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src/ds/ds-options.cpp

@@ -692,16 +692,14 @@ namespace librealsense
         if (_hdr_cfg->is_config_in_process())
             if( _hdr_cfg->is_enabled() )
             {
-                // keep the index
+                // Changing exposure while HDR is enabled was requested by customers.It is currently disabled by D400
+                // FW, so we workaround it by disabling HDR,changing exposure and enabling again.Disabling/Enabling
+                // resets the sequence index so we need to keep and restore it.
                 auto _current_hdr_sequence_index = _hdr_cfg->get( RS2_OPTION_SEQUENCE_ID );
-                // In order to enable runtime exposure update in HDR mode we first send disable HDR, then set the value
-                // and at last enable HDR again.
                 _hdr_cfg->set( RS2_OPTION_HDR_ENABLED, 0, { 0, 1, 1 } );
-                // restore hdr_sequence_index
                 _hdr_cfg->set( RS2_OPTION_SEQUENCE_ID, _current_hdr_sequence_index, { 0, 1, 1 } );
                 _hdr_option->set( value );
                 _hdr_cfg->set( RS2_OPTION_HDR_ENABLED, 1, { 0, 1, 1 } );
-                // restore hdr_sequence_index in order to enable again runtime exposure update in HDR
                 _hdr_cfg->set( RS2_OPTION_SEQUENCE_ID, _current_hdr_sequence_index, { 0, 1, 1 } );   
             }
             else