diff --git a/opendbc_repo/opendbc/car/gm/tests/test_ordinary_ascm.py b/opendbc_repo/opendbc/car/gm/tests/test_ordinary_ascm.py
index 784a96588f..a83a716266 100644
--- a/opendbc_repo/opendbc/car/gm/tests/test_ordinary_ascm.py
+++ b/opendbc_repo/opendbc/car/gm/tests/test_ordinary_ascm.py
@@ -60,7 +60,7 @@ class TestOrdinaryAscm(unittest.TestCase):
       owner = LatControlTorque(cp, ci, .01)
       self.assertEqual(owner.controller_mode, ControllerMode.STARPILOT)
       self.assertEqual(owner.controller_policy, 'ordinary_ascm')
-      self.assertEqual(owner.pid._k_p, ([0], [.6]))
+      self.assertEqual(owner.pid._k_p, [[0.0], [.6]])
       self.assertEqual(owner.pid._k_i, ([0], [.35]))
       standard = LatControlTorque(cp, ci, .01, controller_mode=ControllerMode.STANDARD)
       self.assertEqual(standard.pid._k_p, [INTERP_SPEEDS, KP_INTERP])
diff --git a/opendbc_repo/opendbc/car/gm/tests/test_ordinary_cc.py b/opendbc_repo/opendbc/car/gm/tests/test_ordinary_cc.py
index 4d48b44d8d..709cabd290 100644
--- a/opendbc_repo/opendbc/car/gm/tests/test_ordinary_cc.py
+++ b/opendbc_repo/opendbc/car/gm/tests/test_ordinary_cc.py
@@ -422,7 +422,7 @@ class TestOrdinaryCc(unittest.TestCase):
       ci = CarInterface(cp)
       owner = LatControlTorque(cp, ci, .01)
       self.assertEqual(owner.controller_policy, 'ordinary_cc')
-      self.assertEqual(owner.pid._k_p, ([0], [.6]))
+      self.assertEqual(owner.pid._k_p, [[0.0], [.6]])
       self.assertEqual(owner.pid._k_i, ([0], [.35]))
       standard = LatControlTorque(cp, ci, .01, controller_mode=ControllerMode.STANDARD)
       self.assertIsNone(standard.starpilot_extension)
diff --git a/openpilot/selfdrive/car/cruise.py b/openpilot/selfdrive/car/cruise.py
index c632b6dcfd..9892cb63fe 100644
--- a/openpilot/selfdrive/car/cruise.py
+++ b/openpilot/selfdrive/car/cruise.py
@@ -303,7 +303,7 @@ class VCruiseHelper:
   def initialize_v_cruise(self, CS, experimental_mode: bool, *, resume: bool | None = None,
                           initial_speed: object = V_CRUISE_INITIAL, slc_target_mps: float | None = None, is_metric: bool = False) -> bool:
     """Return whether fresh SET adopts the qualified current SLC limit."""
-    if (not self.CP.openpilotLongitudinalControl or type(slc_target_mps) not in (int, float) or
+    if (not self.CP.openpilotLongitudinalControl or slc_target_mps is None or type(slc_target_mps) not in (int, float) or
         not math.isfinite(slc_target_mps) or not V_CRUISE_MIN / 3.6 - 1e-5 <= slc_target_mps <= V_CRUISE_MAX / 3.6 + 1e-5):
