diff --git a/cereal b/cereal
index c2761bdbd8..82603c57a9 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit c2761bdbd85b844ed9900eb2f067312be3a0aaea
+Subproject commit 82603c57a9c631f246fcfa5ff8c1c44d0c6cbaa0
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 22f0f6c63b..5a63940486 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -570,6 +570,10 @@ class Controls:
     CC.active = self.active
     CC.actuators = actuators
 
+    if len(self.sm['liveLocationKalman'].orientationNED.value) > 2:
+      CC.roll = self.sm['liveLocationKalman'].orientationNED.value[0]
+      CC.pitch = self.sm['liveLocationKalman'].orientationNED.value[1]
+
     CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
     if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
       CC.cruiseControl.cancel = True
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index fd88ecaea3..ec46d5e43f 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-d2b1507589f05d0600fc19ec2570d831fe210ad5
\ No newline at end of file
+5703f591ce18bb3aebf67c0594220485f8cb3f79
\ No newline at end of file