diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
index 594147e11d..a58eae0054 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -43,6 +43,7 @@ DESIRES = {
 def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_ratio, delay):
   states[0].x = v_ego * delay
   states[0].psi = v_ego * curvature_factor * math.radians(steer_angle) / steer_ratio * delay
+  states[0].y = states[0].x * math.sin(states[0].psi / 2)
   return states
 
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 6d23007522..85fdf04eb7 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-635052c6f021001fd11ec68ad0f6ee1811ee4a76
\ No newline at end of file
+804ee1ffcfa0639782f1322874d89f0c8c412c50
\ No newline at end of file