diff --git a/cereal b/cereal
index 4e3541ae43..7f6df092ef 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 4e3541ae432cf719ae67546c50e01ae580738a38
+Subproject commit 7f6df092efdc64fbab56d1f8804ce40ccd77dee5
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 731e8968d1..1015a6f19a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -62,7 +62,7 @@ class Controls:
 
     # wait for one health and one CAN packet
     hw_type = messaging.recv_one(self.sm.sock['health']).health.hwType
-    has_relay = hw_type in [HwType.blackPanda, HwType.uno]
+    has_relay = hw_type in [HwType.blackPanda, HwType.uno, HwType.dos]
     print("Waiting for CAN messages...")
     messaging.get_one_can(self.can_sock)
 
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index cffff8b7c1..a89a008a0b 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -188,10 +188,10 @@ def calibration_incomplete_alert(CP, sm, metric):
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2)
 
 def no_gps_alert(CP, sm, metric):
-  two = sm['health'].hwType == log.HealthData.HwType.uno
+  gps_integrated = sm['health'].hwType in [log.HealthData.HwType.uno, log.HealthData.HwType.dos]
   return Alert(
     "Poor GPS reception",
-    "If sky is visible, contact support" if two else "Check GPS antenna placement",
+    "If sky is visible, contact support" if gps_integrated else "Check GPS antenna placement",
     AlertStatus.normal, AlertSize.mid,
     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=300.)
 
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 84a26e7447..5ffa8f94c8 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -213,7 +213,7 @@ def thermald_thread():
       # Setup fan handler on first connect to panda
       if handle_fan is None and health.health.hwType != log.HealthData.HwType.unknown:
         is_uno = health.health.hwType == log.HealthData.HwType.uno
-        has_relay = health.health.hwType in [log.HealthData.HwType.blackPanda, log.HealthData.HwType.uno]
+        has_relay = health.health.hwType in [log.HealthData.HwType.blackPanda, log.HealthData.HwType.uno, log.HealthData.HwType.dos]
 
         if is_uno or not ANDROID:
           cloudlog.info("Setting up UNO fan handler")
diff --git a/tools/carcontrols/debug_controls.py b/tools/carcontrols/debug_controls.py
index 7d13a0b76b..1f353e0666 100755
--- a/tools/carcontrols/debug_controls.py
+++ b/tools/carcontrols/debug_controls.py
@@ -26,7 +26,7 @@ def steer_thread():
 
   # wait for health and CAN packets
   hw_type = messaging.recv_one(health).health.hwType
-  has_relay = hw_type in [HwType.blackPanda, HwType.uno]
+  has_relay = hw_type in [HwType.blackPanda, HwType.uno, HwType.dos]
   print("Waiting for CAN messages...")
   messaging.get_one_can(logcan)