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Increase steering torque for Subaru Impreza

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This commit is contained in:
James
2025-12-01 12:00:00 -07:00
parent 1e21fe4acc
commit a52821e983
3 changed files with 4 additions and 2 deletions
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opendbc_repo/opendbc/car/subaru/values.py
+2
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@@ -27,6 +27,8 @@ class CarControllerParams:
self.STEER_DELTA_UP = 35
self.STEER_MAX = 1439
# FrogPilot variables
elif CP.carFingerprint == CAR.SUBARU_IMPREZA:
self.STEER_MAX = 3071
else:
self.STEER_MAX = 2047
opendbc_repo/opendbc/safety/modes/subaru.h
+1 -1
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@@ -136,7 +136,7 @@ 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_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(3071, 50, 70);
const TorqueSteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1500, 35, 50);
const LongitudinalLimits SUBARU_LONG_LIMITS = {
opendbc_repo/opendbc/safety/tests/test_subaru.py
+1 -1
View File
@@ -166,7 +166,7 @@ class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.Longitudinal
class TestSubaruTorqueSafetyBase(TestSubaruSafetyBase, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
MAX_RATE_UP = 50
MAX_RATE_DOWN = 70
MAX_TORQUE_LOOKUP = [0], [2047]
MAX_TORQUE_LOOKUP = [0], [3071]
# Safety around steering req bit
MIN_VALID_STEERING_FRAMES = 7