diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 7660e5bd3a..a3bec8688a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -445,6 +445,15 @@ class Controls:
         self.set_initial_state()
         self.params.put_bool_nonblocking("ControlsReady", True)
 
+        if not all_valid and timed_out:
+          cloudlog.event(
+            "controlsd.init_timeout",
+            canValid=CS.canValid,
+            invalid=[s for s, valid in self.sm.valid.items() if not valid],
+            not_alive=[s for s, alive in self.sm.alive.items() if not alive],
+            not_freq_ok=[s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
+          )
+
     # Check for CAN timeout
     if not can_strs:
       self.can_rcv_timeout_counter += 1
diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py
index 797f4ee92e..047d0ac2d6 100644
--- a/selfdrive/manager/helpers.py
+++ b/selfdrive/manager/helpers.py
@@ -1,9 +1,10 @@
+import errno
+import fcntl
 import os
 import sys
-import fcntl
-import errno
-import signal
+import pathlib
 import shutil
+import signal
 import subprocess
 import tempfile
 import threading
@@ -52,7 +53,9 @@ def write_onroad_params(started, params):
 def save_bootlog():
   # copy current params
   tmp = tempfile.mkdtemp()
-  shutil.copytree(Params().get_param_path() + "/..", tmp, dirs_exist_ok=True)
+  params_dirname = pathlib.Path(Params().get_param_path()).name
+  params_dir = os.path.join(tmp, params_dirname)
+  shutil.copytree(Params().get_param_path(), params_dir, dirs_exist_ok=True)
 
   def fn(tmpdir):
     env = os.environ.copy()
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 1777949cdd..dc93d84135 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:738ef0a3407e1f918d928dd195dc0e2a326f7610a38184c4801a0f717a8255ea
+oid sha256:763821410b35b06b598cacfa5bc3e312610b3f8de2729e0d5954d7571b6794be
 size 48219112
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 2d886684af..a2f6896307 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-06bdc69a0229bece7b60178c421feda329522585
+fee90bcee1e545c7ec9a39d3c7d4e42cfefb9955
diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc
index 36d9b4a13e..9cbc24864d 100644
--- a/system/sensord/sensors_qcom2.cc
+++ b/system/sensord/sensors_qcom2.cc
@@ -134,7 +134,13 @@ int sensor_loop(I2CBus *i2c_bus_imu) {
   // increase interrupt quality by pinning interrupt and process to core 1
   setpriority(PRIO_PROCESS, 0, -18);
   util::set_core_affinity({1});
-  std::system("sudo su -c 'echo 1 > /proc/irq/336/smp_affinity_list'");
+
+  // TODO: get the IRQ number from gpiochip
+  std::string irq_path = "/proc/irq/336/smp_affinity_list";
+  if (!util::file_exists(irq_path)) {
+    irq_path = "/proc/irq/335/smp_affinity_list";
+  }
+  std::system(util::string_format("sudo su -c 'echo 1 > %s'", irq_path.c_str()).c_str());
 
   // thread for reading events via interrupts
   threads.emplace_back(&interrupt_loop, std::ref(sensors_init));