diff --git a/panda b/panda
index 0f4cd5c26b..9ce223d4f9 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 0f4cd5c26bc87f091116b07aeff23624385c827d
+Subproject commit 9ce223d4f9b40bc99b2a7b2c4f5349981acd4783
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 7cae1c7419..45d4f64388 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -466,7 +466,7 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
   util::set_thread_name("boardd_panda_state");
 
   Params params;
-  SubMaster sm({"controlsState"});
+  SubMaster sm({"controlsState", "carState"});
 
   Panda *peripheral_panda = pandas[0];
   bool is_onroad = false;
@@ -526,9 +526,11 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
 
     sm.update(0);
     const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();
+    const bool parked = sm.allAliveAndValid({"carState"}) && (int(sm["carState"].getCarState().getGearShifter()) == 1);
 
     for (const auto &panda : pandas) {
       panda->send_heartbeat(engaged);
+      panda->parked_heartbeat(parked);
     }
 
     uint64_t dt = nanos_since_boot() - start_time;
diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
index 1e7b510eca..32933fa692 100644
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -163,6 +163,10 @@ void Panda::send_heartbeat(bool engaged) {
   handle->control_write(0xf3, engaged, 0);
 }
 
+void Panda::parked_heartbeat(bool parked) {
+  handle->control_write(0xff, parked, 0);
+}
+
 void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
   handle->control_write(0xde, bus, (speed * 10));
 }
diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h
index 69df2e2b66..2566282d0e 100644
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@@ -76,6 +76,7 @@ public:
   void set_power_saving(bool power_saving);
   void enable_deepsleep();
   void send_heartbeat(bool engaged);
+  void parked_heartbeat(bool parked);
   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);