From decf859858d68ac61c6463bcab4ba5f75730f87f Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Tue, 11 Aug 2026 19:39:32 -0500
Subject: [PATCH] subuwu 2

---
 selfdrive/controls/lib/longcontrol.py         |  6 +++++
 .../controls/lib/longcontrol_vehicle_tunes.py | 24 ++++++++++++++++++
 selfdrive/controls/tests/test_longcontrol.py  | 25 +++++++++++++++++++
 3 files changed, 55 insertions(+)

diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 2af335cb9..786d714e5 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -339,6 +339,12 @@ class LongControl:
       else:
         output_accel = raw_output_accel
 
+      output_accel = self.vehicle_tuning.cap_subaru_stop_release_accel(
+        output_accel,
+        previous_long_control_state == LongCtrlState.stopping and CS.vEgo < self.CP.vEgoStarting and not should_stop,
+        should_stop,
+      )
+
     if self.pedal_override_release_frames > 0:
       self.pedal_override_release_frames -= 1
       if not should_stop and -TESLA_PEDAL_RELEASE_GUARD_MAX_DECEL < output_accel < 0.0:
diff --git a/selfdrive/controls/lib/longcontrol_vehicle_tunes.py b/selfdrive/controls/lib/longcontrol_vehicle_tunes.py
index 6bb4ef7cf..c173965f3 100644
--- a/selfdrive/controls/lib/longcontrol_vehicle_tunes.py
+++ b/selfdrive/controls/lib/longcontrol_vehicle_tunes.py
@@ -1,6 +1,7 @@
 import numpy as np
 
 from opendbc.car.gm.values import CAR, GMFlags
+from opendbc.car.subaru.values import CAR as SUBARU_CAR
 from opendbc.car.toyota.values import CAR as TOYOTA_CAR
 from openpilot.common.realtime import DT_CTRL
 from openpilot.starpilot.common.testing_grounds import testing_ground
@@ -44,6 +45,8 @@ VOLT_CRUISE_INTEGRATOR_MIN_SPEED = 8.0
 VOLT_CRUISE_INTEGRATOR_TARGET_MAX = 0.12
 VOLT_CRUISE_INTEGRATOR_ERROR_MAX = 0.12
 VOLT_CRUISE_INTEGRATOR_LEAK = 0.995
+SUBARU_IMPREZA_STOP_RELEASE_TIME = 0.75
+SUBARU_IMPREZA_STOP_RELEASE_MAX_ACCEL = 0.8
 
 
 def get_bolt_acc_pedal_friction_bias(output_accel, a_target, v_ego):
@@ -116,6 +119,10 @@ class LongControlVehicleTuning:
       CP.brand == "toyota" and
       getattr(CP, "carFingerprint", None) == TOYOTA_CAR.TOYOTA_COROLLA_TSS2
     )
+    self.is_subaru_impreza_2020 = bool(
+      CP.brand == "subaru" and
+      getattr(CP, "carFingerprint", None) == SUBARU_CAR.SUBARU_IMPREZA_2020
+    )
     self.is_bolt_acc_pedal_friction_car = bool(
       CP.brand == "gm" and
       CP.enableGasInterceptorDEPRECATED and
@@ -134,6 +141,23 @@ class LongControlVehicleTuning:
     self.toyota_corolla_filtered_a_target = 0.0
     self.toyota_corolla_target_filter_initialized = False
     self.bolt_start_handoff_frames = 0
+    self.subaru_stop_release_frames = 0
+
+  def cap_subaru_stop_release_accel(self, output_accel, stopping_handoff, should_stop):
+    """Prevent an Impreza stop-sign handoff from stepping straight into full throttle."""
+    if not self.is_subaru_impreza_2020:
+      return output_accel
+
+    if should_stop:
+      self.subaru_stop_release_frames = 0
+    elif stopping_handoff:
+      self.subaru_stop_release_frames = int(round(SUBARU_IMPREZA_STOP_RELEASE_TIME / DT_CTRL))
+
+    if self.subaru_stop_release_frames <= 0:
+      return output_accel
+
+    self.subaru_stop_release_frames -= 1
+    return min(float(output_accel), SUBARU_IMPREZA_STOP_RELEASE_MAX_ACCEL)
 
   def apply_bolt_start_handoff_floor(self, output_accel, last_output_accel, a_target, v_ego,
                                      starting_handoff, should_stop, has_lead):
diff --git a/selfdrive/controls/tests/test_longcontrol.py b/selfdrive/controls/tests/test_longcontrol.py
index 77be1eec7..b06e5bbb2 100644
--- a/selfdrive/controls/tests/test_longcontrol.py
+++ b/selfdrive/controls/tests/test_longcontrol.py
@@ -6,6 +6,7 @@ import pytest
 import openpilot.selfdrive.controls.lib.longcontrol as longcontrol
 import openpilot.selfdrive.controls.lib.longcontrol_vehicle_tunes as vehicle_tunes
 from opendbc.car.gm.values import CAR, GMFlags
+from opendbc.car.subaru.values import CAR as SUBARU_CAR
 from opendbc.car.toyota.values import CAR as TOYOTA_CAR
 from openpilot.selfdrive.controls.lib.longcontrol import (
   LongControl,
@@ -612,6 +613,30 @@ def test_corolla_tss2_longcontrol_release_does_not_step_to_full_accel():
   assert output_accel < 0.0
 
 
+def test_subaru_impreza_stop_release_caps_launch_accel():
+  CP = make_longcontrol_cp(
+    brand="subaru",
+    carFingerprint=SUBARU_CAR.SUBARU_IMPREZA_2020,
+    vEgoStarting=0.5,
+  )
+  lc = LongControl(CP)
+  lc.long_control_state = LongCtrlState.stopping
+  CS = car.CarState.new_message(vEgo=0.0, aEgo=0.0, brakePressed=False)
+  CS.cruiseState.standstill = False
+
+  output_accel = lc.update(
+    active=True,
+    CS=CS,
+    a_target=1.8,
+    should_stop=False,
+    accel_limits=(-3.0, 2.0),
+    starpilot_toggles=make_toggles(vEgoStarting=0.5),
+  )
+
+  assert lc.long_control_state == LongCtrlState.pid
+  assert output_accel == pytest.approx(vehicle_tunes.SUBARU_IMPREZA_STOP_RELEASE_MAX_ACCEL)
+
+
 def test_update_releases_stopping_immediately_after_confirmed_lead_departure():
   CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
   CP.longitudinalTuning.kpBP = [0.0]