Use pvtToZero instead of safety segment

More controlled decel, simpler path maintenance
Clear path and decel to stop on overrun
Clear planned path during pause

restart needs a new plan
More logging
More logging
One less priming segment
Accessor for pvt mode detection
more logging
Use pvtToZero instead of safety segment

More controlled decel, simpler path maintenance
Clear path and decel to stop on overrun
Clear planned path during pause

restart needs a new plan
More logging
One less priming segment
Accessor for pvt mode detection
more logging
Merge branch 'pvt_segment_mode' into devel