diff --git a/board/boards/black.h b/board/boards/black.h
index 216def774f..d6e6bec8e1 100644
--- a/board/boards/black.h
+++ b/board/boards/black.h
@@ -49,36 +49,10 @@ void black_set_led(uint8_t color, bool enabled) {
   }
 }
 
-void black_set_gps_load_switch(bool enabled) {
-  set_gpio_output(GPIOC, 12, enabled);
-}
-
 void black_set_usb_load_switch(bool enabled) {
   set_gpio_output(GPIOB, 1, !enabled);
 }
 
-void black_set_gps_mode(uint8_t mode) {
-  switch (mode) {
-    case GPS_DISABLED:
-      // GPS OFF
-      set_gpio_output(GPIOC, 12, 0);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    case GPS_ENABLED:
-      // GPS ON
-      set_gpio_output(GPIOC, 12, 1);
-      set_gpio_output(GPIOC, 5, 1);
-      break;
-    case GPS_BOOTMODE:
-      set_gpio_output(GPIOC, 12, 1);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    default:
-      print("Invalid GPS mode\n");
-      break;
-  }
-}
-
 void black_set_can_mode(uint8_t mode){
   switch (mode) {
     case CAN_MODE_NORMAL:
@@ -124,8 +98,9 @@ void black_init(void) {
   set_gpio_mode(GPIOC, 0, MODE_ANALOG);
   set_gpio_mode(GPIOC, 3, MODE_ANALOG);
 
-  // Set default state of GPS
-  current_board->set_gps_mode(GPS_ENABLED);
+  // GPS OFF
+  set_gpio_output(GPIOC, 5, 0);
+  set_gpio_output(GPIOC, 12, 0);
 
   // C10: OBD_SBU1_RELAY (harness relay driving output)
   // C11: OBD_SBU2_RELAY (harness relay driving output)
@@ -136,9 +111,6 @@ void black_init(void) {
   set_gpio_output(GPIOC, 10, 1);
   set_gpio_output(GPIOC, 11, 1);
 
-  // Turn on GPS load switch.
-  black_set_gps_load_switch(true);
-
   // Turn on USB load switch.
   black_set_usb_load_switch(true);
 
@@ -165,6 +137,12 @@ void black_init(void) {
   }
 }
 
+void black_init_bootloader(void) {
+  // GPS OFF
+  set_gpio_output(GPIOC, 5, 0);
+  set_gpio_output(GPIOC, 12, 0);
+}
+
 const harness_configuration black_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
@@ -183,7 +161,6 @@ const board board_black = {
   .board_type = "Black",
   .board_tick = unused_board_tick,
   .harness_config = &black_harness_config,
-  .has_gps = true,
   .has_hw_gmlan = false,
   .has_obd = true,
   .has_lin = false,
@@ -195,10 +172,10 @@ const board board_black = {
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
   .init = black_init,
+  .init_bootloader = black_init_bootloader,
   .enable_can_transceiver = black_enable_can_transceiver,
   .enable_can_transceivers = black_enable_can_transceivers,
   .set_led = black_set_led,
-  .set_gps_mode = black_set_gps_mode,
   .set_can_mode = black_set_can_mode,
   .check_ignition = black_check_ignition,
   .read_current = unused_read_current,
diff --git a/board/boards/board_declarations.h b/board/boards/board_declarations.h
index c0c6436906..e8b1cdcffa 100644
--- a/board/boards/board_declarations.h
+++ b/board/boards/board_declarations.h
@@ -1,9 +1,9 @@
 // ******************** Prototypes ********************
 typedef void (*board_init)(void);
+typedef void (*board_init_bootloader)(void);
 typedef void (*board_enable_can_transceiver)(uint8_t transceiver, bool enabled);
 typedef void (*board_enable_can_transceivers)(bool enabled);
 typedef void (*board_set_led)(uint8_t color, bool enabled);
-typedef void (*board_set_gps_mode)(uint8_t mode);
 typedef void (*board_set_can_mode)(uint8_t mode);
 typedef bool (*board_check_ignition)(void);
 typedef uint32_t (*board_read_current)(void);
@@ -17,7 +17,6 @@ typedef bool (*board_read_som_gpio)(void);
 struct board {
   const char *board_type;
   const harness_configuration *harness_config;
-  const bool has_gps;
   const bool has_hw_gmlan;
   const bool has_obd;
   const bool has_lin;
@@ -29,10 +28,10 @@ struct board {
   const bool fan_stall_recovery;
   const uint8_t fan_enable_cooldown_time;
   board_init init;
+  board_init_bootloader init_bootloader;
   board_enable_can_transceiver enable_can_transceiver;
   board_enable_can_transceivers enable_can_transceivers;
   board_set_led set_led;
-  board_set_gps_mode set_gps_mode;
   board_set_can_mode set_can_mode;
   board_check_ignition check_ignition;
   board_read_current read_current;
@@ -68,11 +67,6 @@ struct board {
 #define USB_POWER_CDP 2U
 #define USB_POWER_DCP 3U
 
