diff --git a/adsb-mqtt/adsb-mqtt.py b/adsb-mqtt/adsb-mqtt.py
index 87c88da..5a73c42 100755
--- a/adsb-mqtt/adsb-mqtt.py
+++ b/adsb-mqtt/adsb-mqtt.py
@@ -43,6 +43,9 @@
 import mqtt_wrapper
 import pandas as pd
 
+
+ID = str(random.randint(1,100001))
+
 # Clean out observations this often
 OBSERVATION_CLEAN_INTERVAL = 30
 # Socket read timeout
@@ -423,11 +426,15 @@ def dump1090Read(self) -> str:
     def run(self):
         """Run the flight tracker.
         """
-        self.__mqtt_bridge = mqtt_wrapper.bridge(host = self.__mqtt_broker, port = self.__mqtt_port, client_id = "skyscan-adsb-mqtt-%d" % (os.getpid())) # TOOD: , user_id = args.mqtt_user, password = args.mqtt_password)
+        timeHeartbeat = 0
+        self.__mqtt_bridge = mqtt_wrapper.bridge(host = self.__mqtt_broker, port = self.__mqtt_port, client_id = "skyscan-adsb-mqtt-%s" % (ID)) # TOOD: , user_id = args.mqtt_user, password = args.mqtt_password)
         #threading.Thread(target = self.__publish_thread, daemon = True).start()
-
+        self.__mqtt_bridge.publish("skyscan/registration", "skyscan-adsb-mqtt-"+ID+" Registration", 0, False)
         
         while True:
+            if timeHeartbeat < time.mktime(time.gmtime()):
+                timeHeartbeat = time.mktime(time.gmtime()) + 10
+                self.__mqtt_bridge.publish("skyscan/heartbeat", "skyscan-adsb-mqtt-"+ID+" Heartbeat", 0, False)
             if not self.dump1090Connect():
                 continue
             for data in self.dump1090Read():
@@ -446,6 +453,7 @@ def run(self):
                         retain = False
                         self.__mqtt_bridge.publish(self.__mqtt_topic, self.__observations[icao24].json(), 0, retain)
                         #logging.info("%s alt %5d trk %3d spd %3d %s" % (self.__observations[icao24].getIcao24(), self.__observations[icao24].getAltitude(), self.__observations[icao24].getHeading(), self.__observations[icao24].getGroundSpeed(), self.__observations[icao24].getType()))
+            time.sleep(0.01)
 
     def cleanObservations(self):
         """Clean observations for planes not seen in a while
diff --git a/axis-ptz/camera.py b/axis-ptz/camera.py
index 332b3cd..b4e3c7c 100755
--- a/axis-ptz/camera.py
+++ b/axis-ptz/camera.py
@@ -24,7 +24,7 @@
 from sensecam_control import vapix_control,vapix_config
 
 
-
+ID = str(random.randint(1,100001))
 tiltCorrect = 15
 args = None
 camera = None
@@ -238,17 +238,23 @@ def main():
         # Sleep for a bit so we're not hammering the HAT with updates
     time.sleep(0.005)
     print("connecting to MQTT broker at "+ args.mqtt_host+", channel '"+args.mqtt_topic+"'")
-    client = mqtt.Client("skyscan-axis-ptz-camera") #create new instance
+    client = mqtt.Client("skyscan-axis-ptz-camera-" + ID) #create new instance
 
     client.on_message=on_message #attach function to callback
 
     client.connect(args.mqtt_host) #connect to broker
     client.loop_start() #start the loop
     client.subscribe(args.mqtt_topic+"/#")
+    client.publish("skyscan/registration", "skyscan-axis-ptz-camera-"+ID+" Registration", 0, False)
+
     #############################################
     ##                Main Loop                ##
     #############################################
+    timeHeartbeat = 0
     while True:
+        if timeHeartbeat < time.mktime(time.gmtime()):
+            timeHeartbeat = time.mktime(time.gmtime()) + 10
+            client.publish("skyscan/heartbeat", "skyscan-axis-ptz-camera-"+ID+" Heartbeat", 0, False)
         time.sleep(0.1)
 
 
diff --git a/docker-compose.yml b/docker-compose.yml
index 3ed4954..c41ba14 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -72,12 +72,9 @@ services:
 
   egi:
     build: ./egi
-    entrypoint: "/app/egi.py -m mqtt"
-    environment:
-      - LAT=${LAT}
-      - LONG=${LONG}
-      - ALT=${ALT}
-      - ROLL=${ROLL}
-      - PITCH=${PITCH}
-      - YAW=${YAW}
+    entrypoint: bash -c "gpsd ${GPS_SERIAL} -F /var/run/gpsd.sock && python3 egi_mqtt.py -m mqtt -l ${LAT} -L ${LONG} -a ${ALT} -r ${ROLL} -p ${PITCH} -y ${YAW}"
+    devices:
+      - /dev/ttyACM0
+    depends_on:
+      - mqtt
     restart: unless-stopped
\ No newline at end of file
diff --git a/egi/Dockerfile b/egi/Dockerfile
index d7a3349..348eec1 100644
--- a/egi/Dockerfile
+++ b/egi/Dockerfile
@@ -1,13 +1,15 @@
 FROM debian
 
 RUN apt update && \
-    apt install -y python3 python3-pip && \
-    pip3 install paho-mqtt
+    apt install -y python3 python3-pip gpsd-clients gpsd
 
 RUN mkdir -p /app/
 WORKDIR /app
+ADD *.txt /app/ 
+RUN pip3 install -r requirements.txt
 ADD *.py /app/
 
-#ENTRYPOINT python3 /tmp/egi.py
+ENTRYPOINT sh -c "gpsd /dev/ttyACM0 -F /var/run/gpsd.sock && bash"
 
-#docker run -d --restart unless-stopped --network=host -v /home/pi/:/tmp/ --name lamp docker-registry.iqt.org/mission-capabilities/rpi-stats-reporting/lamp-control
+#docker run -it --device=/dev/ttyACM0 skyscan_egi
+#python3 egi_mqtt.py -h
\ No newline at end of file
diff --git a/egi/egi.py b/egi/egi.py
deleted file mode 100755
index 2052d3d..0000000
--- a/egi/egi.py
+++ /dev/null
@@ -1,79 +0,0 @@
-#!/usr/bin/env python3
- 
-import paho.mqtt.client as mqtt #import the client1
-import time
-import random
-import json
-import os
-import argparse
-
-Active = True
-
-#######################################################
-##                Initialize Variables               ##
-#######################################################
-config = {}
-config['Local'] = ["127.0.0.1", "/egi/", "Local MQTT Bus"]
-timeTrigger = 0
-timeHeartbeat = 0
-ID = str(random.randint(1,100001))
-
-LLA = [ os.environ['LAT'], os.environ['LONG'], os.environ['ALT'] ]
-RPY = [ os.environ['ROLL'], os.environ['PITCH'], os.environ['YAW'] ]
-
-state = {}
-state['lat'] = LLA[0]
-state['long'] = LLA[1]
-state['alt'] = LLA[2]
-state['roll'] = RPY[0]
-state['pitch'] = RPY[1]
-state['yaw'] = RPY[2]
-state=json.dumps(state)
-
-parser = argparse.ArgumentParser(description='An MQTT based camera controller')
-
-parser.add_argument('-m', '--mqtt-host', help="MQTT broker hostname", default='127.0.0.1')
-
-args = parser.parse_args()
-
-
-#######################################################
-##           Local MQTT Callback Function            ##
-#######################################################
-def on_message_local(client, userdata, message):
-    payload = str(message.payload.decode("utf-8"))
-    print('Message Received: ' + message.topic + ' | ' + payload)
-    #if message.topic == local_topic+"/OFF":
-    #    print("Turning Lamp OFF")
-    
-def on_disconnect(client, userdata, rc):
-    global Active
-    Active = False
-
-#############################################
-##       Initialize Local MQTT Bus         ##
-#############################################
-Unit = 'Local'
-broker_address=config[Unit][0]
-broker_address=args.mqtt_host
-local_topic= config[Unit][1]
-print("connecting to MQTT broker at "+broker_address+", channel '"+local_topic+"'")
-clientLocal = mqtt.Client("EGI-"+ID) #create new instance
-clientLocal.on_message = on_message_local #attach function to callback
-clientLocal.on_disconnect = on_disconnect
-clientLocal.connect(broker_address) #connect to broker
-clientLocal.loop_start() #start the loop
-clientLocal.subscribe(local_topic+"/#") #config/#")
-clientLocal.publish(local_topic+"/registration","EGI-"+ID+" Registration")
-
-#############################################
-##                Main Loop                ##
-#############################################
-while Active:
-    if timeHeartbeat < time.mktime(time.gmtime()):
-        timeHeartbeat = time.mktime(time.gmtime()) + 10
-        clientLocal.publish(local_topic+"/Heartbeat","EGI-"+ID+" Heartbeat")
-    if timeTrigger < time.mktime(time.gmtime()):
-        timeTrigger = time.mktime(time.gmtime()) + 10
-        clientLocal.publish(local_topic,state)
-    time.sleep(0.001)
\ No newline at end of file
diff --git a/egi/egi_mqtt.py b/egi/egi_mqtt.py
new file mode 100644
index 0000000..e025fa6
--- /dev/null
+++ b/egi/egi_mqtt.py
@@ -0,0 +1,137 @@
+#!/usr/bin/env python3
+ 
+from gps import *
+import paho.mqtt.client as mqtt #import the client1
+import time
+import random
+import json
+import os
+import argparse
+import logging
+import coloredlogs
+import threading
+
+gpsd = None #seting the global variable
+Active = True
+styles = {'critical': {'bold': True, 'color': 'red'}, 'debug': {'color': 'green'}, 'error': {'color': 'red'}, 'info': {'color': 'white'}, 'notice': {'color': 'magenta'}, 'spam': {'color': 'green', 'faint': True}, 'success': {'bold': True, 'color': 'green'}, 'verbose': {'color': 'blue'}, 'warning': {'color': 'yellow'}}
+level = logging.INFO 
+coloredlogs.install(level=level, fmt='%(asctime)s.%(msecs)03d \033[0;90m%(levelname)-8s '
+                    ''
+                    '\033[0;36m%(filename)-18s%(lineno)3d\033[00m '
+                    '%(message)s',
+                    level_styles = styles)
+logging.info("Initializing EGI")
+
+#######################################################
+##                Initialize Variables               ##
+#######################################################
+config = {}
+config['Local'] = ["127.0.0.1", "skyscan/egi", "Local MQTT Bus"]  # updated based on naming convention here: https://www.hivemq.com/blog/mqtt-essentials-part-5-mqtt-topics-best-practices/
+timeTrigger = time.mktime(time.gmtime()) + 10
+timeHeartbeat = time.mktime(time.gmtime()) + 10
+ID = str(random.randint(1,100001))
+
+
+class GpsPoller(threading.Thread):
+  def __init__(self):
+    threading.Thread.__init__(self)
+    global gpsd #bring it in scope
+    gpsd = gps(mode=WATCH_ENABLE|WATCH_NEWSTYLE)
+    self.current_value = None
+    self.running = True #setting the thread running to true
+
+  def run(self):
+    global gpsd
