diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 122c06ad..094e4ce1 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -178,6 +178,7 @@ def gen_long_mpc_solver():
   # More iterations take too much time and less lead to inaccurate convergence in
   # some situations. Ideally we would run just 1 iteration to ensure fixed runtime.
   ocp.solver_options.qp_solver_iter_max = 10
+  ocp.solver_options.qp_tol = 1e-3
 
   # set prediction horizon
   ocp.solver_options.tf = Tf
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 865442f7..ad44953e 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -55,6 +55,7 @@ class Planner:
     self.v_desired_trajectory = np.zeros(CONTROL_N)
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
+    self.solverExecutionTime = 0.0
 
   def update(self, sm):
     v_ego = sm['carState'].vEgo
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index e5a435b6..2337a500 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-5cd22804273530aaf69ebb9f5039e8d08ca44ef8
\ No newline at end of file
+10555bbd908c7eead5eeaa36ab07ec2189845a95
\ No newline at end of file
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index a49f93e3..80a381d3 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -216,8 +216,9 @@ class TestOnroad(unittest.TestCase):
       ts = [getattr(getattr(m, s), "solverExecutionTime") for m in self.lr if m.which() == s]
       self.assertLess(min(ts), instant_max, f"high '{s}' execution time: {min(ts)}")
       self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
-      result += f"'{s}' execution time: {min(ts)}\n"
-      result += f"'{s}' avg execution time: {np.mean(ts)}\n"
+      result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
+      result += f"'{s}' execution time: max  {max(ts):.5f}s\n"
+      result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n"
     result += "------------------------------------------------\n"
     print(result)
 
@@ -237,8 +238,8 @@ class TestOnroad(unittest.TestCase):
       ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s]
       self.assertLess(min(ts), instant_max, f"high '{s}' execution time: {min(ts)}")
       self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
-      result += f"'{s}' execution time: {min(ts)}\n"
-      result += f"'{s}' avg execution time: {np.mean(ts)}\n"
+      result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
+      result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n"
     result += "------------------------------------------------\n"
     print(result)