suburu sng

common/params_keys.h

@@ -586,6 +586,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SwitchbackModeCooldown", {PERSISTENT, INT, "5", "0", 2}},
     {"SwitchbackModeEnabled", {CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
     {"SubaruSNG", {PERSISTENT, BOOL, "1", "0", 2}},
+    {"SubaruSNGManualParkingBrake", {PERSISTENT, BOOL, "0", "0", 2}},
     {"TacoTune", {PERSISTENT, BOOL, "0", "0", 2}},
     {"TestAlert", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
     {"TetheringEnabled", {PERSISTENT, INT, "0", "0", 0}},

opendbc_repo/opendbc/car/interfaces.py

@@ -22,6 +22,7 @@ from opendbc.car.honda.values import CAR as HONDA, HONDA_BOSCH, HondaFlags, Hond
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import CAR as HYUNDAI, CANFD_CAR, HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, ALT_BUS_LDA_BUTTON_CARS
 from opendbc.car.mock.values import CAR as MOCK
+from opendbc.car.subaru.values import CAR as SUBARU, SubaruSafetyFlags
 from opendbc.car.toyota.values import CAR as TOYOTA, NO_DSU_CAR, TSS2_CAR, UNSUPPORTED_DSU_CAR, ToyotaStarPilotFlags, ToyotaSafetyFlags
 from opendbc.car.values import PLATFORMS
 from opendbc.can import CANParser
@@ -266,6 +267,10 @@ class CarInterfaceBase(ABC):
       elif platform.config.platform_str == "TESLA_MODEL_S_PREAP":
         fp_ret.canUsePedal = True
 
+      elif platform in SUBARU:
+        if getattr(starpilot_toggles, "subaru_sng", False):
+          fp_ret.safetyConfigs[-1].safetyParam |= SubaruSafetyFlags.STOP_AND_GO.value
+
     return fp_ret
 
   @staticmethod

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -1,6 +1,6 @@
 import numpy as np
 from opendbc.can import CANPacker
-from opendbc.car import Bus, make_tester_present_msg
+from opendbc.car import Bus, DT_CTRL, make_tester_present_msg
 from opendbc.car.lateral import apply_driver_steer_torque_limits, common_fault_avoidance
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.subaru import subarucan
@@ -26,14 +26,9 @@ class CarController(CarControllerBase):
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
 
-    self.manual_hold = False
-    self.prev_standstill = False
-    self.sng_acc_resume = False
-
     self.prev_close_distance = 0
-    self.prev_cruise_state = 0
-    self.sng_acc_resume_cnt = 0
-    self.standstill_start = 0
+    self.epb_resume_frames_remaining = -1
+    self.last_standstill_frame = 0
 
   def update(self, CC, CS, now_nanos, starpilot_toggles):
     actuators = CC.actuators
@@ -70,8 +65,9 @@ class CarController(CarControllerBase):
       self.apply_torque_last = apply_torque
 
     # *** stop and go ***
+    subaru_sng_manual_parking_brake = getattr(starpilot_toggles, "subaru_sng_manual_parking_brake", False)
     if starpilot_toggles.subaru_sng:
-      throttle_cmd, speed_cmd = self.stop_and_go(CC, CS)
+      throttle_cmd, speed_cmd = self.stop_and_go(CC, CS, subaru_sng_manual_parking_brake)
 
     # *** longitudinal ***
 
@@ -110,7 +106,11 @@ class CarController(CarControllerBase):
         can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg))
 
       if starpilot_toggles.subaru_sng:
-        can_sends.append(subarucan.create_preglobal_throttle(self.packer, CS.throttle_msg["COUNTER"] + 1, CS.throttle_msg, throttle_cmd))
+        can_sends.append(subarucan.create_preglobal_throttle(self.packer, CS.throttle_msg["COUNTER"] + 1, CS.throttle_msg,
+                                                             throttle_cmd and not subaru_sng_manual_parking_brake))
+        if self.frame % 2 == 0:
+          can_sends.append(subarucan.create_preglobal_brake_pedal(self.packer, CS.brake_pedal_msg,
+                                                                  speed_cmd and subaru_sng_manual_parking_brake))
     else:
       if self.frame % 10 == 0:
         can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled,
@@ -124,9 +124,11 @@ class CarController(CarControllerBase):
           can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))
 
