From 486a09a2e9a8c4ae5bb2853a9bef2b64e875f883 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 3 Dec 2021 21:34:36 +0100
Subject: [PATCH] add desired angle to logs (#229)

---
 log.capnp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/log.capnp b/log.capnp
index c63026e..473a9f6 100644
--- a/log.capnp
+++ b/log.capnp
@@ -611,6 +611,8 @@ struct ControlsState @0x97ff69c53601abf1 {
     delta @8 :Float32;
     output @9 :Float32;
     saturated @10 :Bool;
+    steeringAngleDesiredDeg @11 :Float32;
+    steeringRateDesiredDeg @12 :Float32;
   }
 
   struct LateralPIDState {
@@ -623,6 +625,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     f @6 :Float32;
     output @7 :Float32;
     saturated @8 :Bool;
+    steeringAngleDesiredDeg @9 :Float32;
    }
 
   struct LateralLQRState {
@@ -632,6 +635,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     output @3 :Float32;
     lqrOutput @4 :Float32;
     saturated @5 :Bool;
+    steeringAngleDesiredDeg @6 :Float32;
   }
 
   struct LateralAngleState {
@@ -639,6 +643,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     steeringAngleDeg @1 :Float32;
     output @2 :Float32;
     saturated @3 :Bool;
+    steeringAngleDesiredDeg @4 :Float32;
   }
 
   struct LateralDebugState {