Update axis_ptz_controller.py

axis-ptz-controller/axis_ptz_controller.py

@@ -612,12 +612,12 @@ def _compute_object_pointing(self, time_since_last_update=0) -> None:
 
  # Assign lead time, computing and adding age of object
  # message, if enabled
- tracking_interval =  self.tracking_interval # [s] time_since_last_update 
+ lead_time = self.tracking_interval # [s] time_since_last_update 
  if self.include_age:
  object_msg_age = time() - self.timestamp_o #datetime.utcnow().timestamp() - self.timestamp_o # [s]
  logging.debug(f"Object msg age: {object_msg_age} [s]")
- tracking_interval += object_msg_age
- logging.info(f"Using lead time: {tracking_interval} [s]")
+ lead_time += object_msg_age
+ logging.info(f"Using lead time: {lead_time} [s]")
 
  # Compute position and velocity in the topocentric (ENz)
  # coordinate system of the object relative to the tripod at
@@ -631,7 +631,7 @@ def _compute_object_pointing(self, time_since_last_update=0) -> None:
  self.vertical_rate_o,
  ]
  )
- r_ENz_o_1_t = self.r_ENz_o_0_t + self.v_ENz_o_0_t * tracking_interval
+ r_ENz_o_1_t = self.r_ENz_o_0_t + self.v_ENz_o_0_t * lead_time
 
  # Compute position, at time one, and velocity, at time zero,
  # in the geocentric (XYZ) coordinate system of the object
@@ -827,6 +827,7 @@ def _track_object(self, time_since_last_update) -> None:
  self.tau_c, self.tau_o
  ),
  "tracking_loop_time": elapsed_time,
+ "time_since_last_update": time_since_last_update,
  "object_id": self.object_id,
  }
  }