diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index 507964efe..a923baca6 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -38,9 +38,8 @@ generated_files = [
   f'{gen}/lat_model/lat_expl_vde_adj.c',
 
   f'{gen}/lat_model/lat_model.h',
-  f'{gen}/lat_cost/lat_cost_y_fun.h',
-  f'{gen}/lat_cost/lat_cost_y_e_fun.h',
-  f'{gen}/lat_cost/lat_cost_y_0_fun.h',
+  f'{gen}/lat_constraints/lat_constraints.h',
+  f'{gen}/lat_cost/lat_cost.h',
 ] + build_files
 
 acados_dir = '#third_party/acados'
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 8717bdf89..c78be70fe 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -44,10 +44,8 @@ generated_files = [
   f'{gen}/long_model/long_expl_vde_adj.c',
 
   f'{gen}/long_model/long_model.h',
-  f'{gen}/long_constraints/long_h_constraint.h',
-  f'{gen}/long_cost/long_cost_y_fun.h',
-  f'{gen}/long_cost/long_cost_y_e_fun.h',
-  f'{gen}/long_cost/long_cost_y_0_fun.h',
+  f'{gen}/long_constraints/long_constraints.h',
+  f'{gen}/long_cost/long_cost.h',
 ] + build_files
 
 acados_dir = '#third_party/acados'