diff --git a/cereal b/cereal
index 439429cad4..22b1431132 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 439429cad4d1e2ab874520cb5d4db8b8d978cbde
+Subproject commit 22b1431132b038253a24ab3fbbe3af36ef93b95b
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index ebb67b0e2e..5582499f25 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -125,7 +125,7 @@ class CarController:
 
       # blinkers
       if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-        can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, False, False))
+        can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, CC.leftBlinker, CC.rightBlinker))
 
       if self.CP.openpilotLongitudinalControl:
         if hda2:
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 59b6b6c6a0..36f0b559c2 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -577,6 +577,11 @@ class Controls:
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state
 
+    # Enable blinkers while lane changing
+    if self.sm['lateralPlan'].laneChangeState != LaneChangeState.off:
+      CC.leftBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.left
+      CC.rightBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.right
+
     if CS.leftBlinker or CS.rightBlinker:
       self.last_blinker_frame = self.sm.frame
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 80385710a9..3f54203f97 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-6681ca22053b019a65930e76a396535d0cddf39c
\ No newline at end of file
+99e9481d03e18a4dcd1eeebbfb24aca1ceb7e1e1
\ No newline at end of file