diff --git a/opendbc b/opendbc
index 572ab7641b..053a761244 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 572ab7641bf88b6b156d902c625ca8ad9a9a77be
+Subproject commit 053a761244d75bcae4ca99684098f3188586832e
diff --git a/panda b/panda
index 2d96ef02df..ab10c977d2 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 2d96ef02df0e591244988739008e5d162da28cd0
+Subproject commit ab10c977d20cab4b2e2540c372aedc12170fa25b
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index d1907a9d22..0a56a02b94 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -163,8 +163,8 @@ class CarState(CarStateBase):
     self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
 
     self.brake_error = False
-    self.brake_switch_prev = 0
-    self.brake_switch_prev_ts = 0
+    self.brake_switch_prev = False
+    self.brake_switch_active = False
     self.cruise_setting = 0
     self.v_cruise_pcm_prev = 0
 
@@ -260,18 +260,20 @@ class CarState(CarStateBase):
     else:
       ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
 
-    self.brake_switch = cp.vl["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != 0
     if self.CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
       ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
     else:
       # brake switch has shown some single time step noise, so only considered when
       # switch is on for at least 2 consecutive CAN samples
-      # panda safety only checks BRAKE_PRESSED signal
-      ret.brakePressed = bool(cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] or
-                              (self.brake_switch and self.brake_switch_prev and cp.ts["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != self.brake_switch_prev_ts))
-
-      self.brake_switch_prev = self.brake_switch
-      self.brake_switch_prev_ts = cp.ts["POWERTRAIN_DATA"]["BRAKE_SWITCH"]
+      # brake switch rises earlier than brake pressed but is never 1 when in park
+      brake_switch_vals = cp.vl_all["POWERTRAIN_DATA"]["BRAKE_SWITCH"]
+      if len(brake_switch_vals):
+        brake_switch = cp.vl["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != 0
+        if len(brake_switch_vals) > 1:
+          self.brake_switch_prev = brake_switch_vals[-2] != 0
+        self.brake_switch_active = brake_switch and self.brake_switch_prev
+        self.brake_switch_prev = brake_switch
+      ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active
 
     ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"]
     ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
diff --git a/selfdrive/test/test_models.py b/selfdrive/test/test_models.py
index 06ffdb4d6b..6b9595b6c6 100755
--- a/selfdrive/test/test_models.py
+++ b/selfdrive/test/test_models.py
@@ -220,8 +220,6 @@ class TestCarModel(unittest.TestCase):
       if CS.brakePressed and not self.safety.get_brake_pressed_prev():
         if self.CP.carFingerprint in (HONDA.PILOT, HONDA.PASSPORT, HONDA.RIDGELINE) and CS.brake > 0.05:
           brake_pressed = False
-        if self.CP.carName == "honda" and self.CI.CS.brake_switch:
-          brake_pressed = False
       checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
 
       if self.CP.pcmCruise:
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 57849b6c04..d0a1ad956f 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -22,7 +22,7 @@ from tools.lib.logreader import LogReader
 
 # Baseline CPU usage by process
 PROCS = {
-  "selfdrive.controls.controlsd": 50.0,
+  "selfdrive.controls.controlsd": 55.0,
   "./loggerd": 45.0,
   "./locationd": 9.1,
   "selfdrive.controls.plannerd": 22.6,
@@ -30,7 +30,7 @@ PROCS = {
   "selfdrive.locationd.paramsd": 9.1,
   "./camerad": 7.07,
   "./_sensord": 6.17,
-  "selfdrive.controls.radard": 5.67,
+  "selfdrive.controls.radard": 7.0,
   "./_modeld": 4.48,
   "./boardd": 3.63,
   "./_dmonitoringmodeld": 2.67,
@@ -55,13 +55,13 @@ if EON:
 if TICI:
   PROCS.update({
     "./loggerd": 70.0,
-    "selfdrive.controls.controlsd": 28.0,
+    "selfdrive.controls.controlsd": 31.0,
     "./camerad": 31.0,
     "./_ui": 33.0,
     "selfdrive.controls.plannerd": 11.7,
     "./_dmonitoringmodeld": 10.0,
     "selfdrive.locationd.paramsd": 5.0,
-    "selfdrive.controls.radard": 3.6,
+    "selfdrive.controls.radard": 4.5,
     "selfdrive.thermald.thermald": 3.87,
   })