diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index c0f9623..2f0fcdc 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -681,7 +681,12 @@ class Controls:
       self.LoC.reset(v_pid=CS.vEgo)
       self.frogpilot_variables.no_lat_lane_change = False
       self.FPCC.noLatLaneChange = False
-      lac_log = log.ControlsState.LateralDebugState.new_message()
+      # Call LaC.update with active=False so we get the right lac_log subtype
+      # for this car's lateralTuning (torque vs pid vs angle). Internally it
+      # early-returns when active is False — cheap.
+      lp = self.sm['liveParameters']
+      _, _, lac_log = self.LaC.update(False, CS, self.VM, lp, self.steer_limited, 0.0,
+                                       self.sm['liveLocationKalman'], model_data=self.sm['modelV2'])
       return CC, lac_log
 
     # Update VehicleModel