diff --git a/panda b/panda
index bb75afc84e..7e2b312fa8 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit bb75afc84e4d33af1554ada81851547db648e33e
+Subproject commit 7e2b312fa86e6cdfeba496f261407cb47cb005d1
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index aaaa6b9d79..3a76eff3ab 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -23,6 +23,7 @@ from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import Route, SegmentName, RouteName
 
 from panda.tests.libpanda import libpanda_py
+from panda.tests.safety.common import VEHICLE_SPEED_FACTOR
 
 EventName = car.CarEvent.EventName
 PandaType = log.PandaState.PandaType
@@ -345,6 +346,11 @@ class TestCarModelBase(unittest.TestCase):
       checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
       checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
 
+      # Verify that panda has the correct velocity for cars that use it (angle based cars)
+      if self.CP.steerControlType in [car.CarParams.SteerControlType.angle] and not self.CP.notCar:
+        panda_velocity = self.safety.get_vehicle_speed_last() / VEHICLE_SPEED_FACTOR
+        checks['vEgo'] += abs(panda_velocity - CS.vEgoRaw) > 0.2
+
       if self.CP.pcmCruise:
         # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
         # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but