Lexus ES: overshoots start from stop maneuvers

[sshane]

I cannot reproduce the nice starts shown in the latest Lexus ES report I gathered before merging #1303:

https://commaai.github.io/opendbc-data/longitudinal_reports/LEXUS_ES_TSS2_57048cfce01d9625_00000208--c387e67187.html

What the route in the report is doing is setting the permit braking bit when the slow rate limited accel request > 0, but on master it sets permit braking immediately once the maneuver starts, causing a bunch of overshoot (similar to our Corolla! are they more similar than I had thought?).

Revert back to this behavior, or #1453 should fix this.

[sshane]

I see what might have happened. I must have gotten the maneuver report while on the first commit of #1301 which sets permit braking based on the rate limited acceleration, but then realized it should be based on pitch and switched it before merging. This is fundamentally different than what I tested though, as that accel request signal isn't rate limited.

See the difference (this is setting permit braking using the rate limited accel, what I first tested. This is on a Camry Hybrid which has a massive overshoot with the code on master, here it's fine!):