Update axis_ptz_controller.py

IQTLabs · Mar 28, 2024 · bff41b1 · bff41b1
1 parent f3adf13
commit bff41b1
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/axis-ptz-controller/axis_ptz_controller.py b/axis-ptz-controller/axis_ptz_controller.py
@@ -619,7 +619,7 @@ def _compute_object_pointing(self, time_since_last_update=0) -> None:
 
  # Assign lead time, computing and adding age of object
  # message, if enabled
- lead_time = self.tracking_interval # [s] time_since_last_update 
+ lead_time = 0#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]")
@@ -735,14 +735,14 @@ def _track_object(self, time_since_last_update) -> None:
  self.v_rst_o_0_t = np.matmul(self.E_XYZ_to_rst, self.v_XYZ_o_0_t)
 
  # Compute object slew rate
- omega = (
- axis_ptz_utilities.cross(self.r_rst_o_0_t, self.v_rst_o_0_t)
- / axis_ptz_utilities.norm(self.r_rst_o_0_t) ** 2
- )
  # omega = (
- # axis_ptz_utilities.cross(self.r_rst_o_1_t, self.v_rst_o_0_t)
- # / axis_ptz_utilities.norm(self.r_rst_o_1_t) ** 2
+ # axis_ptz_utilities.cross(self.r_rst_o_0_t, self.v_rst_o_0_t)
+ # / axis_ptz_utilities.norm(self.r_rst_o_0_t) ** 2
  # )
+ omega = (
+ axis_ptz_utilities.cross(self.r_rst_o_1_t, self.v_rst_o_0_t)
+ / axis_ptz_utilities.norm(self.r_rst_o_1_t) ** 2
+ )
  self.rho_dot_o = math.degrees(-omega[2])
  self.tau_dot_o = math.degrees(omega[0])
  logging.debug(