diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 6ad6c15cc4..e10afc253a 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -338,9 +338,11 @@ def main(demo=False):
       posenet_send = messaging.new_message('cameraOdometry')
 
       action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL)
+      prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
+                     
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]