diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
index 6b0290863..42cef8b89 100755
--- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
@@ -98,6 +98,7 @@ def gen_lat_mpc_solver():
   ocp.solver_options.integrator_type = 'ERK'
   ocp.solver_options.nlp_solver_type = 'SQP_RTI'
   ocp.solver_options.qp_solver_iter_max = 1
+  ocp.solver_options.qp_solver_cond_N = N//4
 
   # set prediction horizon
   ocp.solver_options.tf = Tf
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 5c8a98bda..b3960fcb5 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -166,6 +166,7 @@ def gen_long_mpc_solver():
   ocp.solver_options.hessian_approx = 'GAUSS_NEWTON'
   ocp.solver_options.integrator_type = 'ERK'
   ocp.solver_options.nlp_solver_type = 'SQP_RTI'
+  ocp.solver_options.qp_solver_cond_N = N//4
 
   # More iterations take too much time and less lead to inaccurate convergence in
   # some situations. Ideally we would run just 1 iteration to ensure fixed runtime.
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 03098a4e9..542a6656e 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-72bf5e2fc5628714a9bbb7cc641954735264f022
\ No newline at end of file
+d81233677d9987d7645962ff4a076bafd94f83e3
\ No newline at end of file