never works first time :D

selfdrive/car/card.py

@@ -110,9 +110,9 @@ class Car:
     cs_send = messaging.new_message('carState')
     cs_send.valid = CS.canValid
     cs_send.carState = CS
-    cs_send.canRcvTimeout = self.can_rcv_timeout
-    cs_send.canErrorCounter = self.can_rcv_cum_timeout_counter
-    cs_send.cumLagMs = -self.rk.remaining * 1000.
+    cs_send.carState.canRcvTimeout = self.can_rcv_timeout
+    cs_send.carState.canErrorCounter = self.can_rcv_cum_timeout_counter
+    cs_send.carState.cumLagMs = -self.rk.remaining * 1000.
     self.pm.send('carState', cs_send)
 
     # carParams - logged every 50 seconds (> 1 per segment)

selfdrive/controls/controlsd.py

@@ -90,8 +90,7 @@ class Controls:
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'carState', 'testJoystick'] + self.camera_packets + self.sensor_packets,
                                   poll='carState',
-                                  ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
-                                  frequency=int(1/DT_CTRL))
+                                  ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ])
 
     self.joystick_mode = self.params.get_bool("JoystickDebugMode")