openpilot v0.3.4 tweaks

RELEASES.md

@@ -5,6 +5,7 @@ Version 0.3.4 (2017-07-28)
  * Performance improvements
  * Bugfixes and improvements to calibration
  * Driving log can play back video
+ * Acura only: system now stays engaged below 25mph as long as brakes are applied
 
 Version 0.3.3  (2017-06-28)
 ===========================

cereal/car.capnp

@@ -50,7 +50,7 @@ struct CarState {
   struct CruiseState {
     enabled @0: Bool;
     speed @1: Float32;
-    mainOn @2: Bool;
+    available @2: Bool;
   }
 
   enum Error {

selfdrive/car/honda/interface.py

@@ -162,7 +162,7 @@ class CarInterface(object):
     # cruise state
     ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
     ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
-    ret.cruiseState.mainOn = bool(self.CS.main_on)
+    ret.cruiseState.available = bool(self.CS.main_on)
 
     # TODO: button presses
     buttonEvents = []

selfdrive/controls/controlsd.py

@@ -194,7 +194,7 @@ class Controls(object):
 
     # disable if the pedals are pressed while engaged, this is a user disable
     if self.enabled:
-      if self.CS.gasPressed or self.CS.brakePressed or not self.CS.cruiseState.mainOn:
+      if self.CS.gasPressed or self.CS.brakePressed or not self.CS.cruiseState.available:
         self.AM.add("disable", self.enabled)
 
       # it can happen that car cruise disables while comma system is enabled: need to

selfdrive/sensord/.gitignore

@@ -1 +0,0 @@
-sensord