From df9123129eb85090850434e93cc51010cd630e3c Mon Sep 17 00:00:00 2001 From: deanlee Date: Sat, 12 Dec 2020 18:13:46 +0000 Subject: [PATCH] --self_recover --- selfdrive/camerad/cameras/camera_qcom.cc | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc index 8dd937aa3c..ff78521ed4 100644 --- a/selfdrive/camerad/cameras/camera_qcom.cc +++ b/selfdrive/camerad/cameras/camera_qcom.cc @@ -2101,16 +2101,14 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) { 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(&s->lapres[0])) { // truly stuck, needs help - self_recover -= 1; - 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); // parity determined by which end is stuck at self_recover = FOCUS_RECOVER_STEPS + (lens_true_pos < dac_m ? 1 : 0); } } else if (self_recover < 2 && (lens_true_pos < (dac_m - dac_3sig) || lens_true_pos > (dac_m + dac_3sig))) { // in suboptimal position with high prob, but may still recover by itself - self_recover -= 1; - 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); } } else if (self_recover < 0) {