Keep Subaru fixed-angle handoff within native rate limits

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -132,7 +132,8 @@ class CarController(CarControllerBase):
           self.apply_angle_last = CS.out.steeringAngleDeg
           self.ascent_angle_initialized = True
           angle_active = False
-        if angle_active and not self.angle_was_active and self.CP.carFingerprint != CAR.SUBARU_ASCENT_2023:
+        if (angle_active and not self.angle_was_active and
+            self.CP.carFingerprint in (CAR.SUBARU_CROSSTREK_2025, CAR.SUBARU_FORESTER_2022)):
           self.apply_angle_last = CS.out.steeringAngleDeg
         if self.CP.carFingerprint in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
           apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last,

openpilot/starpilot/car/subaru/tests/test_stock_aol_callers.py

@@ -24,7 +24,7 @@ from openpilot.starpilot.car.subaru.tests.native_fixture import subaru_native_pa
 @pytest.mark.parametrize('candidate', [CAR.SUBARU_ASCENT_2023, CAR.SUBARU_LEGACY_2025, CAR.SUBARU_CROSSTREK_2025, CAR.SUBARU_FORESTER, CAR.SUBARU_OUTBACK])
 def test_actual_full_engage_brake_reverse_temporary_recovery_mainoff(candidate, subaru_native_pair, tmp_path, aol=True, manual=False, stop_resume=False,
                                                                       hard_stop_native_first=False, main_only=False, preferences=None, firmware=None,
-                                                                      deadline_gap=False):
+                                                                      deadline_gap=False, fixed_angle_handoff=False):
   fw = firmware_records(candidate, FW_VERSIONS, 'subaru') if firmware is None else firmware
   rows = []
   with actual_factory(candidate, gen_empty_fingerprint(), fw, '0' * 17, manual=manual, aol=aol, preferences=preferences) as (card, params, matches):
@@ -74,9 +74,10 @@ def test_actual_full_engage_brake_reverse_temporary_recovery_mainoff(candidate,
         stopped = stop_resume and (125 <= tick < 135 if hard_stop_native_first else 185 <= tick < 195)
         first_resume = 145 <= tick < 150 if hard_stop_native_first else 125 <= tick < 145
         values = {
-          'Steering_Torque': {'Steer_Warning': int(temporary)},
-          'Steering_2': {'Steering_Angle': 0},
-          'Wheel_Speeds': dict.fromkeys(('FL', 'FR', 'RL', 'RR'), 0 if stopped else 54),
+          'Steering_Torque': {'Steer_Warning': int(temporary),
+                             'Steer_Torque_Sensor': (250 if 70 <= tick < 76 else 143 if 76 <= tick < 90 else 0) if fixed_angle_handoff else 0},
+          'Steering_2': {'Steering_Angle': (5.65 if tick < 78 else 5.61) if fixed_angle_handoff else 0},
+          'Wheel_Speeds': dict.fromkeys(('FL', 'FR', 'RL', 'RR'), 0 if stopped else 121.5 if fixed_angle_handoff else 54),
           'Brake_Status': {'Brake': int(brake)},
           'CruiseControl': {'Cruise_On': int(main), 'Cruise_Activated': int(cruise)},
           'ES_Status': {'Cruise_Activated': int(cruise)},
@@ -202,11 +203,18 @@ def test_actual_full_engage_brake_reverse_temporary_recovery_mainoff(candidate,
             output = decoder.vl[steering_name]['LKAS_Output']
             decoded_steering.append({'request': request, 'output': output, 'nativeAccepted': accepted})
             if not stopped and (65 <= tick < 90 or aol and (first_resume or 205 <= tick < 220 or 280 <= tick < 300)):
-              assert request and accepted, (tick, decoded_steering)
+              if fixed_angle_handoff and 72 <= tick < 78:
+                assert not request and accepted, (tick, decoded_steering)
+              else:
+                assert request, (tick, decoded_steering)
+                assert accepted, ('SUBARU_ANGLE_HANDOFF_NATIVE_REJECTED', tick, decoded_steering)
               if output != 0:
                 active_emissions.append(tick)
             if 165 <= tick < 180 or 240 <= tick < 255 or not aol and (125 <= tick < 145 or 205 <= tick < 220 or 280 <= tick < 300):
-              assert not request and output == 0, (tick, decoded_steering)
+              if fixed_angle_handoff:
+                assert not request and abs(output - cs.steeringAngleDeg) <= 0.011, (tick, decoded_steering)
+              else:
+                assert not request and output == 0, (tick, decoded_steering)
         intent = decode_intent(published['aolIntentWire'].aolIntentWire) if aol else None
         row = {
           'tick': tick,
@@ -374,3 +382,9 @@ def test_actual_subaru_expired_output_keeps_user_disable(event, subaru_native_pa
   with patch.object(SelfdriveD, '_expire_axis_continuity', check), pytest.raises(ObservedVeto):
     test_actual_full_engage_brake_reverse_temporary_recovery_mainoff(
       CAR.SUBARU_IMPREZA_2020, subaru_native_pair, tmp_path, main_only=True, deadline_gap=True)
+
+
+@pytest.mark.parametrize('candidate', [CAR.SUBARU_OUTBACK_2023, CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023])
+def test_actual_fixed_angle_driver_handoff_keeps_native_rate_limit(candidate, subaru_native_pair, tmp_path, preferences=None):
+  test_actual_full_engage_brake_reverse_temporary_recovery_mainoff(
+    candidate, subaru_native_pair, tmp_path, preferences=preferences, fixed_angle_handoff=True)

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "c3181aba1c5e722d00cacb30fc4a200375ef0384963551cb571911bd68e57ff1", "schema_version": 1}
+{"protected_inventory_sha256": "47dde56d9f0c263f2daa94de5da700cebe1f713d9f248b7a74fcc02a5a6689b5", "schema_version": 1}