diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index db574f38a9..d708c13581 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -33,27 +33,27 @@ class CarController():
 
       if (frame % 3) == 0:
 
-        curvature = self.vehicle_model.calc_curvature(actuators.steerAngle*3.1415/180., CS.v_ego)
+        curvature = self.vehicle_model.calc_curvature(actuators.steerAngle*3.1415/180., CS.out.vEgo)
 
         # The use of the toggle below is handy for trying out the various LKAS modes
         if TOGGLE_DEBUG:
-          self.lkas_action += int(CS.generic_toggle and not self.generic_toggle_last)
+          self.lkas_action += int(CS.out.genericToggle and not self.generic_toggle_last)
           self.lkas_action &= 0xf
         else:
           self.lkas_action = 5   # 4 and 5 seem the best. 8 and 9 seem to aggressive and laggy
 
         can_sends.append(create_steer_command(self.packer, apply_steer, enabled,
-                                              CS.lkas_state, CS.angle_steers, curvature, self.lkas_action))
-        self.generic_toggle_last = CS.generic_toggle
+                                              CS.lkas_state, CS.out.steeringAngle, curvature, self.lkas_action))
+        self.generic_toggle_last = CS.out.genericToggle
 
       if (frame % 100) == 0:
 
         can_sends.append(make_can_msg(973, b'\x00\x00\x00\x00\x00\x00\x00\x00', 0))
         #can_sends.append(make_can_msg(984, b'\x00\x00\x00\x00\x80\x45\x60\x30', 0))
 
-      if (frame % 100) == 0 or (self.enabled_last != enabled) or (self.main_on_last != CS.main_on) or \
+      if (frame % 100) == 0 or (self.enabled_last != enabled) or (self.main_on_last != CS.out.cruiseState.available) or \
          (self.steer_alert_last != steer_alert):
-        can_sends.append(create_lkas_ui(self.packer, CS.main_on, enabled, steer_alert))
+        can_sends.append(create_lkas_ui(self.packer, CS.out.cruiseState.available, enabled, steer_alert))
 
       if (frame % 200) == 0:
         can_sends.append(make_can_msg(1875, b'\x80\xb0\x55\x55\x78\x90\x00\x00', 1))
@@ -81,7 +81,7 @@ class CarController():
         can_sends.append(make_can_msg(addr, (cnt<<4).to_bytes(1, 'little') + b'\x00\x00\x00\x00\x00\x00\x00', 1))
 
       self.enabled_last = enabled
-      self.main_on_last = CS.main_on
+      self.main_on_last = CS.out.cruiseState.available
       self.steer_alert_last = steer_alert
 
     return can_sends
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 978363120a..ec461ab169 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -1,3 +1,4 @@
+from cereal import car
 from opendbc.can.parser import CANParser
 from common.numpy_fast import mean
 from selfdrive.config import Conversions as CV
@@ -34,28 +35,26 @@ def get_can_parser(CP):
 
 class CarState(CarStateBase):
   def update(self, cp):
-    # update prevs, update must run once per loop
-    self.prev_left_blinker_on = self.left_blinker_on
-    self.prev_right_blinker_on = self.right_blinker_on
-
-    # calc best v_ego estimate, by averaging two opposite corners
-    self.v_wheel_fl = cp.vl["WheelSpeed_CG1"]['WhlRr_W_Meas'] * WHEEL_RADIUS
-    self.v_wheel_fr = cp.vl["WheelSpeed_CG1"]['WhlRl_W_Meas'] * WHEEL_RADIUS
-    self.v_wheel_rl = cp.vl["WheelSpeed_CG1"]['WhlFr_W_Meas'] * WHEEL_RADIUS
-    self.v_wheel_rr = cp.vl["WheelSpeed_CG1"]['WhlFl_W_Meas'] * WHEEL_RADIUS
-    self.v_ego_raw = mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])
-    self.v_ego, self.a_ego = self.update_speed_kf(self.v_ego_raw)
-    self.standstill = not self.v_ego_raw > 0.001
-
-    self.angle_steers = cp.vl["Steering_Wheel_Data_CG1"]['SteWhlRelInit_An_Sns']
-    self.v_cruise_pcm = cp.vl["Cruise_Status"]['Set_Speed'] * CV.MPH_TO_MS
-    self.pcm_acc_status = cp.vl["Cruise_Status"]['Cruise_State']
-    self.main_on = cp.vl["Cruise_Status"]['Cruise_State'] != 0
-    self.lkas_state = cp.vl["Lane_Keep_Assist_Status"]['LaActAvail_D_Actl']
+    ret = car.CarState.new_message()
+    ret.wheelSpeeds.rr = cp.vl["WheelSpeed_CG1"]['WhlRr_W_Meas'] * WHEEL_RADIUS
+    ret.wheelSpeeds.rl = cp.vl["WheelSpeed_CG1"]['WhlRl_W_Meas'] * WHEEL_RADIUS
+    ret.wheelSpeeds.fr = cp.vl["WheelSpeed_CG1"]['WhlFr_W_Meas'] * WHEEL_RADIUS
+    ret.wheelSpeeds.fl = cp.vl["WheelSpeed_CG1"]['WhlFl_W_Meas'] * WHEEL_RADIUS
+    ret.vEgoRaw = mean([ret.wheelSpeeds.rr, ret.wheelSpeeds.rl, ret.wheelSpeeds.fr, ret.wheelSpeeds.fl])
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = not ret.vEgoRaw > 0.001
+    ret.steeringAngle = cp.vl["Steering_Wheel_Data_CG1"]['SteWhlRelInit_An_Sns']
+    ret.steeringPressed = not cp.vl["Lane_Keep_Assist_Status"]['LaHandsOff_B_Actl']
+    ret.cruiseState.speed = cp.vl["Cruise_Status"]['Set_Speed'] * CV.MPH_TO_MS
+    ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]['Cruise_State'] in [0, 3])
+    ret.cruiseState.available = cp.vl["Cruise_Status"]['Cruise_State'] != 0
+    ret.gas = cp.vl["EngineData_14"]['ApedPosScal_Pc_Actl'] / 100.
+    ret.gasPressed = ret.gas > 1e-6
+    ret.brakePressed = bool(cp.vl["Cruise_Status"]["Brake_Drv_Appl"])
+    ret.brakeLights = bool(cp.vl["BCM_to_HS_Body"]["Brake_Lights"])
+    ret.genericToggle = bool(cp.vl["Steering_Buttons"]["Dist_Incr"])
     # TODO: we also need raw driver torque, needed for Assisted Lane Change
-    self.steer_override = not cp.vl["Lane_Keep_Assist_Status"]['LaHandsOff_B_Actl']
+    self.lkas_state = cp.vl["Lane_Keep_Assist_Status"]['LaActAvail_D_Actl']
     self.steer_error = cp.vl["Lane_Keep_Assist_Status"]['LaActDeny_B_Actl']
-    self.user_gas = cp.vl["EngineData_14"]['ApedPosScal_Pc_Actl']
-    self.brake_pressed = bool(cp.vl["Cruise_Status"]["Brake_Drv_Appl"])
-    self.brake_lights = bool(cp.vl["BCM_to_HS_Body"]["Brake_Lights"])
-    self.generic_toggle = bool(cp.vl["Steering_Buttons"]["Dist_Incr"])
+
+    return ret
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index d9fad4bb5c..6b1f9340f4 100755
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -106,38 +106,10 @@ class CarInterface(CarInterfaceBase):
     # ******************* do can recv *******************
     self.cp.update_strings(can_strings)
 
