        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]]
  
      # TODO: get actual value, for now starting with reasonable value for
      # civic and scaling by mass and wheelbase
      ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
  
 
</s> remove     # UDM Legacy: mph = 0
    if self.car_fingerprint == CAR.LEGACY_PREGLOBAL and cp.vl["Dash_State"]['Units'] == 0:
 </s> add     # UDM Forester, Legacy: mph = 0
    if self.car_fingerprint in [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL] and cp.vl["Dash_State"]['Units'] == 0: </s> remove     # EDM Global: mph = 1, 2; UDM Forester: 7 = mph
    elif self.car_fingerprint != CAR.LEGACY_PREGLOBAL and cp.vl["Dash_State"]['Units'] in [1, 2, 7]:
 </s> add     # EDM Global: mph = 1, 2; All Outback: mph = 1, UDM Forester: mph = 7
    elif self.car_fingerprint not in [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL] and cp.vl["Dash_State"]['Units'] in [1, 2, 7]:
    if candidate == CAR.OUTBACK_PREGLOBAL:
      ret.mass = 1568 + STD_CARGO_KG
      ret.wheelbase = 2.67
      ret.centerToFront = ret.wheelbase * 0.5
      ret.steerRatio = 20           # learned, 14 stock
      ret.steerActuatorDelay = 0.1
      ret.lateralTuning.pid.kf = 0.000039
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]

        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]]
  
    if candidate == CAR.OUTBACK_PREGLOBAL:
      ret.mass = 1568 + STD_CARGO_KG
      ret.wheelbase = 2.67
      ret.centerToFront = ret.wheelbase * 0.5
      ret.steerRatio = 20           # learned, 14 stock
      ret.steerActuatorDelay = 0.1
      ret.lateralTuning.pid.kf = 0.000039
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]

      # TODO: get actual value, for now starting with reasonable value for
      # civic and scaling by mass and wheelbase
      ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
  
keep add keep keep keep keep
 Add preglobal Subaru Forester and Outback (#1993)

* Add preglobal Forester and Outback

* Tests and values cleanup

* Update units in carstate

* Remove ()

* Add OUTBACK_PREGLOBAL_2018 to non_tested_cars

* Add replay route for OUTBACK_PREGLOBAL_2018 
selfdrive/car/subaru/interface.py