diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 463487dd78..fffd140fc6 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -70,12 +70,12 @@ class Car:
 
     if self.CP.customStockLongAvailable and self.CP.pcmCruise and self.params.get_bool("CustomStockLong"):
       self.CP.pcmCruiseSpeed = False
-      services = self.sm.data.keys() | {'longitudinalPlan'}
+      services = self.sm.data.keys() | {'longitudinalPlanSP'}
       self.sm = messaging.SubMaster(list(services))
 
       cslc_path = f'openpilot.selfdrive.controls.lib.sunnypilot.custom_stock_longitudinal_controller.car.{self.CP.carName}'
       CustomStockLongitudinalController = __import__(cslc_path + '.controller', fromlist=['CustomStockLongitudinalController']).CustomStockLongitudinalController
-      self.custom_stock_longitudinal_controller = CustomStockLongitudinalController(self, self.CI.CC, self.CP)
+      self.custom_stock_longitudinal_controller = CustomStockLongitudinalController(self, self.CI.CC, self.CI.CS, self.CP)
 
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
diff --git a/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/car/hyundai/controller.py b/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/car/hyundai/controller.py
index 0cf9edc1b2..7ed937042b 100644
--- a/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/car/hyundai/controller.py
+++ b/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/car/hyundai/controller.py
@@ -9,13 +9,13 @@ ButtonType = car.CarState.ButtonEvent.Type
 
 
 class CustomStockLongitudinalController(CustomStockLongitudinalControllerBase):
-  def __init__(self, car, car_controller, CP):
-    super().__init__(car, car_controller, CP)
+  def __init__(self, car, car_controller, car_state, CP):
+    super().__init__(car, car_controller, car_state, CP)
     self.accel_button = Buttons.RES_ACCEL
     self.decel_button = Buttons.SET_DECEL
     self.set_speed_buttons = (ButtonType.accelCruise, ButtonType.decelCruise)
 
-  def create_can_mock_button_messages(self, CS: car.CarState) -> list[SendCan]:
+  def create_can_mock_button_messages(self) -> list[SendCan]:
     can_sends = []
     if self.cruise_button is not None:
       if self.CP.carFingerprint in LEGACY_SAFETY_MODE_CAR:
@@ -25,11 +25,11 @@ class CustomStockLongitudinalController(CustomStockLongitudinalControllerBase):
         # send resume at a max freq of 10Hz
         if (self.car_controller.frame - self.car_controller.last_button_frame) * DT_CTRL > 0.1 * send_freq:
           # send 25 messages at a time to increases the likelihood of cruise buttons being accepted
-          can_sends.extend([hyundaican.create_clu11(self.car_controller.packer, self.car_controller.frame, CS.clu11, self.cruise_button, self.CP)] * 25)
+          can_sends.extend([hyundaican.create_clu11(self.car_controller.packer, self.car_controller.frame, self.car_state.clu11, self.cruise_button, self.CP)] * 25)
           if (self.car_controller.frame - self.car_controller.last_button_frame) * DT_CTRL >= 0.15 * send_freq:
             self.car_controller.last_button_frame = self.car_controller.frame
       elif self.car_controller.frame % 2 == 0:
-        can_sends.extend([hyundaican.create_clu11(self.car_controller.packer, (self.car_controller.frame // 2) + 1, CS.clu11, self.cruise_button, self.CP)] * 25)
+        can_sends.extend([hyundaican.create_clu11(self.car_controller.packer, (self.car_controller.frame // 2) + 1, self.car_state.clu11, self.cruise_button, self.CP)] * 25)
 
     return can_sends
 
@@ -45,11 +45,11 @@ class CustomStockLongitudinalController(CustomStockLongitudinalControllerBase):
 
