we need this

selfdrive/car/gm/carstate.py

@@ -19,6 +19,7 @@ class CarState(CarStateBase):
     self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
     self.loopback_lka_steering_cmd_updated = False
     self.pt_lka_steering_cmd_counter = 0
+    self.camera_lka_steering_cmd_counter = 0
     self.buttons_counter = 0
 
   def update(self, pt_cp, cam_cp, loopback_cp):
@@ -34,6 +35,7 @@ class CarState(CarStateBase):
     self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
+      self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
 
     ret.wheelSpeeds = self.get_wheel_speeds(
       pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
@@ -113,11 +115,13 @@ class CarState(CarStateBase):
     if CP.networkLocation == NetworkLocation.fwdCamera:
       signals += [
         ("AEBCmdActive", "AEBCmd"),
+        ("RollingCounter", "ASCMLKASteeringCmd"),
         ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"),
         ("ACCCruiseState", "ASCMActiveCruiseControlStatus"),
       ]
       checks += [
         ("AEBCmd", 10),
+        ("ASCMLKASteeringCmd", 10),
         ("ASCMActiveCruiseControlStatus", 25),
       ]