From 085f17c6c87e188b0dd747d0eee90e9561c76487 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 9 Feb 2024 14:36:59 -0500
Subject: [PATCH] Lateral Plan: Fix

---
 selfdrive/controls/controlsd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index cb909ebca6..c487e23890 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -670,7 +670,7 @@ class Controls:
         self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                            torque_params.frictionCoefficientFiltered)
 
-    lat_plan = self.sm['lateralPlan']
+    lat_plan = self.sm['lateralPlanDEPRECATED']
     long_plan = self.sm['longitudinalPlan']
     model_v2 = self.sm['modelV2']
     blinker_svs = lat_plan if self.model_use_lateral_planner else model_v2.meta