diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 0780ee4351..9b3a98613d 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -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