diff --git a/common/params.cc b/common/params.cc
index f89e7ff002..a25cd278a6 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -84,6 +84,7 @@ private:
 
 std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"AssistNowToken", PERSISTENT},
     {"AthenadPid", PERSISTENT},
     {"AthenadUploadQueue", PERSISTENT},
     {"CalibrationParams", PERSISTENT},
diff --git a/release/files_common b/release/files_common
index 663d6d3552..04d13c8a5d 100644
--- a/release/files_common
+++ b/release/files_common
@@ -90,8 +90,6 @@ selfdrive/boardd/boardd_api_impl.pyx
 selfdrive/boardd/can_list_to_can_capnp.cc
 selfdrive/boardd/panda.cc
 selfdrive/boardd/panda.h
-selfdrive/boardd/pigeon.cc
-selfdrive/boardd/pigeon.h
 selfdrive/boardd/set_time.py
 selfdrive/boardd/pandad.py
 
@@ -282,6 +280,7 @@ selfdrive/sensord/sensors_qcom2.cc
 selfdrive/sensord/sensors/*.cc
 selfdrive/sensord/sensors/*.h
 selfdrive/sensord/sensord
+selfdrive/sensord/pigeond.py
 
 selfdrive/thermald/thermald.py
 selfdrive/thermald/power_monitoring.py
diff --git a/selfdrive/boardd/SConscript b/selfdrive/boardd/SConscript
index 922107509a..dcbea03d3c 100644
--- a/selfdrive/boardd/SConscript
+++ b/selfdrive/boardd/SConscript
@@ -1,7 +1,7 @@
 Import('env', 'envCython', 'common', 'cereal', 'messaging')
 
 libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj']
-env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=libs)
+env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc'], LIBS=libs)
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
 
 envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 23bf8f2929..bd3a6c4384 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -29,8 +29,6 @@
 #include "common/util.h"
 #include "system/hardware/hw.h"
 
-#include "selfdrive/boardd/pigeon.h"
-
 // -- Multi-panda conventions --
 // Ordering:
 // - The internal panda will always be the first panda
@@ -561,56 +559,6 @@ void peripheral_control_thread(Panda *panda) {
   }
 }
 
-static void pigeon_publish_raw(PubMaster &pm, const std::string &dat) {
-  // create message
-  MessageBuilder msg;
-  msg.initEvent().setUbloxRaw(capnp::Data::Reader((uint8_t*)dat.data(), dat.length()));
-  pm.send("ubloxRaw", msg);
-}
-
-void pigeon_thread(Panda *panda) {
-  util::set_thread_name("boardd_pigeon");
-
-  PubMaster pm({"ubloxRaw"});
-  bool ignition_last = false;
-
-  std::unique_ptr<Pigeon> pigeon(Hardware::TICI() ? Pigeon::connect("/dev/ttyHS0") : Pigeon::connect(panda));
-
-  while (!do_exit && panda->connected) {
-    bool need_reset = false;
-    bool ignition_local = ignition;
-    std::string recv = pigeon->receive();
-
-    // Check based on null bytes
-    if (ignition_local && recv.length() > 0 && recv[0] == (char)0x00) {
-      need_reset = true;
-      LOGW("received invalid ublox message while onroad, resetting panda GPS");
-    }
-
-    if (recv.length() > 0) {
-      pigeon_publish_raw(pm, recv);
-    }
-
-    // init pigeon on rising ignition edge
-    // since it was turned off in low power mode
-    if((ignition_local && !ignition_last) || need_reset) {
-      pigeon_active = true;
-      pigeon->init();
-    } else if (!ignition_local && ignition_last) {
-      // power off on falling edge of ignition
-      LOGD("powering off pigeon\n");
-      pigeon->stop();
-      pigeon->set_power(false);
-      pigeon_active = false;
-    }
-
-    ignition_last = ignition_local;
-
-    // 10ms - 100 Hz
-    util::sleep_for(10);
-  }
-}
-
 void boardd_main_thread(std::vector<std::string> serials) {
   PubMaster pm({"pandaStates", "peripheralState"});
   LOGW("attempting to connect");
@@ -649,7 +597,6 @@ void boardd_main_thread(std::vector<std::string> serials) {
 
     threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr);
     threads.emplace_back(peripheral_control_thread, peripheral_panda);
-    threads.emplace_back(pigeon_thread, peripheral_panda);
 
     threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr);
     threads.emplace_back(can_recv_thread, pandas);
diff --git a/selfdrive/boardd/pigeon.cc b/selfdrive/boardd/pigeon.cc
deleted file mode 100644
index d23ff90d3d..0000000000
--- a/selfdrive/boardd/pigeon.cc
+++ /dev/null
@@ -1,333 +0,0 @@
-#include "selfdrive/boardd/pigeon.h"
-
-#include <fcntl.h>
-#include <termios.h>
-#include <unistd.h>
-
-#include <cassert>
-#include <cerrno>
-#include <optional>
-
-#include "common/gpio.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "selfdrive/locationd/ublox_msg.h"
-
-// Termios on macos doesn't define all baud rate constants
-#ifndef B460800
-#define   B460800 0010004
-#endif
-
-using namespace std::string_literals;
-
-extern ExitHandler do_exit;
-
-const std::string ack = "\xb5\x62\x05\x01\x02\x00";
-const std::string nack = "\xb5\x62\x05\x00\x02\x00";
-const std::string sos_save_ack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x01\x00\x00\x00";
-const std::string sos_save_nack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x00\x00\x00\x00";
-
-Pigeon * Pigeon::connect(Panda * p) {
-  PandaPigeon * pigeon = new PandaPigeon();
-  pigeon->connect(p);
-
-  return pigeon;
-}
-
-Pigeon * Pigeon::connect(const char * tty) {
-  TTYPigeon * pigeon = new TTYPigeon();
-  pigeon->connect(tty);
-
-  return pigeon;
-}
-
-bool Pigeon::wait_for_ack(const std::string &ack_, const std::string &nack_, int timeout_ms) {
-  std::string s;
-  const double start_t = millis_since_boot();
-  while (!do_exit) {
-    s += receive();
-
-    if (s.find(ack_) != std::string::npos) {
-      LOGD("Received ACK from ublox");
-      return true;
-    } else if (s.find(nack_) != std::string::npos) {
-      LOGE("Received NACK from ublox");
-      return false;
-    } else if (s.size() > 0x1000 || ((millis_since_boot() - start_t) > timeout_ms)) {
-      LOGE("No response from ublox");
-      return false;
-    }
-
-    util::sleep_for(1); // Allow other threads to be scheduled
-  }
-  return false;
-}
-
-bool Pigeon::wait_for_ack() {
-  return wait_for_ack(ack, nack);
-}
-
-bool Pigeon::send_with_ack(const std::string &cmd) {
-  send(cmd);
-  return wait_for_ack();
-}
-
-sos_restore_response Pigeon::wait_for_backup_restore_status(int timeout_ms) {
-  std::string s;
-  const double start_t = millis_since_boot();
-  while (!do_exit) {
-    s += receive();
-
-    size_t position = s.find("\xb5\x62\x09\x14\x08\x00\x03");
-    if (position != std::string::npos && s.size() >= (position + 11)) {
-      return static_cast<sos_restore_response>(s[position + 10]);
-    } else if (s.size() > 0x1000 || ((millis_since_boot() - start_t) > timeout_ms)) {
-      LOGE("No backup restore response from ublox");
-      return error;
-    }
-
-    util::sleep_for(1); // Allow other threads to be scheduled
-  }
-  return error;
-}
-
-void Pigeon::init() {
-  for (int i = 0; i < 10; i++) {
-    if (do_exit) return;
-    LOGW("panda GPS start");
-
-    // power off pigeon
-    set_power(false);
-    util::sleep_for(100);
-
-    // 9600 baud at init
-    set_baud(9600);
-
-    // power on pigeon
-    set_power(true);
-    util::sleep_for(500);
-
-    // baud rate upping
-    send("\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A"s);
-    util::sleep_for(100);
-
-    // set baud rate to 460800
-    set_baud(460800);
-
-    // init from ubloxd
-    // To generate this data, run selfdrive/locationd/test/ubloxd.py
-    if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x00\x00\x00\x06\x18"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x00\x01\x00\x01\x08\x22"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x00\x01\x00\x03\x0A\x24"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x24\x00\x00\x2A\x84"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x23\x00\x00\x29\x81"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x1E\x00\x00\x24\x72"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x39\x00\x00\x3F\xC3"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74"s)) continue;
-
-    // check the backup restore status
-    send("\xB5\x62\x09\x14\x00\x00\x1D\x60"s);
-    sos_restore_response restore_status = wait_for_backup_restore_status();
-    switch(restore_status) {
-      case restored:
-        LOGW("almanac backup restored");
-        // clear the backup
-        send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74"s);
-        break;
-      case no_backup:
-        LOGW("no almanac backup found");
-        break;
-      default:
-        LOGE("failed to restore almanac backup, status: %d", restore_status);
-    }
-
-    auto time = util::get_time();
-    if (util::time_valid(time)) {
-      LOGW("Sending current time to ublox");
-      send(ublox::build_ubx_mga_ini_time_utc(time));
-    }
-
-    LOGW("panda GPS on");
-    return;
-  }
-  LOGE("failed to initialize panda GPS");
-}
-
-void Pigeon::stop() {
-  LOGW("Storing almanac in ublox flash");
-
-  // Controlled GNSS stop
-  send("\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74"s);
-
-  // Store almanac in flash
-  send("\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC"s);
-
-  if (wait_for_ack(sos_save_ack, sos_save_nack)) {
-    LOGW("Done storing almanac");
-  } else {
-    LOGE("Error storing almanac");
-  }
-}
-
-void PandaPigeon::connect(Panda * p) {
-  panda = p;
-}
-
-void PandaPigeon::set_baud(int baud) {
-  panda->usb_write(0xe2, 1, 0);
-  panda->usb_write(0xe4, 1, baud/300);
-}
-
-void PandaPigeon::send(const std::string &s) {
-  int len = s.length();
-  const char * dat = s.data();
-
-  unsigned char a[0x20+1];
-  a[0] = 1;
-  for (int i=0; i<len; i+=0x20) {
-    int ll = std::min(0x20, len-i);
-    memcpy(&a[1], &dat[i], ll);
-
-    panda->usb_bulk_write(2, a, ll+1);
-  }
-}
-
-std::string PandaPigeon::receive() {
-  std::string r;
-  r.reserve(0x1000 + 0x40);
-  unsigned char dat[0x40];
-  while (r.length() < 0x1000) {
-    int len = panda->usb_read(0xe0, 1, 0, dat, sizeof(dat));
-    if (len <= 0) break;
-    r.append((char*)dat, len);
-  }
-
-  return r;
-}
-
-void PandaPigeon::set_power(bool power) {
-  panda->usb_write(0xd9, power, 0);
-}
-
-PandaPigeon::~PandaPigeon() {
-}
-
-void handle_tty_issue(int err, const char func[]) {
-  LOGE_100("tty error %d \"%s\" in %s", err, strerror(err), func);
-}
-
-void TTYPigeon::connect(const char * tty) {
-  pigeon_tty_fd = HANDLE_EINTR(open(tty, O_RDWR));
-  if (pigeon_tty_fd < 0) {
-    handle_tty_issue(errno, __func__);
-    assert(pigeon_tty_fd >= 0);
-  }
-  int err = tcgetattr(pigeon_tty_fd, &pigeon_tty);
-  assert(err == 0);
-
-  // configure tty
-  pigeon_tty.c_cflag &= ~PARENB;                                            // disable parity
-  pigeon_tty.c_cflag &= ~CSTOPB;                                            // single stop bit
-  pigeon_tty.c_cflag |= CS8;                                                // 8 bits per byte
-  pigeon_tty.c_cflag &= ~CRTSCTS;                                           // no RTS/CTS flow control
-  pigeon_tty.c_cflag |= CREAD | CLOCAL;                                     // turn on READ & ignore ctrl lines
-  pigeon_tty.c_lflag &= ~ICANON;                                            // disable canonical mode
-  pigeon_tty.c_lflag &= ~ISIG;                                              // disable interpretation of INTR, QUIT and SUSP
-  pigeon_tty.c_iflag &= ~(IXON | IXOFF | IXANY);                            // turn off software flow ctrl
-  pigeon_tty.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL);   // disable any special handling of received bytes
-  pigeon_tty.c_oflag &= ~OPOST;                                             // prevent special interpretation of output bytes
-  pigeon_tty.c_oflag &= ~ONLCR;                                             // prevent conversion of newline to carriage return/line feed
-
-  // configure blocking behavior
-  pigeon_tty.c_cc[VMIN] = 0;  // min amount of characters returned
-  pigeon_tty.c_cc[VTIME] = 0; // max blocking time in s/10 (0=inf)
-
-  err = tcsetattr(pigeon_tty_fd, TCSANOW, &pigeon_tty);
-  assert(err == 0);
-}
-
-void TTYPigeon::set_baud(int baud) {
-  speed_t baud_const = 0;
-  switch(baud) {
-  case 9600:
-    baud_const = B9600;
-    break;
-  case 460800:
-    baud_const = B460800;
-    break;
-  default:
-    assert(false);
-  }
-
-  // make sure everything is tx'ed before changing baud
-  int err = tcdrain(pigeon_tty_fd);
-  assert(err == 0);
-
-  // change baud
-  err = tcgetattr(pigeon_tty_fd, &pigeon_tty);
-  assert(err == 0);
-  err = cfsetspeed(&pigeon_tty, baud_const);
-  assert(err == 0);
-  err = tcsetattr(pigeon_tty_fd, TCSANOW, &pigeon_tty);
-  assert(err == 0);
-
-  // flush
-  err = tcflush(pigeon_tty_fd, TCIOFLUSH);
-  assert(err == 0);
-}
-
-void TTYPigeon::send(const std::string &s) {
-  int err = HANDLE_EINTR(write(pigeon_tty_fd, s.data(), s.length()));
-
-  if(err < 0) { handle_tty_issue(err, __func__); }
-  err = tcdrain(pigeon_tty_fd);
-  if(err < 0) { handle_tty_issue(err, __func__); }
-}
-
-std::string TTYPigeon::receive() {
-  std::string r;
-  r.reserve(0x1000 + 0x40);
-  char dat[0x40];
-  while (r.length() < 0x1000) {
-    int len = read(pigeon_tty_fd, dat, sizeof(dat));
-    if(len < 0) {
-      handle_tty_issue(len, __func__);
-    } else if (len == 0) {
-      break;
-    } else {
-      r.append(dat, len);
-    }
-
-  }
-  return r;
-}
-
-void TTYPigeon::set_power(bool power) {
-#ifdef QCOM2
-  int err = 0;
-  err += gpio_init(GPIO_UBLOX_RST_N, true);
-  err += gpio_init(GPIO_UBLOX_SAFEBOOT_N, true);
-  err += gpio_init(GPIO_UBLOX_PWR_EN, true);
-
-  err += gpio_set(GPIO_UBLOX_RST_N, power);
-  err += gpio_set(GPIO_UBLOX_SAFEBOOT_N, power);
-  err += gpio_set(GPIO_UBLOX_PWR_EN, power);
-  assert(err == 0);
-#endif
-}
-
-TTYPigeon::~TTYPigeon() {
-  close(pigeon_tty_fd);
-}
diff --git a/selfdrive/boardd/pigeon.h b/selfdrive/boardd/pigeon.h
deleted file mode 100644
index c9ea4739dc..0000000000
--- a/selfdrive/boardd/pigeon.h
+++ /dev/null
@@ -1,58 +0,0 @@
-#pragma once
-
-#include <termios.h>
-
-#include <atomic>
-#include <string>
-
-#include "selfdrive/boardd/panda.h"
-
-enum sos_restore_response : int {
-  unknown = 0,
-  failed = 1,
-  restored = 2,
-  no_backup = 3,
-  error = -1
-};
-
-class Pigeon {
- public:
-  static Pigeon* connect(Panda * p);
-  static Pigeon* connect(const char * tty);
-  virtual ~Pigeon(){};
-
-  void init();
-  void stop();
-  bool wait_for_ack();
-  bool wait_for_ack(const std::string &ack, const std::string &nack, int timeout_ms = 1000);
-  bool send_with_ack(const std::string &cmd);
-  sos_restore_response wait_for_backup_restore_status(int timeout_ms = 1000);
-  virtual void set_baud(int baud) = 0;
-  virtual void send(const std::string &s) = 0;
-  virtual std::string receive() = 0;
-  virtual void set_power(bool power) = 0;
-};
-
-class PandaPigeon : public Pigeon {
-  Panda * panda = NULL;
-public:
-  ~PandaPigeon();
-  void connect(Panda * p);
-  void set_baud(int baud);
-  void send(const std::string &s);
-  std::string receive();
-  void set_power(bool power);
-};
-
-
-class TTYPigeon : public Pigeon {
-  int pigeon_tty_fd = -1;
-  struct termios pigeon_tty;
-public:
-  ~TTYPigeon();
-  void connect(const char* tty);
-  void set_baud(int baud);
-  void send(const std::string &s);
-  std::string receive();
-  void set_power(bool power);
-};
diff --git a/selfdrive/locationd/test/ubloxd.py b/selfdrive/locationd/test/ubloxd.py
index af9b86127e..b0339851d4 100755
--- a/selfdrive/locationd/test/ubloxd.py
+++ b/selfdrive/locationd/test/ubloxd.py
@@ -41,13 +41,13 @@ def configure_ublox(dev):
   ITMF_config2 = 25374
   payload = struct.pack('<II', ITMF_config1, ITMF_config2)
   dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_ITMF, payload)
-  #payload = struct.pack('<HHIBBBBBBBBBBH6BBB2BH4B3BB', 0, 8192, 0, 0, 0,
-  #                                                     0, 0, 0, 0, 0, 0,
-  #                                                     0, 0, 0, 0, 0, 0,
-  #                                                     0, 0, 0, 0, 0, 0,
-  #                                                     0, 0, 0, 0, 0, 0,
-  #                                                     0, 0, 0, 0)
-  #dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_NAVX5, payload)
+  payload = struct.pack('<HHIBBBBBBBBBBH6BBB2BH4B3BB', 0, (1 << 10), 0, 0, 0,
+                                                      0, 0, 0, 0, 0, 0,
+                                                      0, 1, 0, 0, 0, 0,
+                                                      0, 0, 0, 0, 0, 0,
+                                                      0, 0, 0, 0, 0, 0,
+                                                      0, 0, 0, 0)
+  dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_NAVX5, payload)
 
   dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_NAV5)
   dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_NAVX5)
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 927de563c5..7702b96eaa 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -45,6 +45,7 @@ procs = [
   PythonProcess("navd", "selfdrive.navd.navd"),
   PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
+  PythonProcess("pigeond", "selfdrive.sensord.pigeond", enabled=TICI),
   PythonProcess("plannerd", "selfdrive.controls.plannerd"),
   PythonProcess("radard", "selfdrive.controls.radard"),
   PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True),
diff --git a/selfdrive/sensord/pigeond.py b/selfdrive/sensord/pigeond.py
new file mode 100755
index 0000000000..95a27189d0
--- /dev/null
+++ b/selfdrive/sensord/pigeond.py
@@ -0,0 +1,255 @@
+#!/usr/bin/env python3
+
+import sys
+import time
+import signal
+import serial
+import struct
+import requests
+import urllib.parse
+from datetime import datetime
+
+from cereal import messaging
+from common.params import Params
+from system.swaglog import cloudlog
+from selfdrive.hardware import TICI
+from common.gpio import gpio_init, gpio_set
+from selfdrive.hardware.tici.pins import GPIO
+
+UBLOX_TTY = "/dev/ttyHS0"
+
+UBLOX_ACK = b"\xb5\x62\x05\x01\x02\x00"
+UBLOX_NACK = b"\xb5\x62\x05\x00\x02\x00"
+UBLOX_SOS_ACK = b"\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x01\x00\x00\x00"
+UBLOX_SOS_NACK = b"\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x00\x00\x00\x00"
+UBLOX_BACKUP_RESTORE_MSG = b"\xb5\x62\x09\x14\x08\x00\x03"
+UBLOX_ASSIST_ACK = b"\xb5\x62\x13\x60\x08\x00"
+
+def set_power(enabled):
+  gpio_init(GPIO.UBLOX_SAFEBOOT_N, True)
+  gpio_init(GPIO.UBLOX_PWR_EN, True)
+  gpio_init(GPIO.UBLOX_RST_N, True)
+
+  gpio_set(GPIO.UBLOX_SAFEBOOT_N, True)
+  gpio_set(GPIO.UBLOX_PWR_EN, enabled)
+  gpio_set(GPIO.UBLOX_RST_N, enabled)
+
+
+def add_ubx_checksum(msg):
+  A = B = 0
+  for b in msg[2:]:
+    A = (A + b) % 256
+    B = (B + A) % 256
+  return msg + bytes([A, B])
+
+def get_assistnow_messages(token):
+  # make request
+  # TODO: implement adding the last known location
+  r = requests.get("https://online-live2.services.u-blox.com/GetOnlineData.ashx", params=urllib.parse.urlencode({
+    'token': token,
+    'gnss': 'gps,glo',
+    'datatype': 'eph,alm,aux',
+  }, safe=':,'), timeout=5)
+  assert r.status_code == 200, "Got invalid status code"
+  dat = r.content
+
+  # split up messages
+  msgs = []
+  while len(dat) > 0:
+    assert dat[:2] == b"\xB5\x62"
+    msg_len = 6 + (dat[5] << 8 | dat[4]) + 2
+    msgs.append(dat[:msg_len])
+    dat = dat[msg_len:]
+  return msgs
+
+
+class TTYPigeon():
+  def __init__(self, path):
+    self.path = path
+    self.tty = serial.VTIMESerial(UBLOX_TTY, baudrate=9600, timeout=0)
