diff --git a/CanUds.c b/CanUds.c
index 78645fa..f2fbd6d 100644
--- a/CanUds.c
+++ b/CanUds.c
@@ -1828,6 +1828,19 @@ static uint16_t RequestTransferExit_37(tCanUds *env) {
 // конец --------------------------- RequestTransferExit ---------------------------------------------------------
 // конец --------------------------- RequestTransferExit ---------------------------------------------------------
 
+static uint16_t getActProc(uint16_t maxPos, uint16_t pos) {
+
+    uint16_t proc;
+
+    if (maxPos > 0) {
+        proc = (pos * 1000) / maxPos;
+    } else {
+        proc = 0;
+    }
+
+    return proc;
+}
+
 // Тут данные должны быть с модели &env->Status_Sensor_For_Model_input и т.д.
 void CanUdsInput_Set_Model(tCanUds *env) {
     osStatus_t status = osOK;
@@ -1839,6 +1852,36 @@ void CanUdsInput_Set_Model(tCanUds *env) {
 
     countQueue_space = osMessageQueueGetSpace(env->queue_input_get_Status_Actuator_DoorsActuator);
     if (countQueue_space) {
+
+
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Def = getActProc(rtY.Status_Actuator_model_IO.Motor_Def, Actuator_Ch0_Status_Model.in_CPOS_ALL[0]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_REC = getActProc(rtY.Status_Actuator_model_IO.Motor_REC, Actuator_Ch0_Status_Model.in_CPOS_ALL[1]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_OSA = getActProc(rtY.Status_Actuator_model_IO.Motor_OSA, Actuator_Ch0_Status_Model.in_CPOS_ALL[2]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Temp1_FL = getActProc(rtY.Status_Actuator_model_IO.Motor_Temp1_FL, Actuator_Ch0_Status_Model.in_CPOS_ALL[3]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Vent_CFL = getActProc(rtY.Status_Actuator_model_IO.Motor_Vent_CFL, Actuator_Ch0_Status_Model.in_CPOS_ALL[4]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Vent_SFL = getActProc(rtY.Status_Actuator_model_IO.Motor_Vent_SFL, Actuator_Ch0_Status_Model.in_CPOS_ALL[5]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Temp2_FL = getActProc(rtY.Status_Actuator_model_IO.Motor_Temp2_FL, Actuator_Ch0_Status_Model.in_CPOS_ALL[6]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Foot_1FL = getActProc(rtY.Status_Actuator_model_IO.Motor_Foot_1FL, Actuator_Ch0_Status_Model.in_CPOS_ALL[7]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Foot_2FL = getActProc(rtY.Status_Actuator_model_IO.Motor_Foot_2FL, Actuator_Ch0_Status_Model.in_CPOS_ALL[8]);
+
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Temp1_FR = getActProc(rtY.Status_Actuator_model_IO.Motor_Temp1_FR, Actuator_Ch1_Status_Model.in_CPOS_ALL[0]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Vent_CFR = getActProc(rtY.Status_Actuator_model_IO.Motor_Vent_CFR, Actuator_Ch1_Status_Model.in_CPOS_ALL[1]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Vent_SFR = getActProc(rtY.Status_Actuator_model_IO.Motor_Vent_SFR, Actuator_Ch1_Status_Model.in_CPOS_ALL[2]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Temp2_FR = getActProc(rtY.Status_Actuator_model_IO.Motor_Temp2_FR, Actuator_Ch1_Status_Model.in_CPOS_ALL[3]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Foot_1FR = getActProc(rtY.Status_Actuator_model_IO.Motor_Foot_1FR, Actuator_Ch1_Status_Model.in_CPOS_ALL[4]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Foot_2FR = getActProc(rtY.Status_Actuator_model_IO.Motor_Foot_2FR, Actuator_Ch1_Status_Model.in_CPOS_ALL[5]);
+
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Temp_RR = getActProc(rtY.Status_Actuator_model_IO.Motor_Temp_RR, Actuator_Ch2_Status_Model.in_CPOS_ALL[0]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Temp_RL = getActProc(rtY.Status_Actuator_model_IO.Motor_Temp_RL, Actuator_Ch2_Status_Model.in_CPOS_ALL[1]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Vent_SRL = getActProc(rtY.Status_Actuator_model_IO.Motor_Vent_SRL, Actuator_Ch2_Status_Model.in_CPOS_ALL[2]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Foot_RL = getActProc(rtY.Status_Actuator_model_IO.Motor_Foot_RL, Actuator_Ch2_Status_Model.in_CPOS_ALL[3]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Vent_CRL = getActProc(rtY.Status_Actuator_model_IO.Motor_Vent_CRL, Actuator_Ch2_Status_Model.in_CPOS_ALL[4]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Vent_CRR = getActProc(rtY.Status_Actuator_model_IO.Motor_Vent_CRR, Actuator_Ch2_Status_Model.in_CPOS_ALL[5]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Foot_RR = getActProc(rtY.Status_Actuator_model_IO.Motor_Foot_RR, Actuator_Ch2_Status_Model.in_CPOS_ALL[6]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_Vent_SRR = getActProc(rtY.Status_Actuator_model_IO.Motor_Vent_SRR, Actuator_Ch2_Status_Model.in_CPOS_ALL[7]);
+        model_Status_Actuator_DoorsActuator_For_Model_input.Motor_SealingValve = getActProc(rtY.Status_Actuator_model_IO.Motor_SealingValve, Actuator_Ch2_Status_Model.in_CPOS_ALL[8]);
+
+
         status = osMessageQueuePut(env->queue_input_get_Status_Actuator_DoorsActuator,
                                    &model_Status_Actuator_DoorsActuator_For_Model_input, 0, 0);
     }
@@ -1936,7 +1979,7 @@ static void CanUdsInput_Get_Model(tCanUds *env) {
     if (countQueue_space == 0) {
 
         status = osMessageQueueGet(env->queue_input_get_Status_Actuator_DoorsActuator,
-                                   &env->Status_Sensor_For_Model_input,
+                                   &env->Status_Actuator_DoorsActuator_For_Model_input,
                                    0, 0);
 
         if (status == osOK) {
@@ -2175,8 +2218,8 @@ static void CanUdsOutput_Set_Model(tCanUds *env) {
 
     uint32_t countQueue_space = osMessageQueueGetSpace(env->queue_output_set_Status_Set);
     if (countQueue_space) {
-         status = osMessageQueuePut(env->queue_output_set_Status_Set, &env->Status_Set_For_Model_output, 0,
-                                              0);
+        status = osMessageQueuePut(env->queue_output_set_Status_Set, &env->Status_Set_For_Model_output, 0,
+                                   0);
     }
 
     countQueue_space = osMessageQueueGetSpace(env->queue_output_set_Status_Actuator_DoorsActuator);
@@ -2258,7 +2301,8 @@ void CanUdsOutput_Get_Model(tCanUds *env) {
 
     countQueue_space = osMessageQueueGetSpace(env->queue_output_set_Status_Duct_Tgt);
     if (countQueue_space == 0) {
-        status = osMessageQueueGet(env->queue_output_set_Status_Duct_Tgt, &model_Status_Duct_Tgt_For_Model_output, 0, 0);
+        status = osMessageQueueGet(env->queue_output_set_Status_Duct_Tgt, &model_Status_Duct_Tgt_For_Model_output, 0,
+                                   0);
     }
 
     countQueue_space = osMessageQueueGetSpace(env->queue_output_set_Status_Eva_Tgt);
@@ -2284,7 +2328,8 @@ void CanUdsOutput_Get_Model(tCanUds *env) {
 
     countQueue_space = osMessageQueueGetSpace(env->queue_output_set_Status_External);
     if (countQueue_space == 0) {
-        status = osMessageQueueGet(env->queue_output_set_Status_External, &model_Status_External_For_Model_output, 0, 0);
+        status = osMessageQueueGet(env->queue_output_set_Status_External, &model_Status_External_For_Model_output, 0,
+                                   0);
     }
 
     countQueue_space = osMessageQueueGetSpace(env->queue_output_set_Status_EMS);
@@ -2716,7 +2761,8 @@ void CanUds_Init(
 
 
     env->queue_output_set_Status_Set = osMessageQueueNew(1, sizeof(tStatus_Set_For_Model), NULL);
-    env->queue_output_set_Status_Actuator_DoorsActuator = osMessageQueueNew(1, sizeof(tStatus_Actuator_For_Model),NULL);
+    env->queue_output_set_Status_Actuator_DoorsActuator = osMessageQueueNew(1, sizeof(tStatus_Actuator_For_Model),
+                                                                            NULL);
     env->queue_output_set_Status_Duct_Tgt = osMessageQueueNew(1, sizeof(tStatus_Duct_Tgt_For_Model), NULL);
     env->queue_output_set_Status_Eva_Tgt = osMessageQueueNew(1, sizeof(tStatus_Eva_Tgt_For_Model), NULL);
     env->queue_output_set_Status_IO = osMessageQueueNew(1, sizeof(tStatus_IO_For_Model), NULL);