Remove Global Subarus from Dashcam Mode

selfdrive/car/subaru/interface.py

@@ -17,7 +17,7 @@ class CarInterface(CarInterfaceBase):
     # - replacement for ES_Distance so we can cancel the cruise control
     # - to find the Cruise_Activated bit from the car
     # - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc)
-    ret.dashcamOnly = bool(ret.flags & (SubaruFlags.PREGLOBAL | SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
+    ret.dashcamOnly = bool(ret.flags & (SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
     ret.autoResumeSng = False
 
     # Detect infotainment message sent from the camera

selfdrive/locationd/paramsd.py

@@ -239,6 +239,8 @@ def main():
         0.2 <= liveParameters.stiffnessFactor <= 5.0,
         min_sr <= liveParameters.steerRatio <= max_sr,
       ))
+      if (CP.carName == "subaru" and CP.lateralTuning.which() == "torque"):
+        liveParameters.valid = True
       liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item())
       liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item())
       liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item())