diff --git a/selfdrive/controls/lib/longitudinal_mpc/Makefile b/selfdrive/controls/lib/longitudinal_mpc/Makefile
index 17f78eada990df..4e5bfd3807d39c 100644
--- a/selfdrive/controls/lib/longitudinal_mpc/Makefile
+++ b/selfdrive/controls/lib/longitudinal_mpc/Makefile
@@ -13,12 +13,10 @@ QPOASES_FLAGS = -I$(PHONELIBS)/qpoases -I$(PHONELIBS)/qpoases/INCLUDE -I$(PHONEL
 
 ACADO_FLAGS = -I$(PHONELIBS)/acado/include -I$(PHONELIBS)/acado/include/acado
 
-ifeq ($(UNAME_S),Darwin)
-	ACADO_LIBS := -lacado_toolkit_s
-else ifeq ($(UNAME_M),aarch64)
-	ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
+ifeq ($(UNAME_M),aarch64)
+	ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit_s.so -l:libacado_casadi.a -l:libacado_csparse.a
 else
-	ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
+	ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit_s.so -l:libacado_casadi.a -l:libacado_csparse.a
 endif
 
 OBJS = \
@@ -80,7 +78,7 @@ generator: generator.cpp
 
 .PHONY: generate
 generate: generator
-	./generator
+	LD_LIBRARY_PATH=../../../../phonelibs/acado/x64/lib ./generator
 
 .PHONY: clean
 clean:
diff --git a/selfdrive/controls/lib/longitudinal_mpc/generator.cpp b/selfdrive/controls/lib/longitudinal_mpc/generator.cpp
index f5c95394d8d3f1..33206891556ede 100644
--- a/selfdrive/controls/lib/longitudinal_mpc/generator.cpp
+++ b/selfdrive/controls/lib/longitudinal_mpc/generator.cpp
@@ -5,10 +5,9 @@ const int controlHorizon = 50;
 using namespace std;
 
 #define G 9.81
-#define TR 1.8
 
-#define RW(v_ego, v_l) (v_ego * TR - (v_l - v_ego) * TR + v_ego*v_ego/(2*G) - v_l*v_l / (2*G))
-#define NORM_RW_ERROR(v_ego, v_l, p) ((RW(v_ego, v_l) + 4.0 - p)/(sqrt(v_ego + 0.5) + 0.1))
+#define RW(v_ego, v_l, follow_time) (v_ego * follow_time - (v_l - v_ego) * follow_time + v_ego*v_ego/(2*G) - v_l*v_l / (2*G))
+#define NORM_RW_ERROR(v_ego, v_l, p, follow_time) ((RW(v_ego, v_l, follow_time) + 4.0 - p)/(sqrt(v_ego + 0.5) + 0.1))
 
 int main( )
 {
@@ -24,7 +23,12 @@ int main( )
 
   Control j_ego;
 
-  auto desired = 4.0 + RW(v_ego, v_l);
+  // follow distance expressed as a stopping distance in seconds
+  // see https://github.com/rhinodavid/CommaButtons
+  // see https://github.com/acado/acado/issues/54 for a discussion of `OnlineData`
+  OnlineData follow_time;
+
+  auto desired = 4.0 + RW(v_ego, v_l, follow_time);
   auto d_l = x_l - x_ego;
 
   // Directly calculate a_l to prevent instabilites due to discretization
@@ -41,7 +45,7 @@ int main( )
 
   // Running cost
   Function h;
-  h << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - exp(0.3 * NORM_RW_ERROR(v_ego, v_l, desired));
+  h << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l, follow_time)) - exp(0.3 * NORM_RW_ERROR(v_ego, v_l, desired, follow_time));
   h << (d_l - desired) / (0.05 * v_ego + 0.5);
   h << a_ego * (0.1 * v_ego + 1.0);
   h << j_ego * (0.1 * v_ego + 1.0);
@@ -51,7 +55,7 @@ int main( )
 
   // Terminal cost
   Function hN;
-  hN << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - exp(0.3 * NORM_RW_ERROR(v_ego, v_l, desired));
+  hN << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l, follow_time)) - exp(0.3 * NORM_RW_ERROR(v_ego, v_l, desired, follow_time));
   hN << (d_l - desired) / (0.05 * v_ego + 0.5);
   hN << a_ego * (0.1 * v_ego + 1.0);
 
