diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 67cbc5f097..a91e9862ac 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -315,7 +315,7 @@ jobs:
       run: |
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                         source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
+                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
 
   create_ui_report:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
diff --git a/opendbc_repo b/opendbc_repo
index 4bfb262fd5..130bf3183f 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 4bfb262fd52bc6946de1c8280efc424910bd9d60
+Subproject commit 130bf3183f4ab871ee8dd56b122cfbb038542606
diff --git a/panda b/panda
index 3ff97305c5..978ee19005 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 3ff97305c565d5e43931052b9ec4747b2f617401
+Subproject commit 978ee190051806f8e5b7b8fede6b6be4e4db4aae
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index b8735359e1..f00cbe55e1 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -7,8 +7,6 @@ import cereal.messaging as messaging
 
 from cereal import car, log
 
-from panda import ALTERNATIVE_EXPERIENCE
-
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
@@ -19,6 +17,7 @@ from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import ObdCallback
 from opendbc.car.car_helpers import get_car, get_radar_interface
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
diff --git a/selfdrive/debug/clear_dtc.py b/selfdrive/debug/clear_dtc.py
index 2c7f525d80..3578930388 100755
--- a/selfdrive/debug/clear_dtc.py
+++ b/selfdrive/debug/clear_dtc.py
@@ -4,6 +4,7 @@ import argparse
 from subprocess import check_output, CalledProcessError
 from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE
+from opendbc.safety import Safety
 from panda import Panda
 
 parser = argparse.ArgumentParser(description="clear DTC status")
@@ -24,7 +25,7 @@ except CalledProcessError as e:
     raise e
 
 panda = Panda()
-panda.set_safety_mode(Panda.SAFETY_ELM327)
+panda.set_safety_mode(Safety.SAFETY_ELM327)
 uds_client = UdsClient(panda, args.addr, bus=args.bus)
 print("extended diagnostic session ...")
 try:
diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py
index 27e6c68c0e..8612018b08 100755
--- a/selfdrive/debug/hyundai_enable_radar_points.py
+++ b/selfdrive/debug/hyundai_enable_radar_points.py
@@ -18,6 +18,7 @@ from subprocess import check_output, CalledProcessError
 
 from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
+from opendbc.safety import Safety
 from panda.python import Panda
 
 class ConfigValues(NamedTuple):
@@ -96,7 +97,7 @@ if __name__ == "__main__":
     sys.exit(0)
 
   panda = Panda()
-  panda.set_safety_mode(Panda.SAFETY_ELM327)
+  panda.set_safety_mode(Safety.SAFETY_ELM327)
   uds_client = UdsClient(panda, 0x7D0, bus=args.bus)
 
   print("\n[START DIAGNOSTIC SESSION]")
diff --git a/selfdrive/debug/read_dtc_status.py b/selfdrive/debug/read_dtc_status.py
index 4ae471aefa..56f32abf46 100755
--- a/selfdrive/debug/read_dtc_status.py
+++ b/selfdrive/debug/read_dtc_status.py
@@ -4,6 +4,7 @@ import argparse
 from subprocess import check_output, CalledProcessError
 from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE, get_dtc_num_as_str, get_dtc_status_names
+from opendbc.safety import Safety
 from panda import Panda
 
 parser = argparse.ArgumentParser(description="read DTC status")
@@ -24,7 +25,7 @@ except CalledProcessError as e:
     raise e
 
 panda = Panda()
-panda.set_safety_mode(Panda.SAFETY_ELM327)
+panda.set_safety_mode(Safety.SAFETY_ELM327)
 uds_client = UdsClient(panda, args.addr, bus=args.bus)
 print("extended diagnostic session ...")
 uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py
index 69d2951941..bc92d3a4c4 100755
--- a/selfdrive/debug/vw_mqb_config.py
+++ b/selfdrive/debug/vw_mqb_config.py
@@ -6,6 +6,7 @@ from enum import IntEnum
 from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\
   DATA_IDENTIFIER_TYPE, ACCESS_TYPE
+from opendbc.safety import Safety
 from panda import Panda
 from datetime import date
 
