Remove Global Subarus from Dashcam Mode

2024-01-12 22:39:30 -07:00
parent 0db50e6971
commit c4557e06d7
2 changed files with 3 additions and 1 deletions
--- 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())