diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index c5aaafa096433f..0fc8b8ef663a21 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -131,7 +131,8 @@ def update(self, sm):
 
     if self.mpc.mode == 'acc':
       accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
-      accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
+      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
+      accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP)
     else:
       accel_limits = [ACCEL_MIN, ACCEL_MAX]
       accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index ae8301871d2575..bcfc4d0c14809b 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -19,7 +19,7 @@ def main():
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'selfdriveState'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
   while True:
@@ -30,7 +30,7 @@ def main():
 
       ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
       msg = messaging.new_message('driverAssistance')
-      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2'])
+      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters'])
       msg.driverAssistance.leftLaneDeparture = ldw.left
       msg.driverAssistance.rightLaneDeparture = ldw.right
       pm.send('driverAssistance', msg)
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index ef17325642da95..448dc6896d17cd 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -508,7 +508,7 @@ def selfdrived_config_callback(params, cfg, lr):
   ),
   ProcessConfig(
     proc_name="plannerd",
-    pubs=["modelV2", "carControl", "carState", "controlsState", "radarState", "selfdriveState"],
+    pubs=["modelV2", "carControl", "carState", "controlsState", "liveParameters", "radarState", "selfdriveState"],
     subs=["longitudinalPlan", "driverAssistance"],
     ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index ea0c416f205c21..7892dd52d88e7c 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-4e595fcc2e8e4ef1564d915f697ddd9334067a7f
\ No newline at end of file
+a000c117d4082c2688735b6e21073e5df0626e63
\ No newline at end of file