diff --git a/panda b/panda
index c8b34086e8..63354341cd 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit c8b34086e8de927e5c5606522b39de090149978c
+Subproject commit 63354341cdc6280ee02186b2f7776c79ce9c0740
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 3bcd8ca62f..71515cb5a0 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -183,7 +183,6 @@ def create_adrv_messages(packer, CAN, frame):
 
   values = {
   }
-  ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
 
   if frame % 2 == 0:
     values = {
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index f6b70f74ac..dd882f86d2 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1944,7 +1944,7 @@ CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCS
 
 # The radar does SCC on these cars when HDA I, rather than the camera
 CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
-                       CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.IONIQ_6}
+                       CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }