diff --git a/opendbc/car/tesla/carcontroller.py b/opendbc/car/tesla/carcontroller.py
index de02f90209..de57cbecba 100644
--- a/opendbc/car/tesla/carcontroller.py
+++ b/opendbc/car/tesla/carcontroller.py
@@ -43,7 +43,7 @@ def update(self, CC, CS, now_nanos):
       if hands_on_fault:
         state = 13  # "ACC_CANCEL_GENERIC_SILENT"
       accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
-      cntr = (self.frame // 4) % 8
+      cntr = CS.das_control["DAS_controlCounter"]
       can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr))
 
     # Increment counter so cancel is prioritized even without openpilot longitudinal