From 635db840955ca2f88136ad9edcc59ac7f5c04c8a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 3 Oct 2023 02:18:10 -0700
Subject: [PATCH] Subaru: consider true angle sign in safety (#1681)

* this fails

* this doesn't!
---
 board/safety/safety_subaru.h | 4 ++--
 tests/safety/test_subaru.py  | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index bac8a7650..bfe800142 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -159,7 +159,7 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
 
       int angle_meas_new = (GET_BYTES(to_push, 4, 2) & 0xFFFFU);
       // 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);
+      angle_meas_new = ROUND(to_signed(angle_meas_new, 16) * -2.17);
       update_sample(&angle_meas, angle_meas_new);
     }
 
@@ -232,7 +232,7 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
   if (addr == MSG_SUBARU_ES_Distance) {
     int cruise_throttle = (GET_BYTES(to_send, 2, 2) & 0xFFFU);
     bool cruise_cancel = GET_BIT(to_send, 56U) != 0U;
-    
+
     if (subaru_longitudinal) {
       violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS);
     } else {
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 219cd278e..96731c51f 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -69,7 +69,7 @@ class TestSubaruSafetyBase(common.PandaSafetyTest, MeasurementSafetyTest):
   ALT_MAIN_BUS = SUBARU_MAIN_BUS
   ALT_CAM_BUS = SUBARU_CAM_BUS
 
-  DEG_TO_CAN = -100
+  DEG_TO_CAN = 100
 
   INACTIVE_GAS = 1818