Subaru: preglobal check steer req bit (#1626)

commaai · Aug 31, 2023 · f4d0904 · f4d0904
1 parent 3efa31a
commit f4d0904
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/board/safety/safety_subaru_preglobal.h b/board/safety/safety_subaru_preglobal.h
@@ -92,7 +92,9 @@ static int subaru_preglobal_tx_hook(CANPacket_t *to_send) {
     int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 8) & 0x1FFFU);
     desired_torque = -1 * to_signed(desired_torque, 13);
 
-    if (steer_torque_cmd_checks(desired_torque, -1, SUBARU_PG_STEERING_LIMITS)) {
+    bool steer_req = (GET_BIT(to_send, 24U) != 0U);
+
+    if (steer_torque_cmd_checks(desired_torque, steer_req, SUBARU_PG_STEERING_LIMITS)) {
       tx = 0;
     }
 

diff --git a/tests/safety/test_subaru_preglobal.py b/tests/safety/test_subaru_preglobal.py
@@ -49,7 +49,7 @@ def _user_brake_msg(self, brake):
     return self.packer.make_can_msg_panda("Brake_Pedal", 0, values)
 
   def _torque_cmd_msg(self, torque, steer_req=1):
-    values = {"LKAS_Command": torque}
+    values = {"LKAS_Command": torque, "LKAS_Active": steer_req}
     return self.packer.make_can_msg_panda("ES_LKAS", 0, values)
 
   def _user_gas_msg(self, gas):