diff --git a/panda b/panda
index 34215e7b524a6b..e1c90f3e48cf0a 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 34215e7b524a6b22ffbc72a629c4f94992a219fa
+Subproject commit e1c90f3e48cf0a803195bd1f0a09588951de1416
diff --git a/selfdrive/car/bmw/carstate.py b/selfdrive/car/bmw/carstate.py
index 59e09fa3b6efed..8cac5e2cfd197b 100644
--- a/selfdrive/car/bmw/carstate.py
+++ b/selfdrive/car/bmw/carstate.py
@@ -46,6 +46,7 @@ def update(self, cp_PT, cp_F, cp_aux):
     ret.brakePressed = cp_PT.vl["EngineAndBrake"]['BrakePressed'] != 0
     ret.parkingBrake = cp_PT.vl["Status_contact_handbrake"]["Handbrake_pulled_up"] != 0
     ret.gas = cp_PT.vl['AccPedal']["AcceleratorPedalPercentage"]
+    # on some cars, when cruise is engaged, half pressed pedal becomes "KickDownPressed", even without pressing kickdown end stop
     ret.gasPressed = cp_PT.vl['AccPedal']["AcceleratorPedalPressed"] != 0 or cp_PT.vl['AccPedal']["KickDownPressed"] != 0
     self.gas_kickdown = cp_PT.vl['AccPedal']["KickDownPressed"] != 0 #BMW has kickdown button at the bottom of the pedal