Subaru: remove 2020+ temporary steering faults (#29116)

* subaru steer faults

* it takes a bool now

* Update selfdrive/car/subaru/carcontroller.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* that was removed

* should be abs

* bump panda

* bump panda

* subaru faults

* add fixme

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* review suggestions

* still want zero steer when lat not active

* bump submodules

* move it under the non-preglobal section

* better comment for steer limited

Co-authored-by: Shane Smiskol <shane@smiskol.com>

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>

selfdrive/car/subaru/carcontroller.py

@@ -1,8 +1,13 @@
 from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.subaru import subarucan
-from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, CarControllerParams, SubaruFlags
+from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, CanBus, CarControllerParams, SubaruFlags
+
+# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
+# involves the total steering angle change rather than rate, but these limits work well for now
+MAX_STEER_RATE = 25  # deg/s
+MAX_STEER_RATE_FRAMES = 7  # tx control frames needed before torque can be cut
 
 
 class CarController:
@@ -12,6 +17,7 @@ class CarController:
     self.frame = 0
 
     self.cruise_button_prev = 0
+    self.steer_rate_counter = 0
 
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
@@ -38,7 +44,15 @@ class CarController:
       if self.CP.carFingerprint in PREGLOBAL_CARS:
         can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive))
       else:
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive))
+        apply_steer_req = CC.latActive
+
+        if self.CP.carFingerprint in STEER_RATE_LIMITED:
+          # Steering rate fault prevention
+          self.steer_rate_counter, apply_steer_req = \
+            common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req,
+                                  self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
+
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, apply_steer_req))
 
       self.apply_steer_last = apply_steer
 

selfdrive/car/subaru/values.py

@@ -707,3 +707,7 @@ LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
 GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
 PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
 HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
+
+# Cars that temporarily fault when steering angle rate is greater than some threshold.
+# Appears to be all cars that started production after 2020
+STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020}