From 1e21fe4acc4ea7069d7018de22d7385668a4df6e Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Mon, 1 Dec 2025 12:00:00 -0700
Subject: [PATCH] Increase steering torque for "Global Gen2" Subaru

---
 opendbc_repo/opendbc/car/subaru/values.py        | 6 +++---
 opendbc_repo/opendbc/safety/modes/subaru.h       | 2 +-
 opendbc_repo/opendbc/safety/tests/test_subaru.py | 6 +++---
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/opendbc_repo/opendbc/car/subaru/values.py b/opendbc_repo/opendbc/car/subaru/values.py
index 54d43da8..ddb1be19 100644
--- a/opendbc_repo/opendbc/car/subaru/values.py
+++ b/opendbc_repo/opendbc/car/subaru/values.py
@@ -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
diff --git a/opendbc_repo/opendbc/safety/modes/subaru.h b/opendbc_repo/opendbc/safety/modes/subaru.h
index d772c485..b8227d82 100644
--- a/opendbc_repo/opendbc/safety/modes/subaru.h
+++ b/opendbc_repo/opendbc/safety/modes/subaru.h
@@ -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
diff --git a/opendbc_repo/opendbc/safety/tests/test_subaru.py b/opendbc_repo/opendbc/safety/tests/test_subaru.py
index 06f83f34..69e29dd0 100755
--- a/opendbc_repo/opendbc/safety/tests/test_subaru.py
+++ b/opendbc_repo/opendbc/safety/tests/test_subaru.py
@@ -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):