Vehicles - Subaru - Subaru Crosstrek Torque Increase

Increases the maximum allowed torque for the Subaru Crosstrek.

panda/board/safety/safety_subaru.h

@@ -17,7 +17,7 @@
   }
 
 
-const SteeringLimits SUBARU_STEERING_LIMITS      = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70);
+const SteeringLimits SUBARU_STEERING_LIMITS      = SUBARU_STEERING_LIMITS_GENERATOR(3071, 50, 70);
 const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40);
 
 

selfdrive/car/subaru/interface.py

@@ -11,6 +11,8 @@ class CarInterface(CarInterfaceBase):
 
   @staticmethod
   def _get_params(ret, params, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
+    crosstrek_torque_increase = params.get_bool("CrosstrekTorque")
+
     ret.carName = "subaru"
     ret.radarUnavailable = True
     # for HYBRID CARS to be upstreamed, we need:
@@ -51,9 +53,9 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.IMPREZA:
       ret.steerActuatorDelay = 0.4  # end-to-end angle controller
       ret.lateralTuning.init('pid')
-      ret.lateralTuning.pid.kf = 0.00005
+      ret.lateralTuning.pid.kf = 0.00003333 if crosstrek_torque_increase else 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.133, 0.2], [0.0133, 0.02]] if crosstrek_torque_increase else [[0.2, 0.3], [0.02, 0.03]]
 
     elif candidate == CAR.IMPREZA_2020:
       ret.lateralTuning.init('pid')

selfdrive/car/subaru/values.py

@@ -26,6 +26,8 @@ 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