From 7a9659a9f720dcb46e71bb28cc32c7d3f75c4ac3 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 19 Jul 2021 10:37:43 +0200 Subject: [PATCH] AE: revert changes to min grey target (#21648) old-commit-hash: b35f6871cb9ed2049ce1f31fcaeb1914677b8177 --- selfdrive/camerad/cameras/camera_qcom2.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc index 5ebb75e1c6..516dc0e50c 100644 --- a/selfdrive/camerad/cameras/camera_qcom2.cc +++ b/selfdrive/camerad/cameras/camera_qcom2.cc @@ -944,8 +944,8 @@ static void set_camera_exposure(CameraState *s, float grey_frac) { const float k_grey = (dt / ts_grey) / (1.0 + dt / ts_grey); const float k_ev = (dt / ts_ev) / (1.0 + dt / ts_ev); - // Scale target grey between 0.2 and 0.4 depending on lighting conditions - float new_target_grey = std::clamp(0.4 - 0.2 * log2(1.0 + s->cur_ev) / log2(6000.0), 0.2, 0.4); + // Scale target grey between 0.1 and 0.4 depending on lighting conditions + float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + s->cur_ev) / log2(6000.0), 0.1, 0.4); float target_grey = (1.0 - k_grey) * s->target_grey_fraction + k_grey * new_target_grey; float desired_ev = std::clamp(s->cur_ev * target_grey / grey_frac, s->min_ev, s->max_ev);