diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index 48255866c7..c63c05cb1a 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -31,8 +31,6 @@ class CarController:
     if CP.spFlags & SubaruFlagsSP.SP_SUBARU_SNG:
       self.subaru_sng = True
       self.manual_parking_brake = self.param_s.get_bool("SubaruManualParkingBrakeSng")
-      self.throttle_cnt = -1
-      self.brake_pedal_cnt = -1
       self.prev_close_distance = 0
       self.prev_standstill = False
       self.standstill_start = 0
@@ -121,7 +119,7 @@ class CarController:
         can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg))
 
       if self.subaru_sng:
-        can_sends.append(subarucan.create_preglobal_throttle(self.packer, CS.throttle_msg, throttle_cmd))
+        can_sends.append(subarucan.create_preglobal_throttle(self.packer, CS.throttle_msg["COUNTER"] + 1, CS.throttle_msg, throttle_cmd))
 
     else:
       if self.frame % 10 == 0:
@@ -136,10 +134,10 @@ class CarController:
           can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))
 
       if self.subaru_sng:
-        can_sends.append(subarucan.create_throttle(self.packer, CS.throttle_msg, throttle_cmd))
+        can_sends.append(subarucan.create_throttle(self.packer, CS.throttle_msg["COUNTER"] + 1, CS.throttle_msg, throttle_cmd))
 
         if self.frame % 2 == 0:
-          can_sends.append(subarucan.create_brake_pedal(self.packer, CS.brake_pedal_msg, speed_cmd, pcm_cancel_cmd))
+          can_sends.append(subarucan.create_brake_pedal(self.packer, self.frame // 2, CS.brake_pedal_msg, speed_cmd, pcm_cancel_cmd))
 
       if self.CP.openpilotLongitudinalControl:
         if self.frame % 5 == 0:
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index 411b034323..bf847a6d23 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -293,9 +293,8 @@ def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
   return packer.make_can_msg("ES_Distance", CanBus.main, values)
 
 
-def create_brake_pedal(packer, brake_pedal_msg, speed_cmd, brake_cmd):
+def create_brake_pedal(packer, frame, brake_pedal_msg, speed_cmd, brake_cmd):
   values = {s: brake_pedal_msg[s] for s in [
-    "COUNTER",
     "Signal1",
     "Speed",
     "Signal2",
@@ -305,6 +304,8 @@ def create_brake_pedal(packer, brake_pedal_msg, speed_cmd, brake_cmd):
     "Signal4",
   ]}
 
+  values["COUNTER"] = frame % 0x10
+
   if speed_cmd:
     values["Speed"] = 3
   if brake_cmd:
@@ -314,10 +315,9 @@ def create_brake_pedal(packer, brake_pedal_msg, speed_cmd, brake_cmd):
   return packer.make_can_msg("Brake_Pedal", CanBus.camera, values)
 
 
-def create_throttle(packer, throttle_msg, throttle_cmd):
+def create_throttle(packer, frame, throttle_msg, throttle_cmd):
   values = {s: throttle_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "Signal1",
     "Engine_RPM",
     "Signal2",
@@ -328,16 +328,17 @@ def create_throttle(packer, throttle_msg, throttle_cmd):
     "Off_Accel",
   ]}
 
+  values["COUNTER"] = frame % 0x10
+
   if throttle_cmd:
     values["Throttle_Pedal"] = 5
 
   return packer.make_can_msg("Throttle", 2, values)
 
 
-def create_preglobal_throttle(packer, throttle_msg, throttle_cmd):
+def create_preglobal_throttle(packer, frame, throttle_msg, throttle_cmd):
   values = {s: throttle_msg[s] for s in [
     "Throttle_Pedal",
-    "COUNTER",
     "Signal1",
     "Not_Full_Throttle",
     "Signal2",
@@ -351,6 +352,8 @@ def create_preglobal_throttle(packer, throttle_msg, throttle_cmd):
     "Signal4",
   ]}
 
+  values["COUNTER"] = frame % 0x10
+
   if throttle_cmd:
     values["Throttle_Pedal"] = 5