      apply_steer = actuators.steer
  
      if self.enable_camera:
  
        if pcm_cancel:
          #print "CANCELING!!!!"
          can_sends.append(spam_cancel_button(self.packer))
  
        if (frame % 3) == 0:
  
          curvature = self.vehicle_model.calc_curvature(actuators.steeringAngleDeg*math.pi/180., CS.out.vEgo)
  
 
</s> remove     if self.enable_camera:
 </s> add     if pcm_cancel:
      #print "CANCELING!!!!"
      can_sends.append(spam_cancel_button(self.packer)) </s> remove       if (frame % 3) == 0:
 </s> add       curvature = self.vehicle_model.calc_curvature(actuators.steeringAngleDeg*math.pi/180., CS.out.vEgo) </s> remove         curvature = self.vehicle_model.calc_curvature(actuators.steeringAngleDeg*math.pi/180., CS.out.vEgo)
 </s> add       # The use of the toggle below is handy for trying out the various LKAS modes
      if TOGGLE_DEBUG:
        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 </s> remove         # The use of the toggle below is handy for trying out the various LKAS modes
        if TOGGLE_DEBUG:
          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
 </s> add       can_sends.append(create_steer_command(self.packer, apply_steer, enabled,
                                            CS.lkas_state, CS.out.steeringAngleDeg, curvature, self.lkas_action))
      self.generic_toggle_last = CS.out.genericToggle </s> remove         can_sends.append(create_steer_command(self.packer, apply_steer, enabled,
                                              CS.lkas_state, CS.out.steeringAngleDeg, curvature, self.lkas_action))
        self.generic_toggle_last = CS.out.genericToggle
 </s> add     if (frame % 100) == 0:
    if (frame % 3) == 0:
      apply_steer = actuators.steer
  
      if self.enable_camera:
  
    if (frame % 3) == 0:
    if (frame % 3) == 0:
    if (frame % 3) == 0:
  
        if (frame % 3) == 0:
  
          curvature = self.vehicle_model.calc_curvature(actuators.steeringAngleDeg*math.pi/180., CS.out.vEgo)
  
keep keep keep keep replace replace replace keep keep keep keep keep
 deprecate CP.enableCamera (#21509)

* deprecate CP.enableCamera

* more removal

* one more

* update refs 
selfdrive/car/ford/carcontroller.py