commaai · rbiasini · Mar 23, 2018 · Feb 9, 2018 · Feb 10, 2018 · Feb 26, 2018
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -0,0 +1,18 @@
+# How to contribute
+
+Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
+
+Most open source development activity is coordinated through our [slack](https://slack.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
+
+## Getting Started
+
+ * Join our slack [slack.comma.ai](https://slack.comma.ai)
+ * Make sure you have a [GitHub account](https://github.com/signup/free)
+ * Fork the repository on GitHub
+
+## Car Ports (openpilot)
+
+We've released a guide for porting to Toyota cars [here](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6)
+
+If you port openpilot to a substantially new car, you might be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
+
diff --git a/LICENSE.openpilot → LICENSE b/LICENSE.openpilot → LICENSE
@@ -1,4 +1,4 @@
-Copyright (c) 2016, Comma.ai, Inc.
+Copyright (c) 2018, Comma.ai, Inc.
 
 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
 

diff --git a/README.md b/README.md
@@ -22,7 +22,7 @@ Supported Cars
 - Acura ILX 2016 with AcuraWatch Plus
   - Due to use of the cruise control for gas, it can only be enabled above 25 mph
 
-- Honda Civic 2016-2017 with Honda Sensing
+- Honda Civic 2016-2018 with Honda Sensing
   - Due to limitations in steering firmware, steering is disabled below 12 mph
   - Note that the hatchback model is not supported
 
@@ -34,6 +34,9 @@ Supported Cars
 
 - Acura RDX 2018 with AcuraWatch Plus (alpha!)
   - Can only be enabled above 25 mph
+
+- Honda Pilot 2017 with Honda Sensing (alpha!)
+  - Can only be enabled above 27 mph 
 
 - Toyota RAV-4 2016+ non-hybrid with TSS-P
   - By default it uses stock Toyota ACC for longitudinal control
@@ -72,8 +75,6 @@ Community WIP Cars
 
 - [Classic Tesla Model S (pre-AP)](https://github.com/commaai/openpilot/pull/145)
 
-- [Honda Pilot 2017 with Honda Sensing](https://github.com/commaai/openpilot/pull/161)
-
 Directory structure
 ------
 

diff --git a/README_chffrplus.md b/README_chffrplus.md
@@ -0,0 +1,36 @@
+Welcome to chffrplus
+======
+
+[chffrplus](https://github.com/commaai/chffrplus) is an open source dashcam.
+
+This is the shipping reference software for the comma EON Dashcam DevKit. It keeps many of the niceities of [openpilot](https://github.com/commaai/openpilot), like high quality sensors, great camera, and good autostart and stop. Though unlike openpilot, it cannot control your car. chffrplus can interface with your car through a [panda](https://shop.comma.ai/products/panda-obd-ii-dongle), but just like our dashcam app [chffr](https://getchffr.com/), it is read only.
+
+It integrates with the rest of the comma ecosystem, so you can view your drives on the [chffr](https://getchffr.com/) app for Android or iOS, and reverse engineer your car with [cabana](https://community.comma.ai/cabana/?demo=1).
+
+
+Hardware
+------
+
+Right now chffrplus supports the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit) for hardware to run on.
+
+Install chffrplus on a EON device by entering ``https://chffrplus.comma.ai`` during NEOS setup.
+
+
+User Data / chffr Account / Crash Reporting
+------
+
+By default chffrplus creates an account and includes a client for chffr, our dashcam app.
+
+It's open source software, so you are free to disable it if you wish. 
+
+It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+It does not log the user facing camera or the microphone.
+
+By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
+
+
+Licensing
+------
+
+chffrplus is released under the MIT license.
+
diff --git a/RELEASES.md b/RELEASES.md
@@ -1,3 +1,21 @@
+Version 0.4.3.1 (2018-03-19)
+============================
+ * Improve autofocus
+ * Add check for MPC solution error
+ * Make first distracted warning visual only
+
+Version 0.4.3 (2018-03-13)
+==========================
+ * Add HDR and autofocus
+ * Update UI aesthetic
+ * Grey panda works in Waze
+ * Add alpha support for 2017 Honda Pilot
+ * Slight increase in acceleration response from stop
+ * Switch CAN sending to use CANPacker
+ * Fix pulsing acceleration regression on Honda
+ * Fix openpilot bugs when stock system is in use
+ * Change starting logic for chffrplus to use battery voltage
+
 Version 0.4.2 (2018-02-05)
 ==========================
  * Add alpha support for 2017 Lexus RX Hybrid

diff --git a/apk/ai.comma.plus.frame.apk b/apk/ai.comma.plus.frame.apk
diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
diff --git a/apk/external/com.waze.apkpatch b/apk/external/com.waze.apkpatch
diff --git a/apk/external/patcher.py b/apk/external/patcher.py
@@ -24,7 +24,7 @@
     'src': 'https://apkcache.s3.amazonaws.com/com.waze_1021278.apk',
     'src_sha256': 'f00957e93e2389f9e30502ac54994b98ac769314b0963c263d4e8baa625ab0c2',
     'patch': 'com.waze.apkpatch',
-    'out_sha256': '9ec8b0ea3c78c666342865b1bfb66e368a3f5c911df2ad12835206ec8b19f444'
+    'out_sha256': 'fee880a91a44c738442cd05fd1b6d9b5817cbf755aa61c86325ada2bc443d5cf'
   },
   'com.spotify.music': {
     'src': 'https://apkcache.s3.amazonaws.com/com.spotify.music_24382006.apk',

diff --git a/cereal/Makefile b/cereal/Makefile
@@ -1,6 +1,6 @@
 PWD := $(shell pwd)
 
-SRCS := log.capnp car.capnp
+SRCS := log.capnp car.capnp map.capnp
 
 GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
 

diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -54,6 +54,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     parkBrake @29;
     manualRestart @30;
     lowSpeedLockout @31;
+    plannerError @32;
   }
 }
 
@@ -207,6 +208,7 @@ struct CarControl {
     brake @1: Float32;
     # range from -1.0 - 1.0
     steer @2: Float32;
+    steerAngle @3: Float32;
   }
 
   struct CruiseControl {
@@ -286,6 +288,8 @@ struct CarParams {
     honda @1;
     toyota @2;
     elm327 @3;
+    gm @4;
+    hondaBosch @5;
   }
 
   # things about the car in the manual
@@ -301,8 +305,12 @@ struct CarParams {
   tireStiffnessRear @14 :Float32;    # [N/rad] rear tire coeff of stiff
 
   # Kp and Ki for the lateral control
-  steerKp @15 :Float32;
-  steerKi @16 :Float32;
+  steerKpBP @42 :List(Float32);
+  steerKpV @43 :List(Float32);
+  steerKiBP @44 :List(Float32);
+  steerKiV @45 :List(Float32);
+  steerKpDEPRECATED @15 :Float32;
+  steerKiDEPRECATED @16 :Float32;
   steerKf @25 :Float32;
 
   # Kp and Ki for the longitudinal control