diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index a0bca3f239..3c01a2ec03 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -124,15 +124,15 @@ def main() -> None:
         no_internal_panda_count += 1
         continue
 
+      # flash and filter out Rivian longitudinal before stock logic
+      panda_serials = flash_rivian_long(panda_serials)
+
       cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
 
       # Flash the first panda
       panda_serial = panda_serials[0]
       panda = flash_panda(panda_serial)
 
-      # flash Rivian longitudinal upgrade panda
-      flash_rivian_long(panda)
-
       # Ensure internal panda is present if expected
       if HARDWARE.has_internal_panda() and not panda.is_internal():
         cloudlog.error("Internal panda is missing, trying again")
diff --git a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
index 24191a73a2..31d0489550 100755
--- a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
+++ b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
@@ -74,22 +74,30 @@ def _flash_panda(panda: Panda) -> None:
   panda.reconnect()
 
 
-def flash_rivian_long(panda: Panda) -> None:
+def flash_rivian_long(panda_serials: list[str]) -> list[str]:
   if not os.path.isfile(FW_PATH):
     cloudlog.error(f"Rivian longitudinal upgrade firmware not found at {FW_PATH}")
-    return
+    return panda_serials
 
   if not _is_rivian():
     cloudlog.info("Not a Rivian, skipping longitudinal upgrade...")
-    return
+    return panda_serials
 
-  # only flash external black pandas (HW_TYPE_BLACK = 0x03)
-  if panda.get_type() == b'\x03' and not panda.is_internal():
-    try:
-      _flash_panda(panda)
-    except Exception:
-      cloudlog.exception(f"Failed to flash F4 panda {panda.get_usb_serial()}")
+  remaining_pandas = []
+  for serial in panda_serials:
+    panda = Panda(serial)
+    # only flash external black pandas (HW_TYPE_BLACK = 0x03)
+    if panda.get_type() == b'\x03' and not panda.is_internal():
+      try:
+        _flash_panda(panda)
+      except Exception:
+        cloudlog.exception(f"Failed to flash F4 panda {serial}")
+    else:
+      remaining_pandas.append(serial)
+    panda.close()
+
+  return remaining_pandas
 
 
 if __name__ == '__main__':
-  flash_rivian_long(Panda())
+  flash_rivian_long(Panda.list())