diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 7760e4f86a..d1245dd7d0 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -62,7 +62,7 @@ class LateralPlanner():
     self.y_pts = np.zeros(TRAJECTORY_SIZE)
 
     self.lat_mpc = LateralMpc()
-    self.reset_mpc()
+    self.reset_mpc(np.zeros(6))
 
   def reset_mpc(self, x0=np.zeros(6)):
     self.x0 = x0
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 4979116ff9..03ffb94362 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-a256ade033538eeead4f34ad7b12be25237ae443
\ No newline at end of file
+d8ba159971afb46d9b936517d2911bb9d5cd3377
\ No newline at end of file