From ede08d4c83e736e8e0ed250367110def9af2937a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 9 Aug 2024 22:29:28 -0700
Subject: [PATCH] this was never in the base class?!

---
 selfdrive/car/interfaces.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 2a14b992d2..fb10edd979 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -381,6 +381,10 @@ class CarStateBase(ABC):
     K = get_kalman_gain(DT_CTRL, np.array(A), np.array(C), np.array(Q), R)
     self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K)
 
+  @abstractmethod
+  def update(self, *args) -> structs.CarState:
+    raise NotImplementedError
+
   def update_speed_kf(self, v_ego_raw):
     if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0:  # Prevent large accelerations when car starts at non zero speed
       self.v_ego_kf.set_x([[v_ego_raw], [0.0]])