+    while self.running:
+      gpsd.next() #this will continue to loop and grab EACH set of gpsd info to clear the buffer
+
+
+LLA = [38.9510808,-77.3841834,130.1337]
+RPY = [0,0,0]
+
+parser = argparse.ArgumentParser(description='An MQTT based camera controller')
+parser.add_argument('-m', '--mqtt-host', help="MQTT broker hostname", default='127.0.0.1')
+parser.add_argument('-l', '--latitude', help="Latitude (decimal degrees)", default=LLA[0])
+parser.add_argument('-L', '--longitude', help="Longitude (decimal degrees)", default=LLA[1])
+parser.add_argument('-a', '--altitude', help="Altitude (meters)", default=LLA[2])
+parser.add_argument('-r', '--roll', help="Roll Angle of Camera (degrees)", default=RPY[0])
+parser.add_argument('-p', '--pitch', help="Pitch Angle of Camera (degrees)", default=RPY[1])
+parser.add_argument('-y', '--yaw', help="Yaw Angle of Camera (degrees from True North)", default=RPY[2])
+try:
+    args = parser.parse_args()
+except:
+    logging.critical("Error in Command Line Argument Parsing.  Are all environment variables set?", exc_info=True)
+    raise
+    
+
+state = {}
+state['time'] = time.strftime("%Y-%m-%dT%H:%M:%SZ",time.gmtime())
+state['lat'] = float(args.latitude)
+state['long'] = float(args.longitude)
+state['alt'] = float(args.altitude)
+state['roll'] = float(args.roll)
+state['pitch'] = float(args.pitch)
+state['yaw'] = float(args.yaw)
+state['fix'] = 0
+logging.info("Initial State Array: " + str(state))
+
+
+#######################################################
+##           Local MQTT Callback Function            ##
+#######################################################
+def on_message_local(client, userdata, message):
+    payload = str(message.payload.decode("utf-8"))
+    logging.info('Message Received: ' + message.topic + ' | ' + payload)
+    
+def on_disconnect(client, userdata, rc):
+    global Active
+    Active = False
+
+#############################################
+##       Initialize Local MQTT Bus         ##
+#############################################
+Unit = 'Local'
+broker_address=config[Unit][0]
+broker_address=args.mqtt_host
+local_topic= config[Unit][1]
+logging.info("connecting to MQTT broker at "+broker_address+", channel '"+local_topic+"'")
+clientLocal = mqtt.Client("EGI-"+ID) #create new instance
+clientLocal.on_message = on_message_local #attach function to callback
+clientLocal.on_disconnect = on_disconnect
+try:
+    clientLocal.connect(broker_address) #connect to broker
+except:
+    logging.critical("Could not connect to MQTT Broker.", exc_info=True)
+    raise
+clientLocal.loop_start() #start the loop
+clientLocal.publish("skyscan/registration","EGI-"+ID+" Registration")
+
+gpsp = GpsPoller() # create the thread
+try:
+    gpsp.start() # start it up
+    #############################################
+    ##                Main Loop                ##
+    #############################################
+    while Active:
+        state['fix'] = gpsd.fix.status
+        if gpsd.fix.status:
+            state['time'] = gpsd.fix.time
+            state['lat'] = gpsd.fix.latitude
+            state['long'] = gpsd.fix.longitude
+            state['alt'] = gpsd.fix.altitude
+        if timeTrigger < time.mktime(time.gmtime()):
+            timeTrigger = time.mktime(time.gmtime()) + 10
+            clientLocal.publish(local_topic,json.dumps(state))
+        if timeHeartbeat < time.mktime(time.gmtime()):
+            timeHeartbeat = time.mktime(time.gmtime()) + 30
+            logging.info("Current EGI State: " + json.dumps(state))
+    time.sleep(0.01)
+except (KeyboardInterrupt, SystemExit): #when you press ctrl+c
+    logging.info("Killing GPS Thread...")
+    gpsp.running = False
+    gpsp.join(2)
+except:
+    logging.critical("Error starting GPS.", exc_info=True)
+    gpsp.running = False
+    gpsp.join(2)
+    raise
\ No newline at end of file
diff --git a/egi/requirements.txt b/egi/requirements.txt
new file mode 100644
index 0000000..45eb5aa
--- /dev/null
+++ b/egi/requirements.txt
@@ -0,0 +1,3 @@
+paho-mqtt==1.5.0
+coloredlogs
+gps
\ No newline at end of file
diff --git a/env-example b/env-example
index ddc655f..f44efee 100644
--- a/env-example
+++ b/env-example
@@ -14,4 +14,5 @@ CAMERA_MOVE_SPEED=50        # The speed at which the Axis will move for Pan/Tilt
 CAMERA_DELAY=0.5            # How many seconds after issuing a Pan/Tilt command should a picture be taken
 CAMERA_ZOOM=9999            # The zoom setting for the camera (0-9999)
 CAMERA_LEAD=0.25            # How many seconds ahead of a plane's predicted location should the camera be positioned
-RTL_DEV=1                   # The device ID for the RTL-SDR - set using the rtl_eeprom program
\ No newline at end of file
+RTL_DEV=1                   # The device ID for the RTL-SDR - set using the rtl_eeprom program
+GPS_SERIAL=/dev/ttyACM0     # GPS module serial port
\ No newline at end of file
diff --git a/pan-tilt-pi/camera.py b/pan-tilt-pi/camera.py
index 1850131..519a57b 100755
--- a/pan-tilt-pi/camera.py
+++ b/pan-tilt-pi/camera.py
@@ -22,6 +22,8 @@
 import pantilthat
 from picamera import PiCamera
 
