diff --git a/src/cam.c b/src/cam.c
index 8e1e79f..8e72eb2 100644
--- a/src/cam.c
+++ b/src/cam.c
@@ -142,23 +142,28 @@ static int mk_cam(facilities_t* facilities, uint8_t *cam_oer, uint32_t *cam_len)
 
 	    // Speed (already getting set bellow)
             // bvc_hf.speed.speedValue = ceil(shared_message->speed_value ÷ 0.036);
+	    // bvc_hf_speed.speedConfidence = 1;
 
 	    // Steering Wheel Angle
-	    bvc_hf->steeringWheelAngle = malloc(sizeof(SteeringWheelAngle_t));
-            bvc_hf->steeringWheelAngle->steeringWheelAngleValue = shared_message->w_angle_value;
-
+	    if(shared_message->w_angle_value != -1){
+	        bvc_hf->steeringWheelAngle = malloc(sizeof(SteeringWheelAngle_t));
+            	bvc_hf->steeringWheelAngle->steeringWheelAngleValue = shared_message->w_angle_value;
+		bvc_hf->steeringWheelAngle->steeringWheelAngleConfidence = 1;
+	    }
 	    // still missing temperature; where is de_temperature ?
 
 	    // Acceleration Control
-	    if(shared_message->b_pedal_value)
-		ac = ac | 0x01;
-	    if(shared_message->s_pedal_value)
-		ac = ac | 0x02;
-	    bvc_hf->accelerationControl = malloc(sizeof(AccelerationControl_t));
-	    bvc_hf->accelerationControl->buf = malloc(sizeof(uint8_t));
-	    memcpy(bvc_hf->accelerationControl->buf, &ac, 1);
-	    bvc_hf->accelerationControl->size = 1;
-	    bvc_hf->accelerationControl->bits_unused = 0;
+	    if(shared_message->b_pedal_value != -1 && shared_message->s_pedal_value != -1){
+	        if(shared_message->b_pedal_value)
+		    ac = ac | 0x01;
+	        if(shared_message->s_pedal_value)
+		    ac = ac | 0x02;
+	    	bvc_hf->accelerationControl = malloc(sizeof(AccelerationControl_t));
+	    	bvc_hf->accelerationControl->buf = malloc(sizeof(uint8_t));
+	    	memcpy(bvc_hf->accelerationControl->buf, &ac, 1);
+	    	bvc_hf->accelerationControl->size = 1;
+	    	bvc_hf->accelerationControl->bits_unused = 0;
+	    }
         }
 
         // Set speed
@@ -243,12 +248,14 @@ static int mk_cam(facilities_t* facilities, uint8_t *cam_oer, uint32_t *cam_len)
 	        uint8_t el = 0x00;
 
 		// Exterior Lights
-                if(shared_message->lights_value)
-                    el = el | 0x01;
-             	bvc_lf->exteriorLights.buf = malloc(sizeof(uint8_t));
-             	memcpy(bvc_lf->exteriorLights.buf, &el, 1);
-             	bvc_lf->exteriorLights.size = 1;
-             	bvc_lf->exteriorLights.bits_unused = 0;
+		if(shared_message->lights_value != -1){
+                    if(shared_message->lights_value)
+                    	el = el | 0x01;
+             	    bvc_lf->exteriorLights.buf = malloc(sizeof(uint8_t));
+             	    memcpy(bvc_lf->exteriorLights.buf, &el, 1);
+             	    bvc_lf->exteriorLights.size = 1;
+             	    bvc_lf->exteriorLights.bits_unused = 0;
+		}
 	    }
 
             PathHistory_t* ph = &cam->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.pathHistory;