-// GPS modes
-#define GPS_DISABLED 0U
-#define GPS_ENABLED 1U
-#define GPS_BOOTMODE 2U
-
 // CAN modes
 #define CAN_MODE_NORMAL 0U
 #define CAN_MODE_GMLAN_CAN2 1U
diff --git a/board/boards/dos.h b/board/boards/dos.h
index 0178ff016f..a5c2e4bcea 100644
--- a/board/boards/dos.h
+++ b/board/boards/dos.h
@@ -206,7 +206,6 @@ const board board_dos = {
   .board_type = "Dos",
   .board_tick = dos_board_tick,
   .harness_config = &dos_harness_config,
-  .has_gps = false,
   .has_hw_gmlan = false,
   .has_obd = true,
   .has_lin = false,
@@ -222,10 +221,10 @@ const board board_dos = {
   .fan_stall_recovery = true,
   .fan_enable_cooldown_time = 3U,
   .init = dos_init,
+  .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = dos_enable_can_transceiver,
   .enable_can_transceivers = dos_enable_can_transceivers,
   .set_led = dos_set_led,
-  .set_gps_mode = unused_set_gps_mode,
   .set_can_mode = dos_set_can_mode,
   .check_ignition = dos_check_ignition,
   .read_current = unused_read_current,
diff --git a/board/boards/grey.h b/board/boards/grey.h
index 0adb5e2a1c..a74f894480 100644
--- a/board/boards/grey.h
+++ b/board/boards/grey.h
@@ -4,40 +4,10 @@
 
 // Most hardware functionality is similar to white panda
 
-void grey_init(void) {
-  white_grey_common_init();
-
-  // Set default state of GPS
-  current_board->set_gps_mode(GPS_ENABLED);
-}
-
-void grey_set_gps_mode(uint8_t mode) {
-  switch (mode) {
-    case GPS_DISABLED:
-      // GPS OFF
-      set_gpio_output(GPIOC, 14, 0);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    case GPS_ENABLED:
-      // GPS ON
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 1);
-      break;
-    case GPS_BOOTMODE:
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    default:
-      print("Invalid ESP/GPS mode\n");
-      break;
-  }
-}
-
 const board board_grey = {
   .board_type = "Grey",
   .board_tick = unused_board_tick,
   .harness_config = &white_harness_config,
-  .has_gps = true,
   .has_hw_gmlan = true,
   .has_obd = false,
   .has_lin = true,
@@ -48,11 +18,11 @@ const board board_grey = {
   .avdd_mV = 3300U,
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
-  .init = grey_init,
+  .init = white_grey_init,
+  .init_bootloader = white_grey_init_bootloader,
   .enable_can_transceiver = white_enable_can_transceiver,
   .enable_can_transceivers = white_enable_can_transceivers,
   .set_led = white_set_led,
-  .set_gps_mode = grey_set_gps_mode,
   .set_can_mode = white_set_can_mode,
   .check_ignition = white_check_ignition,
   .read_current = white_read_current,
diff --git a/board/boards/pedal.h b/board/boards/pedal.h
index d545a9faf1..f2ae367e5d 100644
--- a/board/boards/pedal.h
+++ b/board/boards/pedal.h
@@ -30,11 +30,6 @@ void pedal_set_led(uint8_t color, bool enabled) {
   }
 }
 
