diff --git a/RELEASES.md b/RELEASES.md
index 874e90978f..5908ff68a3 100644
--- a/RELEASES.md
+++ b/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)
 ===========================
diff --git a/apk/com.baseui.apk b/apk/com.baseui.apk
index 348de9eb32..e02c8268e7 100644
Binary files a/apk/com.baseui.apk and b/apk/com.baseui.apk differ
diff --git a/cereal/car.capnp b/cereal/car.capnp
index ffdea21e13..c08c5d08f8 100644
--- a/cereal/car.capnp
+++ b/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 {
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 1832f3b68b..a6e006537c 100755
--- a/selfdrive/car/honda/interface.py
+++ b/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 = []
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index f4f6cdc2f1..9d447954b8 100755
--- a/selfdrive/controls/controlsd.py
+++ b/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
diff --git a/selfdrive/sensord/.gitignore b/selfdrive/sensord/.gitignore
deleted file mode 100644
index e17675e254..0000000000
--- a/selfdrive/sensord/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-sensord