Blend MPC back in over the final 5 mph of the CEM limit while preserving strong E2E braking. Slew positive acceleration and freeze the integrator during the experimental-mode exit so the handoff stays smooth. Keep the existing lead and confidence gates on the release path.
Original PR: #115 by @1454
Force Stop is now better at faster approach speeds. It has more authority on braking in general.
Force Stop Distance Offset: still the lever that moves the ending point sooner or later.
Radar bug fixed
Keep the Bosch-A lead probability filter cadence change limited to the verified Honda Bosch-A path. Preserve the existing radar timestep for every other platform and add regression coverage for the gate and both timing paths.
Co-authored-by: JamesL787 <jamezelle1@gmail.com>
Avoid EPS torque faults when entering always-on lateral while the driver is steering. The behavior is scoped to HYUNDAI_KONA_NON_SCC and leaves other vehicles on the shared lateral-active path.
Original contribution by firestar5683.
Cherry-picked Feature Request 1267242 from ab98ae54bb. Prevent sharp or ordinary navigation turn desires from being issued unless the corresponding turn signal is active, and add regression coverage for missing and opposite signals.
Co-Authored-By: Prabhaav Pillai <prabhaav@msu.edu>
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