From a52821e983bbfc4059507c4d8352fa9ef242b8a9 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 Subaru Impreza

---
 opendbc_repo/opendbc/car/subaru/values.py        | 2 ++
 opendbc_repo/opendbc/safety/modes/subaru.h       | 2 +-
 opendbc_repo/opendbc/safety/tests/test_subaru.py | 2 +-
 3 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo/opendbc/car/subaru/values.py b/opendbc_repo/opendbc/car/subaru/values.py
index ddb1be19..e5e83e70 100644
--- a/opendbc_repo/opendbc/car/subaru/values.py
+++ b/opendbc_repo/opendbc/car/subaru/values.py
@@ -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
 
diff --git a/opendbc_repo/opendbc/safety/modes/subaru.h b/opendbc_repo/opendbc/safety/modes/subaru.h
index b8227d82..94955cdd 100644
--- a/opendbc_repo/opendbc/safety/modes/subaru.h
+++ b/opendbc_repo/opendbc/safety/modes/subaru.h
@@ -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 = {
diff --git a/opendbc_repo/opendbc/safety/tests/test_subaru.py b/opendbc_repo/opendbc/safety/tests/test_subaru.py
index 69e29dd0..14ea0d55 100755
--- a/opendbc_repo/opendbc/safety/tests/test_subaru.py
+++ b/opendbc_repo/opendbc/safety/tests/test_subaru.py
@@ -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