From dee6218c5ec4a0c36e3900d4eb8c853ce66d5fb4 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 19 Jul 2021 12:41:32 +0200
Subject: [PATCH] fix dcam AE feedback loop with IR LEDs (#21651)

old-commit-hash: 1c40b8092ccc5370b69104fa027f244b829b19a5
---
 selfdrive/boardd/boardd.cc | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index c770845af6..b260e23272 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -411,6 +411,8 @@ void hardware_control_thread() {
   bool prev_charging_disabled = false;
   unsigned int cnt = 0;
 
+  FirstOrderFilter integ_lines_filter(0, 10.0, 0.05);
+
   while (!do_exit && panda->connected) {
     cnt++;
     sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update?
@@ -443,6 +445,10 @@ void hardware_control_thread() {
     if (sm.updated("driverCameraState")) {
       auto event = sm["driverCameraState"];
       int cur_integ_lines = event.getDriverCameraState().getIntegLines();
+
+      if (Hardware::TICI()) {
+        cur_integ_lines = integ_lines_filter.update(cur_integ_lines * 2.5);
+      }
       last_front_frame_t = event.getLogMonoTime();
 
       if (cur_integ_lines <= CUTOFF_IL) {