From 40680255724a962357140a8ad03b21b99a5ac3a9 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Fri, 5 Jan 2024 21:40:06 -0700
Subject: [PATCH] Check all new prop names not just exposure time (#1080)

Fixes v4l renaming prop names and OV9281 exposure min/max being wrong by introducing new UI control
---
 .../components/cameras/CameraSettingsCard.vue |  56 ++++++--
 .../stores/settings/CameraSettingsStore.ts    |   3 +-
 photon-client/src/types/SettingTypes.ts       |  43 ++++++-
 photon-client/src/types/WebsocketDataTypes.ts |   4 +-
 .../configuration/CameraConfiguration.java    |   7 +
 .../configuration/PhotonConfiguration.java    |   2 +
 .../vision/camera/CameraQuirk.java            |   9 ++
 .../vision/camera/QuirkyCamera.java           | 100 ++++++++++++++-
 .../vision/camera/USBCameraSource.java        | 121 +++++++++++++-----
 .../vision/processes/VisionModule.java        |  11 ++
 .../common/configuration/SQLConfigTest.java   |   2 +
 .../photonvision/server/RequestHandler.java   |  22 +++-
 12 files changed, 331 insertions(+), 49 deletions(-)

diff --git a/photon-client/src/components/cameras/CameraSettingsCard.vue b/photon-client/src/components/cameras/CameraSettingsCard.vue
index 844b6d3f6..4e9ef78ac 100644
--- a/photon-client/src/components/cameras/CameraSettingsCard.vue
+++ b/photon-client/src/components/cameras/CameraSettingsCard.vue
@@ -3,13 +3,13 @@ import PvSelect from "@/components/common/pv-select.vue";
 import PvNumberInput from "@/components/common/pv-number-input.vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { useStateStore } from "@/stores/StateStore";
-import { ref, watchEffect } from "vue";
+import { computed, ref, watchEffect } from "vue";
 
 const currentFov = ref();
 
 const saveCameraSettings = () => {
   useCameraSettingsStore()
-    .updateCameraSettings({ fov: currentFov.value }, false)
+    .updateCameraSettings({ fov: currentFov.value, quirksToChange: quirksToChange.value }, false)
     .then((response) => {
       useCameraSettingsStore().currentCameraSettings.fov.value = currentFov.value;
       useStateStore().showSnackbarMessage({
@@ -41,6 +41,43 @@ const saveCameraSettings = () => {
 watchEffect(() => {
   currentFov.value = useCameraSettingsStore().currentCameraSettings.fov.value;
 });
+
+const quirksToChange = ref({
+  ArduOV9281: false,
+  ArduOV2311: false
+});
+
+let arducams = ["N/A", "OV9281", "OV2311"];
+
+const arducamModel = computed({
+  get() {
+    const quirks = useCameraSettingsStore().currentCameraSettings.cameraQuirks.quirks;
+
+    if (quirks.ArduOV9281) {
+      return 1;
+    } else if (quirks.ArduOV2311) {
+      return 2;
+    }
+    return 0;
+  },
+  set(value) {
+    if (value === 1) {
+      quirksToChange.value.ArduOV9281 = true;
+      quirksToChange.value.ArduOV2311 = false;
+    } else if (value === 2) {
+      quirksToChange.value.ArduOV9281 = false;
+      quirksToChange.value.ArduOV2311 = true;
+    } else {
+      quirksToChange.value.ArduOV9281 = false;
+      quirksToChange.value.ArduOV2311 = false;
+    }
+  }
+});
+
+const isArducam = () => {
+  const settings = useCameraSettingsStore().currentCameraSettings;
+  return settings.cameraQuirks.quirks.ArduCamCamera;
+};
 </script>
 
