diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 865442f73538c1..ad44953e94d576 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -55,6 +55,7 @@ def __init__(self, CP, init_v=0.0, init_a=0.0):
     self.v_desired_trajectory = np.zeros(CONTROL_N)
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
+    self.solverExecutionTime = 0.0
 
   def update(self, sm):
     v_ego = sm['carState'].vEgo
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index a49f93e37d062d..80a381d3fc8030 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -216,8 +216,9 @@ def test_mpc_execution_timings(self):
       ts = [getattr(getattr(m, s), "solverExecutionTime") for m in self.lr if m.which() == s]
       self.assertLess(min(ts), instant_max, f"high '{s}' execution time: {min(ts)}")
       self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
-      result += f"'{s}' execution time: {min(ts)}\n"
-      result += f"'{s}' avg execution time: {np.mean(ts)}\n"
+      result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
+      result += f"'{s}' execution time: max  {max(ts):.5f}s\n"
+      result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n"
     result += "------------------------------------------------\n"
     print(result)
 
@@ -237,8 +238,8 @@ def test_model_execution_timings(self):
       ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s]
       self.assertLess(min(ts), instant_max, f"high '{s}' execution time: {min(ts)}")
       self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
-      result += f"'{s}' execution time: {min(ts)}\n"
-      result += f"'{s}' avg execution time: {np.mean(ts)}\n"
+      result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
+      result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n"
     result += "------------------------------------------------\n"
     print(result)