  class CarControllerParams:
    # Messages: Lane_Assist_Data1, LateralMotionControl
    STEER_STEP = 5
    # Message: IPMA_Data
    LKAS_UI_STEP = 100
    # Message: ACCDATA_3
    ACC_UI_STEP = 5
    # Message: Steering_Data_FD1, but send twice as fast
 
</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
  # Message: ACCDATA
  ACC_CONTROL_STEP = 2
  class CarControllerParams:
    # Messages: Lane_Assist_Data1, LateralMotionControl
    STEER_STEP = 5
  # Message: ACCDATA
  ACC_CONTROL_STEP = 2
    # Message: IPMA_Data
    LKAS_UI_STEP = 100
    # Message: ACCDATA_3
    ACC_UI_STEP = 5
    # Message: Steering_Data_FD1, but send twice as fast
keep keep add keep keep keep keep keep
 Ford longitudinal control (#27161)

ford long 
selfdrive/car/ford/values.py