diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index aa06b960df..cf40bd6227 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -92,6 +92,7 @@ class CarInterfaceBase(ABC):
     ret.stoppingControl = True
     ret.longitudinalTuning.deadzoneBP = [0.]
     ret.longitudinalTuning.deadzoneV = [0.]
+    ret.longitudinalTuning.kf = 1.
     ret.longitudinalTuning.kpBP = [0.]
     ret.longitudinalTuning.kpV = [1.]
     ret.longitudinalTuning.kiBP = [0.]
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 21c34aa2d6..c33b332be8 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -44,7 +44,7 @@ class LongControl():
     self.long_control_state = LongCtrlState.off  # initialized to off
     self.pid = PIController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                             (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
-                            rate=1 / DT_CTRL)
+                            k_f = CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
     self.v_pid = 0.0
     self.last_output_accel = 0.0
 
diff --git a/selfdrive/controls/lib/pid.py b/selfdrive/controls/lib/pid.py
index 28c6438191..c91eb692cb 100644
--- a/selfdrive/controls/lib/pid.py
+++ b/selfdrive/controls/lib/pid.py
@@ -13,7 +13,7 @@ def apply_deadzone(error, deadzone):
   return error
 
 class PIController():
-  def __init__(self, k_p, k_i, k_f=1., pos_limit=None, neg_limit=None, rate=100):
+  def __init__(self, k_p, k_i, k_f=0., pos_limit=None, neg_limit=None, rate=100):
     self._k_p = k_p  # proportional gain
     self._k_i = k_i  # integral gain
     self.k_f = k_f   # feedforward gain
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 50a0c30f83..8a21a93920 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-0c4da879ace9c1517c2324b35da7ff05a4744dd9
\ No newline at end of file
+7077009f076000a475ec6b56e2f711e78daa876e
\ No newline at end of file