From 3d446bbf67d2f470d2bc2651b533c92a283cfd46 Mon Sep 17 00:00:00 2001 From: deanlee Date: Sat, 12 Dec 2020 18:10:58 +0000 Subject: [PATCH] speed up if statement --- selfdrive/camerad/cameras/camera_qcom.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc index 1263ef9ddc..8dd937aa3c 100644 --- a/selfdrive/camerad/cameras/camera_qcom.cc +++ b/selfdrive/camerad/cameras/camera_qcom.cc @@ -2099,7 +2099,7 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) { const int dac_3sig = c->device == DEVICE_LP3 ? LP3_AF_DAC_3SIG : OP3T_AF_DAC_3SIG; const float lens_true_pos = c->lens_true_pos.load(); int self_recover = c->self_recover.load(); - if (self_recover < 2 && is_blur(&s->lapres[0]) && (lens_true_pos < dac_down + 1 || lens_true_pos > dac_up - 1)) { + if (self_recover < 2 && (lens_true_pos < dac_down + 1 || lens_true_pos > dac_up - 1) && is_blur(&s->lapres[0])) { // truly stuck, needs help self_recover -= 1; if (self_recover < -FOCUS_RECOVER_PATIENCE) {