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Subaru: group steer rate limited with GEN2 (#31640)

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* remove sideways diff

* make a subclass

* fix

* fix
old-commit-hash: 5d291cb64d2ff925a13cbf0f783517642929917f
This commit is contained in:
Shane Smiskol
2024-02-29 16:45:31 -06:00
committed by GitHub
parent 07c5a51338
commit a254be8fe3
1 changed files with 15 additions and 8 deletions
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selfdrive/car/subaru/values.py
+15 -8
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@@ -106,6 +106,15 @@ class SubaruPlatformConfig(PlatformConfig):
self.dbc_dict = dbc_dict('subaru_global_2020_hybrid_generated', None)
@dataclass
class SubaruGen2PlatformConfig(SubaruPlatformConfig):
def init(self):
super().init()
self.flags |= SubaruFlags.GLOBAL_GEN2
if not (self.flags & SubaruFlags.LKAS_ANGLE):
self.flags |= SubaruFlags.STEER_RATE_LIMITED
class CAR(Platforms):
# Global platform
ASCENT = SubaruPlatformConfig(
@@ -113,17 +122,15 @@ class CAR(Platforms):
SubaruCarInfo("Subaru Ascent 2019-21", "All"),
specs=CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
)
OUTBACK = SubaruPlatformConfig(
OUTBACK = SubaruGen2PlatformConfig(
"SUBARU OUTBACK 6TH GEN",
SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.STEER_RATE_LIMITED,
)
LEGACY = SubaruPlatformConfig(
LEGACY = SubaruGen2PlatformConfig(
"SUBARU LEGACY 7TH GEN",
SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
specs=OUTBACK.specs,
flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.STEER_RATE_LIMITED,
)
IMPREZA = SubaruPlatformConfig(
"SUBARU IMPREZA LIMITED 2019",
@@ -199,17 +206,17 @@ class CAR(Platforms):
specs=FORESTER.specs,
flags=SubaruFlags.LKAS_ANGLE,
)
OUTBACK_2023 = SubaruPlatformConfig(
OUTBACK_2023 = SubaruGen2PlatformConfig(
"SUBARU OUTBACK 7TH GEN",
SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
specs=OUTBACK.specs,
flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.LKAS_ANGLE,
flags=SubaruFlags.LKAS_ANGLE,
)
ASCENT_2023 = SubaruPlatformConfig(
ASCENT_2023 = SubaruGen2PlatformConfig(
"SUBARU ASCENT 2023",
SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
specs=ASCENT.specs,
flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.LKAS_ANGLE,
flags=SubaruFlags.LKAS_ANGLE,
)