diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 2b3bdc1fce..e6ba7390a5 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -113,7 +113,7 @@ class CarController:
     else:
       # Silence "Take Steering" alert sent by camera, send PSCMStatus with HandsOffSWlDetectionStatus=1
       if self.frame % 500 == 0:
-        can_sends.append(gmcan.create_pscm_status(self.packer_pt, CS.pscm_status))
+        can_sends.append(gmcan.create_pscm_status(self.packer_pt, CS.pscm_status_counter))
 
       # Stock longitudinal, integrated at camera
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 76b9b99a70..4ef72b8c7f 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -7,12 +7,12 @@ def create_buttons(packer, bus, idx, button):
   }
   return packer.make_can_msg("ASCMSteeringButton", bus, values)
 
-def create_pscm_status(packer, pscm_status):
+def create_pscm_status(packer, idx):
   values = {
     "HandsOffSWDetectionMode": 1,
     "HandsOffSWlDetectionStatus": 1,
     "LKATorqueDeliveredStatus": 0,
-    "RollingCounter": int(pscm_status["RollingCounter"] + 1) & 0xf,
+    "RollingCounter": int(idx + 1) & 0xf,
   }
   values["PSCMStatusChecksum"] = (0x30 + (values['HandsOffSWlDetectionStatus'] << 5) +
                                   (values['LKATorqueDeliveredStatus'] << 3) +