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Originally Posted by kaszeta
Look in terminal.c in Kevin's camera code. Basically, you can check the value of T_Packet_Data.my, T_Packet_Data.pixels, or T_Packet_Data.confidence.
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The tracking code also uses PAN_ALLOWABLE_ERROR_DEFAULT and TILT_ALLOWABLE_ERROR_DEFAULT to determine whether the camera is locked or not. Search_Target() already has most (but not all) of the logic. It was simple to modify our code to report the tracking state (searching/tracking/locked) and the target centroid location.