diff --git a/cereal b/cereal
index d4cf8728e2..5ba96b6ded 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit d4cf8728e2fa2d87d90098efa7ddeaf8f98a03db
+Subproject commit 5ba96b6ded57bcd91e60140ce0036f61370f8512
diff --git a/panda b/panda
index 1910db8d4c..e987e6c639 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 1910db8d4c3f932fe85b186fba1d24795cb2b742
+Subproject commit e987e6c6393e1e1432ba6bb740eb2c1b80542043
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 09e7137b38..3e39985c29 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -381,6 +381,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
     ps.setInterruptLoad(health.interrupt_load);
     ps.setFanPower(health.fan_power);
+    ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid));
 
     std::array<cereal::PandaState::PandaCanState::Builder, PANDA_CAN_CNT> cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
 
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 61da04d04b..b9c7327a93 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -31,7 +31,6 @@ class CarState(CarStateBase):
       self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
 
     self.brake_error = False
-    self.park_brake = False
     self.buttons_counter = 0
 
     # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index b6479e5608..303e5f8df8 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -313,7 +313,7 @@ class Controls:
       else:
         safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
 
-      if safety_mismatch or self.mismatch_counter >= 200:
+      if safety_mismatch or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
         self.events.add(EventName.controlsMismatch)
 
       if log.PandaState.FaultType.relayMalfunction in pandaState.faults: