Subaru Forester 2019 (#1768)

* Add initial Forester 2019 support

* Add dgranger15 Forester 2019 FPv1

* fingerprint syntax fix

* FPv1 syntax fix 2

* Add Forester 2019 to CAR

* fix indent

* Add Forester 2019 to test_car_models ignore list

* Update Forester 2019 steering tuning (dgranger15)

* Add Forester 2019 to README.md

* Change lists to single value

* Add test route for Forester 2019

* Remove model year

* Remove Forester model year in test_car_models

* Remove usernames, add Forester ACC speed mph unit value

README.md

@@ -158,6 +158,7 @@ Community Maintained Cars and Features
 | Nissan    | Rogue 2019<sup>2</sup>        | Propilot          | Stock            | 0mph               | 0mph         |
 | Nissan    | X-Trail 2017<sup>2</sup>      | Propilot          | Stock            | 0mph               | 0mph         |
 | Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Forester 2019                 | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Impreza 2017-20               | EyeSight          | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
 

selfdrive/car/subaru/carstate.py

@@ -51,8 +51,8 @@ class CarState(CarStateBase):
     ret.cruiseState.enabled = cp.vl["CruiseControl"]['Cruise_Activated'] != 0
     ret.cruiseState.available = cp.vl["CruiseControl"]['Cruise_On'] != 0
     ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]['Cruise_Set_Speed'] * CV.KPH_TO_MS
-    # 1 = imperial, 6 = metric
+    # EDM Impreza: 1 = mph, UDM Forester: 7 = mph
-    if cp.vl["Dash_State"]['Units'] == 1:
+    if cp.vl["Dash_State"]['Units'] in [1, 7]:
       ret.cruiseState.speed *= CV.MPH_TO_KPH
 
     ret.seatbeltUnlatched = cp.vl["Dashlights"]['SEATBELT_FL'] == 1

selfdrive/car/subaru/interface.py

@@ -28,7 +28,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerRateCost = 0.7
     ret.steerLimitTimer = 0.4
 
-    if candidate in [CAR.IMPREZA]:
+    if candidate == CAR.IMPREZA:
       ret.mass = 1568. + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
@@ -38,6 +38,16 @@ class CarInterface(CarInterfaceBase):
       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]]
 
+    if candidate == CAR.FORESTER:
+      ret.mass = 1568. + STD_CARGO_KG
+      ret.wheelbase = 2.67
+      ret.centerToFront = ret.wheelbase * 0.5
+      ret.steerRatio = 17           # learned, 14 stock
+      ret.steerActuatorDelay = 0.1
+      ret.lateralTuning.pid.kf = 0.000038
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
+
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

selfdrive/car/subaru/values.py

@@ -6,6 +6,7 @@ Ecu = car.CarParams.Ecu
 
 class CAR:
   IMPREZA = "SUBARU IMPREZA LIMITED 2019"
+  FORESTER = "SUBARU FORESTER 2019"
 
 FINGERPRINTS = {
   CAR.IMPREZA: [{
@@ -15,10 +16,19 @@ FINGERPRINTS = {
   {
     2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 256: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8
   }],
+  CAR.FORESTER: [{
+  # Forester Sport 2019
+    2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 552: 8, 557: 8, 576: 8, 577: 8, 722: 8, 808: 8, 811: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1651: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1698: 8, 1722: 8, 1743: 8, 1759: 8, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
+  },
+  # Forester 2019
+  {
+    2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 811: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1651: 8, 1657: 8, 1658: 8, 1677: 8, 1722: 8, 1759: 8, 1787: 5, 1788: 8
+  }],
 }
 
 STEER_THRESHOLD = {
   CAR.IMPREZA: 80,
+  CAR.FORESTER: 80,
 }
 
 ECU_FINGERPRINT = {
@@ -27,4 +37,5 @@ ECU_FINGERPRINT = {
 
 DBC = {
   CAR.IMPREZA: dbc_dict('subaru_global_2017', None),
+  CAR.FORESTER: dbc_dict('subaru_global_2017', None),
 }

selfdrive/test/test_car_models.py

@@ -356,6 +356,10 @@ routes = {
     'carFingerprint': VOLKSWAGEN.GOLF,
     'enableCamera': True,
   },
+  "c321c6b697c5a5ff|2020-06-23--11-04-33": {
+    'carFingerprint': SUBARU.FORESTER,
+    'enableCamera': True,
+  },
   "791340bc01ed993d|2019-03-10--16-28-08": {
     'carFingerprint': SUBARU.IMPREZA,
     'enableCamera': True,