diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 5736ca7ffc..c13d2475ff 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -35,7 +35,7 @@ repos:
         args: ['--explicit-package-bases']
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/PyCQA/flake8
-    rev: 6.0.0
+    rev: 6.1.0
     hooks:
     -   id: flake8
         exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/'
diff --git a/cereal b/cereal
index a9082c8268..48cc1c2fc6 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit a9082c826872e5650e8a8e9a6f3e5f95a4d27572
+Subproject commit 48cc1c2fc605ca37064aeb94f0957dcd45c06134
diff --git a/opendbc b/opendbc
index 4231b0f12d..7d23b4c01b 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 4231b0f12d8cf10d0554c4eb513ac984defc1f90
+Subproject commit 7d23b4c01b177fc3d8386f4e8eb3a565619be87b
diff --git a/panda b/panda
index ed8ff7e48a..1b706040cd 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit ed8ff7e48ad41b5b7c0ce9df5bb2bb5024b6429d
+Subproject commit 1b706040cd0b9af80a1604bb15d498f178655754
diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py
index 023479d10e..dc439c23f6 100755
--- a/selfdrive/locationd/models/live_kf.py
+++ b/selfdrive/locationd/models/live_kf.py
@@ -212,14 +212,14 @@ class LiveKalman():
     live_kf_header = "#pragma once\n\n"
     live_kf_header += "#include <unordered_map>\n"
     live_kf_header += "#include <eigen3/Eigen/Dense>\n\n"
-    for state, slc in inspect.getmembers(States, lambda x: type(x) == slice):
+    for state, slc in inspect.getmembers(States, lambda x: isinstance(x, slice)):
       assert(slc.step is None)  # unsupported
       live_kf_header += f'#define STATE_{state}_START {slc.start}\n'
       live_kf_header += f'#define STATE_{state}_END {slc.stop}\n'
       live_kf_header += f'#define STATE_{state}_LEN {slc.stop - slc.start}\n'
     live_kf_header += "\n"
 
-    for kind, val in inspect.getmembers(ObservationKind, lambda x: type(x) == int):
+    for kind, val in inspect.getmembers(ObservationKind, lambda x: isinstance(x, int)):
       live_kf_header += f'#define OBSERVATION_{kind} {val}\n'
     live_kf_header += "\n"
 
diff --git a/system/ubloxd/tests/ublox.py b/system/ubloxd/tests/ublox.py
index 0d271ad785..241310cf00 100644
--- a/system/ubloxd/tests/ublox.py
+++ b/system/ubloxd/tests/ublox.py
@@ -768,7 +768,7 @@ class UBlox:
     if not self.read_only:
       if self.use_sendrecv:
         return self.dev.send(buf)
-      if type(buf) == str:
+      if isinstance(buf, str):
         return self.dev.write(str.encode(buf))
       else:
         return self.dev.write(buf)