From 5d4d2c3b0dfd8607144066317d0bb60962975c5f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 Jul 2022 15:55:43 -0700
Subject: [PATCH] Subaru: move all pre-global cars to torque tune (#25281)

* Subaru: move all pre-global cars to torque tune

* pid init
---
 selfdrive/car/subaru/interface.py | 34 ++++++++++++-------------------
 1 file changed, 13 insertions(+), 21 deletions(-)

diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index f820cf42ba..d246ab2022 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -13,6 +13,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.carName = "subaru"
     ret.radarOffCan = True
+    ret.dashcamOnly = candidate in PREGLOBAL_CARS
 
     if candidate in PREGLOBAL_CARS:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
@@ -21,9 +22,9 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
       ret.enableBsm = 0x228 in fingerprint[0]
 
-    ret.dashcamOnly = candidate in PREGLOBAL_CARS
-
     ret.steerLimitTimer = 0.4
+    ret.steerActuatorDelay = 0.1
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     if candidate == CAR.ASCENT:
       ret.mass = 2031. + STD_CARGO_KG
@@ -31,70 +32,61 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 13.5
       ret.steerActuatorDelay = 0.3   # end-to-end angle controller
+      ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00003
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
 
-    if candidate == CAR.IMPREZA:
+    elif candidate == CAR.IMPREZA:
       ret.mass = 1568. + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 15
       ret.steerActuatorDelay = 0.4   # end-to-end angle controller
+      ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 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]]
 
-    if candidate == CAR.IMPREZA_2020:
+    elif candidate == CAR.IMPREZA_2020:
       ret.mass = 1480. + 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.init('pid')
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
 
-    if candidate == CAR.FORESTER:
+    elif 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.init('pid')
       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]]
 
-    if candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
+    elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
       ret.safetyConfigs[0].safetyParam = 1  # Outback 2018-2019 and Forester have reversed driver torque signal
       ret.mass = 1568 + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 20           # learned, 14 stock
-      ret.steerActuatorDelay = 0.1
-      ret.lateralTuning.pid.kf = 0.000039
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]
 
-    if candidate == CAR.LEGACY_PREGLOBAL:
+    elif candidate == CAR.LEGACY_PREGLOBAL:
       ret.mass = 1568 + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 12.5   # 14.5 stock
       ret.steerActuatorDelay = 0.15
-      ret.lateralTuning.pid.kf = 0.00005
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]]
 
-    if candidate == CAR.OUTBACK_PREGLOBAL:
+    elif candidate == CAR.OUTBACK_PREGLOBAL:
       ret.mass = 1568 + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 20           # learned, 14 stock
-      ret.steerActuatorDelay = 0.1
-      ret.lateralTuning.pid.kf = 0.000039
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]
 
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase