Mostly PTZ Camera have API or at least Onvif Support on their system, so i have an idea to put the AAT inside the PTZ Camera, and Convert the AUX for the Servo into API to moving the PTZ
What Inside
Yes, I use Esp32 to translate the PWM OUT from FC into API
The API what we need bassically only two: PAN and TILT
curl -X PUT --data-raw '<PTZData><pan>VALUE</pan></PTZData>' -H Expect: http://a:b@c/ISAPI/PTZCtrl/channels/1/Continuous
a = User Name (Must Administrator)
b = Password
c = IP Address of the PTZ Camera
Example:
Pan right
curl -X PUT --data-raw '<PTZData><pan>30</pan></PTZData>' -H Expect: http://admin:kora1234@192.168.1.100/ISAPI/PTZCtrl/channels/1/Continuous
Pan left
curl -X PUT --data-raw '<PTZData><pan>-30</pan></PTZData>' -H Expect: http://admin:kora1234@192.168.1.100/ISAPI/PTZCtrl/channels/1/Continuous
Stop Pan Movement
curl -X PUT --data-raw '<PTZData><pan>0</pan></PTZData>' -H Expect: http://admin:kora1234@192.168.1.100/ISAPI/PTZCtrl/channels/1/Continuous
Tilt up
curl -X PUT --data-raw '<PTZData><tilt>30</tilt></PTZData>' -H Expect: http://admin:kora1234@192.168.1.100/ISAPI/PTZCtrl/channels/1/Continuous
Tilt Down
curl -X PUT --data-raw '<PTZData><tilt>-30</tilt></PTZData>' -H Expect: http://admin:kora1234@192.168.1.100/ISAPI/PTZCtrl/channels/1/Continuous
Stop Tilt Movement
curl -X PUT --data-raw '<PTZData><tilt>0</tilt></PTZData>' -H Expect: http://admin:kora1234@192.168.1.100/ISAPI/PTZCtrl/channels/1/Continuous
Combining Together
Pan Right + Tilt up
curl -X PUT --data-raw '<PTZData><pan>30</pan><tilt>30</tilt></PTZData>' -H Expect: http://admin:kora1234@192.168.1.100/ISAPI/PTZCtrl/channels/1/Continuous
Pan left + Tilt Down
curl -X PUT --data-raw '<PTZData><pan>-30</pan><tilt>30</tilt></PTZData>' -H Expect: http://admin:kora1234@192.168.1.100/ISAPI/PTZCtrl/channels/1/Continuous
Stop Pan+Tilt Movement
curl -X PUT --data-raw '<PTZData><pan>0</pan><tilt>0</tilt></PTZData>' -H Expect: http://admin:kora1234@192.168.1.100/ISAPI/PTZCtrl/channels/1/Continuous
For Stop, we can give both 0 to stop all movement or to specific such as Pan only and leave the tilt still moving
Result so far
Gentlemen, this thread still develop i create this time because my time are so limited, so i will continue on another my free of time
Later fix:
Seems ZOOM is useless, because when we ZOOM IN into the sky the camera won’t focus, so better I will use ZOOM for other reasons
Compass is not supposed to put on DOME, because Compass must always be HORIZON, the compass seems a little bit glitch when the DOME goes up more than 45 degrees
ILLUSTRATION
//*************************************************************************************
// PWM TO API CONVERTER
// by KORAKORA 2026
//
// README !!
// THIS VALUE ARE VARY! DEPEND OF YOUR SETTING FROM THE AAT
// *Example: if you choose Continues Rotations of the Servo the Value will be different
// Please Customize by your self
// or Consult with the members of forum in this thread
// https://discuss.ardupilot.org/t/install-antenna-tracker-on-ptz-camera-hikvision/143662
//
// WE TALKING IP PTZ CAMERA NOT ANALOG
// so the Esp32 must to connected to the PTZ CAMERA by TCP/IP
// The conditions are vary based on what your setup is
// mine i connect the Esp32 to PTZ Camera by WiFi because my Esp32 don't have Ethernet
//***************************************************************************************
#include <WiFi.h>
#include <HTTPClient.h>
//**********************************************************
// PanIO = GPIO From Esp32 to FC Channel Connected to
// TiltIO = GPIO From Esp32 to FC Channel Connected to
//**************************
byte PanIO = 15;
byte TiltIO = 16;
void ReadPWM() {
//*** CHECK PWM VALUE FROM FC FOR PAN
int PanPWM = pulseIn(PanIO,HIGH);
int PanVal;
if (PanPWM > 1900) PanVal = 70; // RIGHT TURN WITH FAST SPEED
else if (PanPWM > 1700) PanVal = 50; // RIGHT TURN WITH MEDIUM SPEED
else if (PanPWM > 1550) PanVal = 30; // RIGHT TURN WITH SLOW SPEED
else if (PanPWM < 1100) PanVal = -70; // LEFT TURN WITH FAST SPEED
else if (PanPWM < 1300) PanVal = -50; // LEFT TURN WITH MEDIUM SPEED
else if (PanPWM < 1450) PanVal = -30; // LEFT TURN WITH SLOW SPEED
else PanVal = 0; // STOP !!
//*** CHECK PWM VALUE FROM FC FOR TILT
int TiltPWM = pulseIn(TiltIO,HIGH);
int TiltVal;
if (TiltPWM > 1900) TiltVal = 50; // TILT UP WITH FAST SPEED
else if (TiltPWM > 1700) TiltVal = 40; // TILT UP WITH MEDIUM SPEED
else if (TiltPWM > 1550) TiltVal = 30; // TILT UP WITH SLOW SPEED
else if (TiltPWM < 1100) TiltVal = -50; // TILT DOWN WITH FAST SPEED
else if (TiltPWM < 1300) TiltVal = -40; // TILT DOWN WITH MEDIUM SPEED
else if (TiltPWM < 1450) TiltVal = -30; // TILT DOWN WITH SLOW SPEED
else TiltVal = 0; // STOP !!
ReqPTZ(PanVal, TiltVal);
}
//************************************
// USER = User Login Admin
// PASSWORD = Password Login
// IPADRESS = IP Address of PTZ Camera
//************************************
String PTZurl = "http://USER:PASSWORD@IPADDRESS/ISAPI/PTZCtrl/channels/1/Continuous";
int PrevPan, PrevTilt;
uint32_t SuspendTime;
void ReqPTZ(int Pan, int Tilt) {
if (Pan == PrevPan and Tilt == PrevTilt) return;
if (millis() < SuspendTime) return;
PrevPan = Pan;
PrevTilt = Tilt;
String xmlData = "<PTZData><pan>" + String(Pan) + "</pan><tilt>" + String(Tilt) + "</tilt></PTZData>";
HTTPClient Http;
Http.begin(PTZurl);
Http.addHeader("Content-Type", "application/xml");
Serial.println(xmlData);
int httpResponseCode = Http.PUT(xmlData);
String ResponseStr = Http.getString();
if (httpResponseCode == 200) Serial.print(" OK");
else {
Serial.print(" ERROR: " + String(httpResponseCode));
Serial.println("ResponseStr: " + ResponseStr);
SuspendTime = millis() + 3000; // IF ERROR THE SYSTEM WILL SUSPEND FOR 3 SECONDS TO AVOID SYSTEM PROBLEMS
}
Http.end();
}
void loop() {
ReadPWM();
}
