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ramp up IR faster for driver view (#36663)

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* ramp up IR faster for driver view

* set it
This commit is contained in:
Adeeb Shihadeh
2025-11-20 14:55:16 -08:00
committed by GitHub
parent 61fffb9578
commit 4378c4b8bb
1 changed files with 14 additions and 1 deletions
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selfdrive/pandad/pandad.cc
+14 -1
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@@ -365,14 +365,19 @@ void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engag
}
void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control) {
static Params params;
static SubMaster sm({"deviceState", "driverCameraState"});
static uint64_t last_driver_camera_t = 0;
static uint16_t prev_fan_speed = 999;
static int ir_pwr = 0;
static int prev_ir_pwr = 999;
static uint32_t prev_frame_id = UINT32_MAX;
static bool driver_view = false;
// TODO: can we merge these?
static FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
static FirstOrderFilter integ_lines_filter_driver_view(0, 5.0, 0.05);
{
sm.update(0);
@@ -389,7 +394,15 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
auto event = sm["driverCameraState"];
int cur_integ_lines = event.getDriverCameraState().getIntegLines();
cur_integ_lines = integ_lines_filter.update(cur_integ_lines);
// reset the filter when camerad restarts
if (event.getDriverCameraState().getFrameId() < prev_frame_id) {
integ_lines_filter.reset(0);
integ_lines_filter_driver_view.reset(0);
driver_view = params.getBool("IsDriverViewEnabled");
}
prev_frame_id = event.getDriverCameraState().getFrameId();
cur_integ_lines = (driver_view ? integ_lines_filter_driver_view : integ_lines_filter).update(cur_integ_lines);
last_driver_camera_t = event.getLogMonoTime();
if (cur_integ_lines <= CUTOFF_IL) {