diff --git a/.circleci/config.yml b/.circleci/config.yml
index d74c1a20e09686..6348ff0f5542f0 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -11,7 +11,7 @@ jobs:
       - run:
           name: Run safety test
           command: |
-            docker run panda_safety /bin/bash -c "cd /panda/tests/safety; ./test.sh"
+            docker run panda_safety /bin/bash -c "cd /panda/tests/safety; PYTHONPATH=/ ./test.sh"
 
   misra-c2012:
     machine:
diff --git a/VERSION b/VERSION
index 76864c1c20c937..c9b3c015f8220b 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-v1.5.0
\ No newline at end of file
+v1.5.1
\ No newline at end of file
diff --git a/board/safety.h b/board/safety.h
index e542dde8e93389..753cb2905e3219 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -45,42 +45,43 @@ typedef struct {
   const safety_hooks *hooks;
 } safety_hook_config;
 
+// from cereal.car.CarParams.SafetyModel
 #define SAFETY_NOOUTPUT 0U
 #define SAFETY_HONDA 1U
 #define SAFETY_TOYOTA 2U
-#define SAFETY_GM 3U
-#define SAFETY_HONDA_BOSCH 4U
-#define SAFETY_FORD 5U
-#define SAFETY_CADILLAC 6U
-#define SAFETY_HYUNDAI 7U
-#define SAFETY_TESLA 8U
+#define SAFETY_ELM327 3U
+#define SAFETY_GM 4U
+#define SAFETY_HONDA_BOSCH 5U
+#define SAFETY_FORD 6U
+#define SAFETY_CADILLAC 7U
+#define SAFETY_HYUNDAI 8U
 #define SAFETY_CHRYSLER 9U
-#define SAFETY_SUBARU 10U
-#define SAFETY_GM_PASSIVE 11U
-#define SAFETY_MAZDA 12U
-#define SAFETY_GM_ASCM 0x1334U
-#define SAFETY_TOYOTA_IPAS 0x1335U
-#define SAFETY_ALLOUTPUT 0x1337U
-#define SAFETY_ELM327 0xE327U
+#define SAFETY_TESLA 10U
+#define SAFETY_SUBARU 11U
+#define SAFETY_GM_PASSIVE 12U
+#define SAFETY_MAZDA 13U
+#define SAFETY_TOYOTA_IPAS 16U
+#define SAFETY_ALLOUTPUT 17U
+#define SAFETY_GM_ASCM 18U
 
 const safety_hook_config safety_hook_registry[] = {
   {SAFETY_NOOUTPUT, &nooutput_hooks},
   {SAFETY_HONDA, &honda_hooks},
-  {SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
   {SAFETY_TOYOTA, &toyota_hooks},
+  {SAFETY_ELM327, &elm327_hooks},
   {SAFETY_GM, &gm_hooks},
+  {SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
   {SAFETY_FORD, &ford_hooks},
   {SAFETY_CADILLAC, &cadillac_hooks},
   {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_CHRYSLER, &chrysler_hooks},
+  {SAFETY_TESLA, &tesla_hooks},
   {SAFETY_SUBARU, &subaru_hooks},
+  {SAFETY_GM_PASSIVE, &gm_passive_hooks},
   {SAFETY_MAZDA, &mazda_hooks},
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
-  {SAFETY_GM_PASSIVE, &gm_passive_hooks},
-  {SAFETY_GM_ASCM, &gm_ascm_hooks},
-  {SAFETY_TESLA, &tesla_hooks},
   {SAFETY_ALLOUTPUT, &alloutput_hooks},
-  {SAFETY_ELM327, &elm327_hooks},
+  {SAFETY_GM_ASCM, &gm_ascm_hooks},
 };
 
 int safety_set_mode(uint16_t mode, int16_t param) {
diff --git a/boardesp/elm327.c b/boardesp/elm327.c
index 58ac4c86386aa1..cec9fd836d8554 100644
--- a/boardesp/elm327.c
+++ b/boardesp/elm327.c
@@ -52,6 +52,8 @@ typedef struct __attribute__((packed)) {
 #define PANDA_USB_CAN_WRITE_BUS_NUM 3
 #define PANDA_USB_LIN_WRITE_BUS_NUM 2
 
