diff --git a/panda b/panda
index ad4f69cd18..f088af5664 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit ad4f69cd18954e06789c5e404175ff1cf8db7ea0
+Subproject commit f088af5664d99acfdaa2a006bd9ee520e4d61430
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index e882ef4b64..ae2a188e3f 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -63,7 +63,7 @@ class CarController:
     # Gas/regen and brakes - all at 25Hz
     if (self.frame % 4) == 0:
       if not CC.longActive:
-        # Stock ECU sends max regen when not enabled.
+        # Stock ECU sends max regen when not enabled
         self.apply_gas = self.params.MAX_ACC_REGEN
         self.apply_brake = 0
       else:
@@ -74,13 +74,14 @@ class CarController:
 
       at_full_stop = CC.longActive and CS.out.standstill
       near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
+      # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
+      can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
       can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
-      can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.longActive, at_full_stop))
 
     # Send dashboard UI commands (ACC status), 25hz
     if (self.frame % 4) == 0:
       send_fcw = hud_alert == VisualAlert.fcw
-      can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.longActive,
+      can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
                                                           hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
 
     # Radar needs to know current speed and yaw rate (50hz),
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 0bf43aa887..638b70531a 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-c1a729c087e9f26e40d8f7db5bdfe62d12fb0bc9
\ No newline at end of file
+c93e3735143a88f0088eb23e6fde56660d4a53e2
\ No newline at end of file