diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index dae13c328a..2272ebfeb8 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -107,8 +107,8 @@ class LongitudinalPlanner(DecPlanner):
       throttle_prob = 1.0
     return x, v, a, j, throttle_prob
 
-  def update(self, sm, frame):
-    DecPlanner.update(self, sm, frame)
+  def update(self, sm):
+    DecPlanner.update(self, sm)
     self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
     if dec_mpc_mode := self.get_mpc_mode(sm):
       self.mpc.mode = dec_mpc_mode
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 252540ac19..16ac80db60 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -25,7 +25,7 @@ def main():
   while True:
     sm.update()
     if sm.updated['modelV2']:
-      longitudinal_planner.update(sm, sm.frame)
+      longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)
 
       ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py
index 3d7c8f7f22..078de0f59f 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/dec.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/dec.py
@@ -377,12 +377,12 @@ class DynamicExperimentalController:
     if self._set_mode_timeout > 0:
       self._set_mode_timeout -= 1
 
-  def _read_params(self, frame: int) -> None:
-    if frame % int(1. / DT_MDL) == 0:
+  def _read_params(self, sm: messaging.SubMaster) -> None:
+    if sm.frame % int(1. / DT_MDL) == 0:
       self._is_enabled = self._params.get_bool("DynamicExperimentalControl")
 
-  def update(self, radar_unavailable: bool, sm: messaging.SubMaster, frame: int) -> None:
-    self._read_params(frame)
+  def update(self, radar_unavailable: bool, sm: messaging.SubMaster) -> None:
+    self._read_params(sm)
 
     if self._is_enabled:
       self._update(sm)
diff --git a/sunnypilot/selfdrive/controls/lib/dec/helpers.py b/sunnypilot/selfdrive/controls/lib/dec/helpers.py
index 4c6cfa5c8a..602d3b64ba 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/helpers.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/helpers.py
@@ -27,9 +27,9 @@ class DecPlanner:
 
     return self.dynamic_experimental_controller.get_mpc_mode()
 
-  def update(self, sm: messaging.SubMaster, frame: int) -> None:
+  def update(self, sm: messaging.SubMaster) -> None:
     self.dynamic_experimental_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt)
-    self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm, frame)
+    self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm)
 
   def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
     plan_sp_send = messaging.new_message('longitudinalPlanSP')