       if starpilot_toggles.subaru_sng:
-        can_sends.append(subarucan.create_throttle(self.packer, CS.throttle_msg["COUNTER"] + 1, CS.throttle_msg, throttle_cmd))
+        can_sends.append(subarucan.create_throttle(self.packer, CS.throttle_msg["COUNTER"] + 1, CS.throttle_msg,
+                                                   throttle_cmd and not subaru_sng_manual_parking_brake))
         if self.frame % 2 == 0:
-          can_sends.append(subarucan.create_brake_pedal(self.packer, self.frame // 2, CS.brake_pedal_msg, speed_cmd, pcm_cancel_cmd))
+          can_sends.append(subarucan.create_brake_pedal(self.packer, self.frame // 2, CS.brake_pedal_msg,
+                                                        speed_cmd and subaru_sng_manual_parking_brake, pcm_cancel_cmd))
 
       if self.CP.openpilotLongitudinalControl:
         if self.frame % 5 == 0:
@@ -166,49 +168,37 @@ class CarController(CarControllerBase):
     self.frame += 1
     return new_actuators, can_sends
 
-  def stop_and_go(self, CC, CS, speed_cmd=False, throttle_cmd=False):
-    if self.CP.flags & SubaruFlags.PREGLOBAL:
-      trigger_resume = CC.enabled
-      trigger_resume &= CS.car_follow == 1
-      trigger_resume &= CS.close_distance > self.prev_close_distance
-      trigger_resume &= CS.out.standstill
-      trigger_resume &= _SNG_ACC_MIN_DIST < CS.close_distance < _SNG_ACC_MAX_DIST
+  def stop_and_go(self, CC, CS, manual_parking_brake=False):
+    throttle_cmd = False
+    speed_cmd = False
 
-      if trigger_resume:
-        self.sng_acc_resume = True
+    if not CC.enabled or not CC.hudControl.leadVisible:
+      return throttle_cmd, speed_cmd
+
+    close_distance = CS.close_distance
+    if not CS.out.standstill:
+      self.last_standstill_frame = self.frame
+
+    standstill_timers = (0.75, 0.8) if self.CP.flags & SubaruFlags.PREGLOBAL else (0.5, 0.55)
+    standstill_duration = (self.frame - self.last_standstill_frame) * DT_CTRL
+    in_standstill_hold = standstill_duration > standstill_timers[0]
+    if standstill_duration >= standstill_timers[1]:
+      self.last_standstill_frame = self.frame
+
+    if manual_parking_brake:
+      speed_cmd = in_standstill_hold
     else:
-      if CS.car_follow == 0 and CS.cruise_state == 3 and CS.out.standstill and self.prev_cruise_state == 1:
-        self.manual_hold = True
+      should_resume = (
+        CS.out.standstill and
+        _SNG_ACC_MIN_DIST < close_distance < _SNG_ACC_MAX_DIST and
+        close_distance > self.prev_close_distance
+      )
+      if should_resume:
+        self.epb_resume_frames_remaining = 15
 
-      if not CS.out.standstill:
-        self.manual_hold = False
+      throttle_cmd = self.epb_resume_frames_remaining > 0
+      if self.epb_resume_frames_remaining > 0:
+        self.epb_resume_frames_remaining -= 1
 
-      trigger_resume = CC.enabled
-      trigger_resume &= CS.car_follow == 1
-      trigger_resume &= CS.close_distance > self.prev_close_distance
-      trigger_resume &= CS.cruise_state == 3
-      trigger_resume &= not self.manual_hold
-      trigger_resume &= _SNG_ACC_MIN_DIST < CS.close_distance < _SNG_ACC_MAX_DIST
-
-      if trigger_resume:
-        self.sng_acc_resume = True
-
-      if CC.enabled and CS.car_follow == 1 and CS.out.standstill and self.frame > self.standstill_start + 50:
-        speed_cmd = True
-
-      if CS.out.standstill and not self.prev_standstill:
-        self.standstill_start = self.frame
-
-      self.prev_standstill = CS.out.standstill
-      self.prev_cruise_state = CS.cruise_state
-
-    if self.sng_acc_resume:
-      if self.sng_acc_resume_cnt < 5:
-        throttle_cmd = True
-        self.sng_acc_resume_cnt += 1
-      else:
-        self.sng_acc_resume = False
-        self.sng_acc_resume_cnt = -1
-
-    self.prev_close_distance = CS.close_distance
+    self.prev_close_distance = close_distance
     return throttle_cmd, speed_cmd

