  
          if CS.CP.carFingerprint in HONDA_BOSCH:
            self.accel = clip(accel, P.BOSCH_ACCEL_MIN, P.BOSCH_ACCEL_MAX)
            self.gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V)
            can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, active, accel, self.gas, idx, stopping, starting, CS.CP.carFingerprint))
          else:
            apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
            apply_brake = int(clip(apply_brake * P.NIDEC_BRAKE_MAX, 0, P.NIDEC_BRAKE_MAX - 1))
            pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
  
 
</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.startingAccelRate = 6.0  # release brakes fast
 </s> add  </s> remove     ret.startAccel = 0.0
 </s> add  </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         long_control_state = LongCtrlState.starting

    elif long_control_state == LongCtrlState.starting:
      if stopping_condition:
        long_control_state = LongCtrlState.stopping
      elif output_accel >= CP.startAccel:
 </s> add 
          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, active, accel, self.gas, idx, stopping, CS.CP.carFingerprint))
  
          if CS.CP.carFingerprint in HONDA_BOSCH:
            self.accel = clip(accel, P.BOSCH_ACCEL_MIN, P.BOSCH_ACCEL_MAX)
            self.gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V)
          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, active, accel, self.gas, idx, stopping, CS.CP.carFingerprint))
          else:
            apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
            apply_brake = int(clip(apply_brake * P.NIDEC_BRAKE_MAX, 0, P.NIDEC_BRAKE_MAX - 1))
            pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
  
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/car/honda/carcontroller.py