diff --git a/frogpilot/common/frogpilot_variables.py b/frogpilot/common/frogpilot_variables.py
index dd0917dd..998a9c81 100644
--- a/frogpilot/common/frogpilot_variables.py
+++ b/frogpilot/common/frogpilot_variables.py
@@ -372,6 +372,7 @@ class FrogPilotVariables:
 
     advanced_longitudinal_tuning = toggle.openpilot_longitudinal and self.get_value("AdvancedLongitudinalTune")
     toggle.longitudinalActuatorDelay = self.get_value("LongitudinalActuatorDelay", cast=float, condition=advanced_longitudinal_tuning, default=longitudinalActuatorDelay, min=0, max=1)
+    toggle.max_desired_acceleration = self.get_value("MaxDesiredAcceleration", cast=float, condition=advanced_longitudinal_tuning, min=0.1, max=MAX_ACCELERATION)
     toggle.startAccel = self.get_value("StartAccel", cast=float, condition=advanced_longitudinal_tuning, default=startAccel, min=0, max=MAX_ACCELERATION)
     toggle.stopAccel = self.get_value("StopAccel", cast=float, condition=advanced_longitudinal_tuning, default=stopAccel, min=-MAX_ACCELERATION, max=0)
     toggle.stoppingDecelRate = self.get_value("StoppingDecelRate", cast=float, condition=advanced_longitudinal_tuning, default=toggle.stoppingDecelRate, min=0.001, max=1)
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 503c029d..309055b2 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -126,7 +126,7 @@ class Controls:
 
     # accel PID loop
     pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
-    actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits, self.frogpilot_toggles))
+    actuators.accel = float(min(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits, self.frogpilot_toggles), self.frogpilot_toggles.max_desired_acceleration))
 
     # Steering PID loop and lateral MPC
     # Reset desired curvature to current to avoid violating the limits on engage