diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 831f5fa5c..8e5fa8161 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -571,7 +571,12 @@ int main() {
   // set process priority and affinity
   err = set_realtime_priority(54);
   LOG("set priority returns %d", err);
+
+#ifdef QCOM2
+  err = set_core_affinity(7);
+#else
   err = set_core_affinity(3);
+#endif
   LOG("set affinity returns %d", err);
 
   panda_set_power(true);
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index d2e9842bc..987898e73 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -45,7 +45,7 @@ EventName = car.CarEvent.EventName
 
 class Controls:
   def __init__(self, sm=None, pm=None, can_sock=None):
-    config_realtime_process(3, Priority.CTRL_HIGH)
+    config_realtime_process(7 if TICI else 3, Priority.CTRL_HIGH)
 
     # Setup sockets
     self.pm = pm
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 9e8327803..85bbb7a08 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -10,8 +10,7 @@ import cereal.messaging as messaging
 
 
 def plannerd_thread(sm=None, pm=None):
-
-  config_realtime_process(2, Priority.CTRL_LOW)
+  config_realtime_process(5 if TICI else 2, Priority.CTRL_LOW)
 
   cloudlog.info("plannerd is waiting for CarParams")
   params = Params()
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 105ee4c14..244d02d23 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -12,6 +12,7 @@ from selfdrive.config import RADAR_TO_CAMERA
 from selfdrive.controls.lib.cluster.fastcluster_py import cluster_points_centroid
 from selfdrive.controls.lib.radar_helpers import Cluster, Track
 from selfdrive.swaglog import cloudlog
+from selfdrive.hardware import TICI
 
 
 class KalmanParams():
@@ -173,7 +174,7 @@ class RadarD():
 
 # fuses camera and radar data for best lead detection
 def radard_thread(sm=None, pm=None, can_sock=None):
-  config_realtime_process(2, Priority.CTRL_LOW)
+  config_realtime_process(5 if TICI else 2, Priority.CTRL_LOW)
 
   # wait for stats about the car to come in from controls
   cloudlog.info("radard is waiting for CarParams")