Merge remote-tracking branch 'origin/SecretGoodStarPilot' into SecretGoodStarPilot

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -120,7 +120,9 @@ class CarController(CarControllerBase):
     if (self.frame % self.p.STEER_STEP) == 0:
       if self.CP.carFingerprint in GEN2_ANGLE_PORTS:
         independent_lateral = subaru_aol_qualified(self.CP, marked_only=True)
-        angle_available = (CC.latActive and CS.out.cruiseState.available and
+        # Match Dom's independent-lateral envelope during large manual turns and parking speeds.
+        aol_motion_ok = CC.enabled or (CS.out.vEgoRaw > 0.44704 and abs(CS.out.steeringAngleDeg) < 120.)
+        angle_available = (CC.latActive and aol_motion_ok and CS.out.cruiseState.available and
                            (independent_lateral or CC.enabled and CS.out.cruiseState.enabled and not CS.out.brakePressed) and
                            CS.out.gearShifter == structs.CarState.GearShifter.drive and
                            not CS.out.standstill and not CS.out.steerFaultTemporary and not CS.out.steerFaultPermanent)

opendbc_repo/opendbc/car/subaru/tests/test_angle_handoff.py

@@ -51,3 +51,43 @@ class TestAngleHandoff(unittest.TestCase):
         command.latActive = True
         _, decoded = step(controller, command, state)
         self.assertEqual(decoded['LKAS_Request'], 1)
+
+
+class TestIndependentAngleEnvelope(unittest.TestCase):
+  def test_dom_aol_envelope_uses_actual_steering_request(self):
+    cars = (CAR.SUBARU_CROSSTREK_2025, CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023,
+            CAR.SUBARU_FORESTER_2022, CAR.SUBARU_OUTBACK_2023)
+    for car in cars:
+      for speed, angle, expected in ((5., 119.5, True), (5., -119.5, True),
+                                     (5., 120., False), (5., -120., False),
+                                     (5., 200., False), (5., -200., False),
+                                     (.4, 10., False), (.5, 10., True)):
+        with self.subTest(car=car, speed=speed, angle=angle):
+          cp, controller, command, state = setup_controller(car)
+          cp.alternativeExperience = 32
+          command.enabled = False
+          command.actuators.steeringAngleDeg = angle + 5.
+          state.out.cruiseState.enabled = False
+          state.out.steeringTorque = state.out.steeringRateDeg = 0
+          state.out.steeringAngleDeg = angle
+          state.out.vEgoRaw = state.out.vEgo = speed
+          state.out.standstill = False
+          for _ in range(3):
+            _, decoded = step(controller, command, state)
+          self.assertEqual(bool(decoded['LKAS_Request']), expected)
+          if not expected:
+            self.assertAlmostEqual(decoded['LKAS_Output'], angle, places=2)
+
+  def test_ordinary_engagement_keeps_existing_angle_behavior(self):
+    for car in (CAR.SUBARU_CROSSTREK_2025, CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023,
+                CAR.SUBARU_FORESTER_2022, CAR.SUBARU_OUTBACK_2023):
+      for speed, angle in ((5., 200.), (.4, 10.)):
+        with self.subTest(car=car, speed=speed, angle=angle):
+          _, controller, command, state = setup_controller(car)
+          state.out.vEgoRaw = state.out.vEgo = speed
+          state.out.steeringAngleDeg = angle
+          state.out.steeringRateDeg = state.out.steeringTorque = 0
+          state.out.standstill = False
+          for _ in range(3):
+            _, decoded = step(controller, command, state)
+          self.assertTrue(decoded['LKAS_Request'])

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "b6dbedd7e09e9c0ccb699e58b2d3626bd3883bc6c44e998e239790056489d51c", "schema_version": 1}
+{"protected_inventory_sha256": "0cd8f1e7cb4d23e7789cc44698d82a9e0de13be304f26a9cf40b5fee2e054965", "schema_version": 1}