diff --git a/opendbc b/opendbc
index b928a20513..eb56fff37a 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit b928a205138975346a11fede0d3101e948875eee
+Subproject commit eb56fff37a4a2738df7add08779db51a0a6f38e2
diff --git a/panda b/panda
index cc0fdffee6..c925407461 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit cc0fdffee6eb5251331dc58ebc03057521e45b15
+Subproject commit c925407461e46adf3282494af6daa00b2626ebb8
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index fc262ba42c..31a641e90d 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -239,10 +239,12 @@ class CarState(CarStateBase):
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
 
     if self.CP.enableGasInterceptor:
-      ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
+      # Same threshold as panda, equivalent to 1e-5 with previous DBC scaling
+      ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
+      ret.gasPressed = ret.gas > 492
     else:
       ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
-    ret.gasPressed = ret.gas > 1e-5
+      ret.gasPressed = ret.gas > 1e-5
 
     ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
     ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index a3daaec118..b7b110c051 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -45,6 +45,8 @@ routes = [
 
   TestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
   TestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC),
+  # Checks there's no controls mismatches due to pedal thresholds
+  TestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21),
   TestRoute("a859a044a447c2b0|2020-03-03--18-42-45", HONDA.CRV_EU),
   TestRoute("68aac44ad69f838e|2021-05-18--20-40-52", HONDA.CRV),
   TestRoute("14fed2e5fa0aa1a5|2021-05-25--14-59-42", HONDA.CRV_HYBRID),
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 8cf997a649..7e02fd2a07 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -215,8 +215,6 @@ class TestCarModel(unittest.TestCase):
         # panda intentionally has a higher threshold
         if self.CP.carName == "toyota" and 15 < CS.gas < 15*1.5:
           gas_pressed = False
-        if self.CP.carName == "honda":
-          gas_pressed = False
       checks['gasPressed'] += gas_pressed != self.safety.get_gas_pressed_prev()
 
       # TODO: remove this exception once this mismatch is resolved