diff --git a/cereal b/cereal
index aed84aeedf..6bd65e7c7f 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit aed84aeedf8fa7fe2a6bae700ccaf9667d3bdbb0
+Subproject commit 6bd65e7c7f2692d15a9b6cc97bad9345f9089c4d
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index b64a81296e..0ec33c1a27 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -472,12 +472,15 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
 
   LOGD("start panda state thread");
 
-  // run at 2hz
-  RateKeeper rk("panda_state_thread", 2);
+  // run at 10hz
+  RateKeeper rk("panda_state_thread", 10);
 
   while (!do_exit && check_all_connected(pandas)) {
-    // send out peripheralState
-    send_peripheral_state(&pm, peripheral_panda);
+    // send out peripheralState at 2Hz
+    if (sm.frame % 5 == 0) {
+      send_peripheral_state(&pm, peripheral_panda);
+    }
+
     auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
 
     if (!ignition_opt) {
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 32cfe11c39..3ccb9349e1 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -13,6 +13,7 @@ import psutil
 
 import cereal.messaging as messaging
 from cereal import log
+from cereal.services import SERVICE_LIST
 from openpilot.common.dict_helpers import strip_deprecated_keys
 from openpilot.common.time import MIN_DATE
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -33,7 +34,7 @@ NetworkStrength = log.DeviceState.NetworkStrength
 CURRENT_TAU = 15.   # 15s time constant
 TEMP_TAU = 5.   # 5s time constant
 DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect so you get an alert
-PANDA_STATES_TIMEOUT = int(1000 * 1.5 * DT_TRML)  # 1.5x the expected pandaState frequency
+PANDA_STATES_TIMEOUT = round(1000 / SERVICE_LIST['pandaStates'].frequency * 1.5)  # 1.5x the expected pandaState frequency
 
 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
 HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
@@ -210,6 +211,10 @@ def thermald_thread(end_event, hw_queue) -> None:
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
 
+    # Run at 2Hz
+    if sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_TRML) != 0:
+      continue
+
     pandaStates = sm['pandaStates']
     peripheralState = sm['peripheralState']
     peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown