Add preglobal Subaru Forester and Outback (#1993)

* Add preglobal Forester and Outback

* Tests and values cleanup

* Update units in carstate

* Remove ()

* Add OUTBACK_PREGLOBAL_2018 to non_tested_cars

* Add replay route for OUTBACK_PREGLOBAL_2018

release/files_common

@@ -525,6 +525,8 @@ opendbc/nissan_leaf_2018.dbc
 
 opendbc/subaru_global_2017_generated.dbc
 opendbc/subaru_outback_2015_generated.dbc
+opendbc/subaru_outback_2019_generated.dbc
+opendbc/subaru_forester_2017_generated.dbc
 
 opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
 opendbc/toyota_rav4_2017_pt_generated.dbc

selfdrive/car/subaru/carstate.py

@@ -55,11 +55,11 @@ class CarState(CarStateBase):
     ret.cruiseState.available = cp.vl["CruiseControl"]['Cruise_On'] != 0
     ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]['Cruise_Set_Speed'] * CV.KPH_TO_MS
 
-    # UDM Legacy: mph = 0
-    if self.car_fingerprint == CAR.LEGACY_PREGLOBAL and cp.vl["Dash_State"]['Units'] == 0:
+    # UDM Forester, Legacy: mph = 0
+    if self.car_fingerprint in [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL] and cp.vl["Dash_State"]['Units'] == 0:
       ret.cruiseState.speed *= CV.MPH_TO_KPH
-    # EDM Global: mph = 1, 2; UDM Forester: 7 = mph
-    elif self.car_fingerprint != CAR.LEGACY_PREGLOBAL and cp.vl["Dash_State"]['Units'] in [1, 2, 7]:
+    # EDM Global: mph = 1, 2; All Outback: mph = 1, UDM Forester: mph = 7
+    elif self.car_fingerprint not in [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL] and cp.vl["Dash_State"]['Units'] in [1, 2, 7]:
       ret.cruiseState.speed *= CV.MPH_TO_KPH
 
     ret.seatbeltUnlatched = cp.vl["Dashlights"]['SEATBELT_FL'] == 1
@@ -126,19 +126,31 @@ class CarState(CarStateBase):
       signals += [
         ("LKA_Lockout", "Steering_Torque", 0),
       ]
-      checks += [
-        ("CruiseControl", 50),
-      ]
     else:
       signals += [
         ("Steer_Error_1", "Steering_Torque", 0),
         ("Steer_Warning", "Steering_Torque", 0),
       ]
+
       checks += [
+        ("Dashlights", 10),
         ("BodyInfo", 10),
         ("CruiseControl", 20),
       ]
 
+    if CP.carFingerprint == CAR.FORESTER_PREGLOBAL:
+      checks += [
+        ("Dashlights", 20),
+        ("BodyInfo", 1),
+        ("CruiseControl", 50),
+      ]
+
+    if CP.carFingerprint in [CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]:
+      checks += [
+        ("Dashlights", 10),
+        ("CruiseControl", 50),
+      ]
+
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
 
   @staticmethod

selfdrive/car/subaru/interface.py

@@ -64,6 +64,17 @@ class CarInterface(CarInterfaceBase):
       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]:
+      ret.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:
       ret.mass = 1568 + STD_CARGO_KG
       ret.wheelbase = 2.67
@@ -74,6 +85,16 @@ class CarInterface(CarInterfaceBase):
       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:
+      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
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

selfdrive/car/subaru/values.py

@@ -8,7 +8,10 @@ class CAR:
   ASCENT = "SUBARU ASCENT LIMITED 2019"
   IMPREZA = "SUBARU IMPREZA LIMITED 2019"
   FORESTER = "SUBARU FORESTER 2019"
+  FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
   LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
+  OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
+  OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
 
