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Subaru: Safety param assignment fix (#327)

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This commit is contained in:
Jason Wen
2023-10-02 20:52:25 -04:00
committed by GitHub
parent 48d7faf48f
commit 5e0c958618
1 changed files with 2 additions and 2 deletions
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selfdrive/car/subaru/interface.py
+2 -2
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@@ -72,7 +72,7 @@ class CarInterface(CarInterfaceBase):
# 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',
b'\x8a\xc0\x10\x00') for fw in car_fw):
ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_MAX_STEER_IMPREZA_2018
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]]
@@ -112,7 +112,7 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.1
elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_LEGACY_FLIP_DRIVER_TORQUE # Outback 2018-2019 and Forester have reversed driver torque signal
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_LEGACY_FLIP_DRIVER_TORQUE # Outback 2018-2019 and Forester have reversed driver torque signal
ret.mass = 1568
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5