diff --git a/cereal/log.capnp b/cereal/log.capnp
index c624eb005..a5828d61c 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -1174,6 +1174,8 @@ struct ModelDataV2 {
 
   struct Action {
     desiredCurvature @0 :Float32;
+    desiredAcceleration @1 :Float32;
+    shouldStop @2 :Bool;
   }
 }