      self.last_angle = 0
  
      self.packer = CANPacker(dbc_name)
  
    def update(self, enabled, CS, frame, actuators, cruise_cancel):
      """ Controls thread """
  
      # Send CAN commands.
      can_sends = []
  
 
</s> remove                                c.cruiseControl.cancel,)
 </s> add                                c.cruiseControl.cancel, c.hudControl.visualAlert, 
                               c.hudControl.leftLaneVisible,c.hudControl.rightLaneVisible,
                               c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
  def update(self, enabled, CS, frame, actuators, cruise_cancel, hud_alert,
             left_line, right_line, left_lane_depart, right_lane_depart):
      self.last_angle = 0
  
      self.packer = CANPacker(dbc_name)
  
  def update(self, enabled, CS, frame, actuators, cruise_cancel, hud_alert,
             left_line, right_line, left_lane_depart, right_lane_depart):
      """ Controls thread """
  
      # Send CAN commands.
      can_sends = []
  
keep keep keep keep replace keep keep keep keep keep
 Added LKAS HUD line detection/steer status/hand on wheel warning (#1225) 
selfdrive/car/nissan/carcontroller.py