aol: keep lateral active when braking disengages longitudinal on full OP

On rising edge of SET engagement, auto-enable AOL so lateral persists
after braking disengages longitudinal. Simplify safety.h aol_allowed
to not require acc_main_on or lkas_on.

opendbc_repo/opendbc/safety/safety.h

@@ -374,7 +374,7 @@ static void generic_rx_checks(void) {
   }
   steering_disengage_prev = steering_disengage;
 
-  aol_allowed = (acc_main_on || lkas_on) && (alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL);
+  aol_allowed = (alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL) != 0U;
 }
 
 static void stock_ecu_check(bool stock_ecu_detected) {

starpilot/controls/starpilot_card.py

@@ -17,6 +17,7 @@ class StarPilotCard:
 
     self.accel_pressed = False
     self.always_on_lateral_allowed = False
+    self.prev_active = False
     self.decel_pressed = False
     self.distancePressed_previously = False
     self.force_coast = False
@@ -78,6 +79,13 @@ class StarPilotCard:
     elif starpilot_toggles.always_on_lateral_main:
       self.always_on_lateral_allowed = carState.cruiseState.available
 
+    # On rising edge of engagement (SET press enabling lat+long), auto-enable AOL
+    # so that lateral persists when braking disengages longitudinal
+    if sm["selfdriveState"].active and not self.prev_active and self.always_on_lateral_set and starpilot_toggles.always_on_lateral_lkas:
+      self.always_on_lateral_allowed = True
+
+    self.prev_active = sm["selfdriveState"].active
+
     self.always_on_lateral_enabled = self.always_on_lateral_allowed and self.always_on_lateral_set
     self.always_on_lateral_enabled &= carState.gearShifter not in NON_DRIVING_GEARS
     self.always_on_lateral_enabled &= sm["starpilotPlan"].lateralCheck