commaai · geohot · Jun 19, 2018 · May 30, 2018 · May 31, 2018 · Jun 4, 2018
diff --git a/.gitignore b/.gitignore
@@ -3,6 +3,7 @@
 .ipynb_checkpoints
 .idea
 model2.png
+a.out
 
 *.DSYM
 *.d
@@ -28,3 +29,4 @@ selfdrive/proclogd/proclogd
 selfdrive/ui/ui
 /src/
 
+one
diff --git a/README.md b/README.md
@@ -9,6 +9,15 @@ The openpilot codebase has been written to be concise and enable rapid prototypi
 
 Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://www.youtube.com/watch?v=64Wvt5pYQmE) [of](https://www.youtube.com/watch?v=6IW7Nejsr3A) [it](https://www.youtube.com/watch?v=-VN1YcC83nA) [running](https://www.youtube.com/watch?v=EQJZvVeihZk). And a really cool [tutorial](https://www.youtube.com/watch?v=PwOnsT2UW5o).
 
+Community
+------
+
+openpilot is supported by [comma.ai](https://comma.ai/)
+
+We have a [Twitter you should follow](https://twitter.com/comma_ai).
+
+Also, we have a 3500+ person [community on slack](https://slack.comma.ai).
+
 Hardware
 ------
 
@@ -19,49 +28,75 @@ Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` dur
 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 + Acura ###
 
-- Honda Civic 2016-2018 with Honda Sensing
+- Honda Accord 2018 with Honda Sensing (alpha!)
+  - Uses stock Honda Sensing for longitudinal control
+
+- Honda Civic 2016+ with Honda Sensing
   - Due to limitations in steering firmware, steering is disabled below 12 mph
   - Note that the hatchback model is not supported
 
+- Honda Civic Hatchback 2017+ with Honda Sensing (alpha!)
+  - Due to limitations in steering firmware, steering is disabled below 12 mph
+  - Uses stock Honda Sensing for longitudinal control
+
+- Honda CR-V 2017-2018 with Honda Sensing (alpha!)
+  - Due to limitations in steering firmware, steering is disabled below 12 mph
+  - Uses stock Honda Sensing for longitudinal control
+
 - Honda CR-V Touring 2015-2016
   - Can only be enabled above 25 mph
 
 - Honda Odyssey 2018 with Honda Sensing (alpha!)
   - Can only be enabled above 25 mph
 
-- 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
 
 - Honda Ridgeline 2017 with Honda Sensing (alpha!)
   - Can only be enabled above 27 mph
 
+- Acura ILX 2016 with AcuraWatch Plus
+  - Due to use of the cruise control for gas, it can only be enabled above 25 mph
+
+- Acura RDX 2018 with AcuraWatch Plus (alpha!)
+  - Can only be enabled above 25 mph
+
+### Toyota + Lexus ###
+
 - Toyota RAV-4 2016+ non-hybrid with TSS-P
   - By default it uses stock Toyota ACC for longitudinal control
   - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can be enabled above 20 mph
 
-- Toyota Prius 2017 (alpha!)
+- Toyota Prius 2017+
   - By default it uses stock Toyota ACC for longitudinal control
   - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Prius_.28for_openpilot.29)
   - Lateral control needs improvements
 
-- Toyota RAV-4 2017 hybrid (alpha!)
+- Toyota RAV-4 2017+ hybrid
   - By default it uses stock Toyota ACC for longitudinal control
   - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can do stop and go
 
-- Toyota Corolla 2017 (alpha!)
+- Toyota Corolla 2017+
   - By default it uses stock Toyota ACC for longitudinal control
   - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Corolla_.28for_openpilot.29) and can be enabled above 20 mph
 
-- Lexus RX 2017 hybrid (alpha!)
+- Lexus RX 2017+ hybrid (alpha!)
   - By default it uses stock Lexus ACC for longitudinal control
   - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Lexus_RX_hybrid)
 
