diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py
index 50b03b85a..7411c0c54 100644
--- a/selfdrive/car/toyota/tunes.py
+++ b/selfdrive/car/toyota/tunes.py
@@ -56,7 +56,7 @@ def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=.1):
     tune.torque.useSteeringAngle = True
     tune.torque.kp = 1.0 / MAX_LAT_ACCEL
     tune.torque.kf = 1.0 / MAX_LAT_ACCEL
-    tune.torque.ki = 0.25 / MAX_LAT_ACCEL
+    tune.torque.ki = 0.1 / MAX_LAT_ACCEL
     tune.torque.friction = FRICTION
   elif name == LatTunes.INDI_PRIUS:
     tune.init('indi')
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 4e9d55979..a37338425 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -42,7 +42,8 @@ class LatControlTorque(LatControl):
     if CS.vEgo < MIN_STEER_SPEED or not active:
       output_torque = 0.0
       pid_log.active = False
-      self.pid.reset()
+      if not active:
+        self.pid.reset()
     else:
       if self.use_steering_angle:
         actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 5bed2e765..ac8f59b26 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-70d79fbcc2b9ab0af867a7d6f138b58bcaaa3aa8
\ No newline at end of file
+10b766fa845934f0258c52cdf2103d0e1a9496c9
\ No newline at end of file