def __init__(self, CP):
    self.CP = CP
    self.car_fingerprint = CP.carFingerprint
    self.out = car.CarState.new_message()

    self.cruise_buttons = 0
    self.left_blinker_cnt = 0
    self.right_blinker_cnt = 0
    self.left_blinker_prev = False
    self.right_blinker_prev = False

    # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
    # R = 1e3
    self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
                         A=[[1.0, DT_CTRL], [0.0, 1.0]],
                         C=[1.0, 0.0],
                         K=[[0.12287673], [0.29666309]])