use lead time as the tracking_interval

axis-ptz-controller/axis_ptz_controller.py

@@ -271,6 +271,11 @@ def __init__(
         self.r_ENz_o_0_t = np.zeros((3,))
         self.v_ENz_o_0_t = np.zeros((3,))
 
+        # Position and velocity in the geocentric (XYZ) coordinate
+        # system of the object relative to the tripod at time zero
+        self.r_XYZ_o_0_t = np.zeros((3,))
+        self.v_XYZ_o_0_t = np.zeros((3,))
+
         # Distance between the object and the tripod at time one
         self.distance3d = 0.0  # [m]
 
@@ -290,9 +295,6 @@ def __init__(
         # to camera fixed (rst) coordinates
         self.E_XYZ_to_rst = np.zeros((3, 3))
 
-        self.r_XYZ_o_0_t = np.zeros((3,))
-        self.v_XYZ_o_0_t = np.zeros((3,))
-
         # Object pan and tilt rates
         self.rho_dot_o = 0.0  # [deg/s]
         self.tau_dot_o = 0.0  # [deg/s]
@@ -1382,7 +1384,7 @@ def main(self) -> None:
             capture_job = schedule.every(self.capture_interval).seconds.do(
                 self._capture_image
             )
-        tracking_interval = 0.25
+        tracking_interval = self.lead_time #0.25
         update_tracking_time = time()
 
         # Enter the main loop