todododo

selfdrive/car/gm/carcontroller.py

@@ -48,6 +48,7 @@ class CarController:
     # next Panda loopback confirmation in the current CS frame.
     steer_step = self.params.ACTIVE_STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
     if CS.loopback_lka_steering_cmd_updated:
+      # TODO: ENSURE this logic works if we lag right as we switch from 50hz to 10hz, will they be too far apart?
       self.lka_steering_cmd_counter += 1
       self.sent_lka_steering_cmd = True
     elif (self.frame - self.last_steer_frame) >= steer_step or self.last_steer_frame == 0: