From 0d036de20558d2a33611fe1f61fc6c0a34ea2d95 Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Thu, 4 Mar 2021 11:08:52 -0800
Subject: [PATCH] better transition

---
 selfdrive/camerad/cameras/camera_common.cc | 6 +++---
 selfdrive/camerad/cameras/camera_qcom2.cc  | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc
index 0948e83c0b..2aab416aad 100644
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/selfdrive/camerad/cameras/camera_common.cc
@@ -315,9 +315,9 @@ void set_exposure_target(CameraState *c, int x_start, int x_end, int x_skip, int
     lum_cur += lum_binning[lum_med];
 #ifdef QCOM2
     int lum_med_tmp = 0;
-    int hb = HLC_THRESH;
+    int hb = HLC_THRESH + (10 - c->analog_gain);
     if (lum_cur > 0 && lum_med > hb) {
-      lum_med_tmp = 4 * (lum_med - hb) + 100;
+      lum_med_tmp = (lum_med - hb) + 100;
     }
     lum_med_alt = lum_med_alt>lum_med_tmp?lum_med_alt:lum_med_tmp;
 #endif
@@ -325,7 +325,7 @@ void set_exposure_target(CameraState *c, int x_start, int x_end, int x_skip, int
       break;
     }
   }
-  lum_med = lum_med_alt>0 ? lum_med + lum_med/32*lum_cur*(lum_med_alt - lum_med)/lum_total/2:lum_med;
+  lum_med = lum_med_alt>0 ? lum_med + lum_med*lum_cur*(lum_med_alt - lum_med)/lum_total/32:lum_med;
   camera_autoexposure(c, lum_med / 256.0);
 }
 
diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index 703cecf293..136646456a 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -1003,7 +1003,7 @@ static void set_camera_exposure(CameraState *s, float grey_frac) {
   // TODO: get stats from sensor?
   float target_grey = 0.4 - ((float)(s->analog_gain + 4*s->dc_gain_enabled) / 48.0f);
   float exposure_factor = 1 + 30 * pow((target_grey - grey_frac), 3);
-  exposure_factor = std::max(exposure_factor, 0.4f);
+  exposure_factor = std::max(exposure_factor, 0.56f);
 
   if (s->camera_num != 1) {
     s->ef_filtered = (1 - EF_LOWPASS_K) * s->ef_filtered + EF_LOWPASS_K * exposure_factor;