lateral limits: remove Subaru exception (#32244)

* remove exception

* update Outback params

* clean up

* adjust to the upper limit

* don't change control, only docs

* rough
old-commit-hash: 692a21e4a722d91086998b532ca6759a3f85c345

selfdrive/car/tests/test_lateral_limits.py

@@ -9,7 +9,6 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.interfaces import get_torque_params
-from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
 
 CAR_MODELS = all_known_cars()
 
@@ -22,12 +21,6 @@ MAX_LAT_JERK_UP_TOLERANCE = 0.5  # m/s^3
 # jerk is measured over half a second
 JERK_MEAS_T = 0.5
 
-# TODO: put these cars within limits
-ABOVE_LIMITS_CARS = [
-  SUBARU.SUBARU_LEGACY,
-  SUBARU.SUBARU_OUTBACK,
-]
-
 car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict)
 
 
@@ -50,9 +43,6 @@ class TestLateralLimits(unittest.TestCase):
     if CP.notCar:
       raise unittest.SkipTest
 
-    if CP.carFingerprint in ABOVE_LIMITS_CARS:
-      raise unittest.SkipTest
-
     CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
     cls.control_params = CarControllerParams(CP)
     cls.torque_params = get_torque_params(cls.car_model)

selfdrive/car/torque_data/override.toml

@@ -38,7 +38,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 # Totally new cars
 "RAM_1500_5TH_GEN" = [2.0, 2.0, 0.05]
 "RAM_HD_5TH_GEN" = [1.4, 1.4, 0.05]
-"SUBARU_OUTBACK" = [2.0, 2.0, 0.2]
+"SUBARU_OUTBACK" = [2.0, 1.5, 0.2]
 "CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
 "CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
 "CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05]