-void pedal_set_gps_mode(uint8_t mode) {
-  UNUSED(mode);
-  print("Trying to set ESP/GPS mode on pedal. This is not supported.\n");
-}
-
 void pedal_set_can_mode(uint8_t mode){
   switch (mode) {
     case CAN_MODE_NORMAL:
@@ -75,7 +70,6 @@ const board board_pedal = {
   .board_type = "Pedal",
   .board_tick = unused_board_tick,
   .harness_config = &pedal_harness_config,
-  .has_gps = false,
   .has_hw_gmlan = false,
   .has_obd = false,
   .has_lin = false,
@@ -87,10 +81,10 @@ const board board_pedal = {
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
   .init = pedal_init,
+  .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = pedal_enable_can_transceiver,
   .enable_can_transceivers = pedal_enable_can_transceivers,
   .set_led = pedal_set_led,
-  .set_gps_mode = pedal_set_gps_mode,
   .set_can_mode = pedal_set_can_mode,
   .check_ignition = pedal_check_ignition,
   .read_current = unused_read_current,
diff --git a/board/boards/red.h b/board/boards/red.h
index e7dccc00ed..43e71bdf94 100644
--- a/board/boards/red.h
+++ b/board/boards/red.h
@@ -170,7 +170,6 @@ const board board_red = {
   .board_type = "Red",
   .board_tick = unused_board_tick,
   .harness_config = &red_harness_config,
-  .has_gps = false,
   .has_hw_gmlan = false,
   .has_obd = true,
   .has_lin = false,
@@ -182,10 +181,10 @@ const board board_red = {
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
   .init = red_init,
+  .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = red_enable_can_transceiver,
   .enable_can_transceivers = red_enable_can_transceivers,
   .set_led = red_set_led,
-  .set_gps_mode = unused_set_gps_mode,
   .set_can_mode = red_set_can_mode,
   .check_ignition = red_check_ignition,
   .read_current = unused_read_current,
diff --git a/board/boards/red_v2.h b/board/boards/red_v2.h
index d6724d8bb7..4f0a2cb622 100644
--- a/board/boards/red_v2.h
+++ b/board/boards/red_v2.h
@@ -14,7 +14,6 @@ const board board_red_v2 = {
   .board_type = "Red_v2",
   .board_tick = unused_board_tick,
   .harness_config = &red_chiplet_harness_config,
-  .has_gps = false,
   .has_hw_gmlan = false,
   .has_obd = true,
   .has_lin = false,
@@ -26,10 +25,10 @@ const board board_red_v2 = {
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
   .init = red_panda_v2_init,
+  .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = red_chiplet_enable_can_transceiver,
   .enable_can_transceivers = red_chiplet_enable_can_transceivers,
   .set_led = red_set_led,
-  .set_gps_mode = unused_set_gps_mode,
   .set_can_mode = red_set_can_mode,
   .check_ignition = red_check_ignition,
   .read_current = unused_read_current,
diff --git a/board/boards/tres.h b/board/boards/tres.h
index 97dac7aa0f..0b9b94a682 100644
--- a/board/boards/tres.h
+++ b/board/boards/tres.h
@@ -89,7 +89,6 @@ const board board_tres = {
   .board_type = "Tres",
   .board_tick = tres_board_tick,
   .harness_config = &red_chiplet_harness_config,
-  .has_gps = false,
   .has_hw_gmlan = false,
   .has_obd = true,
   .has_lin = false,
@@ -101,10 +100,10 @@ const board board_tres = {
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 3U,
   .init = tres_init,
+  .init_bootloader = unused_init_bootloader,
   .enable_can_transceiver = red_chiplet_enable_can_transceiver,
   .enable_can_transceivers = red_chiplet_enable_can_transceivers,
   .set_led = red_set_led,
-  .set_gps_mode = unused_set_gps_mode,
   .set_can_mode = red_set_can_mode,
   .check_ignition = red_check_ignition,
   .read_current = unused_read_current,
diff --git a/board/boards/uno.h b/board/boards/uno.h
index ad773f6e49..e0dc0d2c5f 100644
--- a/board/boards/uno.h
+++ b/board/boards/uno.h
@@ -51,10 +51,6 @@ void uno_set_led(uint8_t color, bool enabled) {
   }
 }
 
-void uno_set_gps_load_switch(bool enabled) {
-  set_gpio_output(GPIOC, 12, enabled);
-}
-
 void uno_set_bootkick(bool enabled){
   if (enabled) {
     set_gpio_output(GPIOB, 14, false);
@@ -73,31 +69,6 @@ void uno_set_phone_power(bool enabled){
   set_gpio_output(GPIOB, 4, enabled);
 }
 
