diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 858a3815b..3326d7c96 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -129,7 +129,7 @@ class CarController:
                                          hud_control.rightLaneVisible, hud_control.leftLaneDepart,
                                          hud_control.rightLaneDepart, CC.enabled))
 
-    if self.frame % 100 == 0 and self.CP.enableDsu:
+    if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu:
       can_sends.append(create_fcw_command(self.packer, fcw_alert))
 
     # *** static msgs ***
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 0cf671172..27bea5574 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-82d3f0a3bfe07a76983e7e4603a0553d077ba15b
\ No newline at end of file
+c556add24a92c9d8593d9d3ebbeed9434b751d66
\ No newline at end of file