    def __init__(self, CP):
      self.long_control_state = LongCtrlState.off  # initialized to off
      self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                               (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                               k_f = CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
      self.v_pid = 0.0
      self.last_output_accel = 0.0
  
    def reset(self, v_pid):
      """Reset PID controller and change setpoint"""
 
</s> remove   def update(self, active, CS, CP, long_plan, accel_limits, t_since_plan):
 </s> add   def update(self, active, CS, long_plan, accel_limits, t_since_plan): </s> remove       prevent_overshoot = not CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7 and v_target_future < self.v_pid
      deadzone = interp(CS.vEgo, CP.longitudinalTuning.deadzoneBP, CP.longitudinalTuning.deadzoneV)
 </s> add       prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7 and v_target_future < self.v_pid
      deadzone = interp(CS.vEgo, self.CP.longitudinalTuning.deadzoneBP, self.CP.longitudinalTuning.deadzoneV) </s> remove       v_target_upper = interp(CP.longitudinalActuatorDelayUpperBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
      a_target_upper = 2 * (v_target_upper - v_target) / CP.longitudinalActuatorDelayUpperBound - a_target
 </s> add       v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
      a_target_upper = 2 * (v_target_upper - v_target) / self.CP.longitudinalActuatorDelayUpperBound - a_target </s> remove     self.long_control_state = long_control_state_trans(CP, active, self.long_control_state, CS.vEgo,
 </s> add     self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
                             k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
    def __init__(self, CP):
      self.long_control_state = LongCtrlState.off  # initialized to off
      self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                               (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                             k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
      self.v_pid = 0.0
      self.last_output_accel = 0.0
  
    def reset(self, v_pid):
      """Reset PID controller and change setpoint"""
keep keep keep keep replace keep keep keep keep keep
 Clean up controllers (#24340)

* clean up lat controllers

* pass CP once

* sort 
selfdrive/controls/lib/longcontrol.py