-    self.CS.update(self.cp)
-
-    # create message
-    ret = car.CarState.new_message()
+    ret = self.CS.update(self.cp)
 
     ret.canValid = self.cp.can_valid
 
-    # speeds
-    ret.vEgo = self.CS.v_ego
-    ret.vEgoRaw = self.CS.v_ego_raw
-    ret.standstill = self.CS.standstill
-    ret.wheelSpeeds.fl = self.CS.v_wheel_fl
-    ret.wheelSpeeds.fr = self.CS.v_wheel_fr
-    ret.wheelSpeeds.rl = self.CS.v_wheel_rl
-    ret.wheelSpeeds.rr = self.CS.v_wheel_rr
-
-    # steering wheel
-    ret.steeringAngle = self.CS.angle_steers
-    ret.steeringPressed = self.CS.steer_override
-
-    # gas pedal
-    ret.gas = self.CS.user_gas / 100.
-    ret.gasPressed = self.CS.user_gas > 0.0001
-    ret.brakePressed = self.CS.brake_pressed
-    ret.brakeLights = self.CS.brake_lights
-
-    ret.cruiseState.enabled = not (self.CS.pcm_acc_status in [0, 3])
-    ret.cruiseState.speed = self.CS.v_cruise_pcm
-    ret.cruiseState.available = self.CS.pcm_acc_status != 0
-
-    ret.genericToggle = self.CS.generic_toggle
-
     # events
     events = []
 
@@ -167,7 +139,9 @@ class CarInterface(CarInterfaceBase):
     self.brake_pressed_prev = ret.brakePressed
     self.cruise_enabled_prev = ret.cruiseState.enabled
 
-    return ret.as_reader()
+    self.CS.out = ret.as_reader()
+
+    return self.CS.out
 
   # pass in a car.CarControl
   # to be called @ 100hz
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 8e19565d94..f7b8d57790 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -233,7 +233,6 @@ class CarState(CarStateBase):
       self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2']
     self.esp_disabled = cp.vl["VSA_STATUS"]['ESP_DISABLED']
 
-    # calc best v_ego estimate, by averaging two opposite corners
     speed_factor = SPEED_FACTOR[self.CP.carFingerprint]
     self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS * speed_factor
     self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS * speed_factor
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index e0515b64ec..5305396f30 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -142,7 +142,6 @@ class CarState(CarStateBase):
     self.acc_active = cp.vl["SCC12"]['ACCMode'] != 0
     self.pcm_acc_status = int(self.acc_active)
 
-    # calc best v_ego estimate, by averaging two opposite corners
     self.v_wheel_fl = cp.vl["WHL_SPD11"]['WHL_SPD_FL'] * CV.KPH_TO_MS
     self.v_wheel_fr = cp.vl["WHL_SPD11"]['WHL_SPD_FR'] * CV.KPH_TO_MS
     self.v_wheel_rl = cp.vl["WHL_SPD11"]['WHL_SPD_RL'] * CV.KPH_TO_MS
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 35644e5653..cb172b591c 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -106,7 +106,6 @@ class CarState(CarStateBase):
       self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
     self.esp_disabled = cp.vl["ESP_CONTROL"]['TC_DISABLED']
 
-    # calc best v_ego estimate, by averaging two opposite corners
     self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS
     self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
     self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS