diff --git a/opendbc_repo b/opendbc_repo
index 39773a987eaefd..b092744152041e 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 39773a987eaefd680c6befa390d7898945daf2e7
+Subproject commit b092744152041e8f3b3ce8584cfc2e4f2e5b4971
diff --git a/panda b/panda
index 1ffad74f88e568..dd34b98bc85ec0 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 1ffad74f88e5683d9cd7c472e823928e28037e9e
+Subproject commit dd34b98bc85ec01da9b0e29f446779cc106071fb
diff --git a/tools/bodyteleop/static/js/controls.js b/tools/bodyteleop/static/js/controls.js
index b1e0e7ee70e340..d7299aa84e9dfa 100644
--- a/tools/bodyteleop/static/js/controls.js
+++ b/tools/bodyteleop/static/js/controls.js
@@ -1,8 +1,8 @@
 const keyVals = {w: 0, a: 0, s: 0, d: 0}
 
 export function getXY() {
-  let x = -keyVals.w + keyVals.s
-  let y = -keyVals.d + keyVals.a
+  let x = keyVals.w - keyVals.s
+  let y = keyVals.d - keyVals.a
   return {x, y}
 }
 
@@ -51,4 +51,4 @@ export async function executePlan() {
     }
   }
   execute();
-}
\ No newline at end of file
+}
diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py
index fd8f691d199ee8..418a8b5bbc7ff7 100644
--- a/tools/bodyteleop/web.py
+++ b/tools/bodyteleop/web.py
@@ -96,7 +96,7 @@ async def sound(request: 'web.Request'):
 
 async def offer(request: 'web.Request'):
   params = await request.json()
-  body = StreamRequestBody(params["sdp"], ["driver"], ["testJoystick"], ["carState"])
+  body = StreamRequestBody(params["sdp"], ["wideRoad"], ["testJoystick"], ["carState"])
   body_json = json.dumps(dataclasses.asdict(body))
 
   logger.info("Sending offer to webrtcd...")