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Merge branch 'master' into dev-priv/master

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Jason Wen
2023-05-30 21:28:32 -04:00
parent 9c32204bb4 2673fbecd0
commit 674b416d11
1 changed files with 2 additions and 1 deletions
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selfdrive/car/subaru/interface.py
+2 -1
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@@ -57,7 +57,8 @@ class CarInterface(CarInterfaceBase):
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):
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.steerActuatorDelay = 0.18 # measured
ret.lateralTuning.pid.kf = 0.00003333