diff --git a/cereal b/cereal
index b93b165a5c..d4d52a567b 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit b93b165a5c9de33325d7b01aa033073c978d1007
+Subproject commit d4d52a567bfd17a5130429657b341618ed657627
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 4f42eb804b..e03c2ed002 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -202,6 +202,8 @@ class Controls:
     if not self.sm['liveLocationKalman'].inputsOK and os.getenv("NOSENSOR") is None:
       if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive all the inputs
         self.events.add(EventName.sensorDataInvalid)
+    if not self.sm['liveLocationKalman'].gpsOK and os.getenv("NOSENSOR") is None:
+        self.events.add(EventName.noGps)
     if not self.sm['pathPlan'].paramsValid:
       self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['liveLocationKalman'].posenetOK:
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index e365dfc926..1e953cfbf3 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -517,6 +517,14 @@ EVENTS = {
     ET.NO_ENTRY: NoEntryAlert("No Data from Device Sensors"),
   },
 
+  EventName.noGps: {
+    ET.PERMANENT: Alert(
+      "Poor GPS reception",
+      "Check GPS antenna placement",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=300.),
+  },
+
   EventName.soundsUnavailable: {
     ET.PERMANENT: Alert(
       "Speaker not found",