diff --git a/cereal b/cereal
index 3b5860e0cd..c9cdd7e398 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 3b5860e0cdf0be0022b00e88343d06e35ef849fc
+Subproject commit c9cdd7e398768252891de2f740ee4f65db9c39da
diff --git a/panda b/panda
index 326cc2a8db..168b0db6a7 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 326cc2a8dbabbfe6c442f4b0192b18178a83b6a6
+Subproject commit 168b0db6a7ed53124a34ba2c2db03e7dd5b5dc26
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 5b44f4d60b..4af69ec271 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -135,7 +135,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
     util::sleep_for(20);
   }
 
-  pandas[0]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1);
+  pandas[0]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
 
   std::string params;
   LOGW("waiting for params to set safety model");
@@ -156,7 +156,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
   capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size()));
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
   cereal::CarParams::SafetyModel safety_model;
-  uint32_t safety_param;
+  uint16_t safety_param;
 
   auto safety_configs = car_params.getSafetyConfigs();
   uint16_t alternative_experience = car_params.getAlternativeExperience();
diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
index 1c287fc57e..536cbd5b7e 100644
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -247,10 +247,8 @@ int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length
   return transferred;
 }
 
-void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint32_t safety_param) {
-  // FIXME: last two bytes must be empty
-  assert((safety_param >> 16) == 0U);
-  usb_write(0xdc, (uint16_t)safety_model, (uint16_t)safety_param);
+void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
+  usb_write(0xdc, (uint16_t)safety_model, safety_param);
 }
 
 void Panda::set_alternative_experience(uint16_t alternative_experience) {
diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h
index 9bbeee86b4..23a10d5850 100644
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@@ -73,7 +73,7 @@ class Panda {
 
   // Panda functionality
   cereal::PandaState::PandaType get_hw_type();
-  void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint32_t safety_param=0U);
+  void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
   void set_alternative_experience(uint16_t alternative_experience);
   void set_rtc(struct tm sys_time);
   struct tm get_rtc();
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index bf3824224d..2d44d34690 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-9385014c512d253655f574d77fe1e07558f4157d
\ No newline at end of file
+fd3aebd002a93ebccfef95643f87e8d5c464f2da
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index c59fe197a4..4f1f11eaf7 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -33,11 +33,11 @@ original_segments = [
 segments = [
   ("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"),
   ("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"),
-  ("TOYOTA", "fakedata|2022-04-28--18-59-34--0"),
-  ("TOYOTA2", "fakedata|2022-04-28--15-52-38--0"),
-  ("TOYOTA3", "fakedata|2022-04-13--19-09-53--0"),
+  ("TOYOTA", "fakedata|2022-04-29--15-57-12--0"),
+  ("TOYOTA2", "fakedata|2022-04-29--16-08-01--0"),
+  ("TOYOTA3", "fakedata|2022-04-29--16-17-39--0"),
   ("HONDA", "fakedata|2022-01-20--17-56-40--0"),
-  ("HONDA2", "fakedata|2022-04-13--19-23-30--0"),
+  ("HONDA2", "fakedata|2022-04-29--16-31-55--0"),
   ("CHRYSLER", "fakedata|2022-01-20--18-00-11--0"),
   ("SUBARU", "fakedata|2022-01-20--18-01-57--0"),
   ("GM", "fakedata|2022-01-20--18-03-41--0"),