diff --git a/panda b/panda
index 67c63b3cf9..02fa8fbe8f 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 67c63b3cf9b2c2f537d90ef8d6ce0992e01457b6
+Subproject commit 02fa8fbe8f93dff077ba69f85eac305fa7444989
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 47082fb56f..48fbd06b4b 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -3,7 +3,7 @@ from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
-from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
+from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags, FordFlagsSP
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 
@@ -36,6 +36,9 @@ class CarController(CarControllerBase):
     self.lkas_enabled_last = False
     self.steer_alert_last = False
     self.lead_distance_bars_last = None
+    self.path_angle = 0.
+    self.path_offset = 0.
+    self.curvature_rate = 0.
 
   def update(self, CC, CS, now_nanos):
     can_sends = []
@@ -75,7 +78,10 @@ class CarController(CarControllerBase):
         # TODO: extended mode
         mode = 1 if CC.latActive else 0
         counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
-        can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
+        if self.CP.spFlags & FordFlagsSP.SP_ENHANCED_LAT_CONTROL.value:
+          can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, self.path_offset, self.path_angle, -apply_curvature, self.curvature_rate, counter))
+        else:
+          can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
       else:
         can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
 
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index bce7dfd2d6..f24d819d2a 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -3,7 +3,8 @@ from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
 from openpilot.selfdrive.car.ford.fordcan import CanBus
-from openpilot.selfdrive.car.ford.values import Ecu, FordFlags, BUTTON_STATES
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.ford.values import Ecu, FordFlags, BUTTON_STATES, FordFlagsSP
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -30,6 +31,9 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalTuning.kpV = [0.5]
     ret.longitudinalTuning.kiV = [0.]
 
+    if Params().get("DongleId", encoding='utf8') in ("4fde83db16dc0802", "112e4d6e0cad05e1", "e36b272d5679115f", "24574459dd7fb3e0", "83a4e056c7072678"):
+      ret.spFlags |= FordFlagsSP.SP_ENHANCED_LAT_CONTROL.value
+
     CAN = CanBus(fingerprint=fingerprint)
     cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
     if CAN.main >= 4:
@@ -44,6 +48,9 @@ class CarInterface(CarInterfaceBase):
     if ret.flags & FordFlags.CANFD:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
 
+    if ret.spFlags & FordFlagsSP.SP_ENHANCED_LAT_CONTROL:
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_ENHANCED_LAT_CONTROL
+
     ret.longitudinalTuning.kpBP = [0.]
     ret.longitudinalTuning.kpV = [0.5]
     ret.longitudinalTuning.kiV = [0.]
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index edfee3ea1b..64bce98da6 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -46,6 +46,10 @@ class FordFlags(IntFlag):
   CANFD = 1
 
 
+class FordFlagsSP(IntFlag):
+  SP_ENHANCED_LAT_CONTROL = 1
+
+
 BUTTON_STATES = {
   "accelCruise": False,
   "decelCruise": False,