diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index dcca969b54..53b55cf612 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -33,6 +33,7 @@ generated_files = [
 
   f'{gen}/main_lat.c',
   f'{gen}/acados_solver_lat.h',
+  f'{gen}/acados_solver.pxd',
 
   f'{gen}/lat_model/lat_expl_vde_adj.c',
 
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
index ad5e6c914b..24c1189ad6 100755
--- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
@@ -9,7 +9,7 @@ from selfdrive.controls.lib.drive_helpers import T_IDXS
 if __name__ == '__main__':  # generating code
   from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
-  from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverFast  # pylint: disable=no-name-in-module
+  from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverFast  # pylint: disable=no-name-in-module, import-error
 
 LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
 EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code")
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 151c7c31be..c24e0485db 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -41,6 +41,7 @@ generated_files = [
 
   f'{gen}/main_long.c',
   f'{gen}/acados_solver_long.h',
+  f'{gen}/acados_solver.pxd',
 
   f'{gen}/long_model/long_expl_vde_adj.c',
 
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index bd4a50c2f6..e909245332 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -11,7 +11,7 @@ from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
 if __name__ == '__main__':  # generating code
   from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
-  from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverFast  # pylint: disable=no-name-in-module
+  from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverFast  # pylint: disable=no-name-in-module, import-error
 
 from casadi import SX, vertcat