diff --git a/selfdrive/controls/lib/speed_limit_controller.py b/selfdrive/controls/lib/speed_limit_controller.py
index 14892d8add..8d1c0a3677 100644
--- a/selfdrive/controls/lib/speed_limit_controller.py
+++ b/selfdrive/controls/lib/speed_limit_controller.py
@@ -8,7 +8,7 @@ from common.params import Params
 from selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_ACC, LIMIT_MAX_ACC, LIMIT_SPEED_OFFSET_TH, \
   LIMIT_MAX_MAP_DATA_AGE, CONTROL_N
 from selfdrive.controls.lib.events import Events, ET
-from selfdrive.modeld.constants import T_IDXS
+from openpilot.selfdrive.modeld.constants import ModelConstants
 
 
 _PARAMS_UPDATE_PERIOD = 2.  # secs. Time between parameter updates.
@@ -389,11 +389,11 @@ class SpeedLimitController():
       if self.distance > 0:
         a_target = (self.speed_limit_offseted**2 - self._v_ego**2) / (2. * self.distance)
       else:
-        a_target = self._v_offset / T_IDXS[CONTROL_N]
+        a_target = self._v_offset / ModelConstants.T_IDXS[CONTROL_N]
     # active
     elif self.state == SpeedLimitControlState.active:
       # When active we are trying to keep the speed constant around the control time horizon.
-      a_target = self._v_offset / T_IDXS[CONTROL_N]
+      a_target = self._v_offset / ModelConstants.T_IDXS[CONTROL_N]
 
     # Keep solution limited.
     self._a_target = np.clip(a_target, LIMIT_MIN_ACC, LIMIT_MAX_ACC)
diff --git a/selfdrive/controls/lib/turn_speed_controller.py b/selfdrive/controls/lib/turn_speed_controller.py
index 5612b8720b..9fc35913b1 100644
--- a/selfdrive/controls/lib/turn_speed_controller.py
+++ b/selfdrive/controls/lib/turn_speed_controller.py
@@ -4,7 +4,7 @@ from common.params import Params
 from cereal import custom
 from selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_SPEED, LIMIT_MAX_MAP_DATA_AGE, \
   LIMIT_SPEED_OFFSET_TH, CONTROL_N, LIMIT_MIN_ACC, LIMIT_MAX_ACC
-from selfdrive.modeld.constants import T_IDXS
+from openpilot.selfdrive.modeld.constants import ModelConstants
 
 
 _ACTIVE_LIMIT_MIN_ACC = -0.5  # m/s^2 Maximum deceleration allowed while active.
@@ -223,7 +223,7 @@ class TurnSpeedController():
     elif self.state == TurnSpeedControlState.active:
       # When active we are trying to keep the speed constant around the control time horizon.
       # but under constrained acceleration limits since we are in a turn.
-      a_target = self._v_offset / T_IDXS[CONTROL_N]
+      a_target = self._v_offset / ModelConstants.T_IDXS[CONTROL_N]
       a_target = np.clip(a_target, _ACTIVE_LIMIT_MIN_ACC, _ACTIVE_LIMIT_MAX_ACC)
 
     # update solution values.