diff --git a/openpilot/selfdrive/locationd/models/generated/libcar.so b/openpilot/selfdrive/locationd/models/generated/libcar.so
index cfb085f052..60096bf88c 100755
Binary files a/openpilot/selfdrive/locationd/models/generated/libcar.so and b/openpilot/selfdrive/locationd/models/generated/libcar.so differ
diff --git a/openpilot/selfdrive/locationd/models/generated/libpose.so b/openpilot/selfdrive/locationd/models/generated/libpose.so
index 19eb5cfe10..37f4035ea5 100755
Binary files a/openpilot/selfdrive/locationd/models/generated/libpose.so and b/openpilot/selfdrive/locationd/models/generated/libpose.so differ
diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed
index 96b3c20b51..15cbb92fe7 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/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin
index 626ad9baa0..287093954b 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 b3e97cb6e4..fdcbb771b0 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 98c24bba9e..30c6c475ca 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/gitversion.h b/panda/board/obj/gitversion.h
index 2343e5c519..a905b008ff 100644
--- a/panda/board/obj/gitversion.h
+++ b/panda/board/obj/gitversion.h
@@ -1,4 +1,4 @@
 #pragma once
 
 extern const uint8_t gitversion[29];
-const uint8_t gitversion[29] = "DEV-5b8a7986-P92eb5651-DEBUG";
+const uint8_t gitversion[29] = "DEV-4b0117a5-P92eb5651-DEBUG";
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index e5e8d829a9..e172f1598e 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_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed
index 0a72728cad..a05d74c2db 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/version b/panda/board/obj/version
index c5690326e5..0c0f3fca85 100644
--- a/panda/board/obj/version
+++ b/panda/board/obj/version
@@ -1 +1 @@
-DEV-5b8a7986-P92eb5651-DEBUG
\ No newline at end of file
+DEV-4b0117a5-P92eb5651-DEBUG
\ No newline at end of file
diff --git a/prebuilt.json b/prebuilt.json
index eac2dd0a41..d36625124b 100644
--- a/prebuilt.json
+++ b/prebuilt.json
@@ -1 +1 @@
-{"protected_inventory_sha256": "3c76bc99622967f967b7d3852646fc7593cd25d4e3249c17a619a1f45265e4f8", "schema_version": 1}
+{"protected_inventory_sha256": "8f34bd7909b3893bf965c629daaea0bbb77551ae62f878a629174d5db7e591d1", "schema_version": 1}