        self.apply_curvature_last = apply_curvature
        can_sends.append(create_lka_msg(self.packer))
        can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.))
  
      ### ui ###
      send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
  
      # send lkas ui command at 1Hz or if ui state changes
      if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
        can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
 
</s> remove from selfdrive.car.ford.fordcan import create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, create_lka_msg, create_lkas_ui_msg
 </s> add from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
  create_lka_msg, create_lkas_ui_msg
    ### longitudinal control ###
    # send acc command at 50Hz
    if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)

      precharge_brake = accel < -0.1
      if accel > -0.5:
        gas = accel
        decel = False
      else:
        gas = -5.0
        decel = True

      can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel))


        self.apply_curvature_last = apply_curvature
        can_sends.append(create_lka_msg(self.packer))
        can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.))
  
    ### longitudinal control ###
    # send acc command at 50Hz
    if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)

      precharge_brake = accel < -0.1
      if accel > -0.5:
        gas = accel
        decel = False
      else:
        gas = -5.0
        decel = True

      can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel))


      ### ui ###
      send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
  
      # send lkas ui command at 1Hz or if ui state changes
      if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
        can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
keep keep keep add keep keep keep keep keep keep
 Ford longitudinal control (#27161)

ford long 
selfdrive/car/ford/carcontroller.py