+
+  def send(self, dat):
+    self.tty.write(dat)
+
+  def receive(self):
+    dat = b''
+    while len(dat) < 0x1000:
+      d = self.tty.read(0x40)
+      dat += d
+      if len(d) == 0:
+        break
+    return dat
+
+  def set_baud(self, baud):
+    self.tty.baudrate = baud
+
+  def wait_for_ack(self, ack=UBLOX_ACK, nack=UBLOX_NACK, timeout=0.5):
+    dat = b''
+    st = time.monotonic()
+    while True:
+      dat += self.receive()
+      if ack in dat:
+        cloudlog.debug("Received ACK from ublox")
+        return True
+      elif nack in dat:
+        cloudlog.error("Received NACK from ublox")
+        return False
+      elif time.monotonic() - st > timeout:
+        cloudlog.error("No response from ublox")
+        raise TimeoutError('No response from ublox')
+      time.sleep(0.001)
+
+  def send_with_ack(self, dat, ack=UBLOX_ACK, nack=UBLOX_NACK):
+    self.send(dat)
+    self.wait_for_ack(ack, nack)
+
+  def wait_for_backup_restore_status(self, timeout=1):
+    dat = b''
+    st = time.monotonic()
+    while True:
+      dat += self.receive()
+      position = dat.find(UBLOX_BACKUP_RESTORE_MSG)
+      if position >= 0 and len(dat) >= position + 11:
+        return dat[position + 10]
+      elif time.monotonic() - st > timeout:
+        cloudlog.error("No backup restore response from ublox")
+        raise TimeoutError('No response from ublox')
+      time.sleep(0.001)
+
+
+def initialize_pigeon(pigeon):
+  # try initializing a few times
+  for _ in range(10):
+    try:
+      pigeon.set_baud(9600)
+
+      # up baud rate
+      pigeon.send(b"\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A")
+      time.sleep(0.1)
+      pigeon.set_baud(460800)
+
+      # other configuration messages
+      pigeon.send_with_ack(b"\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x00\x00\x00\x06\x18")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x00\x01\x00\x01\x08\x22")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x00\x01\x00\x03\x0A\x24")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x00\x00\x2A\x84")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x00\x00\x29\x81")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x00\x00\x24\x72")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x39\x00\x00\x3F\xC3")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74")
+      cloudlog.debug("pigeon configured")
+
+      # try restoring almanac backup
+      pigeon.send(b"\xB5\x62\x09\x14\x00\x00\x1D\x60")
+      restore_status = pigeon.wait_for_backup_restore_status()
+      if restore_status == 2:
+        cloudlog.warning("almanac backup restored")
+      elif restore_status == 3:
+        cloudlog.warning("no almanac backup found")
+      else:
+        cloudlog.error(f"failed to restore almanac backup, status: {restore_status}")
+
+      # sending time to ublox
+      t_now = datetime.utcnow()
+      if t_now >= datetime(2021, 6, 1):
+        cloudlog.warning("Sending current time to ublox")
+
+        # UBX-MGA-INI-TIME_UTC
+        msg = add_ubx_checksum(b"\xB5\x62\x13\x40\x18\x00" + struct.pack("<BBBBHBBBBBxIHxxI",
+          0x10,
+          0x00,
+          0x00,
+          0x80,
+          t_now.year,
+          t_now.month,
+          t_now.day,
+          t_now.hour,
+          t_now.minute,
+          t_now.second,
+          0,
+          30,
+          0
+        ))
+        pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
+
+      # try getting AssistNow if we have a token
+      token = Params().get('AssistNowToken')
+      if token is not None:
+        try:
+          for msg in get_assistnow_messages(token):
+            pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
+          cloudlog.warning("AssistNow messages sent")
+        except Exception:
+          cloudlog.warning("failed to get AssistNow messages")
+
+      cloudlog.warning("Pigeon GPS on!")