 FINGERPRINTS = {
   CAR.ASCENT: [{
@@ -19,9 +22,9 @@ FINGERPRINTS = {
   # SUBARU IMPREZA LIMITED 2019
     2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
   },
-  # Crosstrek 2018 (same platform as Impreza)
+  # SUBARU CROSSTREK 2018
   {
-    2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 256: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8
+    2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8
   }],
   CAR.FORESTER: [{
   # Forester Sport 2019
@@ -31,6 +34,26 @@ FINGERPRINTS = {
   {
     2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 811: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1651: 8, 1657: 8, 1658: 8, 1677: 8, 1722: 8, 1759: 8, 1787: 5, 1788: 8
   }],
+  CAR.OUTBACK_PREGLOBAL: [{
+  # OUTBACK PREMIUM 2.5i 2015
+    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 346: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 640: 8, 642: 8, 644: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 977: 8, 1632: 8, 1745: 8, 1786: 5, 1882: 8, 2015: 8, 2016: 8, 2024: 8, 604: 8, 885: 8, 1788: 8, 316: 8, 1614: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1743: 8, 1785: 5, 1787: 5
+  },
+  # OUTBACK PREMIUM 3.6i 2015
+  {
+    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 644: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 977: 8, 1632: 8, 1745: 8, 1779: 8, 1786: 5
+  },
+  # OUTBACK LIMITED 2.5i 2018
+  {
+    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 644: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1736: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8
+  }],
+  CAR.OUTBACK_PREGLOBAL_2018: [{
+  # OUTBACK LIMITED 3.6R 2019
+    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 644: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 886: 2, 977: 8, 1614: 8, 1632: 8, 1657: 8, 1658: 8, 1672: 8, 1736: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 1862: 8, 1870: 8, 1920: 8, 1927: 8, 1928: 8, 1935: 8, 1968: 8, 1976: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+  }],
+  CAR.FORESTER_PREGLOBAL: [{
+  # FORESTER PREMIUM 2.5i 2017
+    2: 8, 112: 8, 117: 8, 128: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 340: 7, 342: 8, 352: 8, 353: 8, 354: 8, 355: 8, 356: 8, 554: 8, 604: 8, 640: 8, 641: 8, 642: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 886: 1, 888: 8, 977: 8, 1398: 8, 1632: 8, 1743: 8, 1744: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 1882: 8, 1895: 8, 1903: 8, 1986: 8, 1994: 8, 2015: 8, 2016: 8, 2024: 8, 644:8, 890:8, 1736:8
+  }],
   CAR.LEGACY_PREGLOBAL: [{
   # LEGACY 2.5i 2017
     2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1632: 8, 1640: 8, 1736: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 644: 8
@@ -41,7 +64,7 @@ FINGERPRINTS = {
   },
   # LEGACY 2018
   {
-  2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 2015: 8, 2016: 8, 2024: 8
+    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 2015: 8, 2016: 8, 2024: 8
   }],
 }
 
@@ -49,7 +72,10 @@ STEER_THRESHOLD = {
   CAR.ASCENT: 80,
   CAR.IMPREZA: 80,
   CAR.FORESTER: 80,
+  CAR.FORESTER_PREGLOBAL: 75,
   CAR.LEGACY_PREGLOBAL: 75,
+  CAR.OUTBACK_PREGLOBAL: 75,
+  CAR.OUTBACK_PREGLOBAL_2018: 75,
 }
 
 ECU_FINGERPRINT = {
@@ -60,7 +86,10 @@ DBC = {
   CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
   CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
   CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
+  CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
   CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
+  CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
+  CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
 }
 
-PREGLOBAL_CARS = [CAR.LEGACY_PREGLOBAL]
+PREGLOBAL_CARS = [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]

selfdrive/test/test_car_models.py

@@ -393,10 +393,26 @@ routes = {
     'carFingerprint': SUBARU.IMPREZA,
     'enableCamera': True,
   },
+  # Dashcam
+  "95441c38ae8c130e|2020-06-08--12-10-17": {
+    'carFingerprint': SUBARU.FORESTER_PREGLOBAL,
+    'enableCamera': True,
+  },
+  # Dashcam
   "df5ca7660000fba8|2020-06-16--17-37-19": {
     'carFingerprint': SUBARU.LEGACY_PREGLOBAL,
     'enableCamera': True,
   },
+  # Dashcam
+  "5ab784f361e19b78|2020-06-08--16-30-41": {
+    'carFingerprint': SUBARU.OUTBACK_PREGLOBAL,
+    'enableCamera': True,
+  },
+  # Dashcam
+  "e19eb5d5353b1ac1|2020-08-09--14-37-56": {
+    'carFingerprint': SUBARU.OUTBACK_PREGLOBAL_2018,
+    'enableCamera': True,
+  },
   "fbbfa6af821552b9|2020-03-03--08-09-43": {
     'carFingerprint': NISSAN.XTRAIL,
     'enableCamera': True,