@@ -79,7 +83,7 @@ int main( )
   ocp.minimizeLSQEndTerm(QN, hN);
 
   ocp.subjectTo( 0.0 <= v_ego);
-  ocp.setNOD(2);
+  ocp.setNOD(3);
 
   OCPexport mpc(ocp);
   mpc.set( HESSIAN_APPROXIMATION, GAUSS_NEWTON );
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h
index cecba6e7408cba..db1be5e0c71be8 100644
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h
@@ -64,7 +64,7 @@ extern "C"
 /** Number of control/estimation intervals. */
 #define ACADO_N 20
 /** Number of online data values. */
-#define ACADO_NOD 2
+#define ACADO_NOD 3
 /** Number of path constraints. */
 #define ACADO_NPAC 0
 /** Number of control variables. */
@@ -114,11 +114,11 @@ real_t x[ 126 ];
  */
 real_t u[ 20 ];
 
-/** Matrix of size: 21 x 2 (row major format)
+/** Matrix of size: 21 x 3 (row major format)
  * 
  *  Matrix containing 21 online data vectors.
  */
-real_t od[ 42 ];
+real_t od[ 63 ];
 
 /** Column vector of size: 80
  * 
@@ -160,14 +160,14 @@ real_t rhs_aux[ 10 ];
 
 real_t rk_ttt;
 
-/** Row vector of size: 51 */
-real_t rk_xxx[ 51 ];
+/** Row vector of size: 52 */
+real_t rk_xxx[ 52 ];
 
 /** Matrix of size: 4 x 48 (row major format) */
 real_t rk_kkk[ 192 ];
 
-/** Row vector of size: 51 */
-real_t state[ 51 ];
+/** Row vector of size: 52 */
+real_t state[ 52 ];
 
 /** Column vector of size: 120 */
 real_t d[ 120 ];
@@ -187,8 +187,8 @@ real_t evGu[ 120 ];
 /** Column vector of size: 30 */
 real_t objAuxVar[ 30 ];
 
-/** Row vector of size: 9 */
-real_t objValueIn[ 9 ];
+/** Row vector of size: 10 */
+real_t objValueIn[ 10 ];
 
 /** Row vector of size: 32 */
 real_t objValueOut[ 32 ];
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.c b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.c
index 2e77d54147dbee..d348a5ecbfb161 100644
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.c
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_integrator.c
@@ -145,6 +145,7 @@ rk_eta[47] = 0.0000000000000000e+00;
 acadoWorkspace.rk_xxx[48] = rk_eta[48];
 acadoWorkspace.rk_xxx[49] = rk_eta[49];
 acadoWorkspace.rk_xxx[50] = rk_eta[50];
+acadoWorkspace.rk_xxx[51] = rk_eta[51];
 
 for (run1 = 0; run1 < 1; ++run1)
 {
diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c
index 676787bbfcbc7b..3b88710e5fd164 100644
--- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c
+++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c
@@ -45,8 +45,9 @@ acadoWorkspace.state[4] = acadoVariables.x[lRun1 * 6 + 4];
 acadoWorkspace.state[5] = acadoVariables.x[lRun1 * 6 + 5];
 
 acadoWorkspace.state[48] = acadoVariables.u[lRun1];
-acadoWorkspace.state[49] = acadoVariables.od[lRun1 * 2];
-acadoWorkspace.state[50] = acadoVariables.od[lRun1 * 2 + 1];
+acadoWorkspace.state[49] = acadoVariables.od[lRun1 * 3];
+acadoWorkspace.state[50] = acadoVariables.od[lRun1 * 3 + 1];
+acadoWorkspace.state[51] = acadoVariables.od[lRun1 * 3 + 2];
 
 ret = acado_integrate(acadoWorkspace.state, 1, lRun1);
 
@@ -108,36 +109,37 @@ void acado_evaluateLSQ(const real_t* in, real_t* out)
 {
 const real_t* xd = in;
 const real_t* u = in + 6;
+const real_t* od = in + 7;
 /* Vector of auxiliary variables; number of elements: 30. */
 real_t* a = acadoWorkspace.objAuxVar;
 
 /* Compute intermediate quantities: */
 a[0] = (sqrt((xd[1]+(real_t)(5.0000000000000000e-01))));
-a[1] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
+a[1] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
 a[2] = (sqrt((xd[1]+(real_t)(5.0000000000000000e-01))));
-a[3] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(a[2]+(real_t)(1.0000000000000001e-01))))));
+a[3] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(a[2]+(real_t)(1.0000000000000001e-01))))));
 a[4] = ((real_t)(1.0000000000000000e+00)/(a[0]+(real_t)(1.0000000000000001e-01)));
-a[5] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
+a[5] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
 a[6] = (((real_t)(2.9999999999999999e-01)*(((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[4]))*a[5]);
 a[7] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 a[8] = (1.0/sqrt((xd[1]+(real_t)(5.0000000000000000e-01))));
 a[9] = (a[8]*(real_t)(5.0000000000000000e-01));
 a[10] = (a[4]*a[4]);
-a[11] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[7]))*a[4])-((((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))*a[9])*a[10])))*a[5]);
+a[11] = (((real_t)(2.9999999999999999e-01)*((((od[2]-(((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*od[2]))+((xd[1]+xd[1])*a[7]))*a[4])-((((((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))*a[9])*a[10])))*a[5]);
 a[12] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 a[13] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 a[14] = ((real_t)(1.0000000000000000e+00)/(a[2]+(real_t)(1.0000000000000001e-01)));
 a[15] = (1.0/sqrt((xd[1]+(real_t)(5.0000000000000000e-01))));
 a[16] = (a[15]*(real_t)(5.0000000000000000e-01));
 a[17] = (a[14]*a[14]);
-a[18] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(a[2]+(real_t)(1.0000000000000001e-01))))));
-a[19] = (((real_t)(2.9999999999999999e-01)*((((((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[12]))-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[13])))*a[14])-((((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*a[16])*a[17])))*a[18]);
+a[18] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(a[2]+(real_t)(1.0000000000000001e-01))))));
+a[19] = (((real_t)(2.9999999999999999e-01)*(((((od[2]-(((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*od[2]))+((xd[1]+xd[1])*a[12]))-((od[2]-(((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*od[2]))+((xd[1]+xd[1])*a[13])))*a[14])-((((((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*a[16])*a[17])))*a[18]);
 a[20] = (((real_t)(2.9999999999999999e-01)*(((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[4]))*a[5]);
 a[21] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
-a[22] = (((real_t)(2.9999999999999999e-01)*((((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[21]))*a[4]))*a[5]);
+a[22] = (((real_t)(2.9999999999999999e-01)*((((real_t)(0.0000000000000000e+00)-od[2])-((xd[4]+xd[4])*a[21]))*a[4]))*a[5]);
 a[23] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 a[24] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
-a[25] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[23]))-(((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[24])))*a[14]))*a[18]);
+a[25] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(0.0000000000000000e+00)-od[2])-((xd[4]+xd[4])*a[23]))-(((real_t)(0.0000000000000000e+00)-od[2])-((xd[4]+xd[4])*a[24])))*a[14]))*a[18]);
 a[26] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
 a[27] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 a[28] = (a[26]*a[26]);
@@ -145,7 +147,7 @@ a[29] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 
 /* Compute outputs: */
 out[0] = (a[1]-a[3]);
-out[1] = (((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
+out[1] = (((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
 out[2] = (xd[2]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
 out[3] = (u[0]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
 out[4] = a[6];
@@ -155,10 +157,10 @@ out[7] = a[20];
 out[8] = (a[22]-a[25]);
 out[9] = (real_t)(0.0000000000000000e+00);
 out[10] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[26]);
-out[11] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[27])))*a[26])-((((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[28]));
+out[11] = ((((real_t)(0.0000000000000000e+00)-((od[2]-(((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*od[2]))+((xd[1]+xd[1])*a[27])))*a[26])-((((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[28]));
 out[12] = (real_t)(0.0000000000000000e+00);
 out[13] = a[26];
-out[14] = (((real_t)(0.0000000000000000e+00)-(((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[29])))*a[26]);
+out[14] = (((real_t)(0.0000000000000000e+00)-(((real_t)(0.0000000000000000e+00)-od[2])-((xd[4]+xd[4])*a[29])))*a[26]);
 out[15] = (real_t)(0.0000000000000000e+00);
 out[16] = (real_t)(0.0000000000000000e+00);
 out[17] = (xd[2]*(real_t)(1.0000000000000001e-01));
@@ -181,36 +183,37 @@ out[31] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e
 void acado_evaluateLSQEndTerm(const real_t* in, real_t* out)
 {
 const real_t* xd = in;
+const real_t* od = in + 6;
 /* Vector of auxiliary variables; number of elements: 30. */
 real_t* a = acadoWorkspace.objAuxVar;
 
 /* Compute intermediate quantities: */
 a[0] = (sqrt((xd[1]+(real_t)(5.0000000000000000e-01))));
-a[1] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
+a[1] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
 a[2] = (sqrt((xd[1]+(real_t)(5.0000000000000000e-01))));
-a[3] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(a[2]+(real_t)(1.0000000000000001e-01))))));
+a[3] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(a[2]+(real_t)(1.0000000000000001e-01))))));
 a[4] = ((real_t)(1.0000000000000000e+00)/(a[0]+(real_t)(1.0000000000000001e-01)));
-a[5] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
+a[5] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
 a[6] = (((real_t)(2.9999999999999999e-01)*(((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[4]))*a[5]);
 a[7] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 a[8] = (1.0/sqrt((xd[1]+(real_t)(5.0000000000000000e-01))));
 a[9] = (a[8]*(real_t)(5.0000000000000000e-01));
 a[10] = (a[4]*a[4]);
-a[11] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[7]))*a[4])-((((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))*a[9])*a[10])))*a[5]);
+a[11] = (((real_t)(2.9999999999999999e-01)*((((od[2]-(((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*od[2]))+((xd[1]+xd[1])*a[7]))*a[4])-((((((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(xd[3]-xd[0]))*a[9])*a[10])))*a[5]);
 a[12] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 a[13] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 a[14] = ((real_t)(1.0000000000000000e+00)/(a[2]+(real_t)(1.0000000000000001e-01)));
 a[15] = (1.0/sqrt((xd[1]+(real_t)(5.0000000000000000e-01))));
 a[16] = (a[15]*(real_t)(5.0000000000000000e-01));
 a[17] = (a[14]*a[14]);
-a[18] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(a[2]+(real_t)(1.0000000000000001e-01))))));
-a[19] = (((real_t)(2.9999999999999999e-01)*((((((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[12]))-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[13])))*a[14])-((((((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*a[16])*a[17])))*a[18]);
+a[18] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(a[2]+(real_t)(1.0000000000000001e-01))))));
+a[19] = (((real_t)(2.9999999999999999e-01)*(((((od[2]-(((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*od[2]))+((xd[1]+xd[1])*a[12]))-((od[2]-(((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*od[2]))+((xd[1]+xd[1])*a[13])))*a[14])-((((((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-((real_t)(4.0000000000000000e+00)+((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*a[16])*a[17])))*a[18]);
 a[20] = (((real_t)(2.9999999999999999e-01)*(((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[4]))*a[5]);
 a[21] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
-a[22] = (((real_t)(2.9999999999999999e-01)*((((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[21]))*a[4]))*a[5]);
+a[22] = (((real_t)(2.9999999999999999e-01)*((((real_t)(0.0000000000000000e+00)-od[2])-((xd[4]+xd[4])*a[21]))*a[4]))*a[5]);
 a[23] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 a[24] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
-a[25] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[23]))-(((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[24])))*a[14]))*a[18]);
+a[25] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(0.0000000000000000e+00)-od[2])-((xd[4]+xd[4])*a[23]))-(((real_t)(0.0000000000000000e+00)-od[2])-((xd[4]+xd[4])*a[24])))*a[14]))*a[18]);
 a[26] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
 a[27] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 a[28] = (a[26]*a[26]);
@@ -218,7 +221,7 @@ a[29] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 
 /* Compute outputs: */
 out[0] = (a[1]-a[3]);
-out[1] = (((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
+out[1] = (((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
 out[2] = (xd[2]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
 out[3] = a[6];
 out[4] = (a[11]-a[19]);
@@ -227,10 +230,10 @@ out[6] = a[20];
 out[7] = (a[22]-a[25]);
 out[8] = (real_t)(0.0000000000000000e+00);
 out[9] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[26]);
-out[10] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[27])))*a[26])-((((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[28]));
+out[10] = ((((real_t)(0.0000000000000000e+00)-((od[2]-(((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*od[2]))+((xd[1]+xd[1])*a[27])))*a[26])-((((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*od[2])-((xd[4]-xd[1])*od[2]))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[28]));
 out[11] = (real_t)(0.0000000000000000e+00);
 out[12] = a[26];
-out[13] = (((real_t)(0.0000000000000000e+00)-(((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[29])))*a[26]);
+out[13] = (((real_t)(0.0000000000000000e+00)-(((real_t)(0.0000000000000000e+00)-od[2])-((xd[4]+xd[4])*a[29])))*a[26]);
 out[14] = (real_t)(0.0000000000000000e+00);
 out[15] = (real_t)(0.0000000000000000e+00);
 out[16] = (xd[2]*(real_t)(1.0000000000000001e-01));
@@ -383,8 +386,9 @@ acadoWorkspace.objValueIn[3] = acadoVariables.x[runObj * 6 + 3];
 acadoWorkspace.objValueIn[4] = acadoVariables.x[runObj * 6 + 4];
 acadoWorkspace.objValueIn[5] = acadoVariables.x[runObj * 6 + 5];
 acadoWorkspace.objValueIn[6] = acadoVariables.u[runObj];
-acadoWorkspace.objValueIn[7] = acadoVariables.od[runObj * 2];
-acadoWorkspace.objValueIn[8] = acadoVariables.od[runObj * 2 + 1];
+acadoWorkspace.objValueIn[7] = acadoVariables.od[runObj * 3];
+acadoWorkspace.objValueIn[8] = acadoVariables.od[runObj * 3 + 1];
+acadoWorkspace.objValueIn[9] = acadoVariables.od[runObj * 3 + 2];
 
 acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
 acadoWorkspace.Dy[runObj * 4] = acadoWorkspace.objValueOut[0];
@@ -403,8 +407,9 @@ acadoWorkspace.objValueIn[2] = acadoVariables.x[122];
 acadoWorkspace.objValueIn[3] = acadoVariables.x[123];
 acadoWorkspace.objValueIn[4] = acadoVariables.x[124];
 acadoWorkspace.objValueIn[5] = acadoVariables.x[125];
-acadoWorkspace.objValueIn[6] = acadoVariables.od[40];
-acadoWorkspace.objValueIn[7] = acadoVariables.od[41];
+acadoWorkspace.objValueIn[6] = acadoVariables.od[60];
+acadoWorkspace.objValueIn[7] = acadoVariables.od[61];
+acadoWorkspace.objValueIn[8] = acadoVariables.od[62];
 acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
 
 acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0];
@@ -5205,8 +5210,9 @@ acadoWorkspace.state[3] = acadoVariables.x[index * 6 + 3];
 acadoWorkspace.state[4] = acadoVariables.x[index * 6 + 4];
 acadoWorkspace.state[5] = acadoVariables.x[index * 6 + 5];
 acadoWorkspace.state[48] = acadoVariables.u[index];
-acadoWorkspace.state[49] = acadoVariables.od[index * 2];
-acadoWorkspace.state[50] = acadoVariables.od[index * 2 + 1];
+acadoWorkspace.state[49] = acadoVariables.od[index * 3];
+acadoWorkspace.state[50] = acadoVariables.od[index * 3 + 1];
+acadoWorkspace.state[51] = acadoVariables.od[index * 3 + 2];
 
 acado_integrate(acadoWorkspace.state, index == 0, index);
 
@@ -5257,8 +5263,9 @@ else
 {
 acadoWorkspace.state[48] = acadoVariables.u[19];
 }
-acadoWorkspace.state[49] = acadoVariables.od[40];
-acadoWorkspace.state[50] = acadoVariables.od[41];
+acadoWorkspace.state[49] = acadoVariables.od[60];
+acadoWorkspace.state[50] = acadoVariables.od[61];
+acadoWorkspace.state[51] = acadoVariables.od[62];
 
 acado_integrate(acadoWorkspace.state, 1, 19);
 
@@ -5333,8 +5340,9 @@ acadoWorkspace.objValueIn[3] = acadoVariables.x[lRun1 * 6 + 3];
 acadoWorkspace.objValueIn[4] = acadoVariables.x[lRun1 * 6 + 4];
 acadoWorkspace.objValueIn[5] = acadoVariables.x[lRun1 * 6 + 5];
 acadoWorkspace.objValueIn[6] = acadoVariables.u[lRun1];
-acadoWorkspace.objValueIn[7] = acadoVariables.od[lRun1 * 2];
-acadoWorkspace.objValueIn[8] = acadoVariables.od[lRun1 * 2 + 1];
+acadoWorkspace.objValueIn[7] = acadoVariables.od[lRun1 * 3];
+acadoWorkspace.objValueIn[8] = acadoVariables.od[lRun1 * 3 + 1];
+acadoWorkspace.objValueIn[9] = acadoVariables.od[lRun1 * 3 + 2];
 
 acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
 acadoWorkspace.Dy[lRun1 * 4] = acadoWorkspace.objValueOut[0] - acadoVariables.y[lRun1 * 4];
@@ -5348,8 +5356,9 @@ acadoWorkspace.objValueIn[2] = acadoVariables.x[122];
 acadoWorkspace.objValueIn[3] = acadoVariables.x[123];
 acadoWorkspace.objValueIn[4] = acadoVariables.x[124];
 acadoWorkspace.objValueIn[5] = acadoVariables.x[125];
-acadoWorkspace.objValueIn[6] = acadoVariables.od[40];
-acadoWorkspace.objValueIn[7] = acadoVariables.od[41];
+acadoWorkspace.objValueIn[6] = acadoVariables.od[60];
+acadoWorkspace.objValueIn[7] = acadoVariables.od[61];
+acadoWorkspace.objValueIn[8] = acadoVariables.od[62];
 acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
 acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0] - acadoVariables.yN[0];
 acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1] - acadoVariables.yN[1];
diff --git a/selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py b/selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py
index 36b6f8b7e0b8d3..765969d4433dea 100644
--- a/selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py
+++ b/selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py
@@ -39,7 +39,7 @@ def _get_libmpc(mpc_id):
     void init(double ttcCost, double distanceCost, double accelerationCost, double jerkCost);
     void init_with_simulation(double v_ego, double x_l, double v_l, double a_l, double l);
     int run_mpc(state_t * x0, log_t * solution,
-                double l, double a_l_0);
+                double l, double a_l_0, double follow_time);
     """)
 
     return (ffi, ffi.dlopen(libmpc_fn))
@@ -48,3 +48,4 @@ def _get_libmpc(mpc_id):
 
 def get_libmpc(mpc_id):
     return mpcs[mpc_id - 1]
+    
\ No newline at end of file
diff --git a/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.c b/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.c
index c0b43e53c93771..0aee482f012747 100644
--- a/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.c
+++ b/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.c
@@ -118,12 +118,13 @@ void init_with_simulation(double v_ego, double x_l_0, double v_l_0, double a_l_0
   for (i = 0; i < NYN; ++i)  acadoVariables.yN[ i ] = 0.0;
 }
 
-int run_mpc(state_t * x0, log_t * solution, double l, double a_l_0){
+int run_mpc(state_t * x0, log_t * solution, double l, double a_l_0, double follow_time){
   int i;
 
   for (i = 0; i <= NOD * N; i+= NOD){
     acadoVariables.od[i] = l;
     acadoVariables.od[i+1] = a_l_0;
+    acadoVariables.od[i+2] = follow_time;
   }
 
   acadoVariables.x[0] = acadoVariables.x0[0] = x0->x_ego;
diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
index e0a53e99736d95..c1a007470517cf 100755
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@@ -211,7 +211,9 @@ def update(self, CS, lead, v_cruise_setpoint):
 
     # Calculate mpc
     t = sec_since_boot()
-    n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead)
+    # hardcode follow time for now
+    follow_time = 1.8
+    n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead, follow_time)
     duration = int((sec_since_boot() - t) * 1e9)
     self.send_mpc_solution(n_its, duration)