diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index e2c0491cdb..a8300de321 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -128,15 +128,15 @@ def main() -> None:
         time.sleep(1)
 
       panda_serials = Panda.list()
-      # flash and filter out Rivian longitudinal before stock logic
-      panda_serials = flash_rivian_long(panda_serials)
-
       if len(panda_serials) == 0:
         no_internal_panda_count += 1
         continue
 
       cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
 
+      # custom flasher for xnor's Rivian Longitudinal Upgrade Kit
+      flash_rivian_long(panda_serials)
+
       # skip flashing and health check if no supported panda is detected
       if not check_panda_support(panda_serials):
         continue
diff --git a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
index 31d0489550..637199f460 100755
--- a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
+++ b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
@@ -74,29 +74,27 @@ def _flash_panda(panda: Panda) -> None:
   panda.reconnect()
 
 
-def flash_rivian_long(panda_serials: list[str]) -> list[str]:
+def flash_rivian_long(panda_serials: list[str]) -> None:
   if not os.path.isfile(FW_PATH):
     cloudlog.error(f"Rivian longitudinal upgrade firmware not found at {FW_PATH}")
-    return panda_serials
+    return
 
   if not _is_rivian():
     cloudlog.info("Not a Rivian, skipping longitudinal upgrade...")
-    return panda_serials
+    return
 
-  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)
+        cloudlog.info(f"Successfully flashed xnor's Rivian Longitudinal Upgrade Kit: {serial}")
       except Exception:
-        cloudlog.exception(f"Failed to flash F4 panda {serial}")
-    else:
-      remaining_pandas.append(serial)
+        cloudlog.exception(f"Failed to flash xnor's Rivian Longitudinal Upgrade Kit: {serial}")
     panda.close()
 
-  return remaining_pandas
+  return
 
 
 if __name__ == '__main__':