diff --git a/openpilot b/openpilot
new file mode 120000
index 00000000000000..0aabae46056be7
--- /dev/null
+++ b/openpilot
@@ -0,0 +1 @@
+/data/openpilot
\ No newline at end of file
diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
index 1e4e0150b20b45..03465fef8b8cc7 100644
--- a/selfdrive/controls/lib/long_mpc.py
+++ b/selfdrive/controls/lib/long_mpc.py
@@ -85,7 +85,7 @@ def get_TR(self):
       return 2.7  # 30m at 40km/hr
 
   def update(self, CS, lead, v_cruise_setpoint):
-    self.car_state = CS
+    self.car_state = CS.carState
     self.v_ego = CS.carState.vEgo
 
     # Setup current mpc state
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.o b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.o
index bcdc5b9e81d819..3e33aa6a23ad5c 100644
Binary files a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.o and b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.o differ
diff --git a/selfdrive/controls/lib/longitudinal_mpc/libmpc1.so b/selfdrive/controls/lib/longitudinal_mpc/libmpc1.so
index 30f7be05ac8f01..bd8812bca7ef98 100755
Binary files a/selfdrive/controls/lib/longitudinal_mpc/libmpc1.so and b/selfdrive/controls/lib/longitudinal_mpc/libmpc1.so differ
diff --git a/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.o b/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.o
index f10c23217ac960..5f959887818b59 100644
Binary files a/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.o and b/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.o differ