From 09a54d7ce5944d2f717f8b4163bf504ae3302579 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 26 Jan 2023 20:02:23 -0800
Subject: [PATCH] controls: add curvature to actuators (#27108)

* Add curvature to actuators

* Use it in CC

* revert ford stuff

* Update ref_commit
old-commit-hash: ad5b3ea410425d8d5d929e626a626c8d868ecdff
---
 selfdrive/controls/controlsd.py          | 1 +
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index c0b01bfc99..21d8fe2d66 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -606,6 +606,7 @@ class Controls:
       actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
                                                                              self.last_actuators, self.steer_limited, self.desired_curvature,
                                                                              self.desired_curvature_rate, self.sm['liveLocationKalman'])
+      actuators.curvature = self.desired_curvature
     else:
       lac_log = log.ControlsState.LateralDebugState.new_message()
       if self.sm.rcv_frame['testJoystick'] > 0:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index fb714b6f57..63db584c87 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-3639e42ed538ee5d94ec2572cf27af6260633fad
\ No newline at end of file
+634d4ff195345a4a2508e497744aa08addec9237