Subaru: Add 2025 Crosstrek angle steering support by lukasloetkolben · Pull Request #3251 · commaai/opendbc

lukasloetkolben · 2026-03-28T23:12:12Z

Adds lateral control support for the 2025 Subaru Crosstrek, the first angle-based LKAS Subaru to be fully supported. This is a cleanup and rework based on the original work by Jacob Waller in #2864.

Dongle ID: 38b065e31c0a9ed7
Route: 38b065e31c0a9ed7/0000000b--eab0d07145

Credits

Based on the initial implementation by @jacobwaller (#2864).

github-actions · 2026-03-28T23:13:40Z

Car behavior report

Replays driving segments through this PR and compares the behavior to master.
Please review any changes carefully to ensure they are expected.

Testing 79 segments for: SUBARU_ASCENT, SUBARU_OUTBACK, SUBARU_LEGACY, SUBARU_IMPREZA, SUBARU_IMPREZA_2020, SUBARU_FORESTER, SUBARU_OUTBACK_PREGLOBAL, SUBARU_OUTBACK_PREGLOBAL_2018, SUBARU_FORESTER_2022

⚠️ 10 changed, 69 passed, 0 errors

Show changes


SUBARU_FORESTER_2022 - fb44e14ca2557f9b/00000000--dc5c7f659c/9

  carParams.safetyConfigs (1 diffs)
    frame -1: [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 0}] -> [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 8}]

SUBARU_FORESTER_2022 - fb44e14ca2557f9b/0000001c--f00820aa40/19

  carParams.safetyConfigs (1 diffs)
    frame -1: [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 0}] -> [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 8}]

SUBARU_FORESTER_2022 - fb44e14ca2557f9b/0000000d--eca8f1c4eb/5

  carParams.safetyConfigs (1 diffs)
    frame -1: [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 0}] -> [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 8}]

SUBARU_FORESTER_2022 - fb44e14ca2557f9b/0000002d--178c6e6cb6/5

  carParams.safetyConfigs (1 diffs)
    frame -1: [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 0}] -> [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 8}]

SUBARU_FORESTER_2022 - fb44e14ca2557f9b/0000001f--21877cfd0c/10

  carParams.safetyConfigs (1 diffs)
    frame -1: [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 0}] -> [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 8}]

SUBARU_FORESTER_2022 - fb44e14ca2557f9b/0000001f--21877cfd0c/1

  carParams.safetyConfigs (1 diffs)
    frame -1: [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 0}] -> [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 8}]

SUBARU_FORESTER_2022 - fb44e14ca2557f9b/0000000c--59dcc6a17a/8

  carParams.safetyConfigs (1 diffs)
    frame -1: [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 0}] -> [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 8}]

SUBARU_FORESTER_2022 - fb44e14ca2557f9b/00000005--c6fa3c9d05/10

  carParams.safetyConfigs (1 diffs)
    frame -1: [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 0}] -> [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 8}]

SUBARU_FORESTER_2022 - fb44e14ca2557f9b/00000020--1051bd47b4/9

  carParams.safetyConfigs (1 diffs)
    frame -1: [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 0}] -> [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 8}]

SUBARU_FORESTER_2022 - fb44e14ca2557f9b/00000000--dc5c7f659c/3

  carParams.safetyConfigs (1 diffs)
    frame -1: [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 0}] -> [{'safetyModel': 'subaru', 'safetyParamDEPRECATED': 0, 'safetyParam2DEPRECATED': 0, 'safetyParam': 8}]

Co-Authored-By: Jacob Waller <jacobwaller@users.noreply.github.com>

…ring support Cherry-picked from commaai/opendbc#3251 onto sunnypilot/opendbc. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

sshane · 2026-03-30T06:22:45Z

opendbc/car/subaru/carcontroller.py

+        # heavy steering oscillation at low speeds (up to ~5 mph), still present up to ~22mph
+        # likely due to poor steering angle sensor resolution or imprecise EPS actuation
+        if CC.latActive and CS.out.vEgoRaw < 10.0:
+          deadzone = np.interp(CS.out.vEgoRaw, [2., 10.0], [6.0, 3.0])
+          apply_angle = self.apply_angle_last + apply_center_deadzone(apply_angle - self.apply_angle_last, deadzone)


likely? do we know why? have a plot of why this is needed showing the car overshooting our request?