opendbc_repo/opendbc/car/subaru/carstate.py

@@ -15,7 +15,6 @@ class CarState(CarStateBase):
     self.shifter_values = can_define.dv["Transmission"]["Gear"]
 
     self.angle_rate_calulator = CanSignalRateCalculator(50)
-    self.sng_cruise_enabled = False
 
   def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
     cp = can_parsers[Bus.pt]
@@ -134,22 +133,6 @@ class CarState(CarStateBase):
       self.cruise_state = cp_cam.vl["ES_DashStatus"]["Cruise_State"]
       self.throttle_msg = copy.copy(cp.vl["Throttle"])
 
-      sng_standstill_hold = (
-        ret.cruiseState.available and
-        ret.standstill and
-        self.car_follow == 1 and
-        self.cruise_state == 3 and
-        not ret.gasPressed
-      )
-      if ret.cruiseState.enabled:
-        self.sng_cruise_enabled = True
-      elif self.sng_cruise_enabled and sng_standstill_hold:
-        ret.cruiseState.enabled = True
-      else:
-        self.sng_cruise_enabled = False
-    else:
-      self.sng_cruise_enabled = False
-
     return ret, fp_ret
 
   @staticmethod

opendbc_repo/opendbc/car/subaru/subarucan.py

@@ -358,6 +358,19 @@ def create_brake_pedal(packer, frame, brake_pedal_msg, speed_cmd, brake_cmd):
   return packer.make_can_msg("Brake_Pedal", CanBus.camera, values)
 
 
+def create_preglobal_brake_pedal(packer, brake_pedal_msg, speed_cmd):
+  values = {s: brake_pedal_msg[s] for s in sorted([
+    "Brake_Pedal",
+    "Signal1",
+    "Speed",
+  ])}
+
+  if speed_cmd:
+    values["Speed"] = 1
+
+  return packer.make_can_msg("Brake_Pedal", CanBus.camera, values)
+
+
 def create_throttle(packer, frame, throttle_msg, throttle_cmd):
   values = {s: throttle_msg[s] for s in sorted([
     "CHECKSUM",

opendbc_repo/opendbc/car/subaru/values.py

@@ -59,6 +59,7 @@ class SubaruSafetyFlags(IntFlag):
   GEN2 = 1
   LONG = 2
   PREGLOBAL_REVERSED_DRIVER_TORQUE = 4
+  STOP_AND_GO = 8
 
 
 class SubaruFlags(IntFlag):

opendbc_repo/opendbc/car/tests/test_car_interfaces.py

@@ -74,6 +74,7 @@ def get_test_starpilot_toggles() -> SimpleNamespace:
     reverse_cruise_increase=False,
     sng_hack=False,
     subaru_sng=False,
+    subaru_sng_manual_parking_brake=False,
     unlock_doors=False,
     vEgoStopping=0.5,
     volt_sng=False,

opendbc_repo/opendbc/safety/modes/subaru.h

@@ -24,6 +24,7 @@
 #define MSG_SUBARU_Throttle              0x40U
 #define MSG_SUBARU_Steering_Torque       0x119U
 #define MSG_SUBARU_Wheel_Speeds          0x13aU
+#define MSG_SUBARU_Brake_Pedal           0x139U
 
 #define MSG_SUBARU_ES_LKAS               0x122U
 #define MSG_SUBARU_ES_Brake              0x220U
@@ -63,6 +64,10 @@
   {MSG_SUBARU_ES_STATIC_1,       SUBARU_MAIN_BUS, 8, .check_relay = false}, \
   {MSG_SUBARU_ES_STATIC_2,       SUBARU_MAIN_BUS, 8, .check_relay = false}, \
 
+#define SUBARU_STOP_AND_GO_ADDITIONAL_TX_MSGS() \
+  {MSG_SUBARU_Throttle,          SUBARU_CAM_BUS,  8, .check_relay = true}, \
+  {MSG_SUBARU_Brake_Pedal,       SUBARU_CAM_BUS,  8, .check_relay = true}, \
+
 #define SUBARU_COMMON_RX_CHECKS(alt_bus)                                                                                                         \
   {.msg = {{MSG_SUBARU_Throttle,        SUBARU_MAIN_BUS, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
   {.msg = {{MSG_SUBARU_Steering_Torque, SUBARU_MAIN_BUS, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},  \
@@ -72,6 +77,7 @@
 
 static bool subaru_gen2 = false;
 static bool subaru_longitudinal = false;
+static bool subaru_stop_and_go = false;
 
 static uint32_t subaru_get_checksum(const CANPacket_t *msg) {
   return (uint8_t)msg->data[0];
@@ -227,6 +233,12 @@ static safety_config subaru_init(uint16_t param) {
     SUBARU_GEN2_LONG_ADDITIONAL_TX_MSGS()
   };
 
+  static const CanMsg SUBARU_STOP_AND_GO_TX_MSGS[] = {
+    SUBARU_BASE_TX_MSGS(SUBARU_MAIN_BUS, MSG_SUBARU_ES_LKAS)
+    SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS)
+    SUBARU_STOP_AND_GO_ADDITIONAL_TX_MSGS()
+  };
+
   static RxCheck subaru_rx_checks[] = {
     SUBARU_COMMON_RX_CHECKS(SUBARU_MAIN_BUS)
   };
@@ -239,6 +251,9 @@ static safety_config subaru_init(uint16_t param) {
 
   subaru_gen2 = GET_FLAG(param, SUBARU_PARAM_GEN2);
 
+  const uint16_t SUBARU_PARAM_STOP_AND_GO = 8;
+  subaru_stop_and_go = GET_FLAG(param, SUBARU_PARAM_STOP_AND_GO);
+
 #ifdef ALLOW_DEBUG
   const uint16_t SUBARU_PARAM_LONGITUDINAL = 2;
   subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL);
@@ -250,6 +265,7 @@ static safety_config subaru_init(uint16_t param) {
                                 BUILD_SAFETY_CFG(subaru_gen2_rx_checks, SUBARU_GEN2_TX_MSGS);
   } else {
     ret = subaru_longitudinal ? BUILD_SAFETY_CFG(subaru_rx_checks, SUBARU_LONG_TX_MSGS) : \
+          subaru_stop_and_go  ? BUILD_SAFETY_CFG(subaru_rx_checks, SUBARU_STOP_AND_GO_TX_MSGS) : \
                                 BUILD_SAFETY_CFG(subaru_rx_checks, SUBARU_TX_MSGS);
   }
   return ret;

opendbc_repo/opendbc/safety/modes/subaru_preglobal.h

@@ -17,7 +17,16 @@
 #define SUBARU_PG_MAIN_BUS 0U
 #define SUBARU_PG_CAM_BUS  2U
 
+#define SUBARU_PG_COMMON_TX_MSGS() \
+  {MSG_SUBARU_PG_ES_Distance, SUBARU_PG_MAIN_BUS, 8, .check_relay = true}, \
+  {MSG_SUBARU_PG_ES_LKAS,     SUBARU_PG_MAIN_BUS, 8, .check_relay = true}, \
+
+#define SUBARU_PG_STOP_AND_GO_ADDITIONAL_TX_MSGS() \
+  {MSG_SUBARU_PG_Throttle,    SUBARU_PG_CAM_BUS,  8, .check_relay = false}, \
+  {MSG_SUBARU_PG_Brake_Pedal, SUBARU_PG_CAM_BUS,  4, .check_relay = false}, \
+
 static bool subaru_pg_reversed_driver_torque = false;
+static bool subaru_pg_stop_and_go = false;
 
 static void subaru_preglobal_rx_hook(const CANPacket_t *msg) {
   if (msg->bus == SUBARU_PG_MAIN_BUS) {
@@ -81,8 +90,12 @@ static bool subaru_preglobal_tx_hook(const CANPacket_t *msg) {
 
 static safety_config subaru_preglobal_init(uint16_t param) {
   static const CanMsg SUBARU_PG_TX_MSGS[] = {
-    {MSG_SUBARU_PG_ES_Distance, SUBARU_PG_MAIN_BUS, 8, .check_relay = true},
-    {MSG_SUBARU_PG_ES_LKAS,     SUBARU_PG_MAIN_BUS, 8, .check_relay = true}
+    SUBARU_PG_COMMON_TX_MSGS()
+  };
+
+  static const CanMsg SUBARU_PG_STOP_AND_GO_TX_MSGS[] = {
+    SUBARU_PG_COMMON_TX_MSGS()
+    SUBARU_PG_STOP_AND_GO_ADDITIONAL_TX_MSGS()
   };
 
   // TODO: do checksum and counter checks after adding the signals to the outback dbc file
@@ -95,9 +108,14 @@ static safety_config subaru_preglobal_init(uint16_t param) {
   };
 
   const uint16_t SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE = 4;
+  const uint16_t SUBARU_PG_PARAM_STOP_AND_GO = 8;
 
   subaru_pg_reversed_driver_torque = GET_FLAG(param, SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE);
-  return BUILD_SAFETY_CFG(subaru_preglobal_rx_checks, SUBARU_PG_TX_MSGS);
+  subaru_pg_stop_and_go = GET_FLAG(param, SUBARU_PG_PARAM_STOP_AND_GO);
+
+  safety_config ret = subaru_pg_stop_and_go ? BUILD_SAFETY_CFG(subaru_preglobal_rx_checks, SUBARU_PG_STOP_AND_GO_TX_MSGS) : \
+                                             BUILD_SAFETY_CFG(subaru_preglobal_rx_checks, SUBARU_PG_TX_MSGS);
+  return ret;
 }
 
 const safety_hooks subaru_preglobal_hooks = {

opendbc_repo/opendbc/safety/tests/test_subaru.py

@@ -16,6 +16,7 @@ class SubaruMsg(enum.IntEnum):
   Throttle          = 0x40
   Steering_Torque   = 0x119
   Wheel_Speeds      = 0x13a
+  Brake_Pedal       = 0x139
   ES_LKAS           = 0x122
   ES_LKAS_ANGLE     = 0x124
   ES_Brake          = 0x220
@@ -182,6 +183,12 @@ class TestSubaruGen1TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSaf
   TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS)
 
 
+class TestSubaruGen1StopAndGoSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):
+  FLAGS = SubaruSafetyFlags.STOP_AND_GO
+  TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS) + [[SubaruMsg.Throttle, SUBARU_CAM_BUS],
+                                             [SubaruMsg.Brake_Pedal, SUBARU_CAM_BUS]]
+
+
 class TestSubaruGen2TorqueSafetyBase(TestSubaruTorqueSafetyBase):
   ALT_MAIN_BUS = SUBARU_ALT_BUS
   ALT_CAM_BUS = SUBARU_ALT_BUS

opendbc_repo/opendbc/safety/tests/test_subaru_preglobal.py

@@ -70,5 +70,10 @@ class TestSubaruPreglobalReversedDriverTorqueSafety(TestSubaruPreglobalSafety):
   DBC = "subaru_outback_2019_generated"
 
 
+class TestSubaruPreglobalStopAndGoSafety(TestSubaruPreglobalSafety):
+  FLAGS = SubaruSafetyFlags.STOP_AND_GO
+  TX_MSGS = [[0x161, 0], [0x164, 0], [0x140, 2], [0xD1, 2]]
+
+
 if __name__ == "__main__":
   unittest.main()

selfdrive/car/tests/test_models.py

@@ -47,6 +47,7 @@ def get_test_starpilot_toggles() -> SimpleNamespace:
     reverse_cruise_increase=False,
     sng_hack=False,
     subaru_sng=False,
+    subaru_sng_manual_parking_brake=False,
     unlock_doors=False,
     vEgoStopping=0.5,
     volt_sng=False,

selfdrive/ui/layouts/settings/starpilot/vehicle.py

@@ -169,6 +169,12 @@ class VehicleSettingsManagerView(AetherInteractiveMixin, Widget):
         "get_state": lambda: self._controller._params.get_bool("SubaruSNG"),
         "set_state": lambda s: self._controller._on_toggle("SubaruSNG"),
       })
+      if self._controller._params.get_bool("SubaruSNG"):
+        toggles.append({
+          "title": tr("Manual Parking Brake SNG"),
+          "get_state": lambda: self._controller._params.get_bool("SubaruSNGManualParkingBrake"),
+          "set_state": lambda s: self._controller._on_toggle("SubaruSNGManualParkingBrake"),
+        })
 
     if cs.isToyota:
       toggles.append({

starpilot/common/safe_mode.py

@@ -181,6 +181,7 @@ SAFE_MODE_MANAGED_KEYS = (
   "FrogsGoMoosTweak",
   "SNGHack",
   "SubaruSNG",
+  "SubaruSNGManualParkingBrake",
   "VoltSNG",
   "GMAutoHold",
   "GMPedalLongitudinal",