+ID = str(random.randint(1,100001))
+
 camera = PiCamera()
 
 tiltCorrect = 15
@@ -183,17 +185,22 @@ def main():
         # Sleep for a bit so we're not hammering the HAT with updates
     time.sleep(0.005)
     print("connecting to MQTT broker at "+ args.mqtt_host+", channel '"+args.mqtt_topic+"'")
-    client = mqtt.Client("pan-tilt-pi-camera") #create new instance
+    client = mqtt.Client("pan-tilt-pi-camera-" + ID) #create new instance
 
     client.on_message=on_message #attach function to callback
 
     client.connect(args.mqtt_host) #connect to broker
     client.loop_start() #start the loop
     client.subscribe(args.mqtt_topic+"/#")
+    client.publish("skyscan/registration", "pan-tilt-pi-camera-"+ID+" Registration", 0, False)
     #############################################
     ##                Main Loop                ##
     #############################################
+    timeHeartbeat = 0
     while True:
+        if timeHeartbeat < time.mktime(time.gmtime()):
+            timeHeartbeat = time.mktime(time.gmtime()) + 10
+            client.publish("Heartbeat", "pan-tilt-pi-camera-"+ID+" Heartbeat", 0, False)
         time.sleep(0.1)
 
 
diff --git a/tracker/flighttracker.py b/tracker/flighttracker.py
index 073404e..375d01b 100755
--- a/tracker/flighttracker.py
+++ b/tracker/flighttracker.py
@@ -29,7 +29,6 @@
 import sys
 import os
 import logging
-import logging
 import coloredlogs
 import calendar
 from datetime import datetime, timedelta
@@ -45,6 +44,7 @@
 import pandas as pd
 from queue import Queue
 
+ID = str(random.randint(1,100001))
 
 # Clean out observations this often
 OBSERVATION_CLEAN_INTERVAL = 30
@@ -267,7 +267,9 @@ def dict(self):
 
 
 def on_message(client, userdata, message):
-
+    global camera_altitude
+    global camera_latitude
+    global camera_longitude
     command = str(message.payload.decode("utf-8"))
     # Assumes you will only be getting JSON on your subscribed messages
     try:
@@ -282,8 +284,13 @@ def on_message(client, userdata, message):
         log.critical("onMessage - Caught it!")
     if message.topic == plane_topic:
         q.put(update) #put messages on queue
-    elif message.topic == "/egi/":
-        print(update)
+    elif message.topic == "skyscan/egi":
+        logging.info(update)
+        camera_longitude = float(update["long"])
+        camera_latitude = float(update["lat"])
+        camera_altitude = float(update["alt"])
+    else:
+        logging.info("Topic not processed: " + message.topic)
    
 class FlightTracker(object):
     __mqtt_broker: str = ""
@@ -326,7 +333,11 @@ def __publish_thread(self):
         """
         MQTT publish closest observation every second, more often if the plane is closer
         """
+        timeHeartbeat = 0
         while True:
+            if timeHeartbeat < time.mktime(time.gmtime()):
+                timeHeartbeat = time.mktime(time.gmtime()) + 10
+                self.__client.publish("skyscan/heartbeat", "skyscan-tracker-" +ID+" Heartbeat", 0, False)
             if not self.__tracking_icao24:
                 time.sleep(1)
             else:
@@ -367,7 +378,7 @@ def run(self):
         """Run the flight tracker.
         """
         print("connecting to MQTT broker at "+ self.__mqtt_broker +", subcribing on channel '"+ self.__plane_topic+"'publising on: " + self.__tracking_topic)
-        self.__client = mqtt.Client("skyscan-tracker") #create new instance
+        self.__client = mqtt.Client("skyscan-tracker-" + ID) #create new instance
 
         self.__client.on_message = on_message #attach function to callback
         print("setup MQTT")
@@ -376,7 +387,8 @@ def run(self):
         self.__client.loop_start() #start the loop
         print("start MQTT")
         self.__client.subscribe(self.__plane_topic)
-        self.__client.subscribe("/egi/")
+        self.__client.subscribe("skyscan/egi")
+        self.__client.publish("skyscan/registration", "skyscan-tracker-"+ID+" Registration", 0, False)
         print("subscribe mqtt")
         threading.Thread(target = self.__publish_thread, daemon = True).start()
 
diff --git a/tracker/requirements copy.txt b/tracker/requirements copy.txt
deleted file mode 100644
index bd35a73..0000000
--- a/tracker/requirements copy.txt	
+++ /dev/null
@@ -1,5 +0,0 @@
-coloredlogs==14.0
-paho-mqtt==1.5.0
-python-dateutil==2.8.1
-requests==2.23.0
-pandas