From 3f300b52ce8232a3123c84228d24d82b968694c1 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 05:34:49 -0400
Subject: [PATCH] add vtarget and atarget

---
 cereal/custom.capnp                                       | 2 ++
 sunnypilot/selfdrive/controls/lib/longitudinal_planner.py | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 0f0e677f99..9a2a576e99 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -197,6 +197,8 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       state @0 :AssistState;
       enabled @1 :Bool;
       active @2 :Bool;
+      vTarget @3 :Float32;
+      aTarget @4 :Float32;
     }
 
     enum Source {
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index 1a53d9d953..b4ebf1bd56 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -113,5 +113,7 @@ class LongitudinalPlannerSP:
     assist.state = self.sla.state
     assist.enabled = self.sla.is_enabled
     assist.active = self.sla.is_active
+    assist.vTarget = float(self.sla.output_v_target)
+    assist.aTarget = float(self.sla.output_a_target)
 
     pm.send('longitudinalPlanSP', plan_sp_send)