diff --git a/panda b/panda
index 3ddec2d221..bdb591f5e6 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 3ddec2d221ee414017082b00e0e8af840e7e99c6
+Subproject commit bdb591f5e68f12c5b5fad60f331192abc2e1fd92
diff --git a/selfdrive/test/test_models.py b/selfdrive/test/test_models.py
index 2a4160c274..9300d55bc4 100755
--- a/selfdrive/test/test_models.py
+++ b/selfdrive/test/test_models.py
@@ -211,12 +211,6 @@ class TestCarModel(unittest.TestCase):
       if failed_checks['brakePressed'] < 150:
         del failed_checks['brakePressed']
 
-    # TODO: use the same signal in panda and carState
-    # tolerate a small delay between the button press and PCM entering a cruise state
-    if self.car_model == HONDA.ACCORD:
-      if failed_checks['controlsAllowed'] < 500:
-        del failed_checks['controlsAllowed']
-
     self.assertFalse(len(failed_checks), f"panda safety doesn't agree with CarState: {failed_checks}")
 
 if __name__ == "__main__":