Subaru Crosstrek Torque increase

Add toggle to increase the torque for the Subaru Crosstrek.

selfdrive/car/subaru/interface.py

@@ -10,6 +10,8 @@ class CarInterface(CarInterfaceBase):
 
   @staticmethod
   def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
+    crosstrek_torque_increase = params.get_bool("CrosstrekTorque")
+
     ret.carName = "subaru"
     ret.radarUnavailable = True
     # for HYBRID CARS to be upstreamed, we need:
@@ -47,9 +49,9 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.5
       ret.steerActuatorDelay = 0.3   # end-to-end angle controller
       ret.lateralTuning.init('pid')
-      ret.lateralTuning.pid.kf = 0.00003
+      ret.lateralTuning.pid.kf = 0.00003333 if crosstrek_torque_increase else 0.00003
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.133, 0.2], [0.0133, 0.02]] if crosstrek_torque_increase else [[0.0025, 0.1], [0.00025, 0.01]]
 
     elif candidate == CAR.IMPREZA:
       ret.mass = 1568.

selfdrive/car/subaru/values.py

@@ -27,6 +27,8 @@ class CarControllerParams:
       self.STEER_DELTA_DOWN = 40
     elif CP.carFingerprint == CAR.IMPREZA_2020:
       self.STEER_MAX = 1439
+    elif CP.carFingerprint == CAR.IMPREZA and Params().get_bool("CrosstrekTorque"):
+      self.STEER_MAX = 3071
     else:
       self.STEER_MAX = 2047