diff --git a/cereal b/cereal
index 42f84fd85d..9888e0476c 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 42f84fd85d06c0fc85371daa2b4820fca49d763e
+Subproject commit 9888e0476c05069d46f273569467e4371b2d8690
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index d8cf9386d1..14934254af 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -19,6 +19,7 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
   ui_send = messaging.new_message('uiPlan')
   ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
   uiPlan = ui_send.uiPlan
+  uiPlan.frameId = sm['modelV2'].frameId
   uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist()
   uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist()
   uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 79769e14b6..a8896884e1 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f9c7e05b836c4bff364978752e82d64b90f9d6e6
+3c5ebb007f76ba0de710ff7a8cf5910ad2edf22f
\ No newline at end of file