-void uno_set_gps_mode(uint8_t mode) {
-  switch (mode) {
-    case GPS_DISABLED:
-      // GPS OFF
-      set_gpio_output(GPIOB, 1, 0);
-      set_gpio_output(GPIOC, 5, 0);
-      uno_set_gps_load_switch(false);
-      break;
-    case GPS_ENABLED:
-      // GPS ON
-      set_gpio_output(GPIOB, 1, 1);
-      set_gpio_output(GPIOC, 5, 1);
-      uno_set_gps_load_switch(true);
-      break;
-    case GPS_BOOTMODE:
-      set_gpio_output(GPIOB, 1, 1);
-      set_gpio_output(GPIOC, 5, 0);
-      uno_set_gps_load_switch(true);
-      break;
-    default:
-      print("Invalid ESP/GPS mode\n");
-      break;
-  }
-}
-
 void uno_set_can_mode(uint8_t mode){
   switch (mode) {
     case CAN_MODE_NORMAL:
@@ -168,8 +139,10 @@ void uno_init(void) {
   set_gpio_mode(GPIOC, 0, MODE_ANALOG);
   set_gpio_mode(GPIOC, 3, MODE_ANALOG);
 
-  // Set default state of GPS
-  current_board->set_gps_mode(GPS_ENABLED);
+  // GPS off
+  set_gpio_output(GPIOB, 1, 0);
+  set_gpio_output(GPIOC, 5, 0);
+  set_gpio_output(GPIOC, 12, 0);
 
   // C10: OBD_SBU1_RELAY (harness relay driving output)
   // C11: OBD_SBU2_RELAY (harness relay driving output)
@@ -183,9 +156,6 @@ void uno_init(void) {
   // C8: FAN PWM aka TIM3_CH3
   set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
 
-  // Turn on GPS load switch.
-  uno_set_gps_load_switch(true);
-
   // Turn on phone regulator
   uno_set_phone_power(true);
 
@@ -227,6 +197,13 @@ void uno_init(void) {
   uno_bootkick();
 }
 
+void uno_init_bootloader(void) {
+  // GPS off
+  set_gpio_output(GPIOB, 1, 0);
+  set_gpio_output(GPIOC, 5, 0);
+  set_gpio_output(GPIOC, 12, 0);
+}
+
 const harness_configuration uno_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
@@ -245,7 +222,6 @@ const board board_uno = {
   .board_type = "Uno",
   .board_tick = uno_board_tick,
   .harness_config = &uno_harness_config,
-  .has_gps = true,
   .has_hw_gmlan = false,
   .has_obd = true,
   .has_lin = false,
@@ -257,10 +233,10 @@ const board board_uno = {
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
   .init = uno_init,
+  .init_bootloader = uno_init_bootloader,
   .enable_can_transceiver = uno_enable_can_transceiver,
   .enable_can_transceivers = uno_enable_can_transceivers,
   .set_led = uno_set_led,
-  .set_gps_mode = uno_set_gps_mode,
   .set_can_mode = uno_set_can_mode,
   .check_ignition = uno_check_ignition,
   .read_current = unused_read_current,
diff --git a/board/boards/unused_funcs.h b/board/boards/unused_funcs.h
index 4e6214e6a7..24279d2bf9 100644
--- a/board/boards/unused_funcs.h
+++ b/board/boards/unused_funcs.h
@@ -1,5 +1,4 @@
-void unused_set_gps_mode(uint8_t mode) {
-  UNUSED(mode);
+void unused_init_bootloader(void) {
 }
 
 void unused_set_ir_power(uint8_t percentage) {
diff --git a/board/boards/white.h b/board/boards/white.h
index 45d860181b..f2dedf0107 100644
--- a/board/boards/white.h
+++ b/board/boards/white.h
@@ -65,23 +65,6 @@ void white_set_usb_power_mode(uint8_t mode){
   }
 }
 
-void white_set_gps_mode(uint8_t mode) {
-  switch (mode) {
-    case GPS_DISABLED:
-      // ESP OFF
-      set_gpio_output(GPIOC, 14, 0);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    case GPS_BOOTMODE:
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    default:
-      print("Invalid ESP/GPS mode\n");
-      break;
-  }
-}
-
 void white_set_can_mode(uint8_t mode){
   switch (mode) {
     case CAN_MODE_NORMAL:
@@ -150,7 +133,7 @@ bool white_check_ignition(void){
   return !get_gpio_input(GPIOA, 1);
 }
 
-void white_grey_common_init(void) {
+void white_grey_init(void) {
   common_init_gpio();
 
   // C3: current sense
@@ -222,13 +205,16 @@ void white_grey_common_init(void) {
   } else {
     white_set_usb_power_mode(USB_POWER_CLIENT);
   }
-}
 
-void white_init(void) {
-  white_grey_common_init();
+  // ESP/GPS off
+  set_gpio_output(GPIOC, 5, 0);
+  set_gpio_output(GPIOC, 14, 0);
+}
 
-  // Set ESP off by default
-  current_board->set_gps_mode(GPS_DISABLED);
+void white_grey_init_bootloader(void) {
+  // ESP/GPS off
+  set_gpio_output(GPIOC, 5, 0);
+  set_gpio_output(GPIOC, 14, 0);
 }
 
 const harness_configuration white_harness_config = {
@@ -239,7 +225,6 @@ const board board_white = {
   .board_type = "White",
   .board_tick = unused_board_tick,
   .harness_config = &white_harness_config,
-  .has_gps = false,
   .has_hw_gmlan = true,
   .has_obd = false,
   .has_lin = true,
@@ -250,11 +235,11 @@ const board board_white = {
   .avdd_mV = 3300U,
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,
-  .init = white_init,
+  .init = white_grey_init,
+  .init_bootloader = white_grey_init_bootloader,
   .enable_can_transceiver = white_enable_can_transceiver,
   .enable_can_transceivers = white_enable_can_transceivers,
   .set_led = white_set_led,
-  .set_gps_mode = white_set_gps_mode,
   .set_can_mode = white_set_can_mode,
   .check_ignition = white_check_ignition,
   .read_current = white_read_current,
diff --git a/board/drivers/uart.h b/board/drivers/uart.h
index 824e7d7592..cde8137402 100644
--- a/board/drivers/uart.h
+++ b/board/drivers/uart.h
@@ -1,8 +1,7 @@
-// IRQs: USART1, USART2, USART3, UART5
+// IRQs: USART2, USART3, UART5
 
 // ***************************** Definitions *****************************
 #define FIFO_SIZE_INT 0x400U
-#define FIFO_SIZE_DMA 0x1000U
 
 typedef struct uart_ring {
   volatile uint16_t w_ptr_tx;
@@ -15,11 +14,10 @@ typedef struct uart_ring {
   uint32_t rx_fifo_size;
   USART_TypeDef *uart;
   void (*callback)(struct uart_ring*);
-  bool dma_rx;
   bool overwrite;
 } uart_ring;
 
-#define UART_BUFFER(x, size_rx, size_tx, uart_ptr, callback_ptr, rx_dma, overwrite_mode) \
+#define UART_BUFFER(x, size_rx, size_tx, uart_ptr, callback_ptr, overwrite_mode) \
   uint8_t elems_rx_##x[size_rx]; \
   uint8_t elems_tx_##x[size_tx]; \
   uart_ring uart_ring_##x = {  \
@@ -33,7 +31,6 @@ typedef struct uart_ring {
     .rx_fifo_size = (size_rx), \
     .uart = (uart_ptr), \
     .callback = (callback_ptr), \
-    .dma_rx = (rx_dma), \
     .overwrite = (overwrite_mode) \
   };
 
@@ -44,23 +41,20 @@ void uart_send_break(uart_ring *u);
 
 // ******************************** UART buffers ********************************
 
-// gps = USART1
-UART_BUFFER(gps, FIFO_SIZE_DMA, FIFO_SIZE_INT, USART1, NULL, true, false)
-
 // lin1, K-LINE = UART5
 // lin2, L-LINE = USART3
-UART_BUFFER(lin1, FIFO_SIZE_INT, FIFO_SIZE_INT, UART5, NULL, false, false)
-UART_BUFFER(lin2, FIFO_SIZE_INT, FIFO_SIZE_INT, USART3, NULL, false, false)
+UART_BUFFER(lin1, FIFO_SIZE_INT, FIFO_SIZE_INT, UART5, NULL, false)
+UART_BUFFER(lin2, FIFO_SIZE_INT, FIFO_SIZE_INT, USART3, NULL, false)
 