afaik current angle is not used to error correct so not sure how that's possible

sshane · 2026-03-30T06:24:26Z

opendbc/car/subaru/carstate.py

+    if self.CP.flags & SubaruFlags.LKAS_ANGLE:
+      # ES_Brake->Cruise_Activated stays high on brake at standstill,
+      # so we use ES_Status->Cruise_Activated which is the correct engaged state.
+      ret.cruiseState.enabled = cp_es_brake.vl["ES_Status"]['Cruise_Activated'] != 0
+      ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0
+    elif self.CP.flags & SubaruFlags.HYBRID:
+      # ES_Status is missing on hybrid, so we use ES_Brake instead
+      # TODO: 0x27 and 0x225 on hybrids may work as a replacement


removes a todo that I'm not sure is solved yet

sshane · 2026-03-30T06:26:33Z

opendbc/car/subaru/carcontroller.py

+  from opendbc.car.subaru.interface import CarInterface
+  return CarInterface.get_non_essential_params("SUBARU_ASCENT")


need to see the distribution of the angle cars to see if we can set to the minimum one + some tests to check new cars merged.

the Tesla VM safety mode was designed for no override, and two cars that are very similar. now that it's getting used more widely, we need to make it nice to work with and validate safety. that means detecting the car in panda safety if needed

I would like to see data given the Ascent's params on all the new angle Subarus to show the max lateral accel for each (you can just calculate this pretty simply, no driving required)

sshane · 2026-03-30T06:30:20Z

opendbc/car/subaru/values.py

+    MAX_LATERAL_ACCEL=ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),  # ~3.6 m/s^2
+    MAX_LATERAL_JERK=3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),  # ~3.6 m/s^3
+    MAX_ANGLE_RATE=5,  # deg/frame, comfort rate limit


like this can all be common now, we're going to duplicate it in HKG as well

github-actions bot added car related to opendbc/car/ subaru car safety vehicle-specific safety code labels Mar 28, 2026

lukasloetkolben marked this pull request as draft March 28, 2026 23:16

lukasloetkolben force-pushed the subaru-crosstrek-2025 branch 2 times, most recently from 88aae54 to fbd94a4 Compare March 29, 2026 00:23

Subaru: Add 2025 Crosstrek angle steering support

42f439f

Co-Authored-By: Jacob Waller <jacobwaller@users.noreply.github.com>

lukasloetkolben force-pushed the subaru-crosstrek-2025 branch from fbd94a4 to 42f439f Compare March 29, 2026 00:28

elkoled and others added 3 commits March 28, 2026 20:35

reduce angle rate limit

cbad5ea

add deadband

b57ff36

add SUBARU_CROSSTREK_2025 fingerprint

6683eec

lukasloetkolben force-pushed the subaru-crosstrek-2025 branch from bbabbb2 to 6683eec Compare March 29, 2026 04:10

lukasloetkolben added 4 commits March 28, 2026 21:26

add fingerprint

ac0809f

10 m/s

4b81df2

add route

1b4ac00

speed dependent steering deadzone

12b6ad8

github-actions bot added the DBC signals label Mar 29, 2026

deadzone filter

12e91f5

remove unrelated dbc

d72aa42

github-actions bot removed the DBC signals label Mar 29, 2026

lukasloetkolben added 2 commits March 29, 2026 20:22

ES_Status->Cruise_Activated

b701db8

use ES_Status

4d23db3

sshane reviewed Mar 30, 2026

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Subaru: Add 2025 Crosstrek angle steering support#3251

Subaru: Add 2025 Crosstrek angle steering support#3251
lukasloetkolben wants to merge 12 commits intocommaai:masterfrom
lukasloetkolben:subaru-crosstrek-2025

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		from opendbc.car.subaru.interface import CarInterface
		return CarInterface.get_non_essential_params("SUBARU_ASCENT")

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