diff --git a/frigate/ptz/autotrack.py b/frigate/ptz/autotrack.py
index 21b820a05..621fb1125 100644
--- a/frigate/ptz/autotrack.py
+++ b/frigate/ptz/autotrack.py
@@ -199,6 +199,8 @@ class PtzAutoTracker:
 
                 return
 
+            self.onvif.get_camera_status(camera_name)
+
             # movement thread per camera
             if not self.move_threads or not self.move_threads[camera_name]:
                 self.move_threads[camera_name] = threading.Thread(
@@ -279,7 +281,6 @@ class PtzAutoTracker:
         camera_config = self.config.cameras[camera]
 
         if camera_config.onvif.autotracking.zooming:
-            # frame width and height
             camera_width = camera_config.frame_shape[1]
             camera_height = camera_config.frame_shape[0]
             camera_area = camera_width * camera_height
@@ -291,6 +292,7 @@ class PtzAutoTracker:
             # ensure zooming level is in range
             # if so, check if bounding box is 10% of an edge
             # if so, try zooming in, otherwise try zooming out
+            # should we make these configurable?
             edge_threshold = 0.1
             area_threshold = 0.6
 
@@ -473,4 +475,11 @@ class PtzAutoTracker:
                 autotracker_config.return_preset.lower(),
             )
             self.ptz_metrics[camera]["ptz_reset"].set()
+
+            # empty move queue
+            while not self.move_queues[camera].empty():
+                self.move_queues[camera].get()
+
+            # clear tracked object
+            self.tracked_object[camera] = None
             self.tracked_object_previous[camera] = None
diff --git a/frigate/ptz/onvif.py b/frigate/ptz/onvif.py
index 4e632b6a3..d2dd3dc6d 100644
--- a/frigate/ptz/onvif.py
+++ b/frigate/ptz/onvif.py
@@ -458,11 +458,18 @@ class OnvifController:
                 self.ptz_metrics[camera_name]["ptz_stop_time"].value = 0
 
         if self.config.cameras[camera_name].onvif.autotracking.zooming:
-            # interpolate the actual zoom level reported by the camera into the relative zoom range
-            self.ptz_metrics[camera_name][
-                "ptz_zoom_level"
-            ].value = status.Position.Zoom.x
-            logger.debug(f"Camera zoom level: {status.Position.Zoom.x}")
+            # store zoom level as 0 to 1 interpolated from the values of the camera
+            self.ptz_metrics[camera_name]["ptz_zoom_level"].value = numpy.interp(
+                round(status.Position.Zoom.x, 2),
+                [0, 1],
+                [
+                    self.cams[camera_name]["absolute_zoom_range"]["XRange"]["Min"],
+                    self.cams[camera_name]["absolute_zoom_range"]["XRange"]["Max"],
+                ],
+            )
+            logger.debug(
+                f'Camera zoom level: {self.ptz_metrics[camera_name]["ptz_zoom_level"].value}'
+            )
 
         return {
             "pan": status.Position.PanTilt.x,