+#define SAFETY_ELM327 3U
+
 typedef struct _elm_tcp_conn {
   struct espconn *conn;
   struct _elm_tcp_conn *next;
@@ -1420,7 +1422,7 @@ static void ICACHE_FLASH_ATTR elm_process_at_cmd(char *cmd, uint16_t len) {
 
     elm_append_rsp_const("\r\r");
     elm_append_rsp_const(IDENT_MSG);
-    panda_set_safety_mode(0xE327);
+    panda_set_safety_mode(SAFETY_ELM327);
 
     elm_proto_reinit(elm_current_proto());
     return;
diff --git a/drivers/linux/panda.c b/drivers/linux/panda.c
index 4c5980a9d2ff3c..3d4f957f9c5083 100644
--- a/drivers/linux/panda.c
+++ b/drivers/linux/panda.c
@@ -38,6 +38,9 @@
 
 #define PANDA_DLC_MASK  0x0F
 
+#define SAFETY_ALLOUTPUT 17
+#define SAFETY_NOOUTPUT 0
+
 struct panda_usb_ctx {
   struct panda_inf_priv *priv;
   u32 ndx;
@@ -156,7 +159,7 @@ static int panda_set_output_enable(struct panda_inf_priv* priv, bool enable){
   return usb_control_msg(priv->priv_dev->udev,
 			 usb_sndctrlpipe(priv->priv_dev->udev, 0),
 			 0xDC, USB_TYPE_VENDOR | USB_RECIP_DEVICE,
-			 enable ? 0x1337 : 0, 0, NULL, 0, USB_CTRL_SET_TIMEOUT);
+			 enable ? SAFETY_ALLOUTPUT : SAFETY_NOOUTPUT, 0, NULL, 0, USB_CTRL_SET_TIMEOUT);
 }
 
 static void panda_usb_write_bulk_callback(struct urb *urb)
diff --git a/drivers/windows/panda_shared/panda.h b/drivers/windows/panda_shared/panda.h
index ade8fa36a8601e..8d98b08b71a405 100644
--- a/drivers/windows/panda_shared/panda.h
+++ b/drivers/windows/panda_shared/panda.h
@@ -40,7 +40,7 @@ namespace panda {
 	typedef enum _PANDA_SAFETY_MODE : uint16_t {
 		SAFETY_NOOUTPUT = 0,
 		SAFETY_HONDA = 1,
-		SAFETY_ALLOUTPUT = 0x1337,
+		SAFETY_ALLOUTPUT = 17,
 	} PANDA_SAFETY_MODE;
 
 	typedef enum _PANDA_SERIAL_PORT : uint8_t {
diff --git a/python/__init__.py b/python/__init__.py
index 6145ed1d113984..8df9e5f4d3cbd0 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -23,7 +23,6 @@
 DEBUG = os.getenv("PANDADEBUG") is not None
 
 # *** wifi mode ***
-
 def build_st(target, mkfile="Makefile"):
   from panda import BASEDIR
   cmd = 'cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "board"), mkfile, mkfile, target)
@@ -109,20 +108,25 @@ def close(self):
 # *** normal mode ***
 
 class Panda(object):
+
+  # matches cereal.car.CarParams.SafetyModel
   SAFETY_NOOUTPUT = 0
   SAFETY_HONDA = 1
   SAFETY_TOYOTA = 2
-  SAFETY_GM = 3
-  SAFETY_HONDA_BOSCH = 4
-  SAFETY_FORD = 5
-  SAFETY_CADILLAC = 6
-  SAFETY_HYUNDAI = 7
-  SAFETY_TESLA = 8
+  SAFETY_ELM327 = 3
+  SAFETY_GM = 4
+  SAFETY_HONDA_BOSCH = 5
+  SAFETY_FORD = 6
+  SAFETY_CADILLAC = 7
+  SAFETY_HYUNDAI = 8
   SAFETY_CHRYSLER = 9
-  SAFETY_TOYOTA_IPAS = 0x1335
-  SAFETY_TOYOTA_NOLIMITS = 0x1336
-  SAFETY_ALLOUTPUT = 0x1337
-  SAFETY_ELM327 = 0xE327
+  SAFETY_TESLA = 10
+  SAFETY_SUBARU = 11
+  SAFETY_GM_PASSIVE = 12
+  SAFETY_MAZDA = 13
+  SAFETY_TOYOTA_IPAS = 16
+  SAFETY_ALLOUTPUT = 17
+  SAFETY_GM_ASCM = 18
 
