diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index d75048826..88734b3c1 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -38,7 +38,6 @@ def plannerd_thread(sm=None, pm=None):
     if sm.updated['modelV2']:
       lateral_planner.update(sm, CP)
       lateral_planner.publish(sm, pm)
-    if sm.updated['radarState']:
       longitudinal_planner.update(sm, CP)
       longitudinal_planner.publish(sm, pm)
 
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 15ef0d3e6..451a7cfc5 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -264,8 +264,8 @@ CONFIGS = [
   ProcessConfig(
     proc_name="plannerd",
     pub_sub={
-      "modelV2": ["lateralPlan"], "radarState": ["longitudinalPlan"],
-      "carState": [], "controlsState": [],
+      "modelV2": ["lateralPlan", "longitudinalPlan"],
+      "carState": [], "controlsState": [], "radarState": [],
     },
     ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay"],
     init_callback=get_car_params,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 8ad01f64b..009b94c10 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-6603859ec1a7a2d61c63693cff1765b0189c4746
\ No newline at end of file
+58674945e8c265e2c1f53500fc9cab2ed9a815b0
\ No newline at end of file