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Subaru Global Gen2: bump steering limits and update tuning (#299)

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* Subaru Global Gen2: bump steering limits

* no longer applies

* must be lowered

* Revert "must be lowered"

This reverts commit 12d86e4272d52c92d4806f9c0f24ee18507dc985.

* lower rate down

* lower

* ui: ensure Cruise panel widget is reset when `hideEvent`
This commit is contained in:
Jason Wen
2025-11-03 03:19:01 -05:00
committed by GitHub
parent aa4d9d964d
commit c32e79f3c6
3 changed files with 7 additions and 8 deletions
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7
opendbc/car/subaru/values.py
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@@ -19,10 +19,9 @@ class CarControllerParams:
self.STEER_DRIVER_FACTOR = 1 # from dbc
if CP.flags & SubaruFlags.GLOBAL_GEN2:
# TODO: lower rate limits, this reaches min/max in 0.5s which negatively affects tuning
self.STEER_MAX = 1000
self.STEER_DELTA_UP = 40
self.STEER_DELTA_DOWN = 40
self.STEER_MAX = 1500
self.STEER_DELTA_UP = 35
self.STEER_DELTA_DOWN = 50
elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
self.STEER_DELTA_UP = 35
self.STEER_MAX = 1439

2
opendbc/safety/modes/subaru.h
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@@ -149,7 +149,7 @@ static void subaru_rx_hook(const CANPacket_t *msg) {
static bool subaru_tx_hook(const CANPacket_t *msg) {
const TorqueSteeringLimits SUBARU_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70);
const TorqueSteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40);
const TorqueSteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1500, 35, 50);
const LongitudinalLimits SUBARU_LONG_LIMITS = {
.min_gas = 808, // appears to be engine braking

6
opendbc/safety/tests/test_subaru.py
View File

@@ -196,9 +196,9 @@ class TestSubaruGen2TorqueSafetyBase(TestSubaruTorqueSafetyBase):
ALT_MAIN_BUS = SUBARU_ALT_BUS
ALT_CAM_BUS = SUBARU_ALT_BUS
MAX_RATE_UP = 40
MAX_RATE_DOWN = 40
MAX_TORQUE_LOOKUP = [0], [1000]
MAX_RATE_UP = 35
MAX_RATE_DOWN = 50
MAX_TORQUE_LOOKUP = [0], [1500]
class TestSubaruGen2TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruGen2TorqueSafetyBase):