From e1b2b106387ebfd66568a8b8186d2ccff195cf34 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 14 Nov 2024 23:09:08 -0500
Subject: [PATCH] add logging for controls allowed lateral

---
 cereal/log.capnp           | 2 +-
 panda                      | 2 +-
 selfdrive/pandad/pandad.cc | 1 +
 3 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 62af5a2bfc..7fe2986bcd 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -597,6 +597,7 @@ struct PandaState @0xa7649e2575e4591e {
 
   # safety stuff
   controlsAllowed @3 :Bool;
+  controlsAllowedLat @5 :Bool;
   safetyRxInvalid @19 :UInt32;
   safetyTxBlocked @24 :UInt32;
   safetyModel @14 :Car.CarParams.SafetyModel;
@@ -704,7 +705,6 @@ struct PandaState @0xa7649e2575e4591e {
   }
 
   gasInterceptorDetectedDEPRECATED @4 :Bool;
-  startedSignalDetectedDEPRECATED @5 :Bool;
   hasGpsDEPRECATED @6 :Bool;
   gmlanSendErrsDEPRECATED @9 :UInt32;
   fanSpeedRpmDEPRECATED @11 :UInt16;
diff --git a/panda b/panda
index f5807bc6ea..efc5c7461c 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit f5807bc6ea8182e47389db476120741ca8df2d32
+Subproject commit efc5c7461c0e2b72a9a1bd2e89c405d8f3bf89a9
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index b0b10fe315..90cf72145a 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -140,6 +140,7 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setIgnitionLine(health.ignition_line_pkt);
   ps.setIgnitionCan(health.ignition_can_pkt);
   ps.setControlsAllowed(health.controls_allowed_pkt);
+  ps.setControlsAllowedLat(health.controls_allowed_lat_pkt);
   ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
   ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
   ps.setPandaType(hw_type);