vehicle parameter identification failed after adding FPv2 of 2020 Levorg VMG

[lonelyju]

Describe the bug

My car is 2020 Levorg VMG. I read its fingerprints using subaru-PR-test branch, and added to the car/subaru/value.py of the latest subaru-community branch, under CAR.LEVORG_PREGLOBAL section as follows, and installed this branch on my Comm3. It works for roughly 70% of the time and OP can be enabled to steering my car. However for the remaining 30% of time it pops Vehicle Parameter Identification failed and asks me to take control immediately, then OP cannot be enabled anymore until I stop car & turn off engine and restart car again. Any help/suggestion is appreciated!

CAR.LEVORG_PREGLOBAL: { # 2016 Subaru Levorg / @jpgnz # Ecu, addr, subaddr: ROM ID (Ecu.esp, 0x7b0, None): [ b'j\x9c\x92\002', b'\x9a\x95\x92\x00', ], (Ecu.eps, 0x746, None): [ b'Z\xb0\000\000', ], (Ecu.fwdCamera, 0x787, None): [ b'\000\000c\xd3\000\000\000\000', b'\x00\x00eO\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x82\xa6\000\xa1t\a', b'\xf1\x82\xcdi\xa00\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xcb\xd9\000p\000', b'\xce\xed\xf0`\x00', ], },

The learned parameters by my Comm3 in /data/params/d/LiveParameters are also listed below: {"carFingerprint": "SUBARU LEVORG 2016", "steerRatio": 18.3067569732666, "stiffnessFactor": 0.9881930351257324, "angleOffsetAverageDeg": 4.6570329666137695}

Which car does this affect?

Subaru Levorg 2020 VMG

Provide a route where the issue occurs

035220d29d178fad|2022-09-10--11-09-21--0

openpilot version

0.8.15

Additional info

This issue happens at around 2, 11:11:36 of this route. Then at end of this route, I stop my car at red light, turn off engine and restart car again. Then continue to the following route: 035220d29d178fad|2022-09-10--11-12-25--0