from typing import Tuple import time from cereal import car from openpilot.common.conversions import Conversions as CV from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.numpy_fast import interp, clip from openpilot.common.realtime import DT_CTRL from openpilot.common.params_pyx import Params from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command from openpilot.selfdrive.car.gm import gmcan from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, CC_REGEN_PADDLE_CAR from openpilot.selfdrive.car.interfaces import CarControllerBase from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY from openpilot.common.swaglog import cloudlog VisualAlert = car.CarControl.HUDControl.VisualAlert NetworkLocation = car.CarParams.NetworkLocation LongCtrlState = car.CarControl.Actuators.LongControlState GearShifter = car.CarState.GearShifter TransmissionType = car.CarParams.TransmissionType # Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s CAMERA_CANCEL_DELAY_FRAMES = 10 # Enforce a minimum interval between steering messages to avoid a fault MIN_STEER_MSG_INTERVAL_MS = 15 # Two‑sided spacing tuned for ~33 Hz steer; target a 10 ms wide window per interval # Paddle spoofing and scheduling constants PADDLE_STEER_GAP_MIN_NS = 5_000_000 # ≥5 ms each side (EPS guard) PADDLE_STEER_GAP_MAX_NS = 12_000_000 # cap for long intervals PADDLE_GAP_TARGET_NS = 5_000_000 # aim per‑side gap even if interval//2 − early is larger PADDLE_NONBLOCK_GAP_NS = 1_000_000 # ≥1 ms since last paddle send PADDLE_SLOT_EARLY_NS = 1_000_000 # allow firing up to 1 ms before slot OVERFLOW_THRESH = 1.00 # fire one extra slot whenever credits ≥ 1.0 PADDLE_TARGET_HZ = 42.0 # desired paddle rate (Hz) when regen active; steer is ~33 Hz # Constants for pitch compensation BRAKE_PITCH_FACTOR_BP = [5., 10.] # [m/s] smoothly revert to planned accel at low speeds BRAKE_PITCH_FACTOR_V = [0., 1.] # [unitless in [0,1]]; don't touch PITCH_DEADZONE = 0.01 # [radians] 0.01 ≈ 1% grade class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): self.CP = CP self.start_time = 0. self.apply_steer_last = 0 self.apply_gas = 0 self.apply_brake = 0 self.apply_speed = 0 self.frame = 0 self.last_steer_frame = 0 self.last_steer_ts_ns = 0 self.last_regen_active = False self.prev_steer_ts_ns = 0 self.last_spoof_ts_ns = 0 self.last_paddle_ts_ns = 0 self.last_button_frame = 0 self.cancel_counter = 0 self.pedal_steady = 0. self.lka_steering_cmd_counter = 0 self.lka_icon_status_last = (False, False) self.params = CarControllerParams(self.CP) self.params_ = Params() self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt']) self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar']) self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis']) # FrogPilot variables self.accel_g = 0.0 self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4) # runs at 25 Hz self.accel_g = 0.0 self.regen_paddle_pressed = False self.aego = 0.0 self.regen_paddle_timer = 0 self.planner_regen_hold = False # Midpoint + overflow spoof accumulator and flags self.spoof_accum = 0.0 self.spoof_mid_sent = False self.spoof_over_sent = False self.last_interval_ns = 0 def calc_pedal_command(self, accel: float, long_active: bool, car_velocity) -> Tuple[float, bool]: if not long_active: self.planner_regen_hold = False return 0., False # Regen paddle hysteresis (frame-based): hold 10 frames, with decrement dead-zone if not hasattr(self, 'regen_paddle_timer'): self.regen_paddle_timer = 0 # frames # Regen paddle hysteresis (frame‑based): count frames when decelerating hard, decrement only when truly released if self.aego < -0.7: self.regen_paddle_timer += 1 elif self.aego > -0.3: self.regen_paddle_timer = max(self.regen_paddle_timer - 1, 0) # else: hold timer between -0.7 and -0.3 # Base paddle press hysteresis self.regen_paddle_pressed = self.regen_paddle_timer >= 10 # 10 frames press_regen_paddle = self.regen_paddle_pressed or self.planner_regen_hold # Regen gain ratios from bin-averaged 60–0 deceleration sweep; Calculates stronger decel from paddle speed_mps = [0.559, 1.678, 2.797, 3.916, 5.035, 6.154, 7.273, 8.392, 9.511, 10.63, 11.749, 12.868, 13.987, 15.106, 16.225, 17.344, 18.463, 19.582, 20.701, 21.820, 22.939, 24.058, 25.177, 26.296] regen_gain_ratio = [ 1.000000, 1.057308, 1.131123, 1.220611, 1.270247, 1.300253, 1.339543, 1.361002, 1.388410, 1.403253, 1.414721, 1.430949, 1.420289, 1.436787, 1.434116, 1.436805, 1.417508, 1.402213, 1.395360, 1.360921, 1.342030, 1.292219, 1.270048, 1.239172 ] gain = interp(car_velocity, speed_mps, regen_gain_ratio) pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240]) # Compute raw pedal gas raw_pedal_gas = clip((pedaloffset + (accel / gain) * 0.6), 0.0, 1.0) if press_regen_paddle else clip((pedaloffset + accel * 0.6), 0.0, 1.0) # --- Immediate application of raw pedal gas, no blending --- pedal_gas = raw_pedal_gas # Safety cap: ramp from 22% at 0 m/s to 37.25% at 10 mph (4.47 m/s), then allow full throttle pedal_gas_max = interp(car_velocity, [0.0, 4.47, 4.48], [0.22, 0.3725, 1.0]) pedal_gas = clip(pedal_gas, 0.0, pedal_gas_max) return pedal_gas, press_regen_paddle def update(self, CC, CS, now_nanos, frogpilot_toggles): self.CS = CS self.aego = CS.out.aEgo actuators = CC.actuators accel = brake_accel = actuators.accel press_regen_paddle = False # Planner-driven regen hold: gate by car support and OP long active, use commanded accel thresholds if (self.CP.enableGasInterceptor and self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and self.CP.openpilotLongitudinalControl and CC.longActive): # Match original hysteresis intent: vehicle can usually stop without paddle up to ~1.0 m/s^2 # Use the same thresholds as the aEgo-based hysteresis, but on commanded accel for preemption planner_press_threshold = -0.7 planner_release_threshold = -0.3 if accel <= planner_press_threshold: self.planner_regen_hold = True elif accel >= planner_release_threshold: self.planner_regen_hold = False else: self.planner_regen_hold = False hud_control = CC.hudControl hud_alert = hud_control.visualAlert hud_v_cruise = hud_control.setSpeed if hud_v_cruise > 70: hud_v_cruise = 0 # Send CAN commands. can_sends = [] paddle_sends = [] raw_regen_active = ( self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and self.CP.openpilotLongitudinalControl and CC.longActive and self.CP.enableGasInterceptor and (self.regen_paddle_timer >= 10 or self.planner_regen_hold) # hysteresis or planner hint ) regen_active = raw_regen_active # === Spoof scheduling: midpoint + overflow (~target Hz) === # Rising-edge reset on regen start if raw_regen_active and not self.last_regen_active: self.prev_steer_ts_ns = self.last_steer_ts_ns self.last_spoof_ts_ns = 0 self.spoof_accum = 0.0 self.spoof_mid_sent = False self.spoof_over_sent = False if raw_regen_active: # Interval between last two bus-0 steer sends interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns # Adaptive two‑sided gap sized to the current steer interval, but capped to a target so the window stays wide enough gap_ns = (PADDLE_STEER_GAP_MIN_NS if interval_ns <= 0 else max(PADDLE_STEER_GAP_MIN_NS, min(PADDLE_STEER_GAP_MAX_NS, min((interval_ns // 2) - PADDLE_SLOT_EARLY_NS, PADDLE_GAP_TARGET_NS)))) # New steer interval? clear per-interval flags and add credits to reach target Hz if interval_ns != self.last_interval_ns: self.spoof_mid_sent = False self.spoof_over_sent = False self.last_interval_ns = interval_ns # Add credits once per new steer interval to reach the desired paddle rate if interval_ns > 0: steer_hz = 1e9 / float(interval_ns) extra_needed = max(0.0, (PADDLE_TARGET_HZ / steer_hz) - 1.0) # e.g., 42/33 − 1 ≈ 0.2727 self.spoof_accum += extra_needed # Midpoint spoof: one per interval if not self.spoof_mid_sent and interval_ns > 0: midpoint_ns = self.prev_steer_ts_ns + interval_ns // 2 # Compute spacing to last and next steer (two-sided guard) next_steer_ts_ns = self.last_steer_ts_ns + interval_ns if interval_ns > 0 else 0 delta_after_ns = now_nanos - self.last_steer_ts_ns delta_before_ns = (next_steer_ts_ns - now_nanos) if interval_ns > 0 else 1_000_000_000 if (CS.out.vEgo > 2.68 and now_nanos >= (midpoint_ns - PADDLE_SLOT_EARLY_NS) and delta_after_ns >= gap_ns and delta_before_ns >= gap_ns): # Non-blocking 1 ms spacing for paddle frames if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS: paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True)) paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True)) self.last_paddle_ts_ns = now_nanos self.last_spoof_ts_ns = now_nanos self.spoof_mid_sent = True # Overflow spoof: insert extra when accumulator allows if self.spoof_accum >= OVERFLOW_THRESH and not self.spoof_over_sent and interval_ns > 0: slot2_ns = self.prev_steer_ts_ns + (interval_ns * 2) // 3 # Two-sided spacing relative to steer next_steer_ts_ns = self.last_steer_ts_ns + interval_ns if interval_ns > 0 else 0 delta_after_ns = now_nanos - self.last_steer_ts_ns delta_before_ns = (next_steer_ts_ns - now_nanos) if interval_ns > 0 else 1_000_000_000 if (CS.out.vEgo > 2.68 and now_nanos >= (slot2_ns - PADDLE_SLOT_EARLY_NS) and delta_after_ns >= gap_ns and delta_before_ns >= gap_ns): # Non-blocking 1 ms spacing for paddle frames if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS: paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True)) paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True)) self.last_paddle_ts_ns = now_nanos self.last_spoof_ts_ns = now_nanos self.spoof_over_sent = True self.spoof_accum -= OVERFLOW_THRESH # === End Spoof scheduling === # === Off-pulse scheduling on regen release === if not raw_regen_active and self.last_regen_active: # schedule two off-slots at 1/3 and 2/3 of the last steer interval if self.prev_steer_ts_ns and self.last_steer_ts_ns: intv = self.last_steer_ts_ns - self.prev_steer_ts_ns self.off_schedule_ns = [ self.prev_steer_ts_ns + intv // 3, self.prev_steer_ts_ns + (2 * intv) // 3 ] self.off_sent = [False, False] if hasattr(self, "off_schedule_ns"): for i, t_ns in enumerate(self.off_schedule_ns): if not self.off_sent[i] and now_nanos >= (t_ns - PADDLE_SLOT_EARLY_NS): # Two-sided spacing to steer before sending interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns gap_ns = (PADDLE_STEER_GAP_MIN_NS if interval_ns <= 0 else max(PADDLE_STEER_GAP_MIN_NS, min(PADDLE_STEER_GAP_MAX_NS, min((interval_ns // 2) - PADDLE_SLOT_EARLY_NS, PADDLE_GAP_TARGET_NS)))) next_steer_ts_ns = self.last_steer_ts_ns + interval_ns if interval_ns > 0 else 0 delta_after_ns = now_nanos - self.last_steer_ts_ns delta_before_ns = (next_steer_ts_ns - now_nanos) if interval_ns > 0 else 1_000_000_000 if (delta_after_ns >= gap_ns and delta_before_ns >= gap_ns): # Non-blocking 1 ms spacing for paddle frames if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS: paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, False)) paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, False)) self.last_paddle_ts_ns = now_nanos self.off_sent[i] = True # clean up once both off pulses are sent if hasattr(self, "off_sent") and all(self.off_sent): del self.off_schedule_ns del self.off_sent # === End off-pulse scheduling === # Steering (Active: 50Hz, inactive: 10Hz) steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP if self.CP.networkLocation == NetworkLocation.fwdCamera: # Also send at 50Hz: # - on startup, first few msgs are blocked # - until we're in sync with camera so counters align when relay closes, preventing a fault. # openpilot can subtly drift, so this is