def create_lkas_command(packer, angle_deg: float, curvature: float):
  """
  Creates a CAN message for the Ford LKAS Command.

  This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the
  PSCM lockout.

  Frequency is 20Hz.
  """

  values = {
    "LkaDrvOvrrd_D_Rq": 0,              # driver override level? [0|3]
    "LkaActvStats_D2_Req": 0,           # action [0|7]
    "LaRefAng_No_Req": angle_deg,       # angle [-102.4|102.3] degrees
    "LaRampType_B_Req": 0,              # Ramp speed: 0=Smooth, 1=Quick
    "LaCurvature_No_Calc": curvature,   # curvature [-0.01024|0.01023] 1/meter
    "LdwActvStats_D_Req": 0,            # LDW status [0|7]
    "LdwActvIntns_D_Req": 0,            # LDW intensity [0|3], shake alert strength
  }
  return packer.make_can_msg("Lane_Assist_Data1", 0, values)