diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
index 22a4d8cb9..2d0627775 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/panda.bin.signed b/panda/board/obj/panda.bin.signed
index 256278aeb..5321926fd 100644
Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index a9940bcb6..a2374d5f8 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -781,7 +781,7 @@ class Controls:
     if NO_IR_CTRL:
       self.sm['driverMonitoringState'].awarenessStatus = 1.
 
-    force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
+    force_decel = (not NO_IR_CTRL and self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
                   (self.state == State.softDisabling)
 
     # Curvature & Steering angle