diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index d1dd0535c2..9434eec3ee 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -1,5 +1,6 @@
 import numpy as np
 
+from common.realtime import DT_CTRL
 from selfdrive.car.body import bodycan
 from opendbc.can.packer import CANPacker
 
@@ -23,6 +24,7 @@ class CarController():
 
     self.torque_r_filtered = 0.
     self.torque_l_filtered = 0.
+    self.wait_counter = int(5. / DT_CTRL)
 
   @staticmethod
   def deadband_filter(torque, deadband):
@@ -33,6 +35,9 @@ class CarController():
     return torque
 
   def update(self, CC, CS):
+    if self.wait_counter > 0:
+      self.wait_counter -= 1
+      return CC.actuators.copy(), []
     if len(CC.orientationNED) == 0 or len(CC.angularVelocity) == 0:
       return CC.actuators.copy(), []
 
diff --git a/selfdrive/car/body/carstate.py b/selfdrive/car/body/carstate.py
index 5f663ae952..9f0ab93fbb 100644
--- a/selfdrive/car/body/carstate.py
+++ b/selfdrive/car/body/carstate.py
@@ -14,7 +14,7 @@ class CarState(CarStateBase):
     ret.vEgoRaw = ((ret.wheelSpeeds.fl + ret.wheelSpeeds.fr) / 2.) * self.CP.wheelSpeedFactor
 
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = abs(ret.vEgo) < 1
+    ret.standstill = False
 
     # irrelevant for non-car
     ret.doorOpen = False
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index ebb825c4f8..b75b3d2f21 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-6c72ebf4ef60b895bde5f0700babf150fd97d523
\ No newline at end of file
+7ede67c2798fbe675c078e4d90192efc7e8a3901
\ No newline at end of file