diff --git a/src/ipa/rkisp1/algorithms/af.cpp b/src/ipa/rkisp1/algorithms/af.cpp
new file mode 100644
index 00000000..c2a321cd
--- /dev/null
+++ b/src/ipa/rkisp1/algorithms/af.cpp
@@ -0,0 +1,101 @@
+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2022, Theobroma Systems
+ *
+ * af.cpp - RkISP1 AF hill climbing based control algorithm
+ */
+
+#include "af.h"
+
+/**
+ * \file af.h
+ */
+
+namespace libcamera::ipa::rkisp1::algorithms {
+
+/**
+ * \class Af
+ * \brief AF control algorithm
+ */
+
+LOG_DEFINE_CATEGORY(RkISP1Af)
+
+/**
+ * \copydoc libcamera::ipa::Algorithm::init
+ */
+int Af::init([[maybe_unused]] IPAContext &context, const YamlObject &tuningData)
+{
+	waitFramesLens_ = tuningData["wait-frames-lens"].get<uint32_t>(1);
+
+	LOG(RkISP1Af, Debug) << "waitFramesLens_: " << waitFramesLens_;
+
+	return initBase(tuningData);
+}
+
+/**
+ * \copydoc libcamera::ipa::Algorithm::configure
+ */
+int Af::configure([[maybe_unused]] IPAContext &context,
+		  [[maybe_unused]] const IPACameraSensorInfo &configInfo)
+{
+	return 0;
+}
+
+/**
+ * \copydoc libcamera::ipa::Algorithm::queueRequest
+ */
+void Af::queueRequest([[maybe_unused]] IPAContext &context,
+		      const uint32_t frame,
+		      [[maybe_unused]] IPAFrameContext &frameContext,
+		      const ControlList &controls)
+{
+	queueRequestBase(frame, controls);
+}
+
+/**
+ * \copydoc libcamera::ipa::Algorithm::prepare
+ */
+void Af::prepare([[maybe_unused]] IPAContext &context,
+		 [[maybe_unused]] const uint32_t frame,
+		 [[maybe_unused]] IPAFrameContext &frameContext,
+		 [[maybe_unused]] rkisp1_params_cfg *params)
+{
+}
+
+/**
+ * \copydoc libcamera::ipa::Algorithm::process
+ */
+void Af::process(IPAContext &context, [[maybe_unused]] const uint32_t frame,
+		 [[maybe_unused]] IPAFrameContext &frameContext,
+		 const rkisp1_stat_buffer *stats,
+		 [[maybe_unused]] ControlList &metadata)
+{
+	uint32_t sharpness = stats->params.af.window[0].sum;
+	uint32_t luminance = stats->params.af.window[0].lum;
+
+	LOG(RkISP1Af, Debug) << "lensPosition: " << context.activeState.af.lensPosition
+			     << ", Sharpness: " << sharpness
+			     << ", Luminance: " << luminance;
+
+	uint32_t lensPosition = processAutofocus(sharpness);
+
+	if (lensPosition != context.activeState.af.lensPosition) {
+		context.activeState.af.lensPosition = lensPosition;
+		context.activeState.af.applyLensCtrls = true;
+		setFramesToSkip(waitFramesLens_);
+	}
+}
+
+void Af::setMeteringMode([[maybe_unused]] controls::AfMeteringEnum metering)
+{
+	LOG(RkISP1Af, Error) << __FUNCTION__ << " not implemented!";
+}
+
+void Af::setWindows([[maybe_unused]] Span<const Rectangle> windows)
+{
+	LOG(RkISP1Af, Error) << __FUNCTION__ << " not implemented!";
+}
+
+REGISTER_IPA_ALGORITHM(Af, "Af")
+
+} /* namespace libcamera::ipa::rkisp1::algorithms */
diff --git a/src/ipa/rkisp1/algorithms/af.h b/src/ipa/rkisp1/algorithms/af.h
new file mode 100644
index 00000000..882be952
--- /dev/null
+++ b/src/ipa/rkisp1/algorithms/af.h
@@ -0,0 +1,42 @@
+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2022, Theobroma Systems
+ *
+ * af.h - RkISP1 AF hill climbing based control algorithm
+ */
+
+#pragma once
+
+#include <linux/rkisp1-config.h>
+
+#include "libipa/algorithms/af_hill_climbing.h"
+
+#include "algorithm.h"
+
+namespace libcamera::ipa::rkisp1::algorithms {
+
+class Af : public ipa::common::algorithms::AfHillClimbing, public Algorithm
+{
+public:
+	Af() = default;
+	~Af() = default;
+
+	int init(IPAContext &context, const YamlObject &tuningData) override;
+	int configure(IPAContext &context, const IPACameraSensorInfo &configInfo) override;
+	void queueRequest(IPAContext &context, const uint32_t frame,
+			  IPAFrameContext &frameContext, const ControlList &controls) override;
+	void prepare(IPAContext &context, const uint32_t frame,
+		     IPAFrameContext &frameContext, rkisp1_params_cfg *params) override;
+	void process(IPAContext &context, const uint32_t frame,
+		     IPAFrameContext &frameContext, const rkisp1_stat_buffer *stats,
+		     ControlList &metadata) override;
+
+private:
+	void setMeteringMode(controls::AfMeteringEnum metering) final;
+	void setWindows(Span<const Rectangle> windows) final;
+
+	/* Wait number of frames after changing lens position */
+	uint32_t waitFramesLens_;
+};
+
+} /* namespace libcamera::ipa::rkisp1::algorithms */
diff --git a/src/ipa/rkisp1/algorithms/meson.build b/src/ipa/rkisp1/algorithms/meson.build
index 93a48329..ab7e44f3 100644
--- a/src/ipa/rkisp1/algorithms/meson.build
+++ b/src/ipa/rkisp1/algorithms/meson.build
@@ -1,6 +1,7 @@
 # SPDX-License-Identifier: CC0-1.0
 
 rkisp1_ipa_algorithms = files([
+    'af.cpp',
     'agc.cpp',
     'awb.cpp',
     'blc.cpp',