 <template>
@@ -70,14 +107,15 @@ watchEffect(() => {
         :disabled="useCameraSettingsStore().currentCameraSettings.fov.managedByVendor"
         :label-cols="4"
       />
+      <pv-select
+        v-model="arducamModel"
+        label="Arducam Model"
+        :disabled="!isArducam()"
+        :items="arducams"
+        :select-cols="8"
+      />
       <br />
-      <v-btn
-        style="margin-top: 10px"
-        small
-        color="secondary"
-        :disabled="currentFov === useCameraSettingsStore().currentCameraSettings.fov.value"
-        @click="saveCameraSettings"
-      >
+      <v-btn style="margin-top: 10px" small color="secondary" @click="saveCameraSettings">
         <v-icon left> mdi-content-save </v-icon>
         Save Changes
       </v-btn>
diff --git a/photon-client/src/stores/settings/CameraSettingsStore.ts b/photon-client/src/stores/settings/CameraSettingsStore.ts
index 375b4d232..b87253d4d 100644
--- a/photon-client/src/stores/settings/CameraSettingsStore.ts
+++ b/photon-client/src/stores/settings/CameraSettingsStore.ts
@@ -103,7 +103,8 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         isCSICamera: d.isCSICamera,
         pipelineNicknames: d.pipelineNicknames,
         currentPipelineIndex: d.currentPipelineIndex,
-        pipelineSettings: d.currentPipelineSettings
+        pipelineSettings: d.currentPipelineSettings,
+        cameraQuirks: d.cameraQuirks
       }));
     },
     /**
diff --git a/photon-client/src/types/SettingTypes.ts b/photon-client/src/types/SettingTypes.ts
index c2e305140..6326a9c0c 100644
--- a/photon-client/src/types/SettingTypes.ts
+++ b/photon-client/src/types/SettingTypes.ts
@@ -137,6 +137,27 @@ export interface CameraCalibrationResult {
 
 export interface ConfigurableCameraSettings {
   fov: number;
+  // Need map of (quirk name string) -> boolean
+  quirksToChange: object;
+}
+
+export interface QuirkyCamera {
+  baseName: string;
+  usbVid: number;
+  usbPid: number;
+  displayName: string;
+  quirks: {
+    AWBGain: boolean;
+    AdjustableFocus: boolean;
+    ArduOV9281: boolean;
+    ArduOV2311: boolean;
+    ArduCamCamera: boolean;
+    CompletelyBroken: boolean;
+    FPSCap100: boolean;
+    Gain: boolean;
+    PiCam: boolean;
+    StickyFPS: boolean;
+  };
 }
 
 export interface CameraSettings {
@@ -159,6 +180,8 @@ export interface CameraSettings {
   currentPipelineIndex: number;
   pipelineNicknames: string[];
   pipelineSettings: ActivePipelineSettings;
+
+  cameraQuirks: QuirkyCamera;
   isCSICamera: boolean;
 }
 
@@ -233,7 +256,25 @@ export const PlaceholderCameraSettings: CameraSettings = {
   lastPipelineIndex: 0,
   currentPipelineIndex: 0,
   pipelineSettings: DefaultAprilTagPipelineSettings,
-  isCSICamera: false
+  cameraQuirks: {
+    displayName: "Blank 1",
+    baseName: "Blank 2",
+    usbVid: -1,
+    usbPid: -1,
+    quirks: {
+      AWBGain: false,
+      AdjustableFocus: false,
+      ArduOV9281: false,
+      ArduOV2311: false,
+      ArduCamCamera: false,
+      CompletelyBroken: false,
+      FPSCap100: false,
+      Gain: false,
+      PiCam: false,
+      StickyFPS: false,
+    },
+  },
+  isCSICamera: false,
 };
 
