Subaru Crosstrek Torque increase

Add toggle to increase the torque for the Subaru Crosstrek.

common/params.cc

@@ -248,6 +248,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CEStopLightsLead", PERSISTENT},
     {"Compass", PERSISTENT},
     {"ConditionalExperimental", PERSISTENT},
+    {"CrosstrekTorque", PERSISTENT},
     {"CurrentHolidayTheme", PERSISTENT},
     {"CustomAlerts", PERSISTENT},
     {"CustomColors", PERSISTENT},

panda/board/safety/safety_subaru.h

@@ -17,7 +17,7 @@
   }
 
 
-const SteeringLimits SUBARU_STEERING_LIMITS      = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70);
+const SteeringLimits SUBARU_STEERING_LIMITS      = SUBARU_STEERING_LIMITS_GENERATOR(3071, 50, 70);
 const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40);
 
 

selfdrive/car/subaru/interface.py

@@ -11,6 +11,8 @@ class CarInterface(CarInterfaceBase):
 
   @staticmethod
   def _get_params(ret, params, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
+    crosstrek_torque_increase = params.get_bool("CrosstrekTorque")
+
     ret.carName = "subaru"
     ret.radarUnavailable = True
     # for HYBRID CARS to be upstreamed, we need:
@@ -51,9 +53,9 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.IMPREZA:
       ret.steerActuatorDelay = 0.4  # end-to-end angle controller
       ret.lateralTuning.init('pid')
-      ret.lateralTuning.pid.kf = 0.00005
+      ret.lateralTuning.pid.kf = 0.00003333 if crosstrek_torque_increase else 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.133, 0.2], [0.0133, 0.02]] if crosstrek_torque_increase else [[0.2, 0.3], [0.02, 0.03]]
 
     elif candidate == CAR.IMPREZA_2020:
       ret.lateralTuning.init('pid')

selfdrive/car/subaru/values.py

@@ -26,6 +26,8 @@ class CarControllerParams:
       self.STEER_DELTA_DOWN = 40
     elif CP.carFingerprint == CAR.IMPREZA_2020:
       self.STEER_MAX = 1439
+    elif CP.carFingerprint == CAR.IMPREZA and Params().get_bool("CrosstrekTorque"):
+      self.STEER_MAX = 3071
     else:
       self.STEER_MAX = 2047
 

selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc

@@ -115,6 +115,8 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
     {"LongPitch", tr("Long Pitch Compensation"), tr("Smoothen out the gas and pedal controls."), ""},
     {"GasRegenCmd", tr("Truck Tune"), tr("Increase the acceleration and smoothen out the brake control when coming to a stop. For use on Silverado/Sierra only."), ""},
 
+    {"CrosstrekTorque", tr("Subaru Crosstrek Torque Increase"), tr("Increases the maximum allowed torque for the Subaru Crosstrek."), ""},
+
     {"ToyotaDoors", tr("Automatically Lock/Unlock Doors"), tr("Automatically lock the doors when in drive and unlock when in park."), ""},
     {"LongitudinalTune", tr("Longitudinal Tune"), tr("Use a custom Toyota longitudinal tune.\n\nCydia = More focused on TSS-P vehicles but works for all Toyotas\n\nDragonPilot = Focused on TSS2 vehicles\n\nFrogPilot = Takes the best of both worlds with some personal tweaks focused around FrogsGoMoo's 2019 Lexus ES 350"), ""},
   };
@@ -161,7 +163,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
     });
   }
 
-  std::set<QString> rebootKeys = {"GasRegenCmd"};
+  std::set<QString> rebootKeys = {"CrosstrekTorque", "GasRegenCmd"};
   for (const QString &key : rebootKeys) {
     QObject::connect(toggles[key.toStdString().c_str()], &ToggleControl::toggleFlipped, [this]() {
       if (started) {
@@ -256,7 +258,7 @@ void FrogPilotVehiclesPanel::hideToggles() {
 
   std::set<QString> evCarKeys = {};
   std::set<QString> gmTruckKeys = {"GasRegenCmd"};
-  std::set<QString> imprezaKeys = {};
+  std::set<QString> imprezaKeys = {"CrosstrekTorque"};
   std::set<QString> longitudinalKeys = {"GasRegenCmd", "LongitudinalTune", "LongPitch"};
   std::set<QString> sngKeys = {};
 

selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h

@@ -30,7 +30,7 @@ private:
   QStringList models;
 
   std::set<QString> gmKeys = {"GasRegenCmd", "LongPitch"};
-  std::set<QString> subaruKeys = {};
+  std::set<QString> subaruKeys = {"CrosstrekTorque"};
   std::set<QString> toyotaKeys = {"LongitudinalTune", "ToyotaDoors"};
 
   std::map<std::string, ParamControl*> toggles;