From c4557e06d71d23dd5e14b1dcb5f92b32d1786350 Mon Sep 17 00:00:00 2001 From: FrogAi <91348155+FrogAi@users.noreply.github.com> Date: Fri, 12 Jan 2024 22:39:30 -0700 Subject: [PATCH] Remove Global Subarus from Dashcam Mode --- selfdrive/car/subaru/interface.py | 2 +- selfdrive/locationd/paramsd.py | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 875eeab..1c02e05 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -16,7 +16,7 @@ class CarInterface(CarInterfaceBase): # - replacement for ES_Distance so we can cancel the cruise control # - to find the Cruise_Activated bit from the car # - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc) - ret.dashcamOnly = candidate in (PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS) + ret.dashcamOnly = candidate in (LKAS_ANGLE | HYBRID_CARS) ret.autoResumeSng = False # Detect infotainment message sent from the camera diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 7246d58..becf226 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -239,6 +239,8 @@ def main(): 0.2 <= liveParameters.stiffnessFactor <= 5.0, min_sr <= liveParameters.steerRatio <= max_sr, )) + if (CP.carName == "subaru" and CP.lateralTuning.which() == 'torque'): + liveParameters.valid = True liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item())