   SERIAL_DEBUG = 0
   SERIAL_ESP = 1
diff --git a/tests/can_printer.py b/tests/can_printer.py
index ae22a4176395f2..c8bbc3f18442b7 100755
--- a/tests/can_printer.py
+++ b/tests/can_printer.py
@@ -15,7 +15,7 @@ def sec_since_boot():
 
 def can_printer():
   p = Panda()
-  p.set_safety_mode(0x1337)
+  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
   start = sec_since_boot()
   lp = sec_since_boot()
diff --git a/tests/elm_wifi.py b/tests/elm_wifi.py
index fecb1d09628cba..6c4a334b73d152 100644
--- a/tests/elm_wifi.py
+++ b/tests/elm_wifi.py
@@ -301,7 +301,7 @@ def test_elm_panda_safety_mode_KWPFast():
     p_car.kline_drain()
 
     p_elm = Panda("WIFI")
-    p_elm.set_safety_mode(0xE327);
+    p_elm.set_safety_mode(Panda.SAFETY_ELM327);
 
     def get_checksum(dat):
         result = 0
@@ -625,7 +625,7 @@ def test_elm_panda_safety_mode_ISO15765():
     p_car.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
     p_elm = Panda("WIFI")
-    p_elm.set_safety_mode(0xE327);
+    p_elm.set_safety_mode(Panda.SAFETY_ELM327);
 
     #sim = elm_car_simulator.ELMCarSimulator(serial, lin=False)
     #sim.start()
diff --git a/tests/pedal/enter_canloader.py b/tests/pedal/enter_canloader.py
index 2f7f9bc7ca2688..9c6bc031792e43 100755
--- a/tests/pedal/enter_canloader.py
+++ b/tests/pedal/enter_canloader.py
@@ -53,7 +53,7 @@ def bulkRead(self, endpoint, length, timeout=0):
   args = parser.parse_args()
 
   p = Panda()
-  p.set_safety_mode(0x1337)
+  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
   while 1:
     if len(p.can_recv()) == 0:
diff --git a/tests/safety/Dockerfile b/tests/safety/Dockerfile
index 3f94eda97385c4..b0135b085f6595 100644
--- a/tests/safety/Dockerfile
+++ b/tests/safety/Dockerfile
@@ -1,6 +1,6 @@
 FROM ubuntu:16.04
 
-RUN apt-get update && apt-get install -y clang make python python-pip git curl locales zlib1g-dev libffi-dev bzip2 libssl-dev libbz2-dev
+RUN apt-get update && apt-get install -y clang make python python-pip git curl locales zlib1g-dev libffi-dev bzip2 libssl-dev libbz2-dev libusb-1.0-0
 
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
 ENV LANG en_US.UTF-8
@@ -14,6 +14,6 @@ RUN pyenv install 3.7.3
 RUN pyenv global 3.7.3
 RUN pyenv rehash
 
-COPY tests/safety/requirements.txt /panda/tests/safety/requirements.txt
-RUN pip install -r /panda/tests/safety/requirements.txt
+COPY tests/safety/requirements.txt requirements.txt
+RUN pip install -r requirements.txt
 COPY . /panda
diff --git a/tests/safety/requirements.txt b/tests/safety/requirements.txt
index 94e97e499f0db7..0c3124d87fb216 100644
--- a/tests/safety/requirements.txt
+++ b/tests/safety/requirements.txt
@@ -1,2 +1,4 @@
 cffi==1.11.4
 numpy==1.14.5
+libusb1==1.6.6
+requests
diff --git a/tests/safety/test_cadillac.py b/tests/safety/test_cadillac.py
index 6ae27550e11d8d..5573682d0cd44c 100644
--- a/tests/safety/test_cadillac.py
+++ b/tests/safety/test_cadillac.py
@@ -2,6 +2,7 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 MAX_RATE_UP = 2
 MAX_RATE_DOWN = 5
@@ -31,7 +32,7 @@ class TestCadillacSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(6, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_CADILLAC, 0)
     cls.safety.init_tests_cadillac()
 
