From 0e78fbdab637af21943cefc05e079836f8bd8717 Mon Sep 17 00:00:00 2001
From: lukasloetkolben <61192133+lukasloetkolben@users.noreply.github.com>
Date: Mon, 23 Sep 2024 13:16:00 -0700
Subject: [PATCH] use orignal counter

---
 opendbc/car/tesla/carcontroller.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/tesla/carcontroller.py b/opendbc/car/tesla/carcontroller.py
index de02f90209..de57cbecba 100644
--- a/opendbc/car/tesla/carcontroller.py
+++ b/opendbc/car/tesla/carcontroller.py
@@ -43,7 +43,7 @@ def update(self, CC, CS, now_nanos):
       if hands_on_fault:
         state = 13  # "ACC_CANCEL_GENERIC_SILENT"
       accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
-      cntr = (self.frame // 4) % 8
+      cntr = CS.das_control["DAS_controlCounter"]
       can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr))
 
     # Increment counter so cancel is prioritized even without openpilot longitudinal