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Torque: Subaru: Ignore paramsd valid checks

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This commit is contained in:
Jason Wen
2023-12-27 20:08:36 +00:00
parent 10e82711df
commit 059cf0f3a3
1 changed files with 2 additions and 1 deletions
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selfdrive/locationd/paramsd.py
+2 -1
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@@ -233,7 +233,8 @@ def main():
0.2 <= liveParameters.stiffnessFactor <= 5.0,
min_sr <= liveParameters.steerRatio <= max_sr,
))
if CP.carName == "chrysler" and CP.spFlags & ChryslerFlagsSP.SP_RAM_HD_PARAMSD_IGNORE:
if (CP.carName == "chrysler" and CP.spFlags & ChryslerFlagsSP.SP_RAM_HD_PARAMSD_IGNORE) or \
(CP.carName == "subaru" and CP.lateralTuning.which() == 'torque'):
liveParameters.valid = True
liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item())
liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item())