     return can_sends
 
-  def create_mock_button_messages(self, CS: car.CarState, CC: car.CarControl) -> list[SendCan]:
+  def create_mock_button_messages(self) -> list[SendCan]:
     can_sends = []
     if self.CP.carFingerprint in CANFD_CAR:
       can_sends.extend(self.create_canfd_mock_button_messages())
     else:
-      can_sends.extend(self.create_can_mock_button_messages(CS))
+      can_sends.extend(self.create_can_mock_button_messages())
 
     return can_sends
diff --git a/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py b/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py
index 40cfb79c78..2d85f51783 100644
--- a/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py
+++ b/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py
@@ -17,9 +17,10 @@ SendCan = tuple[int, bytes, int]
 
 
 class CustomStockLongitudinalControllerBase(ABC):
-  def __init__(self, car, car_controller, CP):
+  def __init__(self, car, car_controller, car_state, CP):
     self.car = car
     self.car_controller = car_controller
+    self.car_state = car_state
     self.CP = CP
 
     self.params = Params()
@@ -64,7 +65,7 @@ class CustomStockLongitudinalControllerBase(ABC):
     return customStockLongitudinalControl
 
   def get_set_speed_buttons(self, CS: car.CarState) -> bool:
-    return any(be.type in self.set_speed_buttons for be in CS.out.buttonEvents)
+    return any(be.type in self.set_speed_buttons for be in CS.buttonEvents)
 
   def handle_button_state(self, CS: car.CarState) -> int | None:
     state = self.button_states.get(self.button_state)
@@ -89,30 +90,30 @@ class CustomStockLongitudinalControllerBase(ABC):
     return self.steady_speed
 
   def get_cruise_button(self, CS: car.CarState) -> int:
-    self.target_speed = round(self.final_speed_kph * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1))
-    self.v_cruise = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH))
+    self.target_speed = round(self.final_speed_kph * (CV.KPH_TO_MPH if not self.car_state.params_list.is_metric else 1))
+    self.v_cruise = round(CS.cruiseState.speed * (CV.MS_TO_MPH if not self.car_state.params_list.is_metric else CV.MS_TO_KPH))
     cruise_button = self.handle_button_state(CS)
     return cruise_button
 
   @abstractmethod
-  def create_mock_button_messages(self, CS: car.CarState, CC: car.CarControl) -> list[SendCan]:
+  def create_mock_button_messages(self) -> list[SendCan]:
     pass
 
   def update(self, CS: car.CarState, CC: car.CarControl) -> list[SendCan]:
-    self.is_active = CS.out.cruiseState.enabled and not CC.cruiseControl.cancel and not CC.cruiseControl.resume
+    self.is_active = CS.cruiseState.enabled and not CC.cruiseControl.cancel and not CC.cruiseControl.resume
     if self.car.sm.updated['longitudinalPlanSP']:
       self.v_tsc_state = self.car.sm['longitudinalPlanSP'].visionTurnControllerState
       self.slc_state = self.car.sm['longitudinalPlanSP'].speedLimitControlState
       self.m_tsc_state = self.car.sm['longitudinalPlanSP'].turnSpeedControlState
       self.v_tsc = self.car.sm['longitudinalPlanSP'].visionTurnSpeed
-      self.speed_limit_offseted = self.car.sm['longitudinalPlanSP'].speedLimitOffseted
+      self.speed_limit_offseted = self.car.sm['longitudinalPlanSP'].speedLimit + self.car.sm['longitudinalPlanSP'].speedLimitOffset
       self.m_tsc = self.car.sm['longitudinalPlanSP'].turnSpeed
 
-    self.v_cruise_min = get_set_point(CS.params_list.is_metric)
+    self.v_cruise_min = get_set_point(self.car_state.params_list.is_metric)
 
     self.final_speed_kph = self.get_v_target(CC)
     self.cruise_button = self.get_cruise_button(CS)
 
-    can_sends = self.create_mock_button_messages(CS, CC)
+    can_sends = self.create_mock_button_messages()
 
     return can_sends