 // debug = USART2
-UART_BUFFER(debug, FIFO_SIZE_INT, FIFO_SIZE_INT, USART2, debug_ring_callback, false, true)
+UART_BUFFER(debug, FIFO_SIZE_INT, FIFO_SIZE_INT, USART2, debug_ring_callback, true)
 
 // SOM debug = UART7
 #ifdef STM32H7
-  UART_BUFFER(som_debug, FIFO_SIZE_INT, FIFO_SIZE_INT, UART7, NULL, false, true)
+  UART_BUFFER(som_debug, FIFO_SIZE_INT, FIFO_SIZE_INT, UART7, NULL, true)
 #else
   // UART7 is not available on F4
-  UART_BUFFER(som_debug, 1U, 1U, NULL, NULL, false, true)
+  UART_BUFFER(som_debug, 1U, 1U, NULL, NULL, true)
 #endif
 
 uart_ring *get_ring_by_number(int a) {
@@ -69,9 +63,6 @@ uart_ring *get_ring_by_number(int a) {
     case 0:
       ring = &uart_ring_debug;
       break;
-    case 1:
-      ring = &uart_ring_gps;
-      break;
     case 2:
       ring = &uart_ring_lin1;
       break;
diff --git a/board/early_init.h b/board/early_init.h
index 6c60b20fbb..ae652aebce 100644
--- a/board/early_init.h
+++ b/board/early_init.h
@@ -51,9 +51,9 @@ void early_initialization(void) {
   detect_board_type();
 
   if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
-  #ifdef PANDA
-    current_board->set_gps_mode(GPS_DISABLED);
-  #endif
+    #ifdef PANDA
+    current_board->init_bootloader();
+    #endif
     current_board->set_led(LED_GREEN, 1);
     jump_to_bootloader();
   }
diff --git a/board/main.c b/board/main.c
index 72da6b84f3..56abbed527 100644
--- a/board/main.c
+++ b/board/main.c
@@ -371,13 +371,6 @@ int main(void) {
 
   log("main start");
 
-  if (current_board->has_gps) {
-    uart_init(&uart_ring_gps, 9600);
-  } else {
-    // enable ESP uart
-    uart_init(&uart_ring_gps, 115200);
-  }
-
   if (current_board->has_lin) {
     // enable LIN
     uart_init(&uart_ring_lin1, 10400);
diff --git a/board/main_comms.h b/board/main_comms.h
index 00d5e7a0b1..faa18b849a 100644
--- a/board/main_comms.h
+++ b/board/main_comms.h
@@ -262,28 +262,6 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
     case 0xd8:
       NVIC_SystemReset();
       break;
-    // **** 0xd9: set ESP power
-    case 0xd9:
-      if (req->param1 == 1U) {
-        current_board->set_gps_mode(GPS_ENABLED);
-      } else if (req->param1 == 2U) {
-        current_board->set_gps_mode(GPS_BOOTMODE);
-      } else {
-        current_board->set_gps_mode(GPS_DISABLED);
-      }
-      break;
-    // **** 0xda: reset ESP, with optional boot mode
-    case 0xda:
-      current_board->set_gps_mode(GPS_DISABLED);
-      delay(1000000);
-      if (req->param1 == 1U) {
-        current_board->set_gps_mode(GPS_BOOTMODE);
-      } else {
-        current_board->set_gps_mode(GPS_ENABLED);
-      }
-      delay(1000000);
-      current_board->set_gps_mode(GPS_ENABLED);
-      break;
     // **** 0xdb: set GMLAN (white/grey) or OBD CAN (black) multiplexing mode
     case 0xdb:
       if(current_board->has_obd){
@@ -343,11 +321,6 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
         break;
       }
 