 export enum CalibrationBoardTypes {
diff --git a/photon-client/src/types/WebsocketDataTypes.ts b/photon-client/src/types/WebsocketDataTypes.ts
index b1447ae0f..ec74bc0fd 100644
--- a/photon-client/src/types/WebsocketDataTypes.ts
+++ b/photon-client/src/types/WebsocketDataTypes.ts
@@ -4,7 +4,8 @@ import type {
   LightingSettings,
   LogLevel,
   MetricData,
-  NetworkSettings
+  NetworkSettings,
+  QuirkyCamera
 } from "@/types/SettingTypes";
 import type { ActivePipelineSettings } from "@/types/PipelineTypes";
 import type { AprilTagFieldLayout, PipelineResult } from "@/types/PhotonTrackingTypes";
@@ -56,6 +57,7 @@ export interface WebsocketCameraSettingsUpdate {
   outputStreamPort: number;
   pipelineNicknames: string[];
   videoFormatList: WebsocketVideoFormat;
+  cameraQuirks: QuirkyCamera;
 }
 export interface WebsocketNTUpdate {
   connected: boolean;
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
index b2f8cf0f7..4d8ad991a 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
@@ -27,6 +27,7 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.CameraType;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.DriverModePipelineSettings;
 import org.photonvision.vision.processes.PipelineManager;
@@ -46,6 +47,8 @@ public class CameraConfiguration {
     /** Can be either path (ex /dev/videoX) or index (ex 1). */
     public String path = "";
 
+    public QuirkyCamera cameraQuirks;
+
     @JsonIgnore public String[] otherPaths = {};
 
     public CameraType cameraType = CameraType.UsbCamera;
@@ -93,6 +96,7 @@ public class CameraConfiguration {
             @JsonProperty("FOV") double FOV,
             @JsonProperty("path") String path,
             @JsonProperty("cameraType") CameraType cameraType,
+            @JsonProperty("cameraQuirks") QuirkyCamera cameraQuirks,
             @JsonProperty("calibration") List<CameraCalibrationCoefficients> calibrations,
             @JsonProperty("currentPipelineIndex") int currentPipelineIndex) {
         this.baseName = baseName;
@@ -101,6 +105,7 @@ public class CameraConfiguration {
         this.FOV = FOV;
         this.path = path;
         this.cameraType = cameraType;
+        this.cameraQuirks = cameraQuirks;
         this.calibrations = calibrations != null ? calibrations : new ArrayList<>();
         this.currentPipelineIndex = currentPipelineIndex;
 
@@ -165,6 +170,8 @@ public class CameraConfiguration {
                 + Arrays.toString(otherPaths)
                 + ", cameraType="
                 + cameraType
+                + ", cameraQuirks="
+                + cameraQuirks
                 + ", FOV="
                 + FOV
                 + ", calibrations="
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
index a20a3bade..2adde1539 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -30,6 +30,7 @@ import org.photonvision.common.util.SerializationUtils;
 import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionModuleManager;
 import org.photonvision.vision.processes.VisionSource;
@@ -178,6 +179,7 @@ public class PhotonConfiguration {
         public int inputStreamPort;
         public List<CameraCalibrationCoefficients> calibrations;
         public boolean isFovConfigurable = true;
+        public QuirkyCamera cameraQuirks;
         public boolean isCSICamera;
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
index 928aa6f84..02afa9ac1 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
@@ -32,4 +32,13 @@ public enum CameraQuirk {
     AdjustableFocus,
     /** Changing FPS repeatedly with small delay does not work correctly */
     StickyFPS,
+    /** Camera is an arducam. This means it shares VID/PID with other arducams (ew) */
+    ArduCamCamera,
+    /**
+     * Camera is an arducam ov9281 which has a funky exposure issue where it is defined in v4l as
+     * 1-5000 instead of 1-75
+     */
+    ArduOV9281,
+    /** Dummy quirk to tell OV2311 from OV9281 */
+    ArduOV2311,
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
index 05737ed29..a73e6e188 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -17,6 +17,8 @@
 
 package org.photonvision.vision.camera;
 
