diff --git a/cereal b/cereal
index bd2f7fa567..513dfc7ee0 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit bd2f7fa56706bcec3c9906bd57c2ec46f0666ac5
+Subproject commit 513dfc7ee001243cd68a57a9d92fe3170fc49c7d
diff --git a/panda b/panda
index 38257a93e4..046fd58e8d 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 38257a93e4733819a109a4ef52efed1bbeb45cc4
+Subproject commit 046fd58e8d64c58ed80769fcbec5ac2417a04c71
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 5ff6d56e69..0872a94712 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -346,14 +346,14 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
 
     auto ps = pss[i];
     ps.setUptime(health.uptime_pkt);
-    ps.setBlockedCnt(health.blocked_msg_cnt_pkt);
+    ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt);
+    ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt);
     ps.setIgnitionLine(health.ignition_line_pkt);
     ps.setIgnitionCan(health.ignition_can_pkt);
     ps.setControlsAllowed(health.controls_allowed_pkt);
     ps.setGasInterceptorDetected(health.gas_interceptor_detected_pkt);
-    ps.setCanRxErrs(health.can_rx_errs_pkt);
-    ps.setCanSendErrs(health.can_send_errs_pkt);
-    ps.setCanFwdErrs(health.can_fwd_errs_pkt);
+    ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
+    ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
     ps.setGmlanSendErrs(health.gmlan_send_errs_pkt);
     ps.setPandaType(panda->hw_type);
     ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));