diff --git a/opendbc/mazda_2019.dbc b/opendbc/mazda_2019.dbc
index b6fe944b24..c6503a5697 100644
--- a/opendbc/mazda_2019.dbc
+++ b/opendbc/mazda_2019.dbc
@@ -159,10 +159,10 @@ BO_ 129 NEW_MSG_19: 8 XXX
  SG_ NEW_SIGNAL_4 : 47|16@0+ (1,0) [0|65535] "" XXX
  SG_ NEW_SIGNAL_5 : 56|8@1+ (1,0) [0|15] "" XXX
 
-BO_ 130 STEER_ANGLE: 8 XXX
- SG_ STEER_ANGLE : 23|16@0+ (1,0) [0|65535] "" XXX
+BO_ 130 STEER: 8 XXX
+ SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [0|65535] "" XXX
  SG_ NEW_SIGNAL_2 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 55|16@0- (1,0) [0|65535] "" XXX
+ SG_ STEER_RATE : 55|16@0- (0.03,0) [0|65535] "" XXX
 
 BO_ 133 NEW_MSG_35: 8 XXX
  SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
@@ -185,7 +185,7 @@ BO_ 133 NEW_MSG_35: 8 XXX
  SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_8 : 56|8@1+ (1,0) [0|255] "" XXX
 
-BO_ 134 STEER: 8 XXX
+BO_ 134 STEER_ANGLE2: 8 XXX
  SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
  SG_ STEER_ANGLE : 25|14@0- (0.1,36) [0|1023] "" XXX
 
@@ -629,8 +629,8 @@ BO_ 1868 EPS_FEEDBACK3: 8 XXX
 
 CM_ SG_ 31 GEAR "13-P, 12-R, 11-N, 1-6-D";
 VAL_ 31 GEAR 13 "P" 12 "R" 11 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D";
-VAL_ 552 GEAR 13 "P" 12 "R" 11 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D";
 VAL_ 537 GEAR 0 "P" 1 "D" 2 "R";
+VAL_ 552 GEAR 13 "P" 12 "R" 11 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D";
 VAL_ 552 GEAR_SHIFT 6 "6th" 5 "5th" 4 "4th" 3 "3rd" 2 "2nd" 1 "1st" 14 "Shift" 13 "Park" 11 "Neutral" 12 "Reverse";
 VAL_ 1098 CRZ_STATE 0 "CRUISE_DISABLED" 1 "CRUISE_READY" 2 "CRUISE_ENABLED" 4 "GAS_OVERRIDE";
-VAL_ 1098 DISTANCE_SETTING 4 "CLOSE" 3 "MEDIUM_CLOSE" 2 "MEDIUM_FAR" 1 "FAR" 0 "ACC_DISABLED";
\ No newline at end of file
+VAL_ 1098 DISTANCE_SETTING 4 "CLOSE" 3 "MEDIUM_CLOSE" 2 "MEDIUM_FAR" 1 "FAR" 0 "ACC_DISABLED";
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index 2656b09be6..8d7a204958 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -182,7 +182,8 @@ class CarState(CarStateBase):
     #self.shifting = cp_cam.vl["GEAR"]["SHIFT"]
     #self.torque_converter_lock = cp_cam.vl["GEAR"]["TORQUE_CONVERTER_LOCK"]
 
-    ret.steeringAngleDeg = cp_cam.vl["STEER"]["STEER_ANGLE"]
+    ret.steeringAngleDeg = cp.vl["STEER"]["STEER_ANGLE"]
+    ret.steeringRateDeg = cp.vl["STEER"]["STEER_RATE"]
 
     ret.steeringTorque = cp_body.vl["EPS_FEEDBACK"]["STEER_TORQUE_SENSOR"]
     ret.gas = cp_cam.vl["ENGINE_DATA"]["PEDAL_GAS"]
@@ -273,6 +274,7 @@ class CarState(CarStateBase):
         ("BLINK_INFO", 10),
         ("ACC", 50),
         ("SYSTEM_SETTINGS", 10),
+        ("STEER", 100)
       ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
@@ -305,7 +307,6 @@ class CarState(CarStateBase):
         ("ENGINE_DATA", 100),
         ("STEER_TORQUE", 100),
         ("WHEEL_SPEEDS", 100),
-        ("STEER", 100),
         ("SPEED", 50),
       ]