diff --git a/opendbc_repo/opendbc/safety/modes/gm.h b/opendbc_repo/opendbc/safety/modes/gm.h
index d78bb84887..39e2fb4a84 100644
--- a/opendbc_repo/opendbc/safety/modes/gm.h
+++ b/opendbc_repo/opendbc/safety/modes/gm.h
@@ -317,6 +317,7 @@ static void gm_rx_hook(const CANPacket_t *msg) {
         gm_update_periodic_phase(&gm_bd_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
         gm_bd_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
         gm_try_send_periodic_spoof(now_us, 0xBDU, 7U, &gm_bd_state, GM_PADDLE_PERIOD_US);
+        gm_try_send_periodic_spoof(now_us, 0x1F5U, 8U, &gm_prndl2_state, GM_PADDLE_PERIOD_US);
       }
     }
 
@@ -325,6 +326,7 @@ static void gm_rx_hook(const CANPacket_t *msg) {
       gm_update_periodic_phase(&gm_prndl2_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
       gm_prndl2_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
       gm_try_send_periodic_spoof(now_us, 0x1F5U, 8U, &gm_prndl2_state, GM_PADDLE_PERIOD_US);
+      gm_try_send_periodic_spoof(now_us, 0xBDU, 7U, &gm_bd_state, GM_PADDLE_PERIOD_US);
     }
 
     // Pedal Interceptor
@@ -433,9 +435,9 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
         if (gm_3d1_next_tx_us == 0U) {
           gm_3d1_next_tx_us = now_us + GM_3D1_TX_OFFSET_US;
         }
-        // In scheduler mode, OP feed frames are timing/data inputs only.
-        // Actual 0x3D1 transmission is panda-internal.
-        tx = false;
+        bool stock_stale = (gm_3d1_last_stock_us == 0U) || (safety_get_ts_elapsed(now_us, gm_3d1_last_stock_us) > 300000U);
+        bool scheduler_ready = gm_3d1_phase_locked && !stock_stale;
+        tx = !scheduler_ready;
       }
     }
   }
@@ -466,9 +468,10 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
           gm_bd_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
         }
       }
-      // In scheduler mode, OP feed frames are timing/data inputs only.
-      // Actual 0xBD transmission is panda-internal.
-      tx = false;
+      bool scheduler_ready = gm_periodic_scheduler_ready(&gm_bd_state, now_us, GM_PADDLE_STALE_US, GM_PADDLE_FEED_STALE_US);
+      if (scheduler_ready) {
+        tx = false;
+      }
     }
   }
 
@@ -490,9 +493,10 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
           gm_prndl2_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
         }
       }
-      // In scheduler mode, OP feed frames are timing/data inputs only.
-      // Actual 0x1F5 transmission is panda-internal.
-      tx = false;
+      bool scheduler_ready = gm_periodic_scheduler_ready(&gm_prndl2_state, now_us, GM_PADDLE_STALE_US, GM_PADDLE_FEED_STALE_US);
+      if (scheduler_ready) {
+        tx = false;
+      }
     }
   }
 
diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed
index 3faf8f762b..2f7ae862dc 100644
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diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf
index 2b69f82941..bbbdcc8096 100755
Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ
diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin
index c0ad7bb00c..e5facc2d79 100755
Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ
diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf
index abcad1b001..b719ac56a1 100755
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diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin
index 199c65b279..3d3ea819d3 100755
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diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
index 52e8f79361..4dfd453e46 100755
Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ
diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin
index 2dbf3df43e..d8a4b56a1a 100755
Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ
diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin
index 2dbf3df43e..d8a4b56a1a 100755
Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ
diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin
index 0206569281..eb972fbba1 100755
Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ
diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin
index 52e8f79361..4dfd453e46 100755
Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ
diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h
index 1fa4a0b1b7..f72577551d 100644
--- a/panda/board/obj/gitversion.h
+++ b/panda/board/obj/gitversion.h
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-61a9a127-DEBUG";
+const uint8_t gitversion[19] = "DEV-ada146ef-DEBUG";
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index 1775abd6b0..99664f5482 100644
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diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf
index bf2163a99f..31f884a1b4 100755
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diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin
index 63a14c29c3..35af2d098b 100755
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diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf
index 799eedab3d..5a6558f103 100755
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diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed
index f10c53b05c..06765734e0 100644
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diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf
index 2c4db1a93f..9534cb063c 100755
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diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin
index d138745959..9eabacfe1f 100755
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diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf
index 330a560d6a..6ae0f56984 100755
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diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed
index 42fc64c2c4..a9f5bd5b98 100644
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diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf
index 5560963156..ec3d2a3481 100755
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diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin
index 7f5086cf39..70dfa9fdbb 100755
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diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf
index 9758c29615..960a8a0c65 100755
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diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed
index 6218b6a5b8..31dbd94ca7 100644
Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ
diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf
index a571c4e2a3..0e1ffd2410 100755
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diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin
index cdeb8cc031..264cc50a93 100755
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diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf
index bb3a540e90..404950abbc 100755
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diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed
index e571beea1a..85600dbfe0 100644
Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ
diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf
index 1e62f8982a..eb90afcf45 100755
Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ
diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin
index f0ec6e9142..71f70e6c0e 100755
Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ
diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf
index 09a78f8ead..f3f60e489c 100755
Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ
diff --git a/panda/board/obj/version b/panda/board/obj/version
index 38ed6c9fdf..f2375c2ae6 100644
--- a/panda/board/obj/version
+++ b/panda/board/obj/version
@@ -1 +1 @@
-DEV-61a9a127-DEBUG
\ No newline at end of file
+DEV-ada146ef-DEBUG
\ No newline at end of file