diff --git a/opendbc b/opendbc
index 30aacafa10..bbb67a9726 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 30aacafa10e72db33ecf5e3b7a6eacffa9390b8b
+Subproject commit bbb67a97267e8b7e2dfcce5d21d94defe0fffb41
diff --git a/panda b/panda
index 475a9a3124..c077fc2347 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 475a9a312410908abcaa32f2e48140fcbfc2362f
+Subproject commit c077fc2347514ca892cd996286caadb9d8bd68bb
diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
index fee08b6c59..59596504f0 100644
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@@ -1,14 +1,12 @@
 def create_pq_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
   values = {
-    "HCA_Zaehler": idx,
+    "COUNTER": idx,
     "LM_Offset": abs(apply_steer),
     "LM_OffSign": 1 if apply_steer < 0 else 0,
     "HCA_Status": 5 if (lkas_enabled and apply_steer != 0) else 3,
     "Vib_Freq": 16,
   }
 
-  dat = packer.make_can_msg("HCA_1", bus, values)[2]
-  values["HCA_Checksumme"] = dat[1] ^ dat[2] ^ dat[3] ^ dat[4]
   return packer.make_can_msg("HCA_1", bus, values)
 
 def create_pq_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
@@ -31,12 +29,10 @@ def create_pq_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert,
 
 def create_pq_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
   values = {
-    "GRA_Neu_Zaehler": idx,
+    "COUNTER": idx,
     "GRA_Sender": CS.graSenderCoding,
     "GRA_Abbrechen": 1 if (buttonStatesToSend["cancel"] or CS.buttonStates["cancel"]) else 0,
     "GRA_Hauptschalt": CS.graHauptschalter,
   }
 
-  dat = packer.make_can_msg("GRA_Neu", bus, values)[2]
-  values["GRA_Checksum"] = dat[1] ^ dat[2] ^ dat[3]
   return packer.make_can_msg("GRA_Neu", bus, values)