From 059cf0f3a3ac3f1e2365ebbb00d9d924d8fbaed9 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 27 Dec 2023 20:08:36 +0000 Subject: [PATCH] Torque: Subaru: Ignore paramsd valid checks --- selfdrive/locationd/paramsd.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index d5c7015dc1..74a063dde8 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -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())