Fix steering rate limiting checks. Handle zero crossing

board/safety/safety_bmw.h

@@ -144,16 +144,16 @@ static void bmw_rx_hook(const CANPacket_t *to_push) {
         print("Too big angle \n");
       }
     }
-    if (bmw_fmax_limit_check((bmw_rt_angle_last >= 0.) ? angle_rate : -angle_rate, angle_rate_up, -angle_rate_down)) { //should be sensitive for jerks to the outside
-      controls_allowed = false;         // todo  ^ handle zero crossing a bit smarter
-      if (cruise_engaged){
-        print("To fast angle rate \n");
+    if (meas_angle * bmw_rt_angle_last > 0.) { // ignore when zero crossing
+      if (bmw_fmax_limit_check((meas_angle >= 0.) ? angle_rate : -angle_rate, angle_rate_up, -angle_rate_down)) { //should be sensitive for jerks to the outside
+        controls_allowed = false;
+        if (cruise_engaged){
+          print("To fast angle rate \n");
+        }
       }
     }
 
-    if ((controls_allowed && !bmw_controls_allowed_last)) {
-      bmw_rt_angle_last = meas_angle;
-    }
+    bmw_rt_angle_last = meas_angle;
   }
 
   // Update in motion state from standstill signal