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonProperty;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.HashMap;
@@ -47,8 +49,32 @@ public class QuirkyCamera {
                             -1, -1, "mmal service 16.1", CameraQuirk.PiCam), // PiCam (via V4L2, not zerocopy)
                     new QuirkyCamera(-1, -1, "unicam", CameraQuirk.PiCam), // PiCam (via V4L2, not zerocopy)
                     new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus), // Logitech C925-e
-                    new QuirkyCamera(0x6366, 0x0c45, CameraQuirk.StickyFPS) // Arducam OV2311
-                    );
+                    // Generic arducam. Since OV2311 can't be differentiated at first boot, apply stickyFPS to
+                    // the generic case, too
+                    new QuirkyCamera(
+                            0x0c45,
+                            0x6366,
+                            "",
+                            "Arducam Generic",
+                            CameraQuirk.ArduCamCamera,
+                            CameraQuirk.StickyFPS),
+                    // Arducam OV2311
+                    new QuirkyCamera(
+                            0x0c45,
+                            0x6366,
+                            "OV2311",
+                            "OV2311",
+                            CameraQuirk.ArduCamCamera,
+                            CameraQuirk.ArduOV2311,
+                            CameraQuirk.StickyFPS),
+                    // Arducam OV9281
+                    new QuirkyCamera(
+                            0x0c45,
+                            0x6366,
+                            "OV9281",
+                            "OV9281",
+                            CameraQuirk.ArduCamCamera,
+                            CameraQuirk.ArduOV9281));
 
     public static final QuirkyCamera DefaultCamera = new QuirkyCamera(0, 0, "");
     public static final QuirkyCamera ZeroCopyPiCamera =
@@ -60,9 +86,19 @@ public class QuirkyCamera {
                     CameraQuirk.Gain,
                     CameraQuirk.AWBGain); // PiCam (special zerocopy version)
 
+    @JsonProperty("baseName")
     public final String baseName;
+
+    @JsonProperty("usbVid")
     public final int usbVid;
+
+    @JsonProperty("usbPid")
     public final int usbPid;
+
+    @JsonProperty("displayName")
+    public final String displayName;
+
+    @JsonProperty("quirks")
     public final HashMap<CameraQuirk, Boolean> quirks;
 
     /**
@@ -85,9 +121,24 @@ public class QuirkyCamera {
      * @param quirks Camera quirks
      */
     private QuirkyCamera(int usbVid, int usbPid, String baseName, CameraQuirk... quirks) {
+        this(usbVid, usbPid, baseName, "", quirks);
+    }
+
+    /**
+     * Creates a QuirkyCamera that matches by USB VID/PID and name
+     *
+     * @param usbVid USB VID of camera
+     * @param usbPid USB PID of camera
+     * @param baseName CSCore name of camera
+     * @param displayName Human-friendly quicky camera name
+     * @param quirks Camera quirks
+     */
+    private QuirkyCamera(
+            int usbVid, int usbPid, String baseName, String displayName, CameraQuirk... quirks) {
         this.usbVid = usbVid;
         this.usbPid = usbPid;
         this.baseName = baseName;
+        this.displayName = displayName;
 
         this.quirks = new HashMap<>();
         for (var q : quirks) {
@@ -98,6 +149,20 @@ public class QuirkyCamera {
         }
     }
 
+    @JsonCreator
+    public QuirkyCamera(
+            @JsonProperty("baseName") String baseName,
+            @JsonProperty("usbVid") int usbVid,
+            @JsonProperty("usbPid") int usbPid,
+            @JsonProperty("displayName") String displayName,
+            @JsonProperty("quirks") HashMap<CameraQuirk, Boolean> quirks) {
+        this.baseName = baseName;
+        this.usbPid = usbPid;
+        this.usbVid = usbVid;
+        this.quirks = quirks;
+        this.displayName = displayName;
+    }
+
     public boolean hasQuirk(CameraQuirk quirk) {
         return quirks.get(quirk);
     }
@@ -144,8 +209,39 @@ public class QuirkyCamera {
                 && Objects.equals(quirks, that.quirks);
     }
 