   def _send_msg(self, bus, addr, length):
diff --git a/tests/safety/test_chrysler.py b/tests/safety/test_chrysler.py
index ff1776c36f979d..25f50a11f9fb31 100755
--- a/tests/safety/test_chrysler.py
+++ b/tests/safety/test_chrysler.py
@@ -4,6 +4,7 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 3
@@ -35,7 +36,7 @@ class TestChryslerSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(9, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_CHRYSLER, 0)
     cls.safety.init_tests_chrysler()
 
   def _send_msg(self, bus, addr, length):
diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
index 3b81defffe0f89..e2251f7b557f8f 100644
--- a/tests/safety/test_gm.py
+++ b/tests/safety/test_gm.py
@@ -2,6 +2,7 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 MAX_RATE_UP = 7
 MAX_RATE_DOWN = 17
@@ -32,7 +33,7 @@ class TestGmSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(3, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_GM, 0)
     cls.safety.init_tests_gm()
 
   def _send_msg(self, bus, addr, length):
diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
index 1cbb56ac262888..a5eb04ad6632c5 100755
--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -2,6 +2,7 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 MAX_BRAKE = 255
 
@@ -11,7 +12,7 @@ class TestHondaSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(1, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_HONDA, 0)
     cls.safety.init_tests_honda()
 
   def _send_msg(self, bus, addr, length):
diff --git a/tests/safety/test_honda_bosch.py b/tests/safety/test_honda_bosch.py
index e0dcfc8df156da..3affc74c9a72f8 100755
--- a/tests/safety/test_honda_bosch.py
+++ b/tests/safety/test_honda_bosch.py
@@ -2,6 +2,7 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 MAX_BRAKE = 255
 
@@ -9,7 +10,7 @@ class TestHondaSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(4, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_HONDA_BOSCH, 0)
     cls.safety.init_tests_honda()
 
   def _send_msg(self, bus, addr, length):
diff --git a/tests/safety/test_hyundai.py b/tests/safety/test_hyundai.py
index b863b545a2f0fb..d836dad37b266f 100644
--- a/tests/safety/test_hyundai.py
+++ b/tests/safety/test_hyundai.py
@@ -2,6 +2,7 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 7
@@ -29,7 +30,7 @@ class TestHyundaiSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(7, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_HYUNDAI, 0)
     cls.safety.init_tests_hyundai()
 
   def _send_msg(self, bus, addr, length):
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 9f75677120e37b..93859e0217837b 100644
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -2,6 +2,7 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 MAX_RATE_UP = 50
 MAX_RATE_DOWN = 70
@@ -29,7 +30,7 @@ class TestSubaruSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(10, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_SUBARU, 0)
     cls.safety.init_tests_subaru()
 
   def _send_msg(self, bus, addr, length):
diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
index e2bc2a15287ff6..135207779d8a31 100644
--- a/tests/safety/test_toyota.py
+++ b/tests/safety/test_toyota.py
@@ -2,6 +2,7 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 MAX_RATE_UP = 10
 MAX_RATE_DOWN = 25
@@ -33,7 +34,7 @@ class TestToyotaSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(2, 100)
+    cls.safety.safety_set_mode(Panda.SAFETY_TOYOTA, 100)
     cls.safety.init_tests_toyota()
 
   def _send_msg(self, bus, addr, length):
diff --git a/tests/safety/test_toyota_ipas.py b/tests/safety/test_toyota_ipas.py
index cc74d3a15d6767..8d565553fd2144 100644
--- a/tests/safety/test_toyota_ipas.py
+++ b/tests/safety/test_toyota_ipas.py
@@ -2,6 +2,7 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 IPAS_OVERRIDE_THRESHOLD = 200
 