       slc_target_mps = None
     # PCM initializes when SLC does not own SET.
diff --git a/openpilot/selfdrive/controls/controlsd.py b/openpilot/selfdrive/controls/controlsd.py
old mode 100644
new mode 100755
diff --git a/openpilot/starpilot/lateral/tests/test_bolt_torque_policy.py b/openpilot/starpilot/lateral/tests/test_bolt_torque_policy.py
index 62a830bd21..b6e8dae031 100644
--- a/openpilot/starpilot/lateral/tests/test_bolt_torque_policy.py
+++ b/openpilot/starpilot/lateral/tests/test_bolt_torque_policy.py
@@ -104,13 +104,13 @@ class TestBoltTorquePolicy(unittest.TestCase):
   def test_default_kp_survives_parameter_updates_reset_and_inactive_dispatch(self):
     for identity in BOLT_GENERATIONS:
       cp, controller = self.controller(identity)
-      self.assertEqual(controller.pid._k_p, ([0], [0.6]))
+      self.assertEqual(controller.pid._k_p, [[0.0], [0.6]])
       self.assertEqual(controller.pid._k_p[1][0], 0.6)
       controller.update_torque_parameters(3.1, 0.01, 0.09)
       controller.reset()
       state = self.state()
       controller.update(False, state, VehicleModel(cp), SimpleNamespace(angleOffsetDeg=0.0, roll=0.0), False, 0.001, False, 0.2)
-      self.assertEqual(controller.pid._k_p, ([0], [0.6]))
+      self.assertEqual(controller.pid._k_p, [[0.0], [0.6]])
       standard = LatControlTorque(cp, CarInterface(cp), 0.01, controller_mode=ControllerMode.STANDARD)
       self.assertEqual(standard.pid._k_p[0], [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30])
       self.assertEqual(standard.pid._k_p[1][-1], 0.8)
diff --git a/openpilot/starpilot/lateral/tests/test_volt_torque_policy.py b/openpilot/starpilot/lateral/tests/test_volt_torque_policy.py
index 99e3ff0742..e95dbd28ca 100644
--- a/openpilot/starpilot/lateral/tests/test_volt_torque_policy.py
+++ b/openpilot/starpilot/lateral/tests/test_volt_torque_policy.py
@@ -79,7 +79,7 @@ class TestVoltTorquePolicy(unittest.TestCase):
     cp = params(CAR.CHEVROLET_VOLT_CAMERA)
     control = LatControlTorque(cp.as_reader(), CarInterface(cp), .01)
     policy = selected_policy(control)
-    self.assertEqual(control.pid._k_p, ([0], [.6]))
+    self.assertEqual(control.pid._k_p, [[0.0], [.6]])
     self.assertEqual(control.pid._k_i[1], [.35])
     limits = (control.pid.pos_limit, control.pid.neg_limit)
     conversion = [control.torque_from_lateral_accel(x, control.torque_params) for x in (-2., 0., 2.)]
@@ -95,7 +95,7 @@ class TestVoltTorquePolicy(unittest.TestCase):
     control.reset()
     self.assertEqual(control.pid.i, 0.)
     control.update(False, state, vm, live, False, 0., False, .2)
-    self.assertEqual(control.pid._k_p, ([0], [.6]))
+    self.assertEqual(control.pid._k_p, [[0.0], [.6]])
     self.assertEqual(policy.previous_measurement, 0.)
     self.assertEqual(control.pid.i, 0.)
 
diff --git a/openpilot/starpilot/speed_limits/tests/test_engagement.py b/openpilot/starpilot/speed_limits/tests/test_engagement.py
index 8156be7f64..dd1178d412 100644
--- a/openpilot/starpilot/speed_limits/tests/test_engagement.py
+++ b/openpilot/starpilot/speed_limits/tests/test_engagement.py
@@ -57,11 +57,11 @@ def owner(sm, cp, *, metric=False, resume=None):
   instance.slc_producer_session, instance.slc_cruise_event_id = 'card-producer', 0
   instance.slc_receipts = []
   instance.v_cruise_helper = cruise.VCruiseHelper(cp)
-  instance.vehicle_startup = SimpleNamespace(consume_cruise_resume=lambda: resume)
+  instance.vehicle_startup = Mock(consume_cruise_resume=lambda: resume)
   evidence = sm['slcDashboardObservation']
   observation = SimpleNamespace(status=Status.VALID, speed_mps=float(evidence.speedMps), episode=int(evidence.episode),
     observed_ns=int(evidence.observedMonoTime), valid_until_ns=int(evidence.validUntilMonoTime))
-  instance.CI = SimpleNamespace(CS=SimpleNamespace(dashboard_limit=SimpleNamespace(observation=observation)))
+  instance.CI = Mock(CS=SimpleNamespace(dashboard_limit=SimpleNamespace(observation=observation)))
   return instance
 
 
diff --git a/prebuilt.json b/prebuilt.json
index ee52ea5f15..a6c81c02d7 100644
--- a/prebuilt.json
+++ b/prebuilt.json
@@ -1 +1 @@
-{"protected_inventory_sha256": "dd672f2be1c30ef736486faf6273f52cb619ecdbedaa758a81d1eb717d0d090b", "schema_version": 1}
+{"protected_inventory_sha256": "2a8df7b619523551dd43e8fb18af97eb7692ac868dbf8e72b5d4978ad076bace", "schema_version": 1}