diff --git a/.gitattributes b/.gitattributes
index 35b0eb1a2a..eda7cfb202 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -7,11 +7,11 @@
 *.ipynb filter=nbstripout -diff
 external/ffmpeg/bin/ffmpeg_cuda filter=lfs diff=lfs merge=lfs -text
 models/segnet.keras filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/x64/lib/libacado_toolkit.a filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/x64/lib/libacado_toolkit_s.so.1.2.2beta filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/x64/lib/libacado_casadi.a filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/x64/lib/libacado_csparse.a filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/x64/lib/libacado_qpoases.a filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/x86_64/lib/libacado_toolkit.a filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/x86_64/lib/libacado_toolkit_s.so.1.2.2beta filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/x86_64/lib/libacado_casadi.a filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/x86_64/lib/libacado_csparse.a filter=lfs diff=lfs merge=lfs -text
+phonelibs/acado/x86_64/lib/libacado_qpoases.a filter=lfs diff=lfs merge=lfs -text
 phonelibs/acado/aarch64/lib/libacado_toolkit.a filter=lfs diff=lfs merge=lfs -text
 phonelibs/acado/aarch64/lib/libacado_toolkit_s.so.1.2.2beta filter=lfs diff=lfs merge=lfs -text
 phonelibs/acado/aarch64/lib/libacado_casadi.a filter=lfs diff=lfs merge=lfs -text
diff --git a/SConstruct b/SConstruct
index 0b4135de89..9b79ef2e31 100644
--- a/SConstruct
+++ b/SConstruct
@@ -25,6 +25,10 @@ AddOption('--compile_db',
           action='store_true',
           help='build clang compilation database')
 
+AddOption('--mpc-generate',
+          action='store_true',
+          help='regenerates the mpc sources')
+
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
diff --git a/phonelibs/acado/aarch64/lib/libacado_casadi.a b/phonelibs/acado/aarch64/lib/libacado_casadi.a
deleted file mode 100644
index 8574aa8cee..0000000000
--- a/phonelibs/acado/aarch64/lib/libacado_casadi.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:02c9bdd43a4c5692c16cb437ab000e74efc908d4dcefb39144f7a0eb0e5b67ab
-size 33782
diff --git a/phonelibs/acado/aarch64/lib/libacado_csparse.a b/phonelibs/acado/aarch64/lib/libacado_csparse.a
deleted file mode 100644
index 6a8efe0fac..0000000000
--- a/phonelibs/acado/aarch64/lib/libacado_csparse.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9a6bd05cc21d157f8705575df0ef69d02974375bc800edd353d504635ca090bd
-size 92090
diff --git a/phonelibs/acado/aarch64/lib/libacado_qpoases.a b/phonelibs/acado/aarch64/lib/libacado_qpoases.a
deleted file mode 100644
index 1f3c3cc32c..0000000000
--- a/phonelibs/acado/aarch64/lib/libacado_qpoases.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:be4f11bcff1de30751fbf8fb014d0e14d7334c17fac3dfd4cb2f445391a08946
-size 634068
diff --git a/phonelibs/acado/aarch64/lib/libacado_toolkit.a b/phonelibs/acado/aarch64/lib/libacado_toolkit.a
deleted file mode 100644
index 489ba4a42b..0000000000
--- a/phonelibs/acado/aarch64/lib/libacado_toolkit.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:80a5b92a8162edd22507d2d9e9abf794ebd4aa4b5affa398443a01f6ab71fde3
-size 23341704
diff --git a/phonelibs/acado/aarch64/lib/libacado_toolkit_s.so b/phonelibs/acado/aarch64/lib/libacado_toolkit_s.so
deleted file mode 120000
index 08cbf4e4ef..0000000000
--- a/phonelibs/acado/aarch64/lib/libacado_toolkit_s.so
+++ /dev/null
@@ -1 +0,0 @@
-libacado_toolkit_s.so.1
\ No newline at end of file
diff --git a/phonelibs/acado/aarch64/lib/libacado_toolkit_s.so.1.2.2beta b/phonelibs/acado/aarch64/lib/libacado_toolkit_s.so.1.2.2beta
deleted file mode 100755
index efed9cd53c..0000000000
--- a/phonelibs/acado/aarch64/lib/libacado_toolkit_s.so.1.2.2beta
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b21d9a8c8b68715062830ed91420bad10622ae157f8daecca98adb7082c7de43
-size 8813880
diff --git a/phonelibs/acado/build.sh b/phonelibs/acado/build.sh
new file mode 100755
index 0000000000..252a4527ea
--- /dev/null
+++ b/phonelibs/acado/build.sh
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c22ce7271de55f940175f761347dfd3a791ba72f11eb44be99af2943bb2b4ae
+size 558
diff --git a/phonelibs/acado/build.txt b/phonelibs/acado/build.txt
deleted file mode 100644
index a4aa91350f..0000000000
--- a/phonelibs/acado/build.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c199f546c90ac3a08a8afdc56d6839d045563e01ab6994dd5ea24ffb688bf604
-size 394
diff --git a/phonelibs/acado/include/acado/code_generation/templates/acado_forces_generator.m.in b/phonelibs/acado/include/acado/code_generation/templates/acado_forces_generator.m.in
index b042c77699..6fcb4a47ca 100644
--- a/phonelibs/acado/include/acado/code_generation/templates/acado_forces_generator.m.in
+++ b/phonelibs/acado/include/acado/code_generation/templates/acado_forces_generator.m.in
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4fdc25caeea307698f552958d182555db0e9a95a128baafe8e88ec4f4d3d2b4a
-size 6592
+oid sha256:32da23f60e04e1ee677fd8b23f05c4b71af17b42c35a57d180b6ffddfe24734c
+size 6813
diff --git a/phonelibs/acado/include/acado/code_generation/templates/qpdunes_interface.in b/phonelibs/acado/include/acado/code_generation/templates/qpdunes_interface.in
index 396ea4c34f..a314c969e4 100644
--- a/phonelibs/acado/include/acado/code_generation/templates/qpdunes_interface.in
+++ b/phonelibs/acado/include/acado/code_generation/templates/qpdunes_interface.in
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9748d1371c3238d1f559456e4cf4809341c7941ea9428cbd0bdcfc093b45701d
-size 2609
+oid sha256:8bfa8fe9ce654dae93674811657dfba4e89d07caa69855a1e27e9249e96d5f60
+size 2686
diff --git a/phonelibs/acado/include/acado/code_generation/templates/qpdunes_split_interface.in b/phonelibs/acado/include/acado/code_generation/templates/qpdunes_split_interface.in
index 568caecc79..04fb66d5a2 100644
--- a/phonelibs/acado/include/acado/code_generation/templates/qpdunes_split_interface.in
+++ b/phonelibs/acado/include/acado/code_generation/templates/qpdunes_split_interface.in
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a707d626ee797981ddb27af1f1dd4f8e988209741f4285fa29ff97408f4cb2f5
-size 3053
+oid sha256:35f2be66539f74ea6b2ba18c4afe5e3026c6a19af1d6c55e1662b51f08361c54
+size 3149
diff --git a/phonelibs/acado/include/acado/code_generation/templates/qpoases3_interface.c.in b/phonelibs/acado/include/acado/code_generation/templates/qpoases3_interface.c.in
index 20ffe7bdb4..abb64bf46f 100644
--- a/phonelibs/acado/include/acado/code_generation/templates/qpoases3_interface.c.in
+++ b/phonelibs/acado/include/acado/code_generation/templates/qpoases3_interface.c.in
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:063bfa2531b5c031bf80fd6870713076da9758055750b1b340134b6e60697086
-size 1550
+oid sha256:a6fbf7cad50b34c070d45ca8dfc881eadc3544967cbfb662f610e030506b2d29
+size 1610
diff --git a/phonelibs/acado/include/acado/code_generation/templates/templates.hpp b/phonelibs/acado/include/acado/code_generation/templates/templates.hpp
index dd81521d16..00fd5d9707 100644
--- a/phonelibs/acado/include/acado/code_generation/templates/templates.hpp
+++ b/phonelibs/acado/include/acado/code_generation/templates/templates.hpp
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:97d5cb9224ef7af2ee39a97800aacc3be00eaa74b6e310ab0ee9cd44d3ed65ba
-size 2859
+oid sha256:5218981faa25368edffdb1c8b352cf49665ab6f9db08f34f951573db01bc1002
+size 2791
diff --git a/phonelibs/acado/include/acado/external_packages/eigen3/COPYING.MINPACK b/phonelibs/acado/include/acado/external_packages/eigen3/COPYING.MINPACK
index 42606785ba..86e15601c4 100644
--- a/phonelibs/acado/include/acado/external_packages/eigen3/COPYING.MINPACK
+++ b/phonelibs/acado/include/acado/external_packages/eigen3/COPYING.MINPACK
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8887036b1039e299ebcc8b95a73ea1538df548393fb8462361c80bea605a4fbe
-size 2194
+oid sha256:f5b330efdad110cdd84d585ec61220b0650461fa599e36b13e1726c9346dcfb9
+size 2246
diff --git a/phonelibs/acado/x64/lib/libacado_casadi.a b/phonelibs/acado/x64/lib/libacado_casadi.a
deleted file mode 100644
index 231bc7d505..0000000000
--- a/phonelibs/acado/x64/lib/libacado_casadi.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9b4709c7fd3a4e6bdddfaee0d4482087ba1ea1a90c71d4a16652f1b363e010e8
-size 49744
diff --git a/phonelibs/acado/x64/lib/libacado_csparse.a b/phonelibs/acado/x64/lib/libacado_csparse.a
deleted file mode 100644
index 0e14641936..0000000000
--- a/phonelibs/acado/x64/lib/libacado_csparse.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ebe06e3c6876190aae26d48b1dfbfb5a50d1887e5d6e6482669e48caabc1a80e
-size 141978
diff --git a/phonelibs/acado/x64/lib/libacado_qpoases.a b/phonelibs/acado/x64/lib/libacado_qpoases.a
deleted file mode 100644
index 461e1e2189..0000000000
--- a/phonelibs/acado/x64/lib/libacado_qpoases.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4cf01f68ba2dca1054334af49c77b443267b33551efe188f3176ac176b93fd7e
-size 754948
diff --git a/phonelibs/acado/x64/lib/libacado_toolkit.a b/phonelibs/acado/x64/lib/libacado_toolkit.a
deleted file mode 100644
index 8726af14fb..0000000000
--- a/phonelibs/acado/x64/lib/libacado_toolkit.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:469251cfd2abb76655132f3de1da86f91fe1f581701fe1780cb1c77074d7fa3b
-size 26405540
diff --git a/phonelibs/acado/x64/lib/libacado_toolkit_s.so b/phonelibs/acado/x64/lib/libacado_toolkit_s.so
deleted file mode 120000
index 08cbf4e4ef..0000000000
--- a/phonelibs/acado/x64/lib/libacado_toolkit_s.so
+++ /dev/null
@@ -1 +0,0 @@
-libacado_toolkit_s.so.1
\ No newline at end of file
diff --git a/phonelibs/acado/x64/lib/libacado_toolkit_s.so.1 b/phonelibs/acado/x64/lib/libacado_toolkit_s.so.1
deleted file mode 120000
index 228d01293b..0000000000
--- a/phonelibs/acado/x64/lib/libacado_toolkit_s.so.1
+++ /dev/null
@@ -1 +0,0 @@
-libacado_toolkit_s.so.1.2.2beta
\ No newline at end of file
diff --git a/phonelibs/acado/x64/lib/libacado_toolkit_s.so.1.2.2beta b/phonelibs/acado/x64/lib/libacado_toolkit_s.so.1.2.2beta
deleted file mode 100755
index 1faef381e8..0000000000
--- a/phonelibs/acado/x64/lib/libacado_toolkit_s.so.1.2.2beta
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:72239a2333dadef2e351e0a627c68e43fef7d8d6c9ea674f07b6c81d91f4db5e
-size 10249488
diff --git a/phonelibs/acado/aarch64/lib/libacado_toolkit_s.so.1 b/phonelibs/acado/x86_64/lib/libacado_toolkit_s.so.1
similarity index 100%
rename from phonelibs/acado/aarch64/lib/libacado_toolkit_s.so.1
rename to phonelibs/acado/x86_64/lib/libacado_toolkit_s.so.1
diff --git a/phonelibs/acado/x86_64/lib/libacado_toolkit_s.so.1.2.2beta b/phonelibs/acado/x86_64/lib/libacado_toolkit_s.so.1.2.2beta
new file mode 100644
index 0000000000..b6da672cbf
--- /dev/null
+++ b/phonelibs/acado/x86_64/lib/libacado_toolkit_s.so.1.2.2beta
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:178937c40ec3326eab01c62f3239a885cbfb1308af65436d831dd4fa6a7d619e
+size 10304768
diff --git a/selfdrive/controls/lib/lateral_mpc/SConscript b/selfdrive/controls/lib/lateral_mpc/SConscript
index 6cdc22d17d..e609c914b1 100644
--- a/selfdrive/controls/lib/lateral_mpc/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc/SConscript
@@ -7,23 +7,40 @@ cpp_path = [
     "#phonelibs/qpoases/INCLUDE/EXTRAS",
     "#phonelibs/qpoases/SRC/",
     "#phonelibs/qpoases",
-    "lib_mpc_export"
+    "lib_mpc_export",
+]
 
+generated_c = [
+    'lib_mpc_export/acado_auxiliary_functions.c',
+    'lib_mpc_export/acado_qpoases_interface.cpp',
+    'lib_mpc_export/acado_integrator.c',
+    'lib_mpc_export/acado_solver.c',
 ]
 
-mpc_files = [
-    "lateral_mpc.c",
-    Glob("lib_mpc_export/*.c"),
-    Glob("lib_mpc_export/*.cpp"),
+generated_h = [
+    'lib_mpc_export/acado_common.h',
+    'lib_mpc_export/acado_auxiliary_functions.h',
+    'lib_mpc_export/acado_qpoases_interface.hpp',
 ]
 
 interface_dir = Dir('lib_mpc_export')
 
 SConscript(['#phonelibs/qpoases/SConscript'], variant_dir='lib_qp', exports=['interface_dir'])
 
+if GetOption('mpc_generate'):
+    generator_cpp = File('generator.cpp')
+
+    acado_libs = [File(f"#phonelibs/acado/{arch}/lib/libacado_toolkit.a"),
+                  File(f"#phonelibs/acado/{arch}/lib/libacado_casadi.a"),
+                  File(f"#phonelibs/acado/{arch}/lib/libacado_csparse.a")]
+
+    generator = env.Program('generator', generator_cpp, LIBS=acado_libs, CPPPATH=cpp_path,
+                            CCFLAGS=env['CCFLAGS'] + ["-Wno-deprecated", "-Wno-overloaded-shift-op-parentheses"])
+
+    cmd = f"cd {Dir('.').get_abspath()} && {generator[0].get_abspath()}"
+    env.Command(generated_c + generated_h, generator, cmd)
+
+
+
+mpc_files = ["lateral_mpc.c"] + generated_c
 env.SharedLibrary('mpc', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path)
-# if arch != "aarch64":
-#     acado_libs = [File("#phonelibs/acado/x64/lib/libacado_toolkit.a"),
-#                   File("#phonelibs/acado/x64/lib/libacado_casadi.a"),
-#                   File("#phonelibs/acado/x64/lib/libacado_csparse.a")]
-#     env.Program('generator', 'generator.cpp', LIBS=acado_libs, CPPPATH=cpp_path)
diff --git a/selfdrive/controls/lib/longitudinal_mpc/SConscript b/selfdrive/controls/lib/longitudinal_mpc/SConscript
index 072ff646ae..584d5103eb 100644
--- a/selfdrive/controls/lib/longitudinal_mpc/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc/SConscript
@@ -8,25 +8,41 @@ cpp_path = [
     "#phonelibs/qpoases/INCLUDE/EXTRAS",
     "#phonelibs/qpoases/SRC/",
     "#phonelibs/qpoases",
-    "lib_mpc_export"
+    "lib_mpc_export",
+]
 
+generated_c = [
+    'lib_mpc_export/acado_auxiliary_functions.c',
+    'lib_mpc_export/acado_qpoases_interface.cpp',
+    'lib_mpc_export/acado_integrator.c',
+    'lib_mpc_export/acado_solver.c',
 ]
 
-mpc_files = [
-    "longitudinal_mpc.c",
-    Glob("lib_mpc_export/*.c"),
-    Glob("lib_mpc_export/*.cpp"),
+generated_h = [
+    'lib_mpc_export/acado_common.h',
+    'lib_mpc_export/acado_auxiliary_functions.h',
+    'lib_mpc_export/acado_qpoases_interface.hpp',
 ]
 
+
 interface_dir = Dir('lib_mpc_export')
 
 SConscript(['#phonelibs/qpoases/SConscript'], variant_dir='lib_qp', exports=['interface_dir'])
 
+if GetOption('mpc_generate'):
+    generator_cpp = File('generator.cpp')
+
+    acado_libs = [File(f"#phonelibs/acado/{arch}/lib/libacado_toolkit.a"),
+                  File(f"#phonelibs/acado/{arch}/lib/libacado_casadi.a"),
+                  File(f"#phonelibs/acado/{arch}/lib/libacado_csparse.a")]
+
+    generator = env.Program('generator', generator_cpp, LIBS=acado_libs, CPPPATH=cpp_path,
+                            CCFLAGS=env['CCFLAGS'] + ["-Wno-deprecated", "-Wno-overloaded-shift-op-parentheses"])
+
+    cmd = f"cd {Dir('.').get_abspath()} && {generator[0].get_abspath()}"
+    env.Command(generated_c + generated_h, generator, cmd)
+
+
+mpc_files = ["longitudinal_mpc.c"] + generated_c
 env.SharedLibrary('mpc1', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path)
 env.SharedLibrary('mpc2', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path)
-
-# if arch != "aarch64":
-#     acado_libs = [File("#phonelibs/acado/x64/lib/libacado_toolkit.a"),
-#                   File("#phonelibs/acado/x64/lib/libacado_casadi.a"),
-#                   File("#phonelibs/acado/x64/lib/libacado_csparse.a")]
-#     env.Program('generator', 'generator.cpp', LIBS=acado_libs, CPPPATH=cpp_path)