16bb4a9ccd1fe07d5a90aae719873e4bfc8e4d65

car.capnp

@@ -321,12 +321,12 @@ struct CarControl {
   # Actuator commands as computed by controlsd
   actuators @6 :Actuators;
 
-  leftBlinker @15: Bool;
-  rightBlinker @16: Bool;
-
   # moved to CarOutput
   actuatorsOutputDEPRECATED @10 :Actuators;
 
+  leftBlinker @15: Bool;
+  rightBlinker @16: Bool;
+
   orientationNED @13 :List(Float32);
   angularVelocity @14 :List(Float32);
 
@@ -431,7 +431,6 @@ struct CarParams {
 
   notCar @66 :Bool;  # flag for non-car robotics platforms
 
-  enableGasInterceptor @2 :Bool;
   pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
   enableDsu @5 :Bool;        # driving support unit
   enableBsm @56 :Bool;       # blind spot monitoring
@@ -488,6 +487,7 @@ struct CarParams {
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
   carVin @38 :Text; # VIN number queried during fingerprinting
   dashcamOnly @41: Bool;
+  passive @73: Bool;   # is openpilot in control?
   transmissionType @43 :TransmissionType;
   carFw @44 :List(CarFw);
 
@@ -599,6 +599,8 @@ struct CarParams {
     body @27;
     hyundaiCanfd @28;
     volkswagenMqbEvo @29;
+    chryslerCusw @30;
+    psa @31;
   }
 
   enum SteerControlType {
@@ -673,6 +675,7 @@ struct CarParams {
     gateway @1;    # Integration at vehicle's CAN gateway
   }
 
+  enableGasInterceptor @2 :Bool;
   enableCameraDEPRECATED @4 :Bool;
   enableApgsDEPRECATED @6 :Bool;
   steerRateCostDEPRECATED @33 :Float32;

log.capnp

@@ -2269,9 +2269,7 @@ struct Event {
     liveTorqueParameters @94 :LiveTorqueParametersData;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
-    # rick - keep old name
-    # onroadEvents @68: List(Car.CarEvent);
-    carEvents @68: List(Car.CarEvent);
+    onroadEvents @68: List(Car.CarEvent);
     carParams @69: Car.CarParams;
     driverMonitoringState @71: DriverMonitoringState;
     liveLocationKalman @72 :LiveLocationKalman;

services.py

@@ -49,6 +49,7 @@ def __init__(self, port: int, should_log: bool, frequency: float, decimation: Op
   "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
+  "carOutput": (True, 100., 10),
   "longitudinalPlan": (True, 20., 5),
   "procLog": (True, 0.5, 15),
   "gpsLocationExternal": (True, 10., 10),
@@ -63,7 +64,7 @@ def __init__(self, port: int, should_log: bool, frequency: float, decimation: Op
   "cameraOdometry": (True, 20., 5),
   "lateralPlan": (True, 20., 5),
   "thumbnail": (True, 0.2, 1),
-  "carEvents": (True, 1., 1),
+  "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),
   "roadCameraState": (True, 20., 20),
   "driverCameraState": (True, DCAM_FREQ, DCAM_FREQ),