diff --git a/msgq_repo/libmsgq.a b/msgq_repo/libmsgq.a
index c41c252ef6..fbac6e453f 100644
Binary files a/msgq_repo/libmsgq.a and b/msgq_repo/libmsgq.a differ
diff --git a/msgq_repo/msgq/ipc_pyx.so b/msgq_repo/msgq/ipc_pyx.so
index 3453001a9e..a13a6b6f60 100755
Binary files a/msgq_repo/msgq/ipc_pyx.so and b/msgq_repo/msgq/ipc_pyx.so differ
diff --git a/msgq_repo/msgq/msgq.cc b/msgq_repo/msgq/msgq.cc
index d65fc9ebcc..94564194b7 100644
--- a/msgq_repo/msgq/msgq.cc
+++ b/msgq_repo/msgq/msgq.cc
@@ -443,6 +443,8 @@ int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
     if (items[i].revents) num++;
   }
 
+  if (timeout == 0) return num;
+
   int ms = (timeout == -1) ? 100 : timeout;
 
 #ifdef __APPLE__
diff --git a/msgq_repo/msgq/msgq_tests.cc b/msgq_repo/msgq/msgq_tests.cc
index 056b941d3b..5efb7aca09 100644
--- a/msgq_repo/msgq/msgq_tests.cc
+++ b/msgq_repo/msgq/msgq_tests.cc
@@ -1,4 +1,6 @@
 #include <array>
+#include <chrono>
+#include <thread>
 #include <unistd.h>
 #include "msgq/test_runner.h"
 #include "msgq/msgq.h"
@@ -20,6 +22,89 @@ TEST_CASE("ALIGN")
   REQUIRE(ALIGN(99999) == 100000);
 }
 
