From 5801582baf5022a3d3b91316a566bf3650583f38 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 7 Aug 2023 09:29:34 -0700
Subject: [PATCH] Subaru: convert measured angle to centigrees (#1567)

convert to centigrees
---
 board/safety/safety_subaru.h | 3 ++-
 tests/safety/test_subaru.py  | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 438a0fba9..230476898 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -108,7 +108,8 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
       update_sample(&torque_driver, torque_driver_new);
 
       int angle_meas_new = (GET_BYTES(to_push, 4, 2) & 0xFFFFU);
-      angle_meas_new = ROUND(to_signed(angle_meas_new, 16));
+      // convert Steering_Torque -> Steering_Angle to centidegrees, to match the ES_LKAS_ANGLE angle request units
+      angle_meas_new = ROUND(to_signed(angle_meas_new, 16) * 2.17);
       update_sample(&angle_meas, angle_meas_new);
     }
 
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 17cfc5117..7cc2bdf8f 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -52,7 +52,7 @@ class TestSubaruSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSa
 
   ALT_BUS = SUBARU_MAIN_BUS
 
-  DEG_TO_CAN = -46.08
+  DEG_TO_CAN = -100
 
   def setUp(self):
     self.packer = CANPackerPanda("subaru_global_2017_generated")