diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 1d0facd13..bc29c5794 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -48,10 +48,10 @@ LONG_SMOOTH_SECONDS = 0.3
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                           lat_action_t: float, long_action_t: float,) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
-    desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
-                                                     plan[:,Plan.ACCELERATION][:,0],
-                                                     ModelConstants.T_IDXS,
-                                                     action_t=long_action_t)
+    desired_accel, should_stop, desired_speed = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
+                                                                    plan[:,Plan.ACCELERATION][:,0],
+                                                                    ModelConstants.T_IDXS,
+                                                                    action_t=long_action_t)
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
 
     desired_curvature = model_output['desired_curvature'][0, 0]