More configs

Config.ipynb

@@ -63,16 +63,16 @@
  },
  {
  "cell_type": "code",
- "execution_count": 46,
+ "execution_count": 57,
  "metadata": {},
  "outputs": [
  {
  "data": {
  "text/plain": [
- "<paho.mqtt.client.MQTTMessageInfo at 0x7f8d010481d0>"
+ "<paho.mqtt.client.MQTTMessageInfo at 0x7f8d01052720>"
  ]
  },
- "execution_count": 46,
+ "execution_count": 57,
  "metadata": {},
  "output_type": "execute_result"
  }
@@ -95,24 +95,24 @@
  },
  {
  "cell_type": "code",
- "execution_count": 43,
+ "execution_count": 58,
  "metadata": {},
  "outputs": [
  {
  "data": {
  "text/plain": [
- "<paho.mqtt.client.MQTTMessageInfo at 0x7f8d01045d10>"
+ "<paho.mqtt.client.MQTTMessageInfo at 0x7f8d0104a270>"
  ]
  },
- "execution_count": 43,
+ "execution_count": 58,
  "metadata": {},
  "output_type": "execute_result"
  }
  ],
  "source": [
  "client.connect(broker)\n",
  "data = {}\n",
- "data['cameraDelay'] = 99 # Update this Value\n",
+ "data['cameraDelay'] = 0.25 # Update this Value\n",
  "json_data = json.dumps(data)\n",
  "client.publish(\"skyscan/config/json\",json_data)"
  ]
@@ -127,24 +127,24 @@
  },
  {
  "cell_type": "code",
- "execution_count": 45,
+ "execution_count": 56,
  "metadata": {},
  "outputs": [
  {
  "data": {
  "text/plain": [
- "<paho.mqtt.client.MQTTMessageInfo at 0x7f8d01015f40>"
+ "<paho.mqtt.client.MQTTMessageInfo at 0x7f8d0104a220>"
  ]
  },
- "execution_count": 45,
+ "execution_count": 56,
  "metadata": {},
  "output_type": "execute_result"
  }
  ],
  "source": [
  "client.connect(broker)\n",
  "data = {}\n",
- "data['cameraMoveSpeed'] = 0.25 # Update this Value\n",
+ "data['cameraMoveSpeed'] = 99 # Update this Value\n",
  "json_data = json.dumps(data)\n",
  "client.publish(\"skyscan/config/json\",json_data)"
  ]
@@ -157,6 +157,45 @@
  "This is how far the tracker should move the center point in front of the currently tracked plane. It is a float, and is measured in seconds, example: 0.25 . It is based on the planes current heading and how fast it is going. "
  ]
  },
+ {
+ "cell_type": "code",
+ "execution_count": 54,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "<paho.mqtt.client.MQTTMessageInfo at 0x7f8d0104a2c0>"
+ ]
+ },
+ "execution_count": 54,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "client.connect(broker)\n",
+ "data = {}\n",
+ "data['cameraLead'] = 0.25 # Update this Value\n",
+ "json_data = json.dumps(data)\n",
+ "client.publish(\"skyscan/config/json\",json_data)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Camera Bearing\n",
+ "This is a float to correct the cameras heading to help it better align with True North. It can be from -180 to 180. "
+ ]
+ },
  {
  "cell_type": "code",
  "execution_count": 41,
@@ -177,7 +216,28 @@
  "source": [
  "client.connect(broker)\n",
  "data = {}\n",
- "data['cameraLead'] = 0.25 # Update this Value\n",
+ "data['cameraBearing'] = 0 # Update this Value\n",
+ "json_data = json.dumps(data)\n",
+ "client.publish(\"skyscan/config/json\",json_data)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Minimum Elevation\n",
+ "The minimum elevation above the horizon which the Tracker will follow an airplane. Int value between 0-90 degrees."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "client.connect(broker)\n",
+ "data = {}\n",
+ "data['minElevation'] = 45 # Update this Value\n",
  "json_data = json.dumps(data)\n",
  "client.publish(\"skyscan/config/json\",json_data)"
  ]

