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Remove Global Subarus from Dashcam Mode

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This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent 0db50e6971
commit c4557e06d7
2 changed files with 3 additions and 1 deletions
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2
selfdrive/car/subaru/interface.py
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@@ -16,7 +16,7 @@ class CarInterface(CarInterfaceBase):
# - replacement for ES_Distance so we can cancel the cruise control # - replacement for ES_Distance so we can cancel the cruise control
# - to find the Cruise_Activated bit from the car # - to find the Cruise_Activated bit from the car
# - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc) # - 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 ret.autoResumeSng = False
# Detect infotainment message sent from the camera # Detect infotainment message sent from the camera

2
selfdrive/locationd/paramsd.py
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@@ -239,6 +239,8 @@ def main():
0.2 <= liveParameters.stiffnessFactor <= 5.0, 0.2 <= liveParameters.stiffnessFactor <= 5.0,
min_sr <= liveParameters.steerRatio <= max_sr, 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.steerRatioStd = float(P[States.STEER_RATIO].item())
liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item())
liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item()) liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item())