Steering override (Like other OP cars)

[bitshop]

Please try this and give some feedback, given I think OP way you can override anytime is FAR better than AP this is definitely how I prefer it work.. But the difference w/ AP will seem abnormal at first to anyone who is used to AP.. I think they'll quickly like it better.

[jeankalud]

I run this pull request on my car. Its a step in the right direction IMHO, but not ready for prime time. I had multiple event of engage-disengage-engage-disengage at 0.5 sec intervals, like "fighting" the system. Its not really fighting as the EPAS is super easy on the user and the user always have the last word, but it was kind of not working well in some conditions. Also, for lane changes I fell like its much better with signals disabling temporarily. I mean, its not smooth for passenger compared of what's in the current branch.

One idea I had is trying to smooth out re-engagement but temporarily reducing Kp/Ki gains for a second after re-engaging. Something like that would helps.

[bitshop]

Making a new request, closing this one.