diff --git a/common/libcommon.a b/common/libcommon.a
index 4a5f34909..adac862e2 100644
Binary files a/common/libcommon.a and b/common/libcommon.a differ
diff --git a/common/params_pyx.so b/common/params_pyx.so
index 0c02c0f05..ddfd9e62e 100755
Binary files a/common/params_pyx.so and b/common/params_pyx.so differ
diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed
index 3f58ab9ef..a3e68e3e3 100644
Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ
diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf
index c8c217092..cac4a78df 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 3e832805d..31768d37c 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 c88d0a115..6c9b758c6 100755
Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ
diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin
index ae7faadf3..84613e937 100755
Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ
diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
index 3e63a65eb..cad857d04 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 b6dcac364..3e36b90fd 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 b6dcac364..3e36b90fd 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 0b0e18268..64485a819 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 3e63a65eb..cad857d04 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 697cfb96c..03921a5f7 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-10d7d7d1-DEBUG";
+const uint8_t gitversion[19] = "DEV-0f4bae1c-DEBUG";
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index 5364585d4..bdc6f9534 100644
Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ
diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf
index 4c2e5d767..5d3214387 100755
Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ
diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin
index bf3f2f894..540ad3bb4 100755
Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ
diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf
index 804265ead..e8be89855 100755
Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ
diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed
index f241344fa..c70364372 100644
Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ
diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf
index dab396e52..9c3b27a80 100755
Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ
diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin
index 560b1001c..cb597ecb4 100755
Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ
diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf
index ceaffdb4e..b4e293143 100755
Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ
diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed
index 1dabcd916..b6e4692db 100644
Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ
diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf
index 90bbfcf86..406bb4489 100755
Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ
diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin
index d5212bc96..056d093c4 100755
Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ
diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf
index a5704c85c..c063ee3f7 100755
Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ
diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed
index 40ab47a2d..8da07f9e6 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 088d81ed4..93e53b091 100755
Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ
diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin
index adf7d66e0..eef6755d8 100755
Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ
diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf
index 5aeb0998e..497f63438 100755
Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ
diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed
index f1b0509f4..950328fc0 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 7bb7c1a62..3f0d24034 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 c10a6dd7c..727a1f4dd 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 ab1a676dc..24970ff6b 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 5cd3cf67d..dc8124d75 100644
--- a/panda/board/obj/version
+++ b/panda/board/obj/version
@@ -1 +1 @@
-DEV-10d7d7d1-DEBUG
\ No newline at end of file
+DEV-0f4bae1c-DEBUG
\ No newline at end of file
diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad
index 5340e20fb..acfc5148a 100755
Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ
diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui
index 1a47393c1..cf8f53e89 100755
Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ
diff --git a/system/camerad/camerad b/system/camerad/camerad
index daa4c808d..297776200 100755
Binary files a/system/camerad/camerad and b/system/camerad/camerad differ
diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog
index 41c64ec9f..be5da2c83 100755
Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ
diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd
index 132b781b0..be0a75285 100755
Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ
diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd
index b7c1a173c..a63c4372a 100755
Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