FrogPilot structs

selfdrive/locationd/lagd.py

@@ -375,6 +375,7 @@ def main():
     lag_learner.reset(lag, valid_blocks)
 
   # FrogPilot variables
+  sm = sm.extend(['frogpilotPlan'])
 
   while True:
     sm.update()

selfdrive/locationd/paramsd.py

@@ -284,6 +284,7 @@ def main():
   learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)
 
   # FrogPilot variables
+  sm = sm.extend(['frogpilotPlan'])
 
   while True:
     sm.update()

selfdrive/locationd/torqued.py

@@ -252,6 +252,7 @@ def main(demo=False):
   estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams))
 
   # FrogPilot variables
+  sm = sm.extend(['frogpilotPlan'])
 
   while True:
     sm.update()