+    @Override
+    public String toString() {
+        String ret =
+                "QuirkyCamera [baseName="
+                        + baseName
+                        + ", displayName="
+                        + displayName
+                        + ", usbVid="
+                        + usbVid
+                        + ", usbPid="
+                        + usbPid
+                        + ", quirks="
+                        + quirks.toString()
+                        + "]";
+        return ret;
+    }
+
     @Override
     public int hashCode() {
         return Objects.hash(usbVid, usbPid, baseName, quirks);
     }
+
+    /**
+     * Add/remove quirks from the camera we're controlling
+     *
+     * @param quirksToChange map of true/false for quirks we should change
+     */
+    public void updateQuirks(HashMap<CameraQuirk, Boolean> quirksToChange) {
+        for (var q : quirksToChange.entrySet()) {
+            var quirk = q.getKey();
+            var hasQuirk = q.getValue();
+
+            this.quirks.put(quirk, hasQuirk);
+        }
+    }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
index ec2501049..9548fd2c1 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -45,8 +45,6 @@ public class USBCameraSource extends VisionSource {
     private FrameProvider usbFrameProvider;
     private final CvSink cvSink;
 
-    private QuirkyCamera cameraQuirks;
-
     public USBCameraSource(CameraConfiguration config) {
         super(config);
 
@@ -54,17 +52,21 @@ public class USBCameraSource extends VisionSource {
         camera = new UsbCamera(config.nickname, config.path);
         cvSink = CameraServer.getVideo(this.camera);
 
-        cameraQuirks =
-                QuirkyCamera.getQuirkyCamera(
-                        camera.getInfo().productId, camera.getInfo().vendorId, config.baseName);
+        if (getCameraConfiguration().cameraQuirks == null)
+            getCameraConfiguration().cameraQuirks =
+                    QuirkyCamera.getQuirkyCamera(
+                            camera.getInfo().vendorId, camera.getInfo().productId, config.baseName);
 
-        if (cameraQuirks.hasQuirks()) {
-            logger.info("Quirky camera detected: " + cameraQuirks.baseName);
+        if (getCameraConfiguration().cameraQuirks.hasQuirks()) {
+            logger.info("Quirky camera detected: " + getCameraConfiguration().cameraQuirks.baseName);
         }
 
-        if (cameraQuirks.hasQuirk(CameraQuirk.CompletelyBroken)) {
+        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.CompletelyBroken)) {
             // set some defaults, as these should never be used.
-            logger.info("Camera " + cameraQuirks.baseName + " is not supported for PhotonVision");
+            logger.info(
+                    "Camera "
+                            + getCameraConfiguration().cameraQuirks.baseName
+                            + " is not supported for PhotonVision");
             usbCameraSettables = null;
             usbFrameProvider = null;
         } else {
@@ -88,7 +90,9 @@ public class USBCameraSource extends VisionSource {
     public USBCameraSource(CameraConfiguration config, int pid, int vid, boolean unitTest) {
         this(config);
 
-        cameraQuirks = QuirkyCamera.getQuirkyCamera(pid, vid, config.baseName);
+        if (getCameraConfiguration().cameraQuirks == null)
+            getCameraConfiguration().cameraQuirks =
+                    QuirkyCamera.getQuirkyCamera(pid, vid, config.baseName);
 
         if (unitTest)
             usbFrameProvider =
@@ -99,7 +103,7 @@ public class USBCameraSource extends VisionSource {
     }
 
     void disableAutoFocus() {
-        if (cameraQuirks.hasQuirk(CameraQuirk.AdjustableFocus)) {
+        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.AdjustableFocus)) {
             try {
                 camera.getProperty("focus_auto").set(0);
                 camera.getProperty("focus_absolute").set(0); // Focus into infinity
@@ -110,7 +114,7 @@ public class USBCameraSource extends VisionSource {
     }
 
     public QuirkyCamera getCameraQuirks() {
-        return this.cameraQuirks;
+        return getCameraConfiguration().cameraQuirks;
     }
 
     @Override
@@ -124,17 +128,21 @@ public class USBCameraSource extends VisionSource {
     }
 
     public class USBCameraSettables extends VisionSourceSettables {
+        // We need to remember the last exposure set when exiting auto exposure mode so we can restore
+        // it
+        private double last_exposure = -1;
+
         protected USBCameraSettables(CameraConfiguration configuration) {
             super(configuration);
             getAllVideoModes();
-            if (!cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
+            if (!configuration.cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
                 if (!videoModes.isEmpty()) setVideoMode(videoModes.get(0)); // fixes double FPS set
         }
 
         public void setAutoExposure(boolean cameraAutoExposure) {
             logger.debug("Setting auto exposure to " + cameraAutoExposure);
 
-            if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+            if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                 // Case, we know this is a picam. Go through v4l2-ctl interface directly
 
                 // Common settings
@@ -166,20 +174,46 @@ public class USBCameraSource extends VisionSource {
             } else {
                 // Case - this is some other USB cam. Default to wpilib's implementation
 
-                var canSetWhiteBalance = !cameraQuirks.hasQuirk(CameraQuirk.Gain);
+                var canSetWhiteBalance = !getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.Gain);
 
                 if (!cameraAutoExposure) {
                     // Pick a bunch of reasonable setting defaults for vision processing retroreflective
                     if (canSetWhiteBalance) {
-                        camera.setWhiteBalanceManual(4000); // Auto white-balance disabled, 4000K preset
+                        // Linux kernel bump changed names -- now called white_balance_automatic and
+                        // white_balance_temperature
+                        if (camera.getProperty("white_balance_automatic").getKind() != Kind.kNone) {
+                            // 1=auto, 0=manual
+                            camera.getProperty("white_balance_automatic").set(0);
+                            camera.getProperty("white_balance_temperature").set(4000);
+                        } else {
+                            camera.setWhiteBalanceManual(4000); // Auto white-balance disabled, 4000K preset
+                        }
+
+                        // Most cameras leave exposure time absolute at the last value from their AE algorithm.
+                        // Set it back to the exposure slider value
+                        setExposure(this.last_exposure);
                     }
                 } else {
                     // Pick a bunch of reasonable setting defaults for driver, fiducials, or otherwise
                     // nice-for-humans
                     if (canSetWhiteBalance) {
-                        camera.setWhiteBalanceAuto(); // Auto white-balance enabled
+                        // Linux kernel bump changed names -- now called white_balance_automatic
+                        if (camera.getProperty("white_balance_automatic").getKind() != Kind.kNone) {
+                            // 1=auto, 0=manual
+                            camera.getProperty("white_balance_automatic").set(1);
+                        } else {
+                            camera.setWhiteBalanceAuto(); // Auto white-balance enabled
+                        }
+                    }
+
+                    // Linux kernel bump changed names -- exposure_auto is now called auto_exposure
+                    if (camera.getProperty("auto_exposure").getKind() != Kind.kNone) {
+                        var prop = camera.getProperty("auto_exposure");
+                        // 3=auto-aperature
+                        prop.set((int) 3);
+                    } else {
+                        camera.setExposureAuto(); // auto exposure enabled
                     }
-                    camera.setExposureAuto(); // auto exposure enabled
                 }
             }
         }
@@ -207,17 +241,30 @@ public class USBCameraSource extends VisionSource {
             if (exposure >= 0.0) {
                 try {
                     int scaledExposure = 1;
-                    if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+                    if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                         scaledExposure = Math.round(timeToPiCamRawExposure(pctToExposureTimeUs(exposure)));
                         logger.debug("Setting camera raw exposure to " + scaledExposure);
                         camera.getProperty("raw_exposure_time_absolute").set(scaledExposure);
                         camera.getProperty("raw_exposure_time_absolute").set(scaledExposure);
 
