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Subaru Stop and Go
Use SnG as a proof of concept for UDS stuff on Subaru, and flush out what we will need to do for getting keys for all gen2 cars Refactor gen1 long to be detached from stock cruise state (which is already useful, to prevent the laggy speed indicator seen here: subaru Gen2 can then use the same logic as gen1, except reading the buttons over UDS
Openpilot Subaru Stop and Go feature enables automatic ACC resume when car in front starts moving. Engaging ACC while car is stopped and there is no lead car is disabled.
If there is car in front, car is stopped and ACC is in Hold, wait until distance to car in front starts increasing and then send Throttle Throttle_Pedal signal to Eyesight to resume ACC.
If there is car in front and car is stopped for more than 0.5 seconds (before first ACC state transition) then send Brake_Pedal Speed signal to Eyesight to avoid ACC disengage until distance to car in front starts increasing.
Note: Manual parking brake method currently works only for supported Global Platform models and is experimental (needs more testing).
Test branches
- https://github.com/martinl/panda/tree/subaru-community
- https://github.com/martinl/openpilot/tree/subaru-community
- automatic EPB/MPB detection, currently requires toggle in openpilot menu
- enabled
- CS.car_follow
- CS.out.standstill
- CS.close_distance
- Throttle Throttle_Pedal (EPB)
- enabled
- CS.car_follow
- CS.cruise_state
- CS.close_distance
- Throttle Throttle_Pedal (EPB)
- Brake_Pedal Speed (MPB)
- Ascent 2019-2020
- Forester 2017-2021
- Crosstrek 2018-2020
- Impreza 2017-2020
- Legacy 2015-2019
- Levorg 2016
- Outback 2015-2019
- WRX 2018
- Crosstrek Hybrid 2020 - Throttle_Hybrid message is on can1, Throttle message on can0 is not used
- Outback 2020 - Throttle message is on both can0 and can1, does not react to message sent only on can0