diff --git a/cereal b/cereal
index fa9dca01dc5794..7986119bffd524 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit fa9dca01dc57944e7cb173f01c3382c3e2cb099c
+Subproject commit 7986119bffd5246721ed27e7de0b637108d9e9ab
diff --git a/panda b/panda
index e78c315744da6a..fa2c9831c2176f 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit e78c315744da6a92e1bc44ebd60f4c83b89d412b
+Subproject commit fa2c9831c2176f7664b29db7941df4241a0610e4
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 9ae00d4e90bca7..dac4730d19559c 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -161,7 +161,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
   int safety_param;
 
   auto safety_configs = car_params.getSafetyConfigs();
-  uint16_t unsafe_mode = car_params.getUnsafeMode();
+  uint16_t alternative_experience = car_params.getAlternativeExperience();
   for (uint32_t i = 0; i < pandas.size(); i++) {
     auto panda = pandas[i];
 
@@ -174,8 +174,8 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
       safety_param = 0;
     }
 
-    LOGW("panda %d: setting safety model: %d, param: %d, unsafe mode: %d", i, (int)safety_model, safety_param, unsafe_mode);
-    panda->set_unsafe_mode(unsafe_mode);
+    LOGW("panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience);
+    panda->set_alternative_experience(alternative_experience);
     panda->set_safety_model(safety_model, safety_param);
   }
 
@@ -362,7 +362,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     ps.setFaultStatus(cereal::PandaState::FaultStatus(health.fault_status_pkt));
     ps.setPowerSaveEnabled((bool)(health.power_save_enabled_pkt));
     ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt));
-    ps.setUnsafeMode(health.unsafe_mode_pkt);
+    ps.setAlternativeExperience(health.alternative_experience_pkt);
     ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
 
     // Convert faults bitset to capnp list
diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
index 4a7af2b718016a..7b4e81f9ae0d1a 100644
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -251,8 +251,8 @@ void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, int sa
   usb_write(0xdc, (uint16_t)safety_model, safety_param);
 }
 
-void Panda::set_unsafe_mode(uint16_t unsafe_mode) {
-  usb_write(0xdf, unsafe_mode, 0);
+void Panda::set_alternative_experience(uint16_t alternative_experience) {
+  usb_write(0xdf, alternative_experience, 0);
 }
 
 cereal::PandaState::PandaType Panda::get_hw_type() {
diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h
index 279c96a6a683bf..294553b413dafc 100644
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@@ -74,7 +74,7 @@ class Panda {
   // Panda functionality
   cereal::PandaState::PandaType get_hw_type();
   void set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param=0);
-  void set_unsafe_mode(uint16_t unsafe_mode);
+  void set_alternative_experience(uint16_t alternative_experience);
   void set_rtc(struct tm sys_time);
   struct tm get_rtc();
   void set_fan_speed(uint16_t fan_speed);
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index fdc0efb7761bcd..93675303047df9 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -94,7 +94,7 @@ def __init__(self, sm=None, pm=None, can_sock=None):
     get_one_can(self.can_sock)
 
     self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
-    self.CP.unsafeMode = 0  # see panda/board/safety_declarations.h for allowed values
+    self.CP.alternativeExperience = 0  # see panda/board/safety_declarations.h for allowed values
 
     # read params
     self.is_metric = params.get_bool("IsMetric")
@@ -260,7 +260,7 @@ def update_events(self, CS):
       if i < len(self.CP.safetyConfigs):
         safety_mismatch = pandaState.safetyModel != self.CP.safetyConfigs[i].safetyModel or \
                           pandaState.safetyParam != self.CP.safetyConfigs[i].safetyParam or \
-                          pandaState.unsafeMode != self.CP.unsafeMode
+                          pandaState.alternativeExperience != self.CP.alternativeExperience
       else:
         safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES