diff --git a/opendbc b/opendbc
index 4925c2a9..190e71e8 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 4925c2a9993b0587a052856626614a976d8e616b
+Subproject commit 190e71e8f0f30bac35c0319c23990cb721f7174e
diff --git a/selfdrive/car/ocelot/ocelotcan.py b/selfdrive/car/ocelot/ocelotcan.py
index 7d9a89ed..1d289eb2 100644
--- a/selfdrive/car/ocelot/ocelotcan.py
+++ b/selfdrive/car/ocelot/ocelotcan.py
@@ -1,12 +1,18 @@
-def create_steer_command(packer, steer, mode, raw_cnt):
-  """Creates a CAN message for the Seb Smith EPAS Steer Command."""
+# def create_steer_command(packer, steer, mode, raw_cnt):
+#   """Creates a CAN message for the Seb Smith EPAS Steer Command."""
 
+#   values = {
+#     "STEER_MODE": mode,
+#     "REQUESTED_STEER_TORQUE": steer,
+#     "COUNTER": raw_cnt,
+#   }
+#   return packer.make_can_msg("OCELOT_STEERING_COMMAND", 2, values)
+
+def create_steer_command(packer, steer, enabled, raw_cnt):
   values = {
-    "STEER_MODE": mode,
-    "REQUESTED_STEER_TORQUE": steer,
-    "COUNTER": raw_cnt,
+    "STEER_TORQUE_CMD": (-steer * 18) if enabled else 0.
   }
-  return packer.make_can_msg("OCELOT_STEERING_COMMAND", 2, values)
+  return packer.make_can_msg("STEER_COMMAND", 2, values)
 
 def create_gas_command(packer, gas_amount, idx):
   # Common gas pedal msg generator
@@ -25,7 +31,7 @@ def create_gas_command(packer, gas_amount, idx):
 
 def create_brake_cmd(packer, enabled, brake, raw_cnt):
   values = {
-    "BRAKE_POSITION_COMMAND" : brake * 47,
+    "BRAKE_POSITION_COMMAND" : brake * 25,
     "BRAKE_RELATIVE_COMMAND": 0,
     "BRAKE_MODE": 2 if enabled else 0,
     "COUNTER" : raw_cnt,