diff --git a/cereal b/cereal
index 7de568b659..4b334f6f10 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 7de568b65922b1b7a5cb9a9a391e3e03394500f7
+Subproject commit 4b334f6f10877e4a666b23983de2d27934ebf3b1
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 6cfeabefd4..1dc9dd39f7 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -374,19 +374,19 @@ class Controls:
     else:
       self.logged_comm_issue = None
 
-    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
-      self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['lateralPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
-    if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK) and not NOSENSOR:
-      if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive all the inputs
-        self.events.add(EventName.sensorDataInvalid)
-    if not self.sm['liveLocationKalman'].inputsOK and not NOSENSOR:
-      self.events.add(EventName.localizerMalfunction)
     if not self.sm['liveLocationKalman'].posenetOK:
       self.events.add(EventName.posenetInvalid)
     if not self.sm['liveLocationKalman'].deviceStable:
       self.events.add(EventName.deviceFalling)
+    if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK):
+      if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive sensor inputs
+        self.events.add(EventName.sensorDataInvalid)
+    if not self.sm['liveLocationKalman'].inputsOK:
+      self.events.add(EventName.locationdTemporaryError)
+    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
+      self.events.add(EventName.paramsdTemporaryError)
 
     if not REPLAY:
       # Check for mismatch between openpilot and car's PCM
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 6f41224475..81e55e6bbc 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -424,19 +424,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
   # ********** events only containing alerts that display while engaged **********
 
-  # openpilot tries to learn certain parameters about your car by observing
-  # how the car behaves to steering inputs from both human and openpilot driving.
-  # This includes:
-  # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
-  # - tire stiffness: how much grip your tires have
-  # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
-  # This alert is thrown when any of these values exceed a sanity check. This can be caused by
-  # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
-  EventName.vehicleModelInvalid: {
-    ET.NO_ENTRY: NoEntryAlert("Vehicle Parameter Identification Failed"),
-    ET.SOFT_DISABLE: soft_disable_alert("Vehicle Parameter Identification Failed"),
-  },
-
   EventName.steerTempUnavailableSilent: {
     ET.WARNING: Alert(
       "Steering Temporarily Unavailable",
@@ -576,9 +563,34 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.PERMANENT: NormalPermanentAlert("GPS Malfunction", "Likely Hardware Issue"),
   },
 
-  EventName.localizerMalfunction: {
-    ET.NO_ENTRY: NoEntryAlert("Localizer Malfunction"),
-    ET.SOFT_DISABLE: soft_disable_alert("Localizer Malfunction"),
+  EventName.locationdTemporaryError: {
+    ET.NO_ENTRY: NoEntryAlert("locationd Temporary Error"),
+    ET.SOFT_DISABLE: soft_disable_alert("locationd Temporary Error"),
+  },
+
+  EventName.locationdPermanentError: {
+    ET.NO_ENTRY: NoEntryAlert("locationd Permanent Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd Permanent Error"),
+    ET.PERMANENT: NormalPermanentAlert("locationd Permanent Error"),
+  },
+
+  # openpilot tries to learn certain parameters about your car by observing
+  # how the car behaves to steering inputs from both human and openpilot driving.
+  # This includes:
+  # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
+  # - tire stiffness: how much grip your tires have
+  # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
+  # This alert is thrown when any of these values exceed a sanity check. This can be caused by
+  # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
+  EventName.paramsdTemporaryError: {
+    ET.NO_ENTRY: NoEntryAlert("paramsd Temporary Error"),
+    ET.SOFT_DISABLE: soft_disable_alert("paramsd Temporary Error"),
+  },
+
+  EventName.paramsdPermanentError: {
+    ET.NO_ENTRY: NoEntryAlert("paramsd Permanent Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd Permanent Error"),
+    ET.PERMANENT: NormalPermanentAlert("paramsd Permanent Error"),
   },
 
   # ********** events that affect controls state transitions **********
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 19a8a56e55..c6a2d58fec 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-98c21236f831ca3cff63939cb760b213460e84de
\ No newline at end of file
+b421ff389ce720b70a36dd2b3510af54eb484b5f
\ No newline at end of file