diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc
index a137afb582..013c1b485e 100644
--- a/selfdrive/common/params.cc
+++ b/selfdrive/common/params.cc
@@ -194,6 +194,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"PandaFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
     {"PandaFirmwareHex", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
     {"PandaDongleId", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
+    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"Passive", PERSISTENT},
     {"PrimeRedirected", PERSISTENT},
     {"RecordFront", PERSISTENT},
diff --git a/selfdrive/pandad.py b/selfdrive/pandad.py
index 7e998bb91f..17282fcbfd 100755
--- a/selfdrive/pandad.py
+++ b/selfdrive/pandad.py
@@ -5,6 +5,7 @@ import time
 
 from panda import BASEDIR as PANDA_BASEDIR, Panda, PandaDFU
 from common.basedir import BASEDIR
+from common.params import Params
 from selfdrive.swaglog import cloudlog
 
 PANDA_FW_FN = os.path.join(PANDA_BASEDIR, "board", "obj", "panda.bin.signed")
@@ -86,6 +87,7 @@ def main() -> None:
   # check health for lost heartbeat
   health = panda.health()
   if health["heartbeat_lost"]:
+    Params().put_bool("PandaHeartbeatLost", True)
     cloudlog.event("heartbeat lost", deviceState=health)
 
   cloudlog.info("Resetting panda")