CarState signals

Required for basic lateral control

• brakePressed
• cruiseState
• doorOpen
• espDisabled
• gasPressed
• gearShifter
• leftBlinker / rightBlinker
• seatbeltUnlatched
• standstill
• steeringAngleDeg
• steeringPressed
• steeringTorque
• steerFaultPermanent
• steerFaultTemporary
• vCruise
• wheelSpeeds.[fl|fr|rl|rr]: Speed of each of the car's four wheels, in m/s. The car's CAN bus often broadcasts the speed in kph, so the helper function parse_wheel_speeds performs this conversion by default.

Recommended / Required for openpilot longitudinal control

• accFaulted
• espActive
• parkingBrake

Application Dependent

• blockPcmEnable
• buttonEnable
• brakeHoldActive
• carFaultedNonCritical
• invalidLkasSetting
• lowSpeedAlert
• regenBraking
• steeringAngleOffsetDeg
• steeringDisengage
• steeringTorqueEps
• stockLkas
• vCruiseCluster
• vEgoCluster
• vehicleSensorsInvalid

Automatically populated

• buttonEvents

These values are populated automatically by parse_wheel_speeds:

• aEgo: Acceleration of the ego vehicle, Kalman filtered derivative of vEgo.
• vEgo: Speed of the ego vehicle, Kalman filtered from vEgoRaw.
• vEgoRaw: Speed of the ego vehicle, based on the average of all four wheel speeds, unfiltered.

Optional

• brake
• charging
• fuelGauge
• leftBlindspot / rightBlindspot
• steeringRateDeg
• stockAeb
• stockFcw
• yawRate