diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index de2b8d54dd..9f6383f31a 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -25,7 +25,7 @@ CONSTR_DIM = 4
 
 X_EGO_COST = 3.
 X_EGO_E2E_COST = 10.
-A_EGO_COST = 1.
+A_EGO_COST = 0.
 J_EGO_COST = 10.
 DANGER_ZONE_COST = 100.
 CRASH_DISTANCE = .5
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 2e64b83af0..508d5b7c82 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-1704bf0294610dfe380fbdf601b03f1387ddec9d
\ No newline at end of file
+b77c895cd7a07b90e7f9ca58252f090a437efc43
\ No newline at end of file