diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index d4352791ed..5f47cebb1f 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -134,7 +134,8 @@ class LongitudinalPlanner:
 
     if self.mpc.mode == 'acc':
       accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
-      accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
+      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
+      accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP)
     else:
       accel_limits = [ACCEL_MIN, ACCEL_MAX]
       accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index ae8301871d..bcfc4d0c14 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -19,7 +19,7 @@ def main():
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'selfdriveState'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
   while True:
@@ -30,7 +30,7 @@ def main():
 
       ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
       msg = messaging.new_message('driverAssistance')
-      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2'])
+      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters'])
       msg.driverAssistance.leftLaneDeparture = ldw.left
       msg.driverAssistance.rightLaneDeparture = ldw.right
       pm.send('driverAssistance', msg)
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 3c8c09d6be..c08ac6d369 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -64,6 +64,7 @@ class Plant:
     control = messaging.new_message('controlsState')
     ss = messaging.new_message('selfdriveState')
     car_state = messaging.new_message('carState')
+    lp = messaging.new_message('liveParameters')
     car_control = messaging.new_message('carControl')
     model = messaging.new_message('modelV2')
     a_lead = (v_lead - self.v_lead_prev)/self.ts
@@ -130,6 +131,7 @@ class Plant:
           'carControl': car_control.carControl,
           'controlsState': control.controlsState,
           'selfdriveState': ss.selfdriveState,
+          'liveParameters': lp.liveParameters,
           'modelV2': model.modelV2}
     self.planner.update(sm)
     self.speed = self.planner.v_desired_filter.x
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index ef17325642..448dc6896d 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -508,7 +508,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="plannerd",
-    pubs=["modelV2", "carControl", "carState", "controlsState", "radarState", "selfdriveState"],
+    pubs=["modelV2", "carControl", "carState", "controlsState", "liveParameters", "radarState", "selfdriveState"],
     subs=["longitudinalPlan", "driverAssistance"],
     ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 1365eb1798..66abbd2803 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-e7db12387eecd077c6eaca6622b7863ee1af7105
+22530fd1bd915d5b37db900e2ac42a9501cd5972