diff --git a/panda b/panda
index dcd226d85f..4f40ae6767 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit dcd226d85f705162444e47567e9ce09df3ddf141
+Subproject commit 4f40ae6767d048764aacf446020df2b9f4c1b39a
diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index 0209e24d4d..5372e54aef 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -137,8 +137,8 @@ void Panda::enable_deepsleep() {
   handle->control_write(0xfb, 0, 0);
 }
 
-void Panda::send_heartbeat(bool engaged, bool mads_engaged) {
-  handle->control_write(0xf3, engaged, mads_engaged);
+void Panda::send_heartbeat(bool engaged) {
+  handle->control_write(0xf3, engaged, 0);
 }
 
 void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
diff --git a/selfdrive/pandad/panda.h b/selfdrive/pandad/panda.h
index 377ae954bc..af31c2316e 100644
--- a/selfdrive/pandad/panda.h
+++ b/selfdrive/pandad/panda.h
@@ -75,7 +75,7 @@ public:
   std::optional<std::string> get_serial();
   void set_power_saving(bool power_saving);
   void enable_deepsleep();
-  void send_heartbeat(bool engaged, bool mads_engaged);
+  void send_heartbeat(bool engaged);
   void set_can_speed_kbps(uint16_t bus, uint16_t speed);
   void set_data_speed_kbps(uint16_t bus, uint16_t speed);
   void set_canfd_non_iso(uint16_t bus, bool non_iso);
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index fc058d547a..b0b10fe315 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -313,7 +313,7 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
 }
 
 void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started) {
-  static SubMaster sm({"selfdriveState", "selfdriveStateSP"});
+  static SubMaster sm({"selfdriveState"});
 
   std::vector<std::string> connected_serials;
   for (Panda *p : pandas) {
@@ -352,9 +352,8 @@ void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoof
 
     sm.update(0);
     const bool engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
-    const bool mads_engaged = sm.allAliveAndValid({"selfdriveStateSP"}) && sm["selfdriveStateSP"].getSelfdriveStateSP().getMads().getEnabled();
     for (const auto &panda : pandas) {
-      panda->send_heartbeat(engaged, mads_engaged);
+      panda->send_heartbeat(engaged);
     }
   }
 }
diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc
index e66d72e59d..b2a006b22f 100644
--- a/tools/cabana/streams/pandastream.cc
+++ b/tools/cabana/streams/pandastream.cc
@@ -72,7 +72,7 @@ void PandaStream::streamThread() {
 
     handleEvent(capnp::messageToFlatArray(msg));
 
-    panda->send_heartbeat(false, false);
+    panda->send_heartbeat(false);
   }
 }