diff --git a/cereal b/cereal
index 18f1e4824..85e1e2f79 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 18f1e4824434482c1eaf48a73d33544fb789a83b
+Subproject commit 85e1e2f79cffc4df307e29b118a76adc4226b52f
diff --git a/panda b/panda
index f96514621..e99d41e6c 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit f96514621435928a7f843172d78db0115d50c813
+Subproject commit e99d41e6cf43ecb6bdc69f190532493d270f19aa
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index afe0859d7..e52c8d2e6 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -379,6 +379,7 @@ void panda_state_thread(bool spoofing_started) {
     ps.setFanSpeedRpm(fan_speed_rpm);
     ps.setFaultStatus(cereal::PandaState::FaultStatus(pandaState.fault_status));
     ps.setPowerSaveEnabled((bool)(pandaState.power_save_enabled));
+    ps.setHeartbeatLost((bool)(pandaState.heartbeat_lost));
     ps.setHarnessStatus(cereal::PandaState::HarnessStatus(pandaState.car_harness_status));
 
     // Convert faults bitset to capnp list
diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h
index c10e3d995..92bd7fcf2 100644
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@@ -36,6 +36,7 @@ struct __attribute__((packed)) health_t {
   int16_t safety_param;
   uint8_t fault_status;
   uint8_t power_save_enabled;
+  uint8_t heartbeat_lost;
 };
 
 
diff --git a/selfdrive/pandad.py b/selfdrive/pandad.py
index 2eda33630..27e3aa261 100755
--- a/selfdrive/pandad.py
+++ b/selfdrive/pandad.py
@@ -77,13 +77,19 @@ def update_panda() -> None:
     cloudlog.info("Version mismatch after flashing, exiting")
     raise AssertionError
 
-  cloudlog.info("Resetting panda")
-  panda.reset()
-
 
 def main() -> None:
   update_panda()
 
+  # check heatlh for lost heartbeat
+  panda = Panda()
+  health = panda.health()
+  if health["heartbeat_lost"]:
+    cloudlog.event("heartbeat lost", deviceState=health)
+
+  cloudlog.info("Resetting panda")
+  panda.reset()
+
   os.chdir(os.path.join(BASEDIR, "selfdrive/boardd"))
   os.execvp("./boardd", ["./boardd"])