starpilot/common/starpilot_variables.py

@@ -1320,6 +1320,7 @@ class StarPilotVariables:
       toggle.startup_alert_bottom = "Always keep hands on wheel and eyes on road"
 
     toggle.subaru_sng = self.get_value("SubaruSNG", condition=toggle.car_make == "subaru" and not (CP.flags & SubaruFlags.GLOBAL_GEN2 or CP.flags & SubaruFlags.HYBRID))
+    toggle.subaru_sng_manual_parking_brake = self.get_value("SubaruSNGManualParkingBrake", condition=toggle.subaru_sng)
 
     toggle.tethering_config = self.get_value("TetheringEnabled", cast=float)
 

starpilot/system/the_pond/assets/components/tools/device_settings_layout.json

@@ -2478,6 +2478,13 @@
         "data_type": "bool",
         "ui_type": "toggle"
       },
+      {
+        "key": "SubaruSNGManualParkingBrake",
+        "label": "Stop and Go for Manual Parking Brake",
+        "description": "Use the manual-parking-brake Subaru stop-and-go strategy. Enable this for supported Subaru Global models with a manual handbrake. Keep it off on models with an electric parking brake.",
+        "data_type": "bool",
+        "ui_type": "toggle"
+      },
       {
         "key": "ClusterOffset",
         "label": "Dashboard Speed Offset",

starpilot/ui/qt/offroad/vehicle_settings.cc

@@ -181,6 +181,7 @@ StarPilotVehiclesPanel::StarPilotVehiclesPanel(StarPilotSettingsWindow *parent,
 
     {"SubaruToggles", tr("Subaru Settings"), tr("<b>StarPilot features for Subaru vehicles.</b>"), ""},
     {"SubaruSNG", tr("Stop and Go"), tr("Stop and go for supported Subaru vehicles."), ""},
+    {"SubaruSNGManualParkingBrake", tr("Stop and Go for Manual Parking Brake"), tr("<b>Use the manual-parking-brake Subaru stop-and-go strategy.</b><br><br>Enable this for supported Subaru Global models with a manual handbrake. Keep it off on models with an electric parking brake."), ""},
 
     {"ToyotaToggles", tr("Toyota/Lexus Settings"), tr("<b>StarPilot features for Lexus and Toyota vehicles.</b>"), ""},
     {"ToyotaDoors", tr("Automatically Lock/Unlock Doors"), tr("<b>Automatically lock/unlock doors</b> when shifting in and out of drive."), ""},
@@ -419,6 +420,10 @@ void StarPilotVehiclesPanel::updateToggles() {
         setVisible &= parent->hasSNG;
       }
 
+      else if (key == "SubaruSNGManualParkingBrake") {
+        setVisible &= parent->hasSNG && params.getBool("SubaruSNG");
+      }
+
       else if (key == "VoltSNG") {
         setVisible &= parent->isVolt && !parent->hasSNG;
       }

starpilot/ui/qt/offroad/vehicle_settings.h

@@ -25,7 +25,7 @@ private:
 
   QSet<QString> gmKeys = {"GMPedalLongitudinal", "GMDashSpoofOffsets", "LongPitch", "RemoteStartBootsComma", "RemapCancelToDistance", "VoltSNG"};
   QSet<QString> longitudinalKeys = {"FrogsGoMoosTweak", "GMDashSpoofOffsets", "LongPitch", "RemapCancelToDistance", "SNGHack", "VoltSNG"};
-  QSet<QString> subaruKeys = {"SubaruSNG"};
+  QSet<QString> subaruKeys = {"SubaruSNG", "SubaruSNGManualParkingBrake"};
   QSet<QString> toyotaKeys = {"ClusterOffset", "FrogsGoMoosTweak", "LockDoorsTimer", "SNGHack", "ToyotaDoors"};
   QSet<QString> vehicleInfoKeys = {"BlindSpotSupport", "HardwareDetected", "OpenpilotLongitudinal", "PedalSupport", "RadarSupport", "SDSUSupport", "SNGSupport"};
 

tools/StarPilot/feasibleparams.txt

@@ -344,6 +344,7 @@ StoppedTimer
 StoppingDecelRate
 StoppingDecelRateStock
 SubaruSNG
+SubaruSNGManualParkingBrake
 SwitchbackModeCooldown
 SwitchbackModeEnabled
 TacoTune