diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index ee6c6665c5..a9d8a774c4 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -8,8 +8,7 @@ V_CRUISE_MIN = 8
 V_CRUISE_DELTA = 8
 V_CRUISE_ENABLE_MIN = 40
 MPC_N = 16
-CAR_ROTATION_RADIUS = 1.5
-
+CAR_ROTATION_RADIUS = 0.0
 
 class MPC_COST_LAT:
   PATH = 1.0
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 09551810c4..3e9569f3b2 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-511bad6a9ffea248dce81631fb58b3d020a4117b
\ No newline at end of file
+c3f3c37d75f133c2ce0f94fc87ffb5305986bc07
\ No newline at end of file