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shorter variable name

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pull/2765/head
deanlee 4 years ago
parent ceac8de10b
commit 47612e3a74
1 changed files with 7 additions and 6 deletions
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  1. 13
      selfdrive/camerad/cameras/camera_qcom.cc

13
selfdrive/camerad/cameras/camera_qcom.cc
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@ -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_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 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(); 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 // truly stuck, needs help
if (--self_recover < -FOCUS_RECOVER_PATIENCE) { 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 // 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 // in suboptimal position with high prob, but may still recover by itself
if (--self_recover < -(FOCUS_RECOVER_PATIENCE * 3)) { 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) { } else if (self_recover < 0) {
self_recover += 1; // reset if fine self_recover += 1; // reset if fine

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