@@ -25,7 +26,7 @@ class TestToyotaSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(0x1335, 66)
+    cls.safety.safety_set_mode(Panda.SAFETY_TOYOTA_IPAS, 66)
     cls.safety.init_tests_toyota()
 
   def _torque_driver_msg(self, torque):
diff --git a/tests/safety_replay/helpers.py b/tests/safety_replay/helpers.py
index 22dede09df89d8..6f4e63c3256304 100644
--- a/tests/safety_replay/helpers.py
+++ b/tests/safety_replay/helpers.py
@@ -1,24 +1,7 @@
 #!/usr/bin/env python3
 import struct
 import panda.tests.safety.libpandasafety_py as libpandasafety_py
-
-safety_modes = {
-  "NOOUTPUT": 0,
-  "HONDA": 1,
-  "TOYOTA": 2,
-  "GM": 3,
-  "HONDA_BOSCH": 4,
-  "FORD": 5,
-  "CADILLAC": 6,
-  "HYUNDAI": 7,
-  "TESLA": 8,
-  "CHRYSLER": 9,
-  "SUBARU": 10,
-  "GM_ASCM": 0x1334,
-  "TOYOTA_IPAS": 0x1335,
-  "ALLOUTPUT": 0x1337,
-  "ELM327": 0xE327
-}
+from panda import Panda
 
 def to_signed(d, bits):
   ret = d
@@ -28,51 +11,51 @@ def to_signed(d, bits):
 
 def is_steering_msg(mode, addr):
   ret = False
-  if mode == safety_modes["HONDA"] or mode == safety_modes["HONDA_BOSCH"]:
+  if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
     ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D)
-  elif mode == safety_modes["TOYOTA"]:
+  elif mode == Panda.SAFETY_TOYOTA:
     ret = addr == 0x2E4
-  elif mode == safety_modes["GM"]:
+  elif mode == Panda.SAFETY_GM:
     ret = addr == 384
-  elif mode == safety_modes["HYUNDAI"]:
+  elif mode == Panda.SAFETY_HYUNDAI:
     ret = addr == 832
-  elif mode == safety_modes["CHRYSLER"]:
+  elif mode == Panda.SAFETY_CHRYSLER:
     ret = addr == 0x292
-  elif mode == safety_modes["SUBARU"]:
+  elif mode == Panda.SAFETY_SUBARU:
     ret = addr == 0x122
   return ret
 
 def get_steer_torque(mode, to_send):
   ret = 0
-  if mode == safety_modes["HONDA"] or mode == safety_modes["HONDA_BOSCH"]:
+  if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
     ret = to_send.RDLR & 0xFFFF0000
-  elif mode == safety_modes["TOYOTA"]:
+  elif mode == Panda.SAFETY_TOYOTA:
     ret = (to_send.RDLR & 0xFF00) | ((to_send.RDLR >> 16) & 0xFF)
     ret = to_signed(ret, 16)
-  elif mode == safety_modes["GM"]:
+  elif mode == Panda.SAFETY_GM:
     ret = ((to_send.RDLR & 0x7) << 8) + ((to_send.RDLR & 0xFF00) >> 8)
     ret = to_signed(ret, 11)
-  elif mode == safety_modes["HYUNDAI"]:
+  elif mode == Panda.SAFETY_HYUNDAI:
     ret = ((to_send.RDLR >> 16) & 0x7ff) - 1024
-  elif mode == safety_modes["CHRYSLER"]:
+  elif mode == Panda.SAFETY_CHRYSLER:
     ret = ((to_send.RDLR & 0x7) << 8) + ((to_send.RDLR & 0xFF00) >> 8) - 1024
-  elif mode == safety_modes["SUBARU"]:
+  elif mode == Panda.SAFETY_SUBARU:
     ret = ((to_send.RDLR >> 16) & 0x1FFF)
     ret = to_signed(ret, 13)
   return ret
 
 def set_desired_torque_last(safety, mode, torque):
-  if mode == safety_modes["HONDA"] or mode == safety_modes["HONDA_BOSCH"]:
+  if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
     pass # honda safety mode doesn't enforce a rate on steering msgs
-  elif mode == safety_modes["TOYOTA"]:
+  elif mode == Panda.SAFETY_TOYOTA:
     safety.set_toyota_desired_torque_last(torque)
-  elif mode == safety_modes["GM"]:
+  elif mode == Panda.SAFETY_GM:
     safety.set_gm_desired_torque_last(torque)
-  elif mode == safety_modes["HYUNDAI"]:
+  elif mode == Panda.SAFETY_HYUNDAI:
     safety.set_hyundai_desired_torque_last(torque)
-  elif mode == safety_modes["CHRYSLER"]:
+  elif mode == Panda.SAFETY_CHRYSLER:
     safety.set_chrysler_desired_torque_last(torque)
-  elif mode == safety_modes["SUBARU"]:
+  elif mode == Panda.SAFETY_SUBARU:
     safety.set_subaru_desired_torque_last(torque)
 
