Allow manual position commands while driving

README.md

@@ -64,10 +64,10 @@ r  clear 10-use auto calibration counter
 h  print help
 ```
 
-Action commands require parking gear for safety:
+These management commands require parking gear for safety:
 
 ```text
-p u d a c r
+a c r
 ```
 
 If the gear is not P:
@@ -78,6 +78,8 @@ ERR: check gear state. Command requires P.
 
 While debug mode is active, only `x` is accepted. Other input is ignored.
 
+Manual position commands `u`, `d`, and `p` are allowed while driving, as long as the controller is not busy with an in-progress movement.
+
 ## Automatic Calibration
 
 - Each `IG1 HIGH -> LOW` transition increments the EEPROM use counter.