Try to tune

Author: fredyshox

opendbc/car/subaru/interface.py

@@ -63,12 +63,22 @@ def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, exp
     elif candidate == CAR.SUBARU_CROSSTREK_HYBRID:
       ret.steerActuatorDelay = 0.1
 
-    elif candidate in (CAR.SUBARU_FORESTER, CAR.SUBARU_FORESTER_2022, CAR.SUBARU_FORESTER_HYBRID):
+    elif candidate in (CAR.SUBARU_FORESTER, CAR.SUBARU_FORESTER_HYBRID):
       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]]
 
+    elif candidate == CAR.SUBARU_FORESTER_2022:
+      ret.dashcamOnly = False
+      ret.steerActuatorDelay = 0.3  # end-to-end angle controller
+      ret.lateralTuning.init('pid')
+      ret.lateralTuning.pid.kf = 0.00003
+      ret.lateralTuning.pid.kpBP = [0., 20.]
+      ret.lateralTuning.pid.kiBP = [0., 20.]
+      ret.lateralTuning.pid.kpV = [0.0025, 0.1]
+      ret.lateralTuning.pid.kiV = [0.00025, 0.01]
+
     elif candidate in (CAR.SUBARU_OUTBACK, CAR.SUBARU_LEGACY, CAR.SUBARU_OUTBACK_2023):
       ret.steerActuatorDelay = 0.1