-                    } else if (camera.getProperty("exposure_time_absolute").getKind() != Kind.kNone) {
-                        // Seems like the name changed at some point in v4l? set it instead
-                        var prop = camera.getProperty("exposure_time_absolute");
-                        var exposure_manual_val =
-                                MathUtils.map(Math.round(exposure), 0, 100, prop.getMin(), prop.getMax());
+                        // Yay thanks v4l for changing names randomly
+                    } else if (camera.getProperty("exposure_time_absolute").getKind() != Kind.kNone
+                            && camera.getProperty("auto_exposure").getKind() != Kind.kNone) {
+                        // 1=manual-aperature
+                        camera.getProperty("auto_exposure").set(1);
+
+                        // Seems like the name changed at some point in v4l? set it ouyrselves too
+                        var prop = camera.getProperty("raw_exposure_time_absolute");
+
+                        var propMin = prop.getMin();
+                        var propMax = prop.getMax();
+
+                        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV9281)) {
+                            propMin = 1;
+                            propMax = 75;
+                        }
+
+                        var exposure_manual_val = MathUtils.map(Math.round(exposure), 0, 100, propMin, propMax);
                         prop.set((int) exposure_manual_val);
                     } else {
                         scaledExposure = (int) Math.round(exposure);
@@ -228,6 +275,7 @@ public class USBCameraSource extends VisionSource {
                 } catch (VideoException e) {
                     logger.error("Failed to set camera exposure!", e);
                 }
+                this.last_exposure = exposure;
             }
         }
 
@@ -244,7 +292,7 @@ public class USBCameraSource extends VisionSource {
         @Override
         public void setGain(int gain) {
             try {
-                if (cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
+                if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
                     camera.getProperty("gain_automatic").set(0);
                     camera.getProperty("gain").set(gain);
                 }
@@ -278,7 +326,7 @@ public class USBCameraSource extends VisionSource {
                 List<VideoMode> videoModesList = new ArrayList<>();
                 try {
                     VideoMode[] modes;
-                    if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+                    if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                         modes =
                                 new VideoMode[] {
                                     new VideoMode(PixelFormat.kBGR, 320, 240, 90),
@@ -306,13 +354,13 @@ public class USBCameraSource extends VisionSource {
                         }
 
                         // On picam, filter non-bgr modes for performance
-                        if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+                        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                             if (videoMode.pixelFormat != PixelFormat.kBGR) {
                                 continue;
                             }
                         }
 
-                        if (cameraQuirks.hasQuirk(CameraQuirk.FPSCap100)) {
+                        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.FPSCap100)) {
                             if (videoMode.fps > 100) {
                                 continue;
                             }
@@ -370,7 +418,7 @@ public class USBCameraSource extends VisionSource {
     @Override
     public boolean isVendorCamera() {
         return ConfigManager.getInstance().getConfig().getHardwareConfig().hasPresetFOV()
-                && cameraQuirks.hasQuirk(CameraQuirk.PiCam);
+                && getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam);
     }
 
     @Override
@@ -391,15 +439,22 @@ public class USBCameraSource extends VisionSource {
         if (cvSink == null) {
             if (other.cvSink != null) return false;
         } else if (!cvSink.equals(other.cvSink)) return false;
-        if (cameraQuirks == null) {
-            if (other.cameraQuirks != null) return false;
-        } else if (!cameraQuirks.equals(other.cameraQuirks)) return false;
+        if (getCameraConfiguration().cameraQuirks == null) {
+            if (other.getCameraConfiguration().cameraQuirks != null) return false;
+        } else if (!getCameraConfiguration()
+                .cameraQuirks
+                .equals(other.getCameraConfiguration().cameraQuirks)) return false;
         return true;
     }
 
