Add enableBsm for Subaru Preglobal (#20962)

4 years ago · 79050611d6
parent f43671c987
commit 79050611d6
1 changed files with 2 additions and 1 deletions
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@ -19,15 +19,16 @@ class CarInterface(CarInterfaceBase):

    if candidate in PREGLOBAL_CARS:
      ret.safetyModel = car.CarParams.SafetyModel.subaruLegacy
+      ret.enableBsm = 0x25c in fingerprint[0]
    else:
      ret.safetyModel = car.CarParams.SafetyModel.subaru
+      ret.enableBsm = 0x228 in fingerprint[0]

    # Subaru port is a community feature, since we don't own one to test
    ret.communityFeature = True
    ret.dashcamOnly = candidate in PREGLOBAL_CARS

    ret.enableCamera = True
-    ret.enableBsm = 0x228 in fingerprint[0]

    ret.steerRateCost = 0.7
    ret.steerLimitTimer = 0.4