reset on ignition edge (#22915)

old-commit-hash: 1d03f2a97b

selfdrive/thermald/thermald.py

@@ -126,16 +126,23 @@ def handle_fan_uno(controller, max_cpu_temp, fan_speed, ignition):
   return new_speed
 
 
+last_ignition = False
 def handle_fan_tici(controller, max_cpu_temp, fan_speed, ignition):
+  global last_ignition
+
   controller.neg_limit = -(80 if ignition else 30)
   controller.pos_limit = -(30 if ignition else 0)
 
+  if ignition != last_ignition:
+    controller.reset()
+
   fan_pwr_out = -int(controller.update(
                      setpoint=(75 if ignition else (OFFROAD_DANGER_TEMP - 2)),
                      measurement=max_cpu_temp,
                      feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80])
                   ))
 
+  last_ignition = ignition
   return fan_pwr_out