diff --git a/cereal/log.capnp b/cereal/log.capnp
index 1209f3fd95..135f93b5ca 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2263,6 +2263,11 @@ struct LiveTorqueParametersData {
   useParams @12 :Bool;
 }
 
+struct LiveDelayData {
+  steerActuatorDelay @0 :Float32;
+  totalPoints @1 :Int32;
+}
+
 struct LiveMapDataDEPRECATED {
   speedLimitValid @0 :Bool;
   speedLimit @1 :Float32;
@@ -2493,6 +2498,7 @@ struct Event {
     gnssMeasurements @91 :GnssMeasurements;
     liveParameters @61 :LiveParametersData;
     liveTorqueParameters @94 :LiveTorqueParametersData;
+    liveActuatorDelay @146 : LiveDelayData;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
     onroadEvents @134: List(OnroadEvent);
@@ -2564,7 +2570,7 @@ struct Event {
 
     # DO change the name of the field and struct
     # DON'T change the ID (e.g. @107)
-    # DON'T change which struct it points to 
+    # DON'T change which struct it points to
     customReserved0 @107 :Custom.CustomReserved0;
     customReserved1 @108 :Custom.CustomReserved1;
     customReserved2 @109 :Custom.CustomReserved2;
diff --git a/cereal/services.py b/cereal/services.py
index 87fdca77b7..9857fc6ffd 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -36,6 +36,7 @@ _services: dict[str, tuple] = {
   "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
   "liveTorqueParameters": (True, 4., 1),
+  "liveActuatorDelay": (True, 4., 1),
   "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),