diff --git a/poetry.lock b/poetry.lock
index c7258e0467..31d9f1bf41 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5927a7ae645bd73419b2d96501b71e1baa10a6e2f49cf42b043e8a689a7d68bc
-size 370950
+oid sha256:022ad1dc837484b37034c71bd6855e317a61039e96a4b1d7c7b6ea80c6faf893
+size 371531
diff --git a/pyproject.toml b/pyproject.toml
index dcce2505e1..b5d03e9b4d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -53,6 +53,7 @@ aiohttp = "*"
 aiortc = "*"
 casadi = "==3.6.3"
 cffi = "*"
+control = "*"
 crcmod = "*"
 cryptography = "*"
 Cython = "*"
diff --git a/selfdrive/controls/lib/tests/__init__.py b/selfdrive/controls/lib/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index 4ff7ef7c93..cf2243d033 100755
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -12,6 +12,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
+from selfdrive.navd.tests.test_map_renderer import gen_llk
 
 
 class TestLatControl(unittest.TestCase):
@@ -27,13 +28,15 @@ class TestLatControl(unittest.TestCase):
 
     CS = car.CarState.new_message()
     CS.vEgo = 30
+    CS.steeringPressed = False
 
     last_actuators = car.CarControl.Actuators.new_message()
 
     params = log.LiveParametersData.new_message()
 
+    llk = gen_llk()
     for _ in range(1000):
-      _, _, lac_log = controller.update(True, CS, CP, VM, params, last_actuators, True, 1, 0)
+      _, _, lac_log = controller.update(True, CS, VM, params, last_actuators, False, 1, 0, llk)
 
     self.assertTrue(lac_log.saturated)
 
diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py
index fc8ef2fb56..d016e87527 100755
--- a/selfdrive/controls/lib/tests/test_vehicle_model.py
+++ b/selfdrive/controls/lib/tests/test_vehicle_model.py
@@ -38,7 +38,7 @@ class TestVehicleModel(unittest.TestCase):
 
           # Compute yaw rate using direct computations
           yr2 = self.VM.yaw_rate(sa, u, roll)
-          self.assertAlmostEqual(float(yr1), yr2)
+          self.assertAlmostEqual(float(yr1[0]), yr2)
 
   def test_syn_ss_sol_simulate(self):
     """Verifies that dyn_ss_sol matches a simulation"""