Only trigger model FCW on stock long when not already braking (#22620)

* Only trigger model FCW on stock long when not already braking

* Split model_fcw checks for better readability
old-commit-hash: 38f775edfc

selfdrive/controls/controlsd.py

@@ -282,8 +282,10 @@ class Controls:
     for pandaState in self.sm['pandaStates']:
       if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
         self.events.add(EventName.relayMalfunction)
+
+    stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.5
+    model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
     planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
-    model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed
     if planner_fcw or model_fcw:
       self.events.add(EventName.fcw)