}, tau_c: {self.tau_c}, tau_o: {tilt}, pan_rate_max: {self.pan_rate_max}, tilt_rate_max: {self.tilt_rate_max}")
-        if tilt > 0 and pan > 0:        
+        logging.info(f"rho_c: {self.rho_c}, rho_o: {azimuth}, tau_c: {self.tau_c}, tau_o: {elevation}, azimuth_rate_max: {self.azimuth_rate_max}, tilt_rate_max: {self.tilt_rate_max}")
+        if elevation > 0 and azimuth > 0:        
             duration = max(
-                math.fabs(self._compute_angle_delta(self.rho_c, pan))
+                math.fabs(self._compute_angle_delta(self.rho_c, azimuth))
                 / (self.pan_rate_max / 2),
-                math.fabs(self._compute_angle_delta(self.tau_c, tilt))
+                math.fabs(self._compute_angle_delta(self.tau_c, elevation))
                 / (self.tilt_rate_max / 2),
             )
             logging.info(f"Sleeping: {duration} [s]")