# create the antenna tracker model
a = Tracker(onoff=opts.onoff, yawrate=opts.yawrate, pitchrate=opts.pitchrate)
# initial controls state
state = ControlState()
# parse home
v = opts.home.split(',')
if len(v) != 4:
print("home should be lat,lng,alt,hdg")
sys.exit(1)
a.home_latitude = float(v[0])
a.home_longitude = float(v[1])
a.home_altitude = float(v[2])
a.altitude = a.home_altitude
a.yaw = float(v[3])
a.latitude = a.home_latitude
a.longitude = a.home_longitude
a.set_yaw_degrees(a.yaw)
print("Starting at lat=%f lon=%f alt=%f heading=%.1f" % (
a.home_latitude,
a.home_longitude,
a.altitude,
a.yaw))
frame_time = 1.0/opts.rate
sleep_overhead = 0