@@ -38,7 +39,7 @@ if __name__ == "__main__":
     carlog.setLevel('DEBUG')
 
   panda = Panda()
-  panda.set_safety_mode(Panda.SAFETY_ELM327)
+  panda.set_safety_mode(Safety.SAFETY_ELM327)
   bus = 1 if panda.has_obd() else 0
   uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2)
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index cf189df57b..9d30090b8b 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -7,7 +7,7 @@ import cereal.messaging as messaging
 
 from cereal import car, log
 from msgq.visionipc import VisionIpcClient, VisionStreamType
-from panda import ALTERNATIVE_EXPERIENCE
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
 
 
 from openpilot.common.params import Params
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 14934f8521..fbe891abea 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -6,15 +6,15 @@ import traceback
 
 from cereal import messaging, car, log
 from opendbc.car.fingerprints import MIGRATION
-from opendbc.car.toyota.values import EPS_SCALE
-from opendbc.car.ford.values import CAR as FORD, FordFlags
+from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags
+from opendbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags
+from opendbc.car.hyundai.values import HyundaiSafetyFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
 from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogIterable
-from panda import Panda
 
 MessageWithIndex = tuple[int, capnp.lib.capnp._DynamicStructReader]
 MigrationOps = tuple[list[tuple[int, capnp.lib.capnp._DynamicStructReader]], list[capnp.lib.capnp._DynamicStructReader], list[int]]
@@ -269,19 +269,19 @@ def migrate_carOutput(msgs):
 def migrate_pandaStates(msgs):
   # TODO: safety param migration should be handled automatically
   safety_param_migration = {
-    "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
-    "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
-    "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
+    "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.FLAG_TOYOTA_STOCK_LONGITUDINAL,
+    "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.FLAG_TOYOTA_ALT_BRAKE,
+    "KIA_EV6": HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS | HyundaiSafetyFlags.FLAG_HYUNDAI_CANFD_HDA2,
   }
   # TODO: get new Ford route
-  safety_param_migration |= {car: Panda.FLAG_FORD_LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))}
+  safety_param_migration |= {car: FordSafetyFlags.FLAG_FORD_LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))}
 
   # Migrate safety param base on carParams
   CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
   assert CP is not None, "carParams message not found"
   fingerprint = MIGRATION.get(CP.carFingerprint, CP.carFingerprint)
   if fingerprint in safety_param_migration:
-    safety_param = safety_param_migration[fingerprint]
+    safety_param = safety_param_migration[fingerprint].value
   elif len(CP.safetyConfigs):
     safety_param = CP.safetyConfigs[0].safetyParam
     if CP.safetyConfigs[0].safetyParamDEPRECATED != 0:
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 45210f1648..1135aeb874 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -18,11 +18,11 @@ from cereal import car
 from cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
 from opendbc.car.car_helpers import get_car, interfaces
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
-from panda.python import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.car.card import can_comm_callbacks
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py
index 253623ded7..402ac1a21e 100644
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@@ -1,11 +1,12 @@
+import traceback
 import cereal.messaging as messaging
 
 from opendbc.can.packer import CANPacker
 from opendbc.can.parser import CANParser
+from opendbc.car.honda.values import HondaSafetyFlags
 from openpilot.common.params import Params
 from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp
 from openpilot.tools.sim.lib.common import SimulatorState
-from panda.python import Panda
 
 
 class SimulatedCar:
@@ -94,14 +95,18 @@ class SimulatedCar:
       'controlsAllowed': True,
       'safetyModel': 'hondaBosch',
       'alternativeExperience': self.sm["carParams"].alternativeExperience,
-      'safetyParam': Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_BOSCH_LONG,
+      'safetyParam': HondaSafetyFlags.FLAG_HONDA_RADARLESS.value | HondaSafetyFlags.FLAG_HONDA_BOSCH_LONG.value,
     }
     self.pm.send('pandaStates', dat)
 
   def update(self, simulator_state: SimulatorState):
-    self.send_can_messages(simulator_state)
+    try:
+      self.send_can_messages(simulator_state)
 
-    if self.idx % 50 == 0: # only send panda states at 2hz
-      self.send_panda_state(simulator_state)
+      if self.idx % 50 == 0: # only send panda states at 2hz
+        self.send_panda_state(simulator_state)
 
-    self.idx += 1
+      self.idx += 1
+    except Exception:
+      traceback.print_exc()
+      raise