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Increase steering torque for "Global Gen2" Subaru

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This commit is contained in:
James
2025-12-01 12:00:00 -07:00
parent 90883515fb
commit 1e21fe4acc
3 changed files with 7 additions and 7 deletions
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opendbc_repo/opendbc/car/subaru/values.py
+3 -3
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@@ -20,9 +20,9 @@ class CarControllerParams:
if CP.flags & SubaruFlags.GLOBAL_GEN2:
# TODO: lower rate limits, this reaches min/max in 0.5s which negatively affects tuning
self.STEER_MAX = 1000
self.STEER_DELTA_UP = 40
self.STEER_DELTA_DOWN = 40
self.STEER_MAX = 1500
self.STEER_DELTA_UP = 35
self.STEER_DELTA_DOWN = 50
elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
self.STEER_DELTA_UP = 35
self.STEER_MAX = 1439
opendbc_repo/opendbc/safety/modes/subaru.h
+1 -1
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@@ -137,7 +137,7 @@ static void subaru_rx_hook(const CANPacket_t *msg) {
static bool subaru_tx_hook(const CANPacket_t *msg) {
const TorqueSteeringLimits SUBARU_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70);
const TorqueSteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40);
const TorqueSteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1500, 35, 50);
const LongitudinalLimits SUBARU_LONG_LIMITS = {
.min_gas = 808, // appears to be engine braking
opendbc_repo/opendbc/safety/tests/test_subaru.py
+3 -3
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@@ -187,9 +187,9 @@ class TestSubaruGen2TorqueSafetyBase(TestSubaruTorqueSafetyBase):
ALT_MAIN_BUS = SUBARU_ALT_BUS
ALT_CAM_BUS = SUBARU_ALT_BUS
MAX_RATE_UP = 40
MAX_RATE_DOWN = 40
MAX_TORQUE_LOOKUP = [0], [1000]
MAX_RATE_UP = 35
MAX_RATE_DOWN = 50
MAX_TORQUE_LOOKUP = [0], [1500]
class TestSubaruGen2TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruGen2TorqueSafetyBase):