axis-ptz/camera.py

@@ -32,6 +32,7 @@
 cameraZoom = None
 cameraMoveSpeed = None
 cameraDelay = None
+cameraBearing = 0
 object_topic = None
 flight_topic = None
 config_topic = "skyscan/config/json"
@@ -76,8 +77,7 @@ def setXY(x,y):
 
 def setPan(bearing):
  global pan
- camera_bearing = args.bearing
- diff_heading = getHeadingDiff(bearing, camera_bearing)
+ diff_heading = getHeadingDiff(bearing, cameraBearing)
 
 
  if pan != bearing: #abs(pan - diff_heading) > 2: #only update the pan if there has been a big change
@@ -239,6 +239,7 @@ def update_config(config):
  global cameraZoom
  global cameraMoveSpeed
  global cameraDelay
+ global cameraBearing
 
  if "cameraZoom" in config:
  cameraZoom = int(config["cameraZoom"])
@@ -247,9 +248,11 @@ def update_config(config):
  cameraDelay = float(config["cameraDelay"])
  logging.info("Setting Camera Delay to: {}".format(cameraDelay))
  if "cameraMoveSpeed" in config:
- cameraMoveSpeed = int("cameraMoveSpeed")
+ cameraMoveSpeed = int(config["cameraMoveSpeed"])
  logging.info("Setting Camera Move Speed to: {}".format(cameraMoveSpeed))
-
+ if "cameraBearing" in config:
+ cameraBearing = float(config["cameraBearing"])
+ logging.info("Setting Bearing Correction to: {}".format(cameraBearing))
 #############################################
 ## MQTT Callback Function ##
 #############################################
@@ -297,6 +300,7 @@ def main():
  global cameraDelay
  global cameraMoveSpeed
  global cameraZoom
+ global cameraBearing
  global cameraConfig
  global flight_topic
  global object_topic
@@ -339,6 +343,7 @@ def main():
  cameraDelay = args.camera_delay
  cameraMoveSpeed = args.camera_move_speed
  cameraZoom = args.camera_zoom
+ cameraBearing = args.camera_bearing
  cameraConfig = vapix_config.CameraConfiguration(args.axis_ip, args.axis_username, args.axis_password)
 
  threading.Thread(target = moveCamera, daemon = True).start()

mqtt-message.md

@@ -4,4 +4,7 @@ The JSON blob has different config values. There are no required fields. The fol
 - cameraZoom - int value from 0 - 9999
 - cameraDelay - float value for the number of seconds to wait after sending the camera move API command, before sending the take picture API command.
 - cameraMoveSpeed - This is how fast the camea will move. It is an Int number between 0-99 (max)
-- cameraLead - This is how far the tracker should move the center point in front of the currently tracked plane. It is a float, and is measured in seconds, example: 0.25 . It is based on the planes current heading and how fast it is going. 
+- cameraLead - This is how far the tracker should move the center point in front of the currently tracked plane. It is a float, and is measured in seconds, example: 0.25 . It is based on the planes current heading and how fast it is going. 
+- cameraBearing - This is a float to correct the cameras heading to help it better align with True North. It can be from -180 to 180. 
+- minElevation - The minimum elevation above the horizon which the Tracker will follow an airplane. Int value between 0-90 degrees.
+- 

tracker/flighttracker.py

@@ -267,11 +267,14 @@ def dict(self):
 
 def update_config(config):
  global camera_lead
+ global min_elevation
 
  if "cameraLead" in config:
  camera_lead = float(config["cameraLead"])
  logging.info("Setting Camera Lead to: {}".format(camera_lead))
-
+ if "minElevation" in config:
+ min_elevation = int(config["minElevation"])
+ logging.info("Setting Min. Elevation to: {}".format(minElevation))
 
 def on_message(client, userdata, message):
  global camera_altitude