From 6065a3d70ca940bf93c44faacb948a204976f41b Mon Sep 17 00:00:00 2001
From: "Cameron (3539)" <theforgelover@gmail.com>
Date: Wed, 1 Jan 2025 14:21:54 -0500
Subject: [PATCH] Fix CSI camera exposure setting (#1665)

Adjusts the exposure setting of csi cameras to match that of USB
cameras. If you set a manual exposure it will drop out of auto exposure.
---
 .../vision/camera/csi/LibcameraGpuSettables.java      | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java
index 4b7c30698..da8448847 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java
@@ -124,16 +124,19 @@ public class LibcameraGpuSettables extends VisionSourceSettables {
 
     @Override
     public void setAutoExposure(boolean cameraAutoExposure) {
+        logger.debug("Setting auto exposure to " + cameraAutoExposure);
         lastAutoExposureActive = cameraAutoExposure;
         LibCameraJNI.setAutoExposure(r_ptr, cameraAutoExposure);
+        if (!cameraAutoExposure) {
+            setExposureRaw(lastManualExposure);
+        }
     }
 
     @Override
     public void setExposureRaw(double exposureRaw) {
-        if (exposureRaw < 0.0 || lastAutoExposureActive) {
-            // Auto-exposure is active right now, don't set anything.
-            return;
-        }
+        logger.debug("Setting exposure to " + exposureRaw);
+
+        LibCameraJNI.setAutoExposure(r_ptr, false);
 
         // Store the exposure for use when we need to recreate the camera.
         lastManualExposure = exposureRaw;