long planner: no reset when starting (#23149)

* long planner: no reset when starting

* let go to 2m/s

* update ref

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -255,7 +255,7 @@ class LongitudinalMpc():
       self.solver.cost_set(i, 'Zl', Zl)
 
   def set_cur_state(self, v, a):
-    if abs(self.x0[1] - v) > 1.:
+    if abs(self.x0[1] - v) > 2.:
       self.x0[1] = v
       self.x0[2] = a
       for i in range(0, N+1):

selfdrive/controls/lib/longitudinal_planner.py

@@ -68,8 +68,7 @@ class Planner:
     force_slow_decel = sm['controlsState'].forceDecel
 
     prev_accel_constraint = True
-    enabled = (long_control_state == LongCtrlState.pid) or (long_control_state == LongCtrlState.stopping)
+    if long_control_state == LongCtrlState.off or sm['carState'].gasPressed:
-    if not enabled or sm['carState'].gasPressed:
       self.v_desired = v_ego
       self.a_desired = a_ego
       # Smoothly changing between accel trajectory is only relevant when OP is driving

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-7bcb9e414784d5ca8a4338680421023d07ef9e53
+a64f5f3d44b2d96c5b555dd91172e5e8d760edb2