diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc
index eb2e75b385..3e2a4ab978 100644
--- a/selfdrive/camerad/cameras/camera_qcom.cc
+++ b/selfdrive/camerad/cameras/camera_qcom.cc
@@ -1399,7 +1399,7 @@ static void camera_open(CameraState *s, bool rear) {
       err = ioctl(s->ois_fd, VIDIOC_MSM_OIS_CFG, &ois_cfg_data);
       LOG("ois init settings: %d", err);
     } else {
-      // leeco actuator
+      // leeco actuator (DW9800W H-Bridge Driver IC)
       // from sniff
       s->infinity_dac = 364;
 
@@ -1407,6 +1407,7 @@ static void camera_open(CameraState *s, bool rear) {
         {
           .reg_write_type = MSM_ACTUATOR_WRITE_DAC,
           .hw_mask = 0,
+          // MSB here at address 3
           .reg_addr = 3,
           .hw_shift = 0,
           .data_type = 9,
@@ -1417,11 +1418,14 @@ static void camera_open(CameraState *s, bool rear) {
       };
 
       struct reg_settings_t actuator_init_settings[] = {
-        { .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=1, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 },
-        { .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=0, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 2 },
-        { .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=2, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 2 },
-        { .reg_addr=6, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=64, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 },
+        { .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=1, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 },   // PD = power down
+        { .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=0, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 2 },   // 0 = power up
+        { .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=2, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 2 },   // RING = SAC mode
+        { .reg_addr=6, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=64, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 },  // 0x40 = SAC3 mode
         { .reg_addr=7, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=113, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 },
+        // 0x71 = DIV1 | DIV0 | SACT0 -- Tvib x 1/4 (quarter)
+        // SAC Tvib = 6.3 ms + 0.1 ms = 6.4 ms / 4 = 1.6 ms
+        // LSC 1-step = 252 + 1*4 = 256 ms / 4 = 64 ms
       };
 
       struct region_params_t region_params[] = {