carrot 99a555579b
fix angle steering & long (#156)
* test... angle torque using yStd..

* fix..

* fix..

* fix..

* fix..

* apply more jerk (using a_error)

* fix.. stopping..

* fix..

* change.. stopping condition 3->4M

* fix.. default

* fix..

* fix... jerk..

* fix.. angle steer... threshold.

* fix.. j_lead adjust...
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