diff --git a/common/libcommon.a b/common/libcommon.a
index 8d0fee0d..647a9a7e 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 36566229..e504ad9d 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 c36f2b76..cf628222 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 384d6a70..140e0ffd 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 70ec5a5c..0b7ca463 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 17ecac4a..23c0d402 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 2e770c1e..ad5e6412 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 69ddeb37..c084f212 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 01514729..141d4175 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 01514729..141d4175 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 ac7d0acf..653d5308 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 69ddeb37..c084f212 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 9c1eb1f8..9a0c247d 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-f7ee2e65-DEBUG";
+const uint8_t gitversion[19] = "DEV-6be21069-DEBUG";
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index c984e7d5..60a22317 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 75df98c8..a5833145 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 42cf606a..40f3e6da 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 76a51c70..d0a3b497 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 e2bdff74..78564a38 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 86244584..099b9fd3 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 c0ed1fd7..53c8105d 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 85aa68ec..3102a81c 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 64098118..81485e8d 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 44220a17..73691ccb 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 f5694fd2..3374bf01 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 fa10fbf3..bfac467a 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 d899fac0..a4ddc157 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 e27b328a..92b78a62 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 5ad6a137..7ae182a0 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 ec326f2e..cf3fce9b 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 eee27d23..a09816e6 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 310632ff..c241beca 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 f726da00..0b4b8c7c 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 f64aa710..aac04687 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 c47a32fb..e7cc12fe 100644
--- a/panda/board/obj/version
+++ b/panda/board/obj/version
@@ -1 +1 @@
-DEV-f7ee2e65-DEBUG
\ No newline at end of file
+DEV-6be21069-DEBUG
\ No newline at end of file
diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad
index 14106c61..8aaaa934 100755
Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ
diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui
index 220434f7..85b95206 100755
Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ
diff --git a/system/camerad/camerad b/system/camerad/camerad
index 7964ee7e..83bd2667 100755
Binary files a/system/camerad/camerad and b/system/camerad/camerad differ
diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog
index 53fed283..a4e712e7 100755
Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ
diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd
index cfe14809..ab97e49a 100755
Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ
diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd
index 7fb06d52..1e563b71 100755
Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