Legal Question in Real Estate Law in Pennsylvania

While it depends on the area your camera covers, most likely this is legal in Pennsylvania. You have a right to install such equipment and clearly have a valid reason for doing so (protection of your family and possessions).

One limitation would be that you can't record places where others might have a reasonable expectation of privacy. For example you want to avoid positioning the camera in a way that might pick up the inside of a neighbor's house.

Since you are most likely recording audio and video of only your own property for security purposes, it seems that you are completely within your rights to continue.