diff --git a/selfdrive/assets/sounds/disengaged.wav b/selfdrive/assets/sounds/disengaged.wav
index 655aa3126..ecc82aa8e 100644
Binary files a/selfdrive/assets/sounds/disengaged.wav and b/selfdrive/assets/sounds/disengaged.wav differ
diff --git a/selfdrive/assets/sounds/engaged.wav b/selfdrive/assets/sounds/engaged.wav
index b33e8181f..91ada8773 100644
Binary files a/selfdrive/assets/sounds/engaged.wav and b/selfdrive/assets/sounds/engaged.wav differ
diff --git a/selfdrive/assets/sounds/error.wav b/selfdrive/assets/sounds/error.wav
index 309eaef8a..2e9981e4d 100644
Binary files a/selfdrive/assets/sounds/error.wav and b/selfdrive/assets/sounds/error.wav differ
diff --git a/selfdrive/assets/sounds/warning_1.wav b/selfdrive/assets/sounds/warning_1.wav
index 920c11846..97f71bf87 100644
Binary files a/selfdrive/assets/sounds/warning_1.wav and b/selfdrive/assets/sounds/warning_1.wav differ
diff --git a/selfdrive/assets/sounds/warning_2.wav b/selfdrive/assets/sounds/warning_2.wav
index f5ed8521d..81154c225 100644
Binary files a/selfdrive/assets/sounds/warning_2.wav and b/selfdrive/assets/sounds/warning_2.wav differ
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 042e95fb7..4ec01f2b0 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -369,7 +369,7 @@ class CarInterface(object):
   def update(self, c, can_strings):
     # dragonpilot, don't check for param too often as it's a kernel call
     ts = sec_since_boot()
-    if ts - self.ts_last_check > 1.:
+    if ts - self.ts_last_check > 3.:
       self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
       self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
       self.ts_last_check = ts
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 171ff611f..bd5deac46 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -119,7 +119,7 @@ class CarState(object):
   def update(self, cp):
     # dragonpilot, don't check for param too often as it's a kernel call
     ts = sec_since_boot()
-    if ts - self.ts_last_check > 1.:
+    if ts - self.ts_last_check > 3.:
       self.dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
       self.ts_last_check = ts
 
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 80e17c598..9aa0a1e77 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -279,7 +279,7 @@ class CarInterface(object):
   def update(self, c, can_strings):
     # dragonpilot, don't check for param too often as it's a kernel call
     ts = sec_since_boot()
-    if ts - self.ts_last_check > 1.:
+    if ts - self.ts_last_check > 3.:
       self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
       self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
       self.dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 458ed0052..014317c9d 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -509,7 +509,7 @@ def controlsd_thread(gctx=None):
   while True:
     # dragonpilot, don't check for param too often as it's a kernel call
     ts = sec_since_boot()
-    if ts - ts_last_check > 1.:
+    if ts - ts_last_check > 3.:
       dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
       ts_last_check = ts
 
diff --git a/selfdrive/controls/lib/driver_monitor.py b/selfdrive/controls/lib/driver_monitor.py
index 472a60839..c175adea6 100644
--- a/selfdrive/controls/lib/driver_monitor.py
+++ b/selfdrive/controls/lib/driver_monitor.py
@@ -152,7 +152,7 @@ class DriverStatus():
 
     # don't check for param too often as it's a kernel call
     ts = sec_since_boot()
-    if ts - self.ts_last_check > 1.:
+    if ts - self.ts_last_check > 3.:
       self.monitor_param_on = params.get("IsDriverMonitoringEnabled") == "1"
       self.ts_last_check = ts
 
@@ -169,10 +169,13 @@ class DriverStatus():
 
     # don't check for param too often as it's a kernel call
     ts = sec_since_boot()
-    if ts - self.dp_last_check > 1.:
+    if ts - self.dp_last_check > 3.:
       self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck") == "0" else True
       self.dp_last_check = ts
 
+    if not self.dragon_enable_driver_safety_check:
+      return events
+
     driver_engaged |= (self.driver_distraction_filter.x < 0.37 and self.monitor_on)
     awareness_prev = self.awareness
 
@@ -197,7 +200,7 @@ class DriverStatus():
     elif self.awareness <= self.threshold_pre:
       # pre green alert
       alert = 'preDriverDistracted' if self.monitor_on else 'preDriverUnresponsive'
-    if alert is not None and self.dragon_enable_driver_safety_check:
+    if alert is not None:
       events.append(create_event(alert, [ET.WARNING]))
 
     return events
diff --git a/selfdrive/controls/lib/model_parser.py b/selfdrive/controls/lib/model_parser.py
deleted file mode 100644
index e69de29bb..000000000