+      break
+    except TimeoutError:
+      cloudlog.warning("Initialization failed, trying again!")
+
+def deinitialize_and_exit(pigeon):
+  cloudlog.warning("Storing almanac in ublox flash")
+
+  # controlled GNSS stop
+  pigeon.send(b"\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74")
+
+  # store almanac in flash
+  pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC")
+  try:
+    if pigeon.wait_for_ack(ack=UBLOX_SOS_ACK, nack=UBLOX_SOS_NACK):
+      cloudlog.warning("Done storing almanac")
+    else:
+      cloudlog.error("Error storing almanac")
+  except TimeoutError:
+    pass
+
+  # turn off power and exit cleanly
+  set_power(False)
+  sys.exit(0)
+
+def main():
+  assert TICI, "unsupported hardware for pigeond"
+
+  pm = messaging.PubMaster(['ubloxRaw'])
+
+  # power cycle ublox
+  set_power(False)
+  time.sleep(0.1)
+  set_power(True)
+  time.sleep(0.5)
+
+  pigeon = TTYPigeon(UBLOX_TTY)
+  initialize_pigeon(pigeon)
+
+  # register exit handler
+  signal.signal(signal.SIGINT, lambda sig, frame: deinitialize_and_exit(pigeon))
+
+  # start receiving data
+  while True:
+    dat = pigeon.receive()
+    if len(dat) > 0:
+      if dat[0] == 0x00:
+        cloudlog.warning("received invalid data from ublox, re-initing!")
+        initialize_pigeon(pigeon)
+        continue
+
+      # send out to socket
+      msg = messaging.new_message('ubloxRaw', len(dat))
+      msg.ubloxRaw = dat[:]
+      pm.send('ubloxRaw', msg)
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/sensord/test/ttff_test.py b/selfdrive/sensord/test/ttff_test.py
new file mode 100755
index 0000000000..e2cbc6d144
--- /dev/null
+++ b/selfdrive/sensord/test/ttff_test.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+
+import time
+import atexit
+
+from cereal import messaging
+from selfdrive.manager.process_config import managed_processes
+
+TIMEOUT = 10*60
+
+def kill():
+  for proc in ['ubloxd', 'pigeond']:
+    managed_processes[proc].stop(retry=True, block=True)
+
+if __name__ == "__main__":
+  # start ubloxd
+  managed_processes['ubloxd'].start()
+  atexit.register(kill)
+
+  sm = messaging.SubMaster(['ubloxGnss'])
+
+  times = []
+  for i in range(20):
+    # start pigeond
+    st = time.monotonic()
+    managed_processes['pigeond'].start()
+
+    # wait for a >4 satellite fix
+    while True:
+      sm.update(0)
+      msg = sm['ubloxGnss']
+      if msg.which() == 'measurementReport' and sm.updated["ubloxGnss"]:
+        report = msg.measurementReport
+        if report.numMeas > 4:
+          times.append(time.monotonic() - st)
+          print(f"\033[94m{i}: Got a fix in {round(times[-1], 2)} seconds\033[0m")
+          break
+
+      if time.monotonic() - st > TIMEOUT:
+        raise TimeoutError("\033[91mFailed to get a fix in {TIMEOUT} seconds!\033[0m")
+
+      time.sleep(0.1)
+
+    # stop pigeond
+    managed_processes['pigeond'].stop(retry=True, block=True)
+    time.sleep(20)
+
+  print(f"\033[92mAverage TTFF: {round(sum(times) / len(times), 2)}s\033[0m")