Fix Pedal Grinding noise (#70)

* BRAKE_STOPPING_TARGET to 0.0

* Pedal noise mitigation v1

* Fix Syntax error

* Grinding noise code cleanup

* Pedal Grinding further code cleanup

* Pedal grind further Code cleanup

* Update carstate.py

* Revert "BRAKE_STOPPING_TARGET to 0.0"

This reverts commit 7a6b3a67826dd1fd5b942b06eb7c1d15b0f3c23a.

* Revert "BRAKE_STOPPING_TARGET reduced to 0.1 from 0.25"

This reverts commit b0d75c5.

selfdrive/car/honda/carstate.py

@@ -278,7 +278,6 @@ def update(self, cp, cp_cam):
 
     self.steer_torque_driver = cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']
     self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD[self.CP.carFingerprint]
-
     self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
 
     if self.CP.radarOffCan:
@@ -305,13 +304,20 @@ def update(self, cp, cp_cam):
       self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
                          (self.brake_switch and self.brake_switch_prev and \
                          cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts)
+
       self.brake_switch_prev = self.brake_switch
       self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
 
     self.user_brake = cp.vl["VSA_STATUS"]['USER_BRAKE']
     self.pcm_acc_status = cp.vl["POWERTRAIN_DATA"]['ACC_STATUS']
     self.hud_lead = cp.vl["ACC_HUD"]['HUD_LEAD']
 
+    # gets rid of Pedal Grinding noise
+    if self.user_brake > 0.05 or self.brake_pressed:
+      self.brake_pressed = 1
+    else:
+      self.brake_pressed = 0
+
     # when user presses distance button on steering wheel
     if self.cruise_setting == 3:
       if cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] == 0:

selfdrive/controls/lib/longcontrol.py

@@ -12,7 +12,7 @@
 
 STOPPING_BRAKE_RATE = 0.2  # brake_travel/s while trying to stop
 STARTING_BRAKE_RATE = 0.8  # brake_travel/s while releasing on restart
-BRAKE_STOPPING_TARGET = 0.1  # apply at least this amount of brake to maintain the vehicle stationary
+BRAKE_STOPPING_TARGET = 0.25  # apply at least this amount of brake to maintain the vehicle stationary
 
 _MAX_SPEED_ERROR_BP = [0., 30.]  # speed breakpoints
 _MAX_SPEED_ERROR_V = [1.5, .8]  # max positive v_pid error VS actual speed; this avoids controls windup due to slow pedal resp