Subaru: use latActive for steer request bit (#28453)

* subaru: use latactive

* Update ref_commit
old-commit-hash: bce19bf187

selfdrive/car/subaru/carcontroller.py

@@ -36,9 +36,9 @@ class CarController:
         apply_steer = 0
 
       if self.CP.carFingerprint in PREGLOBAL_CARS:
-        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer))
+        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, CC.latActive))
       else:
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer))
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive))
 
       self.apply_steer_last = apply_steer
 
@@ -76,7 +76,7 @@ class CarController:
         can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
                                                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                         hud_control.leftLaneDepart, hud_control.rightLaneDepart))
-                                                        
+
         if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
           can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert))
 

selfdrive/car/subaru/subarucan.py

@@ -3,10 +3,10 @@ from cereal import car
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
-def create_steering_control(packer, apply_steer):
+def create_steering_control(packer, apply_steer, steer_req):
   values = {
     "LKAS_Output": apply_steer,
-    "LKAS_Request": 1 if apply_steer != 0 else 0,
+    "LKAS_Request": steer_req,
     "SET_1": 1
   }
   return packer.make_can_msg("ES_LKAS", 0, values)
@@ -174,10 +174,10 @@ def subaru_preglobal_checksum(packer, values, addr):
   return (sum(dat[:7])) % 256
 
 
-def create_preglobal_steering_control(packer, apply_steer):
+def create_preglobal_steering_control(packer, apply_steer, steer_req):
   values = {
     "LKAS_Command": apply_steer,
-    "LKAS_Active": 1 if apply_steer != 0 else 0
+    "LKAS_Active": steer_req,
   }
   values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-67bcd498f0432252a3f11a9fd2b59b344ee214ba
+05b4467181f826f934a7ee4aada003fb241bbdff