diff --git a/opendbc_repo b/opendbc_repo
index efe4ff137f..e0e1626820 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit efe4ff137f839bbd416ac8ff8f5b78550a7d6eec
+Subproject commit e0e1626820d6a18a984ae69eebc012180699d41c
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 1694afee23..b381879a7a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -132,7 +132,7 @@ class Controls(ControlsExt, ModelStateBase):
       self.LoC.reset()
 
     # accel PID loop
-    pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
+    pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, self.CP_SP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
     actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
 
     # Steering PID loop and lateral MPC