diff --git a/misc/camera/a8/main.cpp b/misc/camera/a8/main.cpp
index 9274192..7b3b505 100644
--- a/misc/camera/a8/main.cpp
+++ b/misc/camera/a8/main.cpp
@@ -33,9 +33,12 @@ int main(int argc, char *argv[])
 
     // Remote mode will read commands from pipe
     if (useRemoteMode == true) {
-        RemoteControl remoteControl;
-    } else {
-        LocalControl localControl;
+        qDebug() << "Creating new RemoteControl object";
+        new RemoteControl();
+    }
+    else {
+        qDebug() << "Creating new LocalControl object";
+        new LocalControl();
     }
 
     return app.exec();
diff --git a/misc/camera/a8/remoteControl.cpp b/misc/camera/a8/remoteControl.cpp
index ce52947..85d8a30 100644
--- a/misc/camera/a8/remoteControl.cpp
+++ b/misc/camera/a8/remoteControl.cpp
@@ -14,7 +14,7 @@
 #include "remoteControl.hpp"
 
 RemoteControl::RemoteControl(QObject *parent)
-    : QObject{parent}
+    : QObject{parent}, mIsBusy(false)
 {
     mUdpSocket = new QUdpSocket(this);
     connect(mUdpSocket, &QUdpSocket::readyRead, this, &RemoteControl::readPendingDatagrams);
@@ -23,6 +23,8 @@ RemoteControl::RemoteControl(QObject *parent)
 
 void RemoteControl::readPendingDatagrams()
 {
+    qDebug() << "readPendingDatagrams() Got UDP message!";
+
     while (mUdpSocket->hasPendingDatagrams()) {
         QByteArray datagram;
         datagram.resize(mUdpSocket->pendingDatagramSize());
@@ -37,9 +39,11 @@ void RemoteControl::readPendingDatagrams()
 
         if (jsonDoc.isObject()) {
             if (mIsBusy == false) {
+                qDebug() << "readPendingDatagrams() mIsBusy == false! Processing JSON";
                 processJSON(jsonDoc);
             }
-        } else {
+        }
+        else {
             qWarning().noquote().nospace() << "Received data was not JSON object.";
         }
     }
diff --git a/misc/camera/a8_remote/remoteControl.cpp b/misc/camera/a8_remote/remoteControl.cpp
index 74b9cd8..9548633 100644
--- a/misc/camera/a8_remote/remoteControl.cpp
+++ b/misc/camera/a8_remote/remoteControl.cpp
@@ -1,4 +1,3 @@
-#include "remoteControl.hpp"
 #include <QCoreApplication>
 #include <QDebug>
 #include <QHostAddress>
@@ -7,9 +6,7 @@
 #include <QThread>
 #include <QTimer>
 #include <QUdpSocket>
-#include <fcntl.h>
-#include <sys/stat.h>
-#include <unistd.h>
+#include "remoteControl.hpp"
 
 uint8_t RemoteControl::sendData(uint16_t top, uint16_t left, uint16_t bottom, uint16_t right)
 {
@@ -23,8 +20,6 @@ uint8_t RemoteControl::sendData(uint16_t top, uint16_t left, uint16_t bottom, ui
     if (bytesSent == -1) {
         qWarning("Failed to send the datagram: %s", qPrintable(udpSocket.errorString()));
         return 1;
-    } else {
-        qDebug("Datagram sent successfully");
     }
 
     return 0;
diff --git a/tmp/opi_rtsp/aienginegimbalcontrol.cpp b/tmp/opi_rtsp/aienginegimbalcontrol.cpp
index c1b384f..6d4ab0c 100644
--- a/tmp/opi_rtsp/aienginegimbalcontrol.cpp
+++ b/tmp/opi_rtsp/aienginegimbalcontrol.cpp
@@ -53,18 +53,21 @@ void AiEngineGimbalControl::inferenceResultSlot(AiEngineInferenceResult result)
     groupRect.right  *= 2;
 
     if (groupRect.top > 720 || groupRect.bottom > 720) {
+        qDebug() << "ERROR! inferenceResultSlot() groupRect.top > 720 || groupRect.bottom > 720";
         return;
     }
 
     if (groupRect.left > 1280 || groupRect.right > 1280) {
+        qDebug() << "ERROR! inferenceResultSlot() groupRect.left > 1280 || groupRect.right > 1280";
         return;
     }
 
     if ((groupRect.bottom <= groupRect.top) || (groupRect.right <= groupRect.left)) {
+        qDebug() << "ERROR! (groupRect.bottom <= groupRect.top) || (groupRect.right <= groupRect.left)";
         return;
     }
 
-    qDebug() << "TUOMAS!! Zooming to square" << groupRect.top << "x" << groupRect.left << "and" << groupRect.bottom << "x" << groupRect.right;
+    qDebug() << "TUOMAS!! Zooming to square top=" << groupRect.top << "x" << groupRect.left << "and bottom:" << groupRect.bottom << "x" << groupRect.right;
 
-    mRemoteControl.sendData(groupRect.top, groupRect.left, groupRect.left, groupRect.right);
+    mRemoteControl.sendData(groupRect.top, groupRect.left, groupRect.bottom, groupRect.right);
 }