This is a bounty to develop longitudinal support for pre-global Subarus.

I will send the reward to the individual that submits a pull request to comma’s openpilot repository and Martinl's subaru-community fork on GitHub with a working route on the latest stock openpilot for verification, and written confirmations from at least 2 pre-global users.

*If someone with OP development experience does not have access to a pre-global Subaru, but is interested in developing for it. We may use ~$250 for a test vehicle rental.

If this bounty is not completed within 6 months - all funds will be returned.

List of vehicles supported with this bounty:

Subaru Forester 2017-18

Subaru Legacy 2015-19

Subaru Levorg 2016-20

Subaru Outback 2015-19

Subaru WRX 2016-2018