ui brightness: fix exposure scale factor (#26104)

3 years ago · f957f3391d
parent 85d39ec34e
commit f957f3391d
1 changed files with 2 additions and 1 deletions
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@ -163,7 +163,8 @@ static void update_state(UIState *s) {
    scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
  }
  if (sm.updated("wideRoadCameraState")) {
-    scene.light_sensor = 100.0f - sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent();
+    float scale = (sm["wideRoadCameraState"].getWideRoadCameraState().getSensor() == cereal::FrameData::ImageSensor::AR0321) ? 6.0f : 1.0f;
+    scene.light_sensor = std::max(100.0f - scale * sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(), 0.0f);
  }
  scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
 }