diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 2622f7eba1..e1e9917121 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -489,7 +489,7 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
 void peripheral_control_thread(Panda *panda) {
   util::set_thread_name("boardd_peripheral_control");
 
-  SubMaster sm({"deviceState", "driverCameraState"});
+  SubMaster sm({"deviceState", "driverCameraState"}, {"deviceState", "driverCameraState"});
 
   uint64_t last_front_frame_t = 0;
   uint16_t prev_fan_speed = 999;
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 3875d969c5..a414f8078c 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -250,12 +250,12 @@ void Localizer::input_fake_gps_observations(double current_time) {
   // Steps : first predict -> observe current obs with reasonable STD
   this->kf->predict(current_time);
 
-  VectorXd current_x = this->kf->get_x();  
+  VectorXd current_x = this->kf->get_x();
   VectorXd ecef_pos = current_x.segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
   VectorXd ecef_vel = current_x.segment<STATE_ECEF_VELOCITY_LEN>(STATE_ECEF_VELOCITY_START);
   MatrixXdr ecef_pos_R = this->kf->get_fake_gps_pos_cov();
   MatrixXdr ecef_vel_R = this->kf->get_fake_gps_vel_cov();
-  
+
   this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
   this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
 }
@@ -283,7 +283,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
   VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos;
   MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(10.0 * log.getAccuracy(),2) + std::pow(10.0 * log.getVerticalAccuracy(),2)).asDiagonal();
   MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(log.getSpeedAccuracy() * 10.0, 2)).asDiagonal();
-  
+
   this->unix_timestamp_millis = log.getTimestamp();
   double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
 
@@ -419,7 +419,7 @@ void Localizer::reset_kalman(double current_time, VectorXd init_orient, VectorXd
   init_P.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START).diagonal() = reset_orientation_P.diagonal();
   init_P.block<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_VELOCITY_ERR_START).diagonal() = init_vel_R.diagonal();
   init_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal() = current_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal();
-  
+
   this->reset_kalman(current_time, current_x, init_P);
 }
 
@@ -494,7 +494,7 @@ int Localizer::locationd_thread() {
   PubMaster pm({"liveLocationKalman"});
 
   // TODO: remove carParams once we're always sending at 100Hz
-  SubMaster sm(service_list, nullptr, {"gpsLocationExternal", "carParams"});
+  SubMaster sm(service_list, service_list, nullptr, {"gpsLocationExternal", "carParams"});
 
   uint64_t cnt = 0;
   bool filterInitialized = false;
diff --git a/selfdrive/ui/navd/route_engine.cc b/selfdrive/ui/navd/route_engine.cc
index 577f267c9b..8dabb01255 100644
--- a/selfdrive/ui/navd/route_engine.cc
+++ b/selfdrive/ui/navd/route_engine.cc
@@ -94,7 +94,7 @@ static void parse_banner(cereal::NavInstruction::Builder &instruction, const QMa
 }
 
 RouteEngine::RouteEngine() {
-  sm = new SubMaster({"liveLocationKalman", "managerState"});
+  sm = new SubMaster({"liveLocationKalman", "managerState"}, {"liveLocationKalman", "managerState"});
   pm = new PubMaster({"navInstruction", "navRoute"});
 
   // Timers