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IQ.Pilot Release Commit @ 0babf78

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IQ.Lvbs CI [bot]
2026-07-27 01:40:11 -05:00
parent 6fb5c0141c
commit b39791a93f
425 changed files with 12180 additions and 6137 deletions
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19
system/loggerd/loggerd.h
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@@ -28,6 +28,13 @@ const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH"))
constexpr char PRESERVE_ATTR_NAME[] = "user.preserve";
constexpr char PRESERVE_ATTR_VALUE = '1';
// 2.5x the stock 526x330 qcamera, rounded up to even. The msm_vidc encoder rejects
// VIDIOC_S_FMT with ENOTSUPP (524) on an odd width or height, which throws out of
// encoder_thread and SIGABRTs all of encoderd -- taking fcamera/dcamera/ecamera with it.
constexpr int QCAM_WIDTH = 1316;
constexpr int QCAM_HEIGHT = 826;
static_assert(QCAM_WIDTH % 2 == 0 && QCAM_HEIGHT % 2 == 0, "qcamera dimensions must be even");
struct EncoderSettings {
cereal::EncodeIndex::Type encode_type;
int bitrate;
@@ -43,10 +50,10 @@ struct EncoderSettings {
}
static EncoderSettings QcamEncoderSettings() {
// qcamera.ts is the small "dashcam" copy uploaded to konn3kt. Stock 256kbps @ 526x330 is potato;
// bump the bitrate to match the higher resolution below. Still H264/.ts (web/HLS compatible) and
// ~1/4 the bitrate of fcamera.hevc, so the file stays small. Override with QCAM_BITRATE if needed.
int _qcam_bitrate = getenv("QCAM_BITRATE") ? atoi(getenv("QCAM_BITRATE")) : 1'600'000;
// Keep Konn3kt route uploads useful without turning each 60-second qcamera
// segment into a 26 MB file. This is still a substantial improvement over
// stock qcam, while CBR keeps storage and upload usage predictable.
int _qcam_bitrate = getenv("QCAM_BITRATE") ? atoi(getenv("QCAM_BITRATE")) : 2'400'000;
return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _qcam_bitrate, .gop_size = 15};
}
@@ -140,8 +147,8 @@ const EncoderInfo qcam_encoder_info = {
.filename = "qcamera.ts",
.cbr = true, // enforce the bitrate so upload size stays predictable (no VBR overshoot)
.get_settings = [](int){return EncoderSettings::QcamEncoderSettings();},
.frame_width = 1052, // 2x the stock 526x330, same road-cam aspect ratio
.frame_height = 660,
.frame_width = QCAM_WIDTH,
.frame_height = QCAM_HEIGHT,
.include_audio = Params().getBool("RecordAudio"),
INIT_ENCODE_FUNCTIONS(QRoadEncode),
};