     @Override
     public int hashCode() {
         return Objects.hash(
-                camera, usbCameraSettables, usbFrameProvider, cameraConfiguration, cvSink, cameraQuirks);
+                camera,
+                usbCameraSettables,
+                usbFrameProvider,
+                cameraConfiguration,
+                cvSink,
+                getCameraConfiguration().cameraQuirks);
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
index 2b134ee9e..906546ef5 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -512,6 +512,7 @@ public class VisionModule {
                 SerializationUtils.objectToHashMap(pipelineManager.getCurrentPipelineSettings());
         ret.currentPipelineIndex = pipelineManager.getCurrentPipelineIndex();
         ret.pipelineNicknames = pipelineManager.getPipelineNicknames();
+        ret.cameraQuirks = visionSource.getSettables().getConfiguration().cameraQuirks;
 
         // TODO refactor into helper method
         var temp = new HashMap<Integer, HashMap<String, Object>>();
@@ -609,4 +610,14 @@ public class VisionModule {
 
         saveAndBroadcastAll();
     }
+
+    /**
+     * Add/remove quirks from the camera we're controlling
+     *
+     * @param quirksToChange map of true/false for quirks we should change
+     */
+    public void changeCameraQuirks(HashMap<CameraQuirk, Boolean> quirksToChange) {
+        visionSource.getCameraConfiguration().cameraQuirks.updateQuirks(quirksToChange);
+        saveAndBroadcastAll();
+    }
 }
diff --git a/photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java b/photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java
index c0229272b..25fea3692 100644
--- a/photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java
+++ b/photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java
@@ -31,6 +31,7 @@ import org.junit.jupiter.api.Order;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.camera.CameraType;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.pipeline.AprilTagPipelineSettings;
 import org.photonvision.vision.pipeline.ColoredShapePipelineSettings;
 import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
@@ -81,6 +82,7 @@ public class SQLConfigTest {
                         69,
                         "a/path/idk",
                         CameraType.UsbCamera,
+                        QuirkyCamera.getQuirkyCamera(-1, -1),
                         List.of(),
                         0);
         testcamcfg.pipelineSettings =
diff --git a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
index f0ec331ca..4203d37e5 100644
--- a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
+++ b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
@@ -17,6 +17,7 @@
 
 package org.photonvision.server;
 
+import com.fasterxml.jackson.annotation.JsonProperty;
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import io.javalin.http.Context;
@@ -43,8 +44,10 @@ import org.photonvision.common.logging.Logger;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.ShellExec;
 import org.photonvision.common.util.TimedTaskManager;
+import org.photonvision.common.util.file.JacksonUtils;
 import org.photonvision.common.util.file.ProgramDirectoryUtilities;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.processes.VisionModuleManager;
 
 public class RequestHandler {
@@ -364,22 +367,37 @@ public class RequestHandler {
         NetworkTablesManager.getInstance().setConfig(config);
     }
 
+    public static class UICameraSettingsRequest {
+        @JsonProperty("fov")
+        double fov;
+
+        @JsonProperty("quirksToChange")
+        HashMap<CameraQuirk, Boolean> quirksToChange;
+    }
+
     public static void onCameraSettingsRequest(Context ctx) {
         try {
             var data = kObjectMapper.readTree(ctx.body());
 
             int index = data.get("index").asInt();
-            double fov = data.get("settings").get("fov").asDouble();
+            // double fov = data.get("settings").get("fov").asDouble();
+            var settings =
+                    JacksonUtils.deserialize(data.get("settings").toString(), UICameraSettingsRequest.class);
+            var fov = settings.fov;
+
+            logger.info("Changing camera FOV to: " + fov);
+            logger.info("Changing quirks to: " + settings.quirksToChange.toString());
 
             var module = VisionModuleManager.getInstance().getModule(index);
             module.setFov(fov);
+            module.changeCameraQuirks(settings.quirksToChange);
 
             module.saveModule();
 
             ctx.status(200);
             ctx.result("Successfully saved camera settings");
             logger.info("Successfully saved camera settings");
-        } catch (JsonProcessingException | NullPointerException e) {
+        } catch (NullPointerException | IOException e) {
             ctx.status(400);
             ctx.result("The provided camera settings were malformed");
             logger.error("The provided camera settings were malformed", e);