diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 4e842f8d1..377ce7c2c 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -178,6 +178,10 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
       output_a_target = min(output_a_target_mpc, output_a_target_e2e)
       self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
 
+    if not self.is_stock:
+      # To support non Tomb Raider models
+      output_a_target, self.output_should_stop = output_a_target_mpc, output_should_stop_mpc
+
     for idx in range(2):
       accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
     self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 7bcf1a148..e6001f264 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,7 +19,7 @@ from openpilot.system.hardware import PC
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
-CURRENT_SELECTOR_VERSION = 2
+CURRENT_SELECTOR_VERSION = 3
 REQUIRED_MIN_SELECTOR_VERSION = 2
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index 56f32373d..9f0c503fb 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 
 from cereal import messaging, custom
 from opendbc.car import structs
+from openpilot.sunnypilot.models.helpers import get_active_model_runner
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
 
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
@@ -15,6 +16,7 @@ DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimen
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
     self.dec = DynamicExperimentalController(CP, mpc)
+    self.is_stock = get_active_model_runner() == custom.ModelManagerSP.Runner.stock
 
   def get_mpc_mode(self) -> str | None:
     if not self.dec.active():