diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 2a2f83678b..1962ffa1a3 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -73,6 +73,10 @@ class Car:
       services = self.sm.data.keys() | {'longitudinalPlan'}
       self.sm = messaging.SubMaster(list(services))
 
+      cslc_path = f'openpilot.selfdrive.controls.lib.sunnypilot.custom_stock_longitudinal_controller.car.{self.CP.carName}'
+      CustomStockLongitudinalController = __import__(cslc_path + '.controller', fromlist=['CustomStockLongitudinalController']).CustomStockLongitudinalController
+      self.custom_stock_longitudinal_controller = CustomStockLongitudinalController(self, self.CI.CC, self.CP)
+
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
@@ -177,6 +181,8 @@ class Car:
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
       self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
+      if not self.CP.pcmCruiseSpeed:
+        can_sends.extend(self.custom_stock_longitudinal_controller.update(CS, CC))
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC
diff --git a/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py b/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py
index 29654fd374..f2ab1c5f4c 100644
--- a/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py
+++ b/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py
@@ -151,7 +151,7 @@ class CustomStockLongitudinalControllerBase(ABC):
   def create_mock_button_messages(self, CS: car.CarState, CC: car.CarControl) -> list[SendCan]:
     pass
 
-  def update(self, CS: car.CarState) -> None:
+  def update(self, CS: car.CarState, CC: car.CarControl) -> list[SendCan]:
     if self.car.sm.updated['longitudinalPlanSP']:
       self.v_tsc_state = self.car.sm['longitudinalPlanSP'].visionTurnControllerState
       self.slc_state = self.car.sm['longitudinalPlanSP'].speedLimitControlState
@@ -174,3 +174,7 @@ class CustomStockLongitudinalControllerBase(ABC):
     slc_active = not sl_inactive and not sl_temp_inactive
 
     self.slc_active_stock = slc_active
+
+    can_sends = self.create_mock_button_messages(CS, CC)
+
+    return can_sends