diff --git a/opendbc_repo b/opendbc_repo
index 3df0776969..9dca31094f 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 3df0776969949fc51f98412685bfff3ebb529841
+Subproject commit 9dca31094f1108494d080647a16e4fbcb8ba1bd7
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index dea22fb3e7..9c7b6a0455 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import os
 import math
 from typing import SupportsFloat
 
@@ -26,6 +27,7 @@ LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
 
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
+REPLAY = "REPLAY" in os.environ
 
 class Controls:
   def __init__(self) -> None:
@@ -34,9 +36,12 @@ class Controls:
     self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
     cloudlog.info("controlsd got CarParams")
 
-    cloudlog.info("controlsd is waiting for CarParamsSP")
-    self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
-    cloudlog.info("controlsd got CarParamsSP")
+    if not REPLAY:
+      cloudlog.info("controlsd is waiting for CarParamsSP")
+      self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
+      cloudlog.info("controlsd got CarParamsSP")
+    else:
+      self.CP_SP = None
 
     self.CI = get_car_interface(self.CP, self.CP_SP)
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 1089c43075..d10bf8f6c0 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -60,7 +60,7 @@ class SelfdriveD(CruiseHelper):
     else:
       self.CP = CP
 
-    if CP_SP is None:
+    if CP_SP is None and not REPLAY:
       cloudlog.info("selfdrived is waiting for CarParamsSP")
       self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
       cloudlog.info("selfdrived got CarParamsSP")