diff --git a/panda b/panda
index a879b79b70..a870259f65 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit a879b79b707dde8583952f02d80ae1e286146c5d
+Subproject commit a870259f657ae3ea499f78548a9830040269fa21
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 82678e425e..cbc89a7c0e 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -44,7 +44,6 @@ class MadsParams:
     enabled = self.read_param("Mads")
     disengage_lateral_on_brake = self.read_param("MadsDisengageLateralOnBrake")
     main_cruise = self.read_param("MadsMainCruiseAllowed")
-    unified_engagement_mode = self.read_param("MadsUnifiedEngagementMode")
 
     if enabled:
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
@@ -55,9 +54,6 @@ class MadsParams:
       if main_cruise:
         CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MAIN_CRUISE_ALLOWED
 
-      if unified_engagement_mode:
-        CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.UNIFIED_ENGAGEMENT_MODE
-
       if CP.carName == "hyundai":
         if (CP.sunnypilotFlags & HyundaiFlagsSP.HAS_LFA_BUTTON) or (CP.flags & HyundaiFlags.CANFD):
           CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALWAYS_ALLOW_MADS_BUTTON