Fix for lead accel calculation algorithm (#83)

* add profile mods to opParams for live tuning to debug FCW

* debug

* revert

* Test stock

* fix accel algorithm

* tmp

* tmp

* tmp

selfdrive/controls/lib/long_mpc.py

@@ -125,12 +125,12 @@ def calculate_lead_accel(self):
           return a_calculated
 
         if a_calculated < 0 <= a_lead:  # accel over time is negative and current accel is zero or positive
-          if a_lead < -a_calculated * 0.5:
+          if a_lead < -a_calculated * 0.55:
             # half of accel over time is less than current positive accel, we're not decelerating after long decel
             return a_calculated
 
         if a_lead <= 0 < a_calculated:  # accel over time is positive and current accel is zero or negative
-          if -a_lead < a_calculated * 0.5:
+          if -a_lead < a_calculated * 0.45:
             # half of accel over time is greater than current negative accel, we're not accelerating after long accel
             return a_calculated