diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index ab0f3c1bee..7b0e94110c 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -2,7 +2,7 @@ name: repo maintenance
 
 on:
   schedule:
-    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
+    - cron: "0 * * * *"  # every hour for COMMA_HACK 5
   workflow_dispatch:
 
 jobs:
diff --git a/Jenkinsfile b/Jenkinsfile
index 93926566aa..70260953be 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -31,7 +31,7 @@ export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
 export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
 # only use 1 thread for tici tests since most require HIL
-export PYTEST_ADDOPTS="-n 0"
+export PYTEST_ADDOPTS="-n0 -s"
 
 
 export GIT_SSH_COMMAND="ssh -i /data/gitkey"
diff --git a/opendbc_repo b/opendbc_repo
index c686f5adb8..0af01cf649 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit c686f5adb898d2a5eb78d818586c16c8bf5231ea
+Subproject commit 0af01cf649a6aa9281cc6efda436e546ec770b58
diff --git a/panda b/panda
index 66bd9e8f25..084a40a46f 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 66bd9e8f251d5b142e57534fdf238dce6d589bd6
+Subproject commit 084a40a46fb5658d36344de66c2effcd88d3f2c6
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index cebb6d1fc6..061da31de3 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -271,7 +271,7 @@ def migrate_pandaStates(msgs):
   safety_param_migration = {
     "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL,
     "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE,
-    "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_HDA2,
+    "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING,
   }
   # TODO: get new Ford route
   safety_param_migration |= {car: FordSafetyFlags.LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))}
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 984badc1ba..79a4dffb17 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-6e9bd57a7a2bbf2aeeb610acafbf3c2f4fd7023f
\ No newline at end of file
+e0ef36686433e563d0a9b9127d680a1d8c6ebdc1
\ No newline at end of file
diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index d52e80af86..f76466dfce 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -62,6 +62,11 @@ def joystickd_thread():
     cs_msg.valid = True
     controlsState = cs_msg.controlsState
     controlsState.lateralControlState.init('debugState')
+
+    lp = sm['liveParameters']
+    steer_angle_without_offset = math.radians(sm['carState'].steeringAngleDeg - lp.angleOffsetDeg)
+    controlsState.curvature = -VM.calc_curvature(steer_angle_without_offset, sm['carState'].vEgo, lp.roll)
+
     pm.send('controlsState', cs_msg)
 
     rk.keep_time()