Updated Docs

LICENSE

@@ -186,7 +186,7 @@
  same "printed page" as the copyright notice for easier
  identification within third-party archives.
 
- Copyright (c) 2020-2023 IQT Labs LLC, All Rights Reserved.
+ Copyright (c) 2020-2024 IQT Labs LLC, All Rights Reserved.
 
  Licensed under the Apache License, Version 2.0 (the "License");
  you may not use this file except in compliance with the License.

README.md

@@ -27,108 +27,73 @@
 
 <br />
 <div align="center">
- <a href="https://iqtlabs.org/">
- <img src="images/logo.png" alt="Logo" width="331" height="153">
+ <a href="https://iqt.org">
+ <img src="images/logo.png" alt="Logo" width="358" height="132">
  </a>
-
-<h1 align="center">Edgetech-Axis-Ptz-Controller</h1>
-
- <p align="center">
- This project provides a simple pan and tilt rate controller for AXIS
- Communications PTZ network cameras, exemplified by the <a
- href="https://www.axis.com/dam/public/8d/ba/86/datasheet-axis-m5525%E2%80%93e-ptz-network-camera-en-US-294608.pdf">AXIS
- M5525–E PTZ Network Camera</a>, for pointing the camera at an
- aircraft. The controller uses the position of the aircraft
- reported by aircraft broadcast ADS-B, and pan and tilt of the
- camera, to determine pan and tilt rates to follow the aircraft,
- adjust camera focus based on range to the aircraft from the
- camera, and periodically capture images of the aircraft.
- <br/>
- <br/>
- In more detail, the controller subscribes to an MQTT message topic
- for ADS-B, or flight, messages, which provide the aircraft
- latitude, longitude, altitude, and ground and vertical speeds at
- the message time which are used to compute geocentric, and
- topocentric position and velocity at the processing time using
- WGS84 and linear extrapolation. Camera housing orientation is
- represented by yaw, pitch, and roll, and these rotations are
- represented by quaternions which are used to compute direction
- cosine matrices for transformation between coordinate systems. The
- controller subscribes to an MQTT message topic for orientation
- messages, such as those published by the EdgeTech-Auto-Orienter,
- to set the yaw, pitch, and roll. The controller computes the pan
- and tilt of the camera required to point at the aircraft, queries
- the camera for its current pan and tilt, then commands a pan and
- tilt rate proportional to the pan and tilt differences. The
- controller assumes camera focus varies linearly with range to the
- aircraft from the camera, then computes and sets focus whenever a
- flight message is received. The controller begins capturing images
- whenever a new aircraft is encountered, and stops capturing images
- if a flight message has not been received in a specified
- interval. All controller parameters can be customized through
- environment variables, or using an MQTT message published to a
- configuration topic. Units of measure are meters, seconds, and
- degrees, and operation of the controller is extensively logged.
- <br/>
- <br/>
- <a href="https://github.com/IQTLabs/edgetech-axis-ptz-controller/pulls">Make Contribution</a>
- ·
- <a href="https://github.com/IQTLabs/edgetech-axis-ptz-controller/issues">Report Bug</a>
- ·
- <a href="https://github.com/IQTLabs/edgetech-axis-ptz-controller/issues">Request Feature</a>
- </p>
 </div>
 
-### Built With
-
-[![Python][Python]][Python-url]
-[![Poetry][Poetry]][Poetry-url]
-[![Docker][Docker]][Docker-url]
-
-## Getting Started
-
-To run this repo, simply run:
-
-```
-docker-compose up
-```
+<h1 align="center">Edgetech-Axis-Ptz-Controller</h1>
 
-The AXIS PTZ network camera controller is containerized and
-dependencies are managed using [poetry]("https://python-poetry.org").
 
-### Prerequisites
+This project provides a simple pan and tilt rate controller for AXIS
+Communications PTZ network cameras, exemplified by the [AXIS
+M5525–E PTZ Network Camera]("https://www.axis.com/dam/public/8d/ba/86/datasheet-axis-m5525%E2%80%93e-ptz-network-camera-en-US-294608.pdf"), for pointing the camera at an
+aircraft. The controller uses the position of the aircraft
+reported by aircraft broadcast ADS-B, and pan and tilt of the
+camera, to determine pan and tilt rates to follow the aircraft,
+adjust camera focus based on range to the aircraft from the
+camera, and periodically capture images of the aircraft.
+
+In more detail, the controller subscribes to an MQTT message topic
+for ADS-B, or flight, messages, which provide the aircraft
+latitude, longitude, altitude, and ground and vertical speeds at
+the message time which are used to compute geocentric, and
+topocentric position and velocity at the processing time using
+WGS84 and linear extrapolation. Camera housing orientation is
+represented by yaw, pitch, and roll, and these rotations are
+represented by quaternions which are used to compute direction
+cosine matrices for transformation between coordinate systems. The
+controller subscribes to an MQTT message topic for orientation
+messages, such as those published by the EdgeTech-Auto-Orienter,
+to set the yaw, pitch, and roll. The controller computes the pan
+and tilt of the camera required to point at the aircraft, queries
+the camera for its current pan and tilt, then commands a pan and
+tilt rate proportional to the pan and tilt differences. The
+controller assumes camera focus varies linearly with range to the
+aircraft from the camera, then computes and sets focus whenever a
+flight message is received. The controller begins capturing images
+whenever a new aircraft is encountered, and stops capturing images
+if a flight message has not been received in a specified
+interval. All controller parameters can be customized through
+environment variables, or using an MQTT message published to a
+configuration topic. Units of measure are meters, seconds, and
+degrees, and operation of the controller is extensively logged.
+
+
+<a href="https://github.com/IQTLabs/edgetech-axis-ptz-controller/pulls">Make Contribution</a>
+·
+<a href="https://github.com/IQTLabs/edgetech-axis-ptz-controller/issues">Report Bug</a>
+·
+<a href="https://github.com/IQTLabs/edgetech-axis-ptz-controller/issues">Request Feature</a>
 
-Running this repo requires that you have
-[Docker](https://www.docker.com) installed.
 
 ## Usage
 
 This module is designed to be used in concert with other modules to
-build a complete tracking system. [SkyScan]() is an example of that.
+build a complete tracking system. [SkyScan](https://github.com/IQTLabs/SkyScan), 
+which tracks aircraft using ADS-B transmissions, is an example of the type of 
+system that can be built.
+
  Checkout the `docker-compose.yml` in that repo to see how these modules
- can be connected together. The configuration for the system is stored in environment files that are loaded
- in when it is started up. Examples of the different environment files
- are included in the SkyScan repo, configure them to match your setup.
-
-```mermaid 
-
-flowchart TD
- configdata(Config Data) -- Config Topic --> mqtt{MQTT}
- orientationdata(Orientation Data) -- Orientation Topic --> mqtt{MQTT}
- flightdata(Flight Data) -- Flight Topic --> mqtt{MQTT}
- mqtt{MQTT} -- Config, Orientation, and Flight Topics --> controller(Controller)
- controller(Controller) --> capturedata(Capture Data)
- capturedata(Capture Data) -- Capture Topic --> mqtt{MQTT}
-
-style mqtt fill:#0072bc,color:#ffffff
-style configdata fill:#80c342,color:#ffffff
-style orientationdata fill:#80c342,color:#ffffff
-style flightdata fill:#80c342,color:#ffffff
-style controller fill:#F9D308,color:#ffffff
-style capturedata fill:#80c342,color:#ffffff
+ can be connected together. The configuration for the system is stored in `.env` environment files. Examples of the different environment files
+ are included in the **SkyScan** repo and can be configured them to match your setup.
 
-```
 
+### Built With
+
+[![Python][Python]][Python-url]
+[![Poetry][Poetry]][Poetry-url]
+[![Docker][Docker]][Docker-url]
 
 
 ## Roadmap
@@ -165,7 +130,7 @@ See `CONTRIBUTING.md` for more information.
 ## License
 
 Distributed under the [Apache
-2.0](https://github.com/IQTLabs/edgetech-audio-recorder/blob/main/LICENSE). See
+2.0](https://github.com/IQTLabs/edgetech-axis-ptz-controller/blob/main/LICENSE). See
 `LICENSE.txt` for more information.
 
 ## Contact IQTLabs

axis-ptz-controller/axis_ptz_controller.py

@@ -604,6 +604,11 @@ def _track_object(self, time_since_last_update: float) -> None:
  else:
  logging.debug(f"Controller pan and tilt: {self.rho_c}, {self.tau_c} [deg]")
 
+
+ if self.object is None:
+ logging.error(f"Not sure why it is None here, but not earlier")
+ return
+
  # recompute the object's current location
  # we want to do this after getting the camera's current location because that is a network call
  # and it there is latency and jitter in how long it takes.