diff --git a/log.capnp b/log.capnp
index 1dea876b2..1ab60be04 100644
--- a/log.capnp
+++ b/log.capnp
@@ -654,11 +654,12 @@ struct ControlsState @0x97ff69c53601abf1 {
   lateralControlState :union {
     indiState @52 :LateralINDIState;
     pidState @53 :LateralPIDState;
-    lqrState @55 :LateralLQRState;
     angleState @58 :LateralAngleState;
     debugState @59 :LateralDebugState;
     torqueState @60 :LateralTorqueState;
     curvatureState @65 :LateralCurvatureState;
+
+    lqrStateDEPRECATED @55 :LateralLQRState;
   }
 
   enum OpenpilotState @0xdbe58b96d2d1ac61 {