activated throughout a drive to stay synced out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4 if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync: steer_step = self.params.STEER_STEP self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0 # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we # received the ASCMLKASteeringCmd loopback confirmation too recently last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6 if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS: # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus if CS.loopback_lka_steering_cmd_ts_nanos == 0: self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1 if CC.latActive: new_steer = int(round(actuators.steer * self.params.STEER_MAX)) apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) else: apply_steer = 0 if (self.CP.flags & GMFlags.CC_LONG.value) and CC.enabled and not CS.out.cruiseState.enabled: # Send 0 so Panda doesn't error apply_steer = 0 # shift previous steer timestamp self.prev_steer_ts_ns = self.last_steer_ts_ns self.last_steer_ts_ns = now_nanos self.last_steer_frame = self.frame self.apply_steer_last = apply_steer idx = self.lka_steering_cmd_counter % 4 can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive)) # Update regen_active state and last_regen_paddle_pressed for next loop self.last_regen_active = regen_active self.last_regen_paddle_pressed = self.regen_paddle_pressed or self.planner_regen_hold if paddle_sends: interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns flush_gap_ns = (PADDLE_STEER_GAP_MIN_NS if interval_ns <= 0 else max(PADDLE_STEER_GAP_MIN_NS, min(PADDLE_STEER_GAP_MAX_NS, min((interval_ns // 2) - PADDLE_SLOT_EARLY_NS, PADDLE_GAP_TARGET_NS)))) if now_nanos - self.last_steer_ts_ns >= flush_gap_ns: can_sends.extend(paddle_sends) if self.CP.openpilotLongitudinalControl: # Gas/regen, brakes, and UI commands - all at 25Hz if self.frame % 4 == 0: stopping = actuators.longControlState == LongCtrlState.stopping # Pitch compensated acceleration; # TODO: include future pitch (sm['modelDataV2'].orientation.y) to account for long actuator delay if frogpilot_toggles.long_pitch and len(CC.orientationNED) > 1: self.pitch.update(CC.orientationNED[1]) self.accel_g = ACCELERATION_DUE_TO_GRAVITY * apply_deadzone(self.pitch.x, PITCH_DEADZONE) # driving uphill is positive pitch accel += self.accel_g brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V) at_full_stop = CC.longActive and CS.out.standstill near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE) interceptor_gas_cmd = 0 if not CC.longActive: # ASCM sends max regen when not enabled self.apply_gas = self.params.INACTIVE_REGEN self.apply_brake = 0 elif near_stop and stopping and not CC.cruiseControl.resume: self.apply_gas = self.params.INACTIVE_REGEN self.apply_brake = int(min(-100 * frogpilot_toggles.stopAccel, self.params.MAX_BRAKE)) else: # Normal operation self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) # Don't allow any gas above inactive regen while stopping # FIXME: brakes aren't applied immediately when enabling at a stop if stopping: self.apply_gas = self.params.INACTIVE_REGEN if self.CP.carFingerprint in CC_ONLY_CAR: # gas interceptor only used for full long control on cars without ACC interceptor_gas_cmd, press_regen_paddle = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo) if self.CP.enableGasInterceptor and self.apply_gas > self.params.INACTIVE_REGEN and CS.out.cruiseState.standstill: # "Tap" the accelerator pedal to re-engage ACC interceptor_gas_cmd = self.params.SNG_INTERCEPTOR_GAS self.apply_brake = 0 self.apply_gas = self.params.INACTIVE_REGEN idx = (self.frame // 4) % 4 if self.CP.flags & GMFlags.CC_LONG.value: if CC.longActive and CS.out.vEgo > self.CP.minEnableSpeed: # Using extend instead of append since the message is only sent intermittently can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators, frogpilot_toggles)) elif CC.enabled and self.frame % 52 == 0 and CS.cruise_buttons == CruiseButtons.UNPRESS and CS.out.gasPressed and CS.out.cruiseState.speed < CS.out.vEgo < hud_v_cruise: can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.DECEL_SET)) if self.CP.enableGasInterceptor: can_sends.append(create_gas_interceptor_command(self.packer_pt, interceptor_gas_cmd, idx)) if self.CP.carFingerprint not in CC_ONLY_CAR: friction_brake_bus = CanBus.CHASSIS # GM Camera exceptions # TODO: can we always check the longControlState? if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.carFingerprint not in CC_ONLY_CAR: at_full_stop = at_full_stop and stopping friction_brake_bus = CanBus.POWERTRAIN if self.CP.autoResumeSng: resume = actuators.longControlState != LongCtrlState.starting or CC.cruiseControl.resume at_full_stop = at_full_stop and not resume if CC.cruiseControl.resume and CS.pcm_acc_status == AccState.STANDSTILL and frogpilot_toggles.volt_sng: acc_engaged = False else: acc_engaged = CC.enabled # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, acc_engaged, at_full_stop)) can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake, idx, CC.enabled, near_stop, at_full_stop, self.CP)) # Send dashboard UI commands (ACC status) send_fcw = hud_alert == VisualAlert.fcw can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled, hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw)) else: # to keep accel steady for logs when not sending gas accel += self.accel_g # Radar needs to know current speed and yaw rate (50hz), # and that ADAS is alive (5hz, previously 10hz) if not self.CP.radarUnavailable: tt = self.frame * DT_CTRL time_and_headlights_step = 20 if self.frame % time_and_headlights_step == 0: idx = (self.frame // time_and_headlights_step) % 4 can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx)) can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE)) can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx)) can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx)) if self.CP.networkLocation == NetworkLocation.gateway and self.frame % (self.params.ADAS_KEEPALIVE_STEP * 2) == 0: can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN) # TODO: integrate this with the code block below? if ( (self.CP.flags & GMFlags.PEDAL_LONG.value) # Always cancel stock CC when using pedal interceptor or (self.CP.flags & GMFlags.CC_LONG.value and not CC.enabled) # Cancel stock CC if OP is not active ) and CS.out.cruiseState.enabled: if (self.frame - self.last_button_frame) * DT_CTRL > 0.04: self.last_button_frame = self.frame can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL)) else: # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status. # A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0 # Stock longitudinal, integrated at camera if (self.frame - self.last_button_frame) * DT_CTRL > 0.04: if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES: self.last_button_frame = self.frame if self.CP.carFingerprint in SDGM_CAR: can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL)) else: can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL)) if self.CP.networkLocation == NetworkLocation.fwdCamera: # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1 if self.frame % 20 == 0: pscm_status = CS.pscm_status.copy() if pscm_status["LKATorqueDeliveredStatus"] == 3: pscm_status["LKATorqueDeliveredStatus"] = 1 can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, pscm_status)) new_actuators = actuators.as_builder() new_actuators.accel = accel new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last new_actuators.gas = self.apply_gas new_actuators.brake = self.apply_brake new_actuators.speed = self.apply_speed self.frame += 1 return new_actuators, can_sends