diff --git a/cereal b/cereal
index 8825337204..609491e539 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 88253372042197ac92776cddc35a29d0eb384a3e
+Subproject commit 609491e539cfaf102b23ebb1415cc2d6787cc245
diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
index 904768d101..9305fdf75c 100644
--- a/selfdrive/navd/map_renderer.cc
+++ b/selfdrive/navd/map_renderer.cc
@@ -180,6 +180,7 @@ void MapRenderer::publish(const double render_time) {
   auto state = msg.initEvent().initMapRenderState();
   state.setLocationMonoTime(sm->rcv_time("liveLocationKalman"));
   state.setRenderTime(render_time);
+  state.setFrameId(frame_id);
   pm->send("mapRenderState", msg);
 
   frame_id++;