Merge branch 'master' into dev-priv/master

# Conflicts:
#	panda

selfdrive/car/subaru/interface.py

@@ -56,6 +56,12 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
+      # Certain Impreza / Crosstrek EPS use 3071 max value and do not work with stock value/scaling.
+      if any(fw.ecu == "eps" and fw.fwVersion in (b'z\xc0\x00\x00', b'z\xc0\x04\x00', b'z\xc0\x08\x00', b'\x8a\xc0\x00\x00') for fw in car_fw):
+        ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_MAX_STEER_IMPREZA_2018
+        ret.steerActuatorDelay = 0.18  # measured
+        ret.lateralTuning.pid.kf = 0.00003333
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.133, 0.2], [0.0133, 0.02]]
 
     elif candidate == CAR.IMPREZA_2020:
       ret.mass = 1480. + STD_CARGO_KG

selfdrive/car/subaru/values.py

@@ -1,5 +1,6 @@
 from dataclasses import dataclass
 from enum import IntFlag
+from panda import Panda
 from typing import Dict, List, Union
 
 from cereal import car
@@ -26,6 +27,8 @@ class CarControllerParams:
       self.STEER_DELTA_DOWN = 40
     elif CP.carFingerprint == CAR.IMPREZA_2020:
       self.STEER_MAX = 1439
+    elif CP.safetyConfigs[0].safetyParam == Panda.FLAG_SUBARU_MAX_STEER_IMPREZA_2018:
+      self.STEER_MAX = 3071
     else:
       self.STEER_MAX = 2047