From a3d2140a56471c25407dc93e36b1ba00423a0b2d Mon Sep 17 00:00:00 2001 From: Luke Berndt Date: Tue, 26 Mar 2024 09:02:35 -0400 Subject: [PATCH] Update axis_ptz_controller.py --- axis-ptz-controller/axis_ptz_controller.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/axis-ptz-controller/axis_ptz_controller.py b/axis-ptz-controller/axis_ptz_controller.py index 0f2b767..74cffaa 100644 --- a/axis-ptz-controller/axis_ptz_controller.py +++ b/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, } }