diff --git a/cereal/log.capnp b/cereal/log.capnp
index 885339ac39..bc7a0f03ed 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -315,6 +315,8 @@ struct Live100Data {
   alertText1 @24 :Text; 
   alertText2 @25 :Text; 
   awarenessStatus @26 :Float32;
+
+  angleOffset @27 :Float32;
 }
 
 struct LiveEventData {
diff --git a/panda b/panda
index 49c1e9c3da..be7d2ee397 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 49c1e9c3da524bf32735e0d2f1cb9df4d62f0e36
+Subproject commit be7d2ee3973be06466faa724453674af228f6b0b
diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h
index 6fec6ef3c4..5176e9eca5 100644
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@@ -1 +1 @@
-const char *openpilot_version = "0.3.0";
+const char *openpilot_version = "0.3.1";
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 11a4a6dc3a..464e231d0a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -380,6 +380,9 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     dat.live100.aTargetMax = float(plan.aTargetMax)
     dat.live100.jerkFactor = float(plan.jerkFactor)
 
+    # log learned angle offset
+    dat.live100.angleOffset = float(angle_offset)
+
     # lag
     dat.live100.cumLagMs = -rk.remaining*1000.
 
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index a4a9e9f9f0..bc3dbb2d54 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -219,12 +219,14 @@ def manager_thread():
   if os.getenv("NOPROG") is None:
     # checkout the matching panda repo
     rootdir = os.path.dirname(os.path.abspath(__file__))
-    os.system("cd %s && git submodule init && git submodule update" % rootdir)
+    ret = os.system("cd %s && git submodule init && git submodule update" % rootdir)
+    cloudlog.info("git submodule update panda returned %d" % ret)
     # flash the board
     boarddir = os.path.dirname(os.path.abspath(__file__))+"/../panda/board/"
     mkfile = "Makefile" if panda else "Makefile.legacy"
     print "using", mkfile
-    os.system("cd %s && make -f %s" % (boarddir, mkfile))
+    ret = os.system("cd %s && make -f %s" % (boarddir, mkfile))
+    cloudlog.info("flash board returned %d" % ret)
 
   start_managed_process("boardd")
 
diff --git a/selfdrive/visiond/visiond b/selfdrive/visiond/visiond
index 2965baef0b..8f8b7785f8 100755
--- a/selfdrive/visiond/visiond
+++ b/selfdrive/visiond/visiond
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3933af9e64edf655b75cef06fc40c44254fe674c226277869b74c4714feab3b6
-size 16373432
+oid sha256:9fd4388fc4387cc933d415d8e5c1e09de966b41b6666234f88ee6f10eb51c840
+size 16373480