  ACCEL_MAX_ISO = 2.0  # m/s^2
  
  
  def long_control_state_trans(CP, active, long_control_state, v_ego, v_target_future,
                               output_accel, brake_pressed, cruise_standstill):
    """Update longitudinal control state machine"""
    stopping_condition = (v_ego < 2.0 and cruise_standstill) or \
                         (v_ego < CP.vEgoStopping and
                          (v_target_future < CP.vEgoStopping or brake_pressed))
  
 
</s> remove   standstill_release = 1 if active and starting else 0
 </s> add   standstill_release = 1 if active and not stopping else 0 </s> remove     ret.startAccel = 0.0
 </s> add  </s> remove def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, starting, car_fingerprint):
 </s> add def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_fingerprint): </s> remove     ret.startAccel = -0.8
 </s> add  </s> remove     ret.startingAccelRate = 3.2 # brake_travel/s while releasing on restart
 </s> add 
                             brake_pressed, cruise_standstill):
  ACCEL_MAX_ISO = 2.0  # m/s^2
  
  
  def long_control_state_trans(CP, active, long_control_state, v_ego, v_target_future,
                             brake_pressed, cruise_standstill):
    """Update longitudinal control state machine"""
    stopping_condition = (v_ego < 2.0 and cruise_standstill) or \
                         (v_ego < CP.vEgoStopping and
                          (v_target_future < CP.vEgoStopping or brake_pressed))
  
keep keep keep keep replace keep keep keep keep keep
 Longcontrol: remove starting state (#23328)

* remove starting state

* new ref

* ready for merge

* try this

* cereal now on master

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com> 
selfdrive/controls/lib/longcontrol.py