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FrogPilot features - Remove Global Subarus from Dashcam Mode

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This commit is contained in:
FrogAi 2024-05-09 22:33:51 -07:00
parent 588ad393b7
commit 7b2985eebd
2 changed files with 2 additions and 2 deletions
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2
selfdrive/car/subaru/interface.py
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@ -17,7 +17,7 @@ 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 = bool(ret.flags & (SubaruFlags.PREGLOBAL | SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
ret.dashcamOnly = bool(ret.flags & (SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
ret.autoResumeSng = False
# Detect infotainment message sent from the camera

2
selfdrive/locationd/paramsd.py
View File

@ -233,7 +233,7 @@ def main():
0.2 <= liveParameters.stiffnessFactor <= 5.0,
min_sr <= liveParameters.steerRatio <= max_sr,
))
if CP.carFingerprint == "RAM_HD":
if CP.carFingerprint == "RAM_HD" or 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())