+### GM (Chevrolet + Cadillac) ###
+
+- Chevrolet Volt Premier 2017+
+  - Driver Confidence II package (adaptive cruise control) required
+  - Can only be enabled above 18 mph
+  - Read the [installation guide](https://www.zoneos.com/volt.htm)
+
+- Cadillac CT6
+  - Uses stock ACC for longitudinal control
+  - Requires multiple panda for proxying the ASCMs
+
 In Progress Cars
 ------
 - All TSS-P Toyota with Steering Assist.
@@ -71,12 +106,19 @@ In Progress Cars
   - 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, GS, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
   - Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
 
-Community WIP Cars
+Community Maintained Cars
 ------
 
-- [Chevy Volt 2016-2018 Premier with Driver Confidence II](https://github.com/commaai/openpilot/pull/104)
+- [Classic Tesla Model S (pre-AP)](https://github.com/commaai/openpilot/pull/246)
 
-- [Classic Tesla Model S (pre-AP)](https://github.com/commaai/openpilot/pull/145)
+How can I add support for my car?
+------
+
+If your car has adaptive cruise control and lane keep assist, you are in luck. Using a [panda](https://panda.comma.ai) and [cabana](https://community.comma.ai/cabana/), you can understand how to make your car drive by wire.
+
+We've written a [porting guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for Toyota that might help you after you have the basics figured out.
+
+Sadly, BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon. We also put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
 
 Directory structure
 ------
@@ -95,6 +137,7 @@ Directory structure
   - debug         -- Tools to help you debug and do car ports
   - logcatd       -- Android logcat as a service
   - loggerd       -- Logger and uploader of car data
+  - orbd          -- Service generating ORB features from road camera
   - proclogd      -- Logs information from proc
   - sensord       -- IMU / GPS interface code
   - test/plant    -- Car simulator running code through virtual maneuvers
@@ -117,13 +160,6 @@ The results are written to `selfdrive/test/plant/out/index.html`
 
 More extensive testing infrastructure and simulation environments are coming soon.
 
-Adding Car Support
-------
-
-comma.ai offers [bounties](http://comma.ai/bounties.html) for adding additional car support.
-
-CR-V Touring support came in through this program. Chevy Volt is close. Accord is close as well.
-
 User Data / chffr Account / Crash Reporting
 ------
 

diff --git a/RELEASES.md b/RELEASES.md
@@ -1,3 +1,17 @@
+Version 0.4.7.1 (2018-06-18)
+==========================
+ * Fix Acura ILX steer faults
+ * Fix bug in mock car
+
+Version 0.4.7 (2018-06-15)
+==========================
+ * New model!
+ * GM Volt (and CT6 lateral) support!
+ * Honda Bosch lateral support!
+ * Improve actuator modeling to reduce lateral wobble
+ * Minor refactor of car abstraction layer
+ * Hack around orbd startup issue
+
 Version 0.4.6 (2018-05-18)
 ==========================
  * NEOSv6 required! Will autoupdate

diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -58,6 +58,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     ipasOverride @33;
     debugAlert @34;
     steerTempUnavailableMute @35;
+    resumeRequired @36;
   }
 }
 
@@ -295,6 +296,7 @@ struct CarParams {
     gm @4;
     hondaBosch @5;
     ford @6;
+    cadillac @7;
   }
 
   # things about the car in the manual
@@ -332,6 +334,9 @@ struct CarParams {
   startAccel @35 :Float32; # Required acceleraton to overcome creep braking
   steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
   steerControlType @46 :SteerControlType;
+  radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN
+
+  steerActuatorDelay @48 :Float32; # Steering wheel actuator delay in seconds
 
   enum SteerControlType {
     torque @0;
-Original file line number
+Diff line change
@@ Expand Up / @@ -3,6 +3,7 @@ @@
     .ipynb_checkpoints
     .idea
     model2.png
+    a.out
     *.DSYM
     *.d
@@ Expand All / @@ -28,3 +29,4 @@ selfdrive/proclogd/proclogd @@
     selfdrive/ui/ui
     /src/
+    one