diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index 290737c3e6..86d39ff885 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -13,6 +13,15 @@ def create_steering_control(packer, apply_steer, steer_req):
   return packer.make_can_msg("ES_LKAS", 0, values)
 
 
+def create_steering_control_angle(packer, apply_steer, steer_req):
+  values = {
+    "LKAS_Output": apply_steer,
+    "LKAS_Request": steer_req,
+    "SET_3": 3
+  }
+  return packer.make_can_msg("ES_LKAS_ANGLE", 0, values)
+
+
 def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})