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no random factors

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This commit is contained in:
ZwX1616
2020-02-17 13:52:47 -08:00
committed by GitHub
parent 50944d305f
commit bba7fbb490
1 changed files with 4 additions and 4 deletions
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selfdrive/camerad/cameras/camera_qcom.c
+4 -4
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@@ -1738,7 +1738,7 @@ static void parse_autofocus(CameraState *s, uint8_t *d) {
s->focus_err = nan("");
nan_cnt += 1;
if (nan_cnt > patience_cnt) {
s->focus_err = 16*8.0;
s->focus_err = 16;
nan_cnt = 0;
}
return;
@@ -1752,12 +1752,12 @@ static void parse_autofocus(CameraState *s, uint8_t *d) {
nan_cnt += 1;
return;
} else {
s->focus_err = 16*8.0;
s->focus_err = 16;
// s->focus_err = max_focus*8.0;
nan_cnt = 0;
}
} else {
s->focus_err = avg_focus*8.0;
s->focus_err = avg_focus;
nan_cnt = 0;
}
// printf("fe=%f\n", s->focus_err);
@@ -1769,7 +1769,7 @@ static void do_autofocus(CameraState *s) {
float err = s->focus_err;
// don't allow big change
err = clamp(err, -128, 128);
err = clamp(err, -16, 16);
float sag = (s->last_sag_acc_z/9.8) * 128;
const int dac_up = s->device == DEVICE_LP3? 634:456;