From 47612e3a741d8b6ddfd72bccbb5337882b369224 Mon Sep 17 00:00:00 2001 From: deanlee Date: Tue, 15 Dec 2020 02:50:02 +0000 Subject: [PATCH] shorter variable name --- selfdrive/camerad/cameras/camera_qcom.cc | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc index ee3f0761be..0fce032ca4 100644 --- a/selfdrive/camerad/cameras/camera_qcom.cc +++ b/selfdrive/camerad/cameras/camera_qcom.cc @@ -2085,19 +2085,20 @@ static void setup_self_recover(CameraState *c, const uint16_t *lapres, size_t la const int dac_m = c->device == DEVICE_LP3 ? LP3_AF_DAC_M : OP3T_AF_DAC_M; 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(); + const float lens_pos = c->lens_true_pos.load(); int self_recover = c->self_recover.load(); - if (self_recover < 2 && (lens_true_pos < (dac_down + 1) || lens_true_pos > (dac_up - 1)) && is_blur(lapres, lapres_size)) { + if (self_recover < 2 && (lens_pos < (dac_down + 1) || lens_pos > (dac_up - 1)) && + is_blur(lapres, lapres_size)) { // truly stuck, needs help if (--self_recover < -FOCUS_RECOVER_PATIENCE) { - LOGD("rear camera bad state detected. attempting recovery from %.1f, recover state is %d", lens_true_pos, self_recover); + LOGD("rear camera bad state detected. attempting recovery from %.1f, recover state is %d", lens_pos, self_recover); // parity determined by which end is stuck at - self_recover = FOCUS_RECOVER_STEPS + (lens_true_pos < dac_m ? 1 : 0); + self_recover = FOCUS_RECOVER_STEPS + (lens_pos < dac_m ? 1 : 0); } - } else if (self_recover < 2 && (lens_true_pos < (dac_m - dac_3sig) || lens_true_pos > (dac_m + dac_3sig))) { + } else if (self_recover < 2 && (lens_pos < (dac_m - dac_3sig) || lens_pos > (dac_m + dac_3sig))) { // in suboptimal position with high prob, but may still recover by itself if (--self_recover < -(FOCUS_RECOVER_PATIENCE * 3)) { - self_recover = FOCUS_RECOVER_STEPS / 2 + (lens_true_pos < dac_m ? 1 : 0); + self_recover = FOCUS_RECOVER_STEPS / 2 + (lens_pos < dac_m ? 1 : 0); } } else if (self_recover < 0) { self_recover += 1; // reset if fine