From 435a36cdffee7017701318da1db503c84e4672db Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Thu, 20 Feb 2020 13:41:28 -0800
Subject: [PATCH] AF: improve general responsiveness (#1137)

* sync control with readout; always assume worst

* faster recover
---
 selfdrive/camerad/cameras/camera_qcom.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/camerad/cameras/camera_qcom.c b/selfdrive/camerad/cameras/camera_qcom.c
index ddaa51e34..7e9e845a6 100644
--- a/selfdrive/camerad/cameras/camera_qcom.c
+++ b/selfdrive/camerad/cameras/camera_qcom.c
@@ -1711,7 +1711,7 @@ static void parse_autofocus(CameraState *s, uint8_t *d) {
   int16_t max_focus = -32767;
   int avg_focus = 0;
   // force to max if not able to determine focus for long
-  const int patience_cnt = 100;
+  const int patience_cnt = 20;
   static int nan_cnt = 0;
 
   /*printf("FOCUS: ");
@@ -1757,7 +1757,7 @@ static void parse_autofocus(CameraState *s, uint8_t *d) {
       nan_cnt = 0;
     }
   } else {
-    s->focus_err = avg_focus;
+    s->focus_err = max_focus;
     nan_cnt = 0;
   }
   // printf("fe=%f\n", s->focus_err);
@@ -2084,7 +2084,6 @@ static void* ops_thread(void* arg) {
         if (cmsg.type == CAMERA_MSG_AUTOEXPOSE) {
           if (cmsg.camera_num == 0) {
             do_autoexposure(&s->rear, cmsg.grey_frac);
-            do_autofocus(&s->rear);
           } else {
             do_autoexposure(&s->front, cmsg.grey_frac);
           }
@@ -2187,6 +2186,7 @@ void cameras_run(DualCameraState *s) {
             // fwrite(d, c->ss[buffer].bufs[buf_idx].len, sizeof(uint8_t), df);
             // fclose(df);
             parse_autofocus(c, d);
+            do_autofocus(&s->rear);
           }
           c->ss[buffer].qbuf_info[buf_idx].dirty_buf = 1;
           ioctl(c->isp_fd, VIDIOC_MSM_ISP_ENQUEUE_BUF, &c->ss[buffer].qbuf_info[buf_idx]);