diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 4f691f9278..b803bd51d1 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -126,13 +126,13 @@ class LongitudinalPlanner:
     if self.param_read_counter % 50 == 0:
       self.read_param()
     self.param_read_counter += 1
-    if self.dynamic_experimental_controller.is_enabled() and sm['controlsState'].experimentalMode:
+    if self.dynamic_experimental_controller.is_enabled() and sm['selfdriveState'].experimentalMode:
       self.dynamic_experimental_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt)
       self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState'])
       #, sm['navInstruction'].maneuverDistance)
       self.mpc.mode = self.dynamic_experimental_controller.get_mpc_mode()
     else:
-      self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
+      self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])