      return lead_xv
  
    def set_accel_limits(self, min_a, max_a):
      self.cruise_min_a = min_a
      self.cruise_max_a = max_a
  
    def update(self, carstate, radarstate, v_cruise, x, v, a, j):
      v_ego = self.x0[1]
      self.status = radarstate.leadOne.status or radarstate.leadTwo.status
  
 
</s> remove       v_upper = v_ego + (T_IDXS * self.cruise_max_a * 1.05)
 </s> add       v_upper = v_ego + (T_IDXS * self.max_a * 1.05) </s> remove       self.params[:,0] = MIN_ACCEL
      self.params[:,1] = self.cruise_max_a
 </s> add  </s> remove       self.params[:,0] = MIN_ACCEL
      self.params[:,1] = MAX_ACCEL

 </s> add  </s> remove     accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
    accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
 </s> add     if self.mpc.mode == 'acc':
      accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
      accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
    else:
      accel_limits_turns = [MIN_ACCEL, MAX_ACCEL]
    self.max_a = max_a
      return lead_xv
  
    def set_accel_limits(self, min_a, max_a):
      self.cruise_min_a = min_a
    self.max_a = max_a
  
    def update(self, carstate, radarstate, v_cruise, x, v, a, j):
      v_ego = self.x0[1]
      self.status = radarstate.leadOne.status or radarstate.leadTwo.status
  
keep keep keep keep replace keep keep keep keep keep
 Add force decel to e2e long (#26448)

* add force decel to e2e

* Update longitudinal_planner.py 
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py