Jason Young

Working a problem wherein the car sometimes just doesn't decelerate as-requested. This gets exciting with a lead car. On comparison with stock, it looks like there's yet a third copy...

For ease of review, much of the prerequisite work has been submitted separately under #23004. Once that's merged, this PR for actual OP long support will be cleaner. At this...

> * Requires full Stop-and-Go ACC. Will look at Follow-to-Stop vehicles later, but probably can't make them hold at stop. > * [ ] Detect ACC Low (Follow-to-Stop only) vehicles...

"Brake!" alert on disengage for newer cars is fixed, thanks to @hendrik212. That was the last major technical obstacle. Remaining: - [x] Re-file Panda safety PR after the MQB-PQ split...

- [ ] Safety check, timely response to stopping request: ACC_07.ACC_Anhalten -> ESP_21.ESP_Anhaltevorgang_ACC_aktiv

> Want to get this merged to avoid more merge conflicts? We can merge if we explicitly disable it and ignore DisableRadar. VW PQ long is in a better state...

> Want to get this merged to avoid more merge conflicts? We can merge if we explicitly disable it and ignore DisableRadar. I'd like to go ahead with this. This...

If there's benefit to using this signal, convenience lane changes can be preserved by wrapping it in `update_blinker_from_stalk` instead of the existing `update_blinker_from_lamp`.

Thank you for doing this! Support for the APA racks is long overdue, and generalizing the byte/bit variables will be useful later for adding a third variant supporting the TRW...

> @jyoung8607 look good to you? LGTM other than the proposed changes.