lkmod from honda

selfdrive/car/honda/carcontroller.py

@@ -146,7 +146,7 @@ class CarController(object):
     apply_brake = int(clip(self.brake_last * BRAKE_MAX, 0, BRAKE_MAX - 1))
     apply_steer = int(clip(-actuators.steer * STEER_MAX, -STEER_MAX, STEER_MAX))
 
-    lkas_active = enabled and not CS.steer_not_allowed
+    lkas_active = enabled and not CS.steer_not_allowed and CS.lkMode
 
     # Send CAN commands.
     can_sends = []

selfdrive/car/honda/carstate.py

@@ -198,6 +198,8 @@ class CarState(object):
                          K=[[0.12287673], [0.29666309]])
     self.v_ego = 0.0
 
+    self.lkMode = True
+
   def update(self, cp, cp_cam):
 
     # car params
@@ -206,7 +208,6 @@ class CarState(object):
 
     # update prevs, update must run once per loop
     self.prev_cruise_buttons = self.cruise_buttons
-    self.prev_cruise_setting = self.cruise_setting
     self.prev_blinker_on = self.blinker_on
 
     self.prev_left_blinker_on = self.left_blinker_on
@@ -268,6 +269,14 @@ class CarState(object):
     self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
     self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']
 
+    # when user presses LKAS button on steering wheel
+    if self.cruise_setting == 1:
+      if cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] == 0:
+        if self.lkMode:
+          self.lkMode = False
+        else:
+          self.lkMode = True
+    self.prev_cruise_setting = self.cruise_setting
     self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING']
     self.cruise_buttons = cp.vl["SCM_BUTTONS"]['CRUISE_BUTTONS']