 def package_can_msg(msg):
diff --git a/tests/safety_replay/replay_drive.py b/tests/safety_replay/replay_drive.py
index 3169b04044cd7c..d92ab8e7080533 100755
--- a/tests/safety_replay/replay_drive.py
+++ b/tests/safety_replay/replay_drive.py
@@ -2,10 +2,11 @@
 
 import os
 import sys
+from panda import Panda
 import panda.tests.safety.libpandasafety_py as libpandasafety_py
 from panda.tests.safety_replay.helpers import is_steering_msg, get_steer_torque, \
                                               set_desired_torque_last, package_can_msg, \
-                                              init_segment, safety_modes
+                                              init_segment
 from tools.lib.logreader import LogReader
 
 # replay a drive to check for safety violations
@@ -57,10 +58,7 @@ def replay_drive(lr, safety_mode, param):
   return tx_controls_blocked == 0
 
 if __name__ == "__main__":
-  if sys.argv[2] in safety_modes:
-    mode = safety_modes[sys.argv[2]]
-  else:
-    mode = int(sys.argv[2])
+  mode = int(sys.argv[2])
   param = 0 if len(sys.argv) < 4 else int(sys.argv[3])
   lr = LogReader(sys.argv[1])
 
diff --git a/tests/safety_replay/test_safety_replay.py b/tests/safety_replay/test_safety_replay.py
index 7833e592732e95..e6e49dc02d8556 100755
--- a/tests/safety_replay/test_safety_replay.py
+++ b/tests/safety_replay/test_safety_replay.py
@@ -3,7 +3,7 @@
 import os
 import requests
 
-from helpers import safety_modes
+from panda import Panda
 from replay_drive import replay_drive
 from tools.lib.logreader import LogReader
 
@@ -11,13 +11,13 @@
 
 # (route, safety mode, param)
 logs = [
-  ("b0c9d2329ad1606b|2019-05-30--20-23-57.bz2", "HONDA", 0), # HONDA.CIVIC
-  ("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", "TOYOTA", 66), # TOYOTA.PRIUS
-  ("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", "GM", 0), # GM.VOLT
-  ("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", "HONDA_BOSCH", 1), # HONDA.ACCORD
-  ("02ec6bea180a4d36|2019-04-17--11-21-35.bz2", "HYUNDAI", 0), # HYUNDAI.SANTA_FE
-  ("03efb1fda29e30fe|2019-02-21--18-03-45.bz2", "CHRYSLER", 0), # CHRYSLER.PACIFICA_2018_HYBRID
-  ("791340bc01ed993d|2019-04-08--10-26-00.bz2", "SUBARU", 0), # SUBARU.IMPREZA
+  ("b0c9d2329ad1606b|2019-05-30--20-23-57.bz2", Panda.SAFETY_HONDA, 0), # HONDA.CIVIC
+  ("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", Panda.SAFETY_TOYOTA, 66), # TOYOTA.PRIUS
+  ("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM, 0), # GM.VOLT
+  ("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", Panda.SAFETY_HONDA_BOSCH, 1), # HONDA.ACCORD
+  ("02ec6bea180a4d36|2019-04-17--11-21-35.bz2", Panda.SAFETY_HYUNDAI, 0), # HYUNDAI.SANTA_FE
+  ("03efb1fda29e30fe|2019-02-21--18-03-45.bz2", Panda.SAFETY_CHRYSLER, 0), # CHRYSLER.PACIFICA_2018_HYBRID
+  ("791340bc01ed993d|2019-04-08--10-26-00.bz2", Panda.SAFETY_SUBARU, 0), # SUBARU.IMPREZA
 ]
 
 if __name__ == "__main__":
@@ -29,10 +29,9 @@
   failed = []
   for route, mode, param in logs:
     lr = LogReader(route)
-    m = safety_modes.get(mode, mode)
 
-    print("\nreplaying %s with safety mode %d and param %s" % (route, m, param))
-    if not replay_drive(lr, m, int(param)):
+    print("\nreplaying %s with safety mode %d and param %s" % (route, mode, param))
+    if not replay_drive(lr, mode, int(param)):
       failed.append(route)
 
     for f in failed: