Toyota: pitch compensate new long tune

[sshane]

Follow up to #1248. Only for positive accel (given pitch). Now doesn't apply too much gas going down hills, or too little going up them.

Lexus ES TSS2 routes:

This branch:
Downhill with PCM + pitch compensation: https://connect.comma.ai/57048cfce01d9625/00000123--c1523da2eb
Uphill with PCM + pitch compensation: https://connect.comma.ai/57048cfce01d9625/00000124--db7c9676fb

Current master:
Downhill with PCM compensation: https://connect.comma.ai/57048cfce01d9625/00000125--1231d30430
Uphill with PCM compensation: https://connect.comma.ai/57048cfce01d9625/00000126--47613d0ae6

[sshane]

Report looks like a success! On uphills, integral (seen in actuators.accel) does not need to wind up as high to achieve the same longitudinal acceleration:

This branch is on the right.

Same with start from stop, the compensation knows to go higher immediately, resulting in less integral windup:

As well as the creep test:

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Now for the downhill plots. There's not much difference in the "start from stop" test, if any, but the creep test shows noticeably less overshoot:

And the gas step response shows the compensation requesting less acceleration and slightly less overshoot:

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Reports:
LEXUS_ES_TSS2_57048cfce01d9625_0000012.zip