controlsd: fix vCruise jumping on pcmCruise cars (#23388)

* clean up v_cruise_kph

fix

fix

* Revert "clean up v_cruise_kph"

This reverts commit 211b5c3dbe073414ef5c39b19d6d2c6e8de2cf0b.

* always update vCruise and don't init if pcmCruise

* revert change

* update refs

selfdrive/controls/controlsd.py

@@ -455,7 +455,8 @@ class Controls:
           else:
             self.state = State.enabled
           self.current_alert_types.append(ET.ENABLE)
-          self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
+          if not self.CP.pcmCruise:
+            self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
 
     # Check if actuators are enabled
     self.active = self.state == State.enabled or self.state == State.softDisabling

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-10555bbd908c7eead5eeaa36ab07ec2189845a95
+595f118aa4f6eebacaef4db77179c108ec725483