-      // TODO: Remove this again and fix boardd code to hande the message bursts instead of single chars
-      if (ur == &uart_ring_gps) {
-        dma_pointer_handler(ur, DMA2_Stream5->NDTR);
-      }
-
       // read
       while ((resp_len < MIN(req->length, USBPACKET_MAX_SIZE)) &&
                          getc(ur, (char*)&resp[resp_len])) {
diff --git a/board/power_saving.h b/board/power_saving.h
index 64baad0320..2b7d7c9872 100644
--- a/board/power_saving.h
+++ b/board/power_saving.h
@@ -13,11 +13,7 @@ void set_power_save_state(int state) {
     bool enable = false;
     if (state == POWER_SAVE_STATUS_ENABLED) {
       print("enable power savings\n");
-      if (current_board->has_gps) {
-        const char UBLOX_SLEEP_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x08\x00\x17\x78";
-        uart_ring *ur = get_ring_by_number(1);
-        for (unsigned int i = 0; i < sizeof(UBLOX_SLEEP_MSG) - 1U; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
-      }
+
       // Disable CAN interrupts
       if (harness.status == HARNESS_STATUS_FLIPPED) {
         llcan_irq_disable(cans[0]);
@@ -27,11 +23,6 @@ void set_power_save_state(int state) {
       llcan_irq_disable(cans[1]);
     } else {
       print("disable power savings\n");
-      if (current_board->has_gps) {
-        const char UBLOX_WAKE_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x09\x00\x18\x7a";
-        uart_ring *ur = get_ring_by_number(1);
-        for (unsigned int i = 0; i < sizeof(UBLOX_WAKE_MSG) - 1U; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
-      }
 
       if (harness.status == HARNESS_STATUS_FLIPPED) {
         llcan_irq_enable(cans[0]);
@@ -45,13 +36,6 @@ void set_power_save_state(int state) {
 
     current_board->enable_can_transceivers(enable);
 
-    // Switch EPS/GPS
-    if (enable) {
-      current_board->set_gps_mode(GPS_ENABLED);
-    } else {
-      current_board->set_gps_mode(GPS_DISABLED);
-    }
-
     if(current_board->has_hw_gmlan){
       // turn on GMLAN
       set_gpio_output(GPIOB, 14, enable);
diff --git a/board/stm32fx/lluart.h b/board/stm32fx/lluart.h
index 4cdd337210..aed99a77f0 100644
--- a/board/stm32fx/lluart.h
+++ b/board/stm32fx/lluart.h
@@ -21,31 +21,28 @@ void uart_tx_ring(uart_ring *q){
 }
 
 void uart_rx_ring(uart_ring *q){
-  // Do not read out directly if DMA enabled
-  if (q->dma_rx == false) {
-    ENTER_CRITICAL();
+  ENTER_CRITICAL();
 
-    // Read out RX buffer
-    uint8_t c = q->uart->DR;  // This read after reading SR clears a bunch of interrupts
+  // Read out RX buffer
+  uint8_t c = q->uart->DR;  // This read after reading SR clears a bunch of interrupts
 
-    uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size;
+  uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size;
 
-    if ((next_w_ptr == q->r_ptr_rx) && q->overwrite) {
-      // overwrite mode: drop oldest byte
-      q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size;
-    }
+  if ((next_w_ptr == q->r_ptr_rx) && q->overwrite) {
+    // overwrite mode: drop oldest byte
+    q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size;
+  }
 
-    // Do not overwrite buffer data
-    if (next_w_ptr != q->r_ptr_rx) {
-      q->elems_rx[q->w_ptr_rx] = c;
-      q->w_ptr_rx = next_w_ptr;
-      if (q->callback != NULL) {
-        q->callback(q);
-      }
+  // Do not overwrite buffer data
+  if (next_w_ptr != q->r_ptr_rx) {
+    q->elems_rx[q->w_ptr_rx] = c;
+    q->w_ptr_rx = next_w_ptr;
+    if (q->callback != NULL) {
+      q->callback(q);
     }
-
-    EXIT_CRITICAL();
   }
+
+  EXIT_CRITICAL();
 }
 
 void uart_send_break(uart_ring *u) {
@@ -53,34 +50,6 @@ void uart_send_break(uart_ring *u) {
   u->uart->CR1 |= USART_CR1_SBK;
 }
 
-// This function should be called on:
-// * Half-transfer DMA interrupt
-// * Full-transfer DMA interrupt
-// * UART IDLE detection
-uint32_t prev_w_index = 0;
-void dma_pointer_handler(uart_ring *q, uint32_t dma_ndtr) {
-  ENTER_CRITICAL();
-  uint32_t w_index = (