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Include flight message age in aircraft lead time #44

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merged 3 commits into from
Feb 10, 2023
Merged

Include flight message age in aircraft lead time #44

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1804542
Include message in aircraft lead time in calculateCameraPositionB()
Feb 9, 2023
901121b
Restore use of message age in calculateCameraPositionA()
Feb 9, 2023
1dad621
Consistently include age of flight message in calculations, or not
Feb 9, 2023
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Include message in aircraft lead time in calculateCameraPositionB()
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Raymond LeClair committed Feb 9, 2023
commit 1804542e1a22c34550096b1e24b0aa052e85ca26
11 changes: 8 additions & 3 deletions axis-ptz/camera.py
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Original file line number Diff line number Diff line change
Expand Up @@ -401,15 +401,20 @@ def calculateCameraPositionB(
# Assign position and velocity of the aircraft
a_varphi = currentPlane["lat"] # [deg]
a_lambda = currentPlane["lon"] # [deg]
# currentPlane["latLonTime"]
a_time = currentPlane["latLonTime"] # [s]
a_h = currentPlane["altitude"] # [m]
# currentPlane["altitudeTime"]
# currentPlane["altitudeTime"] # Expect altitudeTime to equal latLonTime
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@mchadwick-iqt mchadwick-iqt Feb 9, 2023 •
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@ralatsdc - the altitudeTime is not equal to the latLonTime. They come in as separate ADS-B messages and can add up to some sizeable differences if messages get missed. Can you split these out appropriately?

a_track = currentPlane["track"] # [deg]
a_ground_speed = currentPlane["groundSpeed"] # [m/s]
a_vertical_rate = currentPlane["verticalRate"] # [m/s]
# currentPlane["icao24"]
# currentPlane["type"]

# Compute lead time accounting for age of message, and specified
# lead time
a_datetime = utils.convert_time(a_time)
a_lead = (datetime.utcnow() - a_datetime).total_seconds() + camera_lead # [s]

# Assign position of the tripod
t_varphi = camera_latitude # [deg]
t_lambda = camera_longitude # [deg]
Expand All @@ -431,7 +436,7 @@ def calculateCameraPositionB(
a_vertical_rate,
]
)
r_ENz_a_1_t = r_ENz_a_0_t + v_ENz_a_0_t * camera_lead
r_ENz_a_1_t = r_ENz_a_0_t + v_ENz_a_0_t * a_lead

# Compute position, at time one, and velocity, at time zero, in
# the XYZ coordinate system of the aircraft relative to the tripod
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