+TEST_CASE("msgq_poll nonblocking readiness")
+{
+  cleanup_test_queue();
+  msgq_queue_t writer, first, second;
+  msgq_new_queue(&writer, "test_queue", 1024);
+  msgq_init_publisher(&writer);
+  msgq_new_queue(&first, "test_queue", 1024);
+  msgq_init_subscriber(&first);
+  msgq_new_queue(&second, "test_queue", 1024);
+  msgq_init_subscriber(&second);
+
+  msgq_pollitem_t items[] = {{&first, 1}, {&second, 1}};
+  REQUIRE(msgq_poll(nullptr, 0, 0) == 0);
+  REQUIRE(msgq_poll(items, 2, 0) == 0);
+  REQUIRE(items[0].revents == 0);
+  REQUIRE(items[1].revents == 0);
+
+  char data[] = "poll payload";
+  msgq_msg_t outgoing, incoming;
+  msgq_msg_init_data(&outgoing, data, sizeof(data));
+  REQUIRE(msgq_msg_send(&outgoing, &writer) == sizeof(data));
+  REQUIRE(msgq_poll(items, 2, 0) == 2);
+  REQUIRE(items[0].revents == 1);
+  REQUIRE(items[1].revents == 1);
+  REQUIRE(msgq_msg_recv(&incoming, &first) == sizeof(data));
+  REQUIRE(memcmp(incoming.data, data, sizeof(data)) == 0);
+  msgq_msg_close(&incoming);
+
+  REQUIRE(msgq_poll(items, 2, 0) == 1);
+  REQUIRE(items[0].revents == 0);
+  REQUIRE(items[1].revents == 1);
+  REQUIRE(msgq_msg_recv(&incoming, &second) == sizeof(data));
+  REQUIRE(memcmp(incoming.data, data, sizeof(data)) == 0);
+  msgq_msg_close(&incoming);
+  REQUIRE(msgq_poll(items, 2, 0) == 0);
+  REQUIRE(items[0].revents == 0);
+  REQUIRE(items[1].revents == 0);
+
+  msgq_msg_close(&outgoing);
+  msgq_close_queue(&second);
+  msgq_close_queue(&first);
+  msgq_close_queue(&writer);
+  cleanup_test_queue();
+}
+
+TEST_CASE("msgq_poll waiting modes")
+{
+  for (int timeout : {1000, -1}) {
+    cleanup_test_queue();
+    msgq_queue_t writer, reader;
+    msgq_new_queue(&writer, "test_queue", 1024);
+    msgq_init_publisher(&writer);
+    msgq_new_queue(&reader, "test_queue", 1024);
+    msgq_init_subscriber(&reader);
+    msgq_pollitem_t item{&reader, 1};
+
+    auto start = std::chrono::steady_clock::now();
+    REQUIRE(msgq_poll(&item, 1, 2) == 0);
+    REQUIRE(item.revents == 0);
+    REQUIRE(std::chrono::steady_clock::now() - start >= std::chrono::milliseconds(2));
+
+    msgq_msg_t outgoing;
+    msgq_msg_init_size(&outgoing, 1);
+    outgoing.data[0] = 'p';
+    std::thread sender([&]() {
+      std::this_thread::sleep_for(std::chrono::milliseconds(2));
+      msgq_msg_send(&outgoing, &writer);
+    });
+    int received = msgq_poll(&item, 1, timeout);
+    sender.join();
+    REQUIRE(received == 1);
+    REQUIRE(item.revents == 1);
+    msgq_msg_t incoming;
+    REQUIRE(msgq_msg_recv(&incoming, &reader) == 1);
+    REQUIRE(incoming.data[0] == 'p');
+    msgq_msg_close(&incoming);
+    msgq_msg_close(&outgoing);
+    msgq_close_queue(&reader);
+    msgq_close_queue(&writer);
+    cleanup_test_queue();
+  }
+}
+
 TEST_CASE("msgq_msg_init_size")
 {
   const size_t msg_size = 30;
diff --git a/msgq_repo/msgq/visionipc/visionipc_pyx.so b/msgq_repo/msgq/visionipc/visionipc_pyx.so
index b4f95da4ec..38b8d193a3 100755
Binary files a/msgq_repo/msgq/visionipc/visionipc_pyx.so and b/msgq_repo/msgq/visionipc/visionipc_pyx.so differ
diff --git a/openpilot/cereal/messaging/bridge b/openpilot/cereal/messaging/bridge
index fa01aa7f95..6b5e68107f 100755
Binary files a/openpilot/cereal/messaging/bridge and b/openpilot/cereal/messaging/bridge differ
diff --git a/openpilot/selfdrive/pandad/pandad b/openpilot/selfdrive/pandad/pandad
index 0f3a6fd54b..4dd24dda15 100755
Binary files a/openpilot/selfdrive/pandad/pandad and b/openpilot/selfdrive/pandad/pandad differ
diff --git a/openpilot/system/camerad/camerad b/openpilot/system/camerad/camerad
index 07c6f6de2b..b12f39d8d9 100755
Binary files a/openpilot/system/camerad/camerad and b/openpilot/system/camerad/camerad differ
diff --git a/openpilot/system/loggerd/encoderd b/openpilot/system/loggerd/encoderd
index fd920f0608..432e15ee5a 100755
Binary files a/openpilot/system/loggerd/encoderd and b/openpilot/system/loggerd/encoderd differ
diff --git a/openpilot/system/loggerd/loggerd b/openpilot/system/loggerd/loggerd
index 6ec436a275..c3eb886dd2 100755
Binary files a/openpilot/system/loggerd/loggerd and b/openpilot/system/loggerd/loggerd differ
diff --git a/prebuilt.json b/prebuilt.json
index 5bff31b079..9c1ea29355 100644
--- a/prebuilt.json
+++ b/prebuilt.json
@@ -1 +1 @@
-{"protected_inventory_sha256": "3558e76599ff3b45f976576887d3153afb93104366a64af0915af87031a9e15e", "schema_version": 1}
+{"protected_inventory_sha256": "a346dbfe9f55c2e3f925d548396936928c6110131e2a08dfd2a0e13895343dbf", "schema_version": 1}