From b9b6ed2d5258b9ac442005b8caa7904c5873ca88 Mon Sep 17 00:00:00 2001 From: Comma Device Date: Thu, 19 Nov 2020 04:03:16 +0000 Subject: [PATCH] underflew --- selfdrive/camerad/cameras/camera_qcom2.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc index 779fee89bd..048c06e566 100644 --- a/selfdrive/camerad/cameras/camera_qcom2.cc +++ b/selfdrive/camerad/cameras/camera_qcom2.cc @@ -1007,6 +1007,7 @@ static void set_camera_exposure(CameraState *s, float grey_frac) { // TODO: get stats from sensor? float target_grey = 0.3 - (s->analog_gain / 105.0); float exposure_factor = 1 + 30 * pow((target_grey - grey_frac), 3); + exposure_factor = std::max(exposure_factor, 0.55f); if (s->camera_num != 1) { s->ef_filtered = (1 - EF_LOWPASS_K) * s->ef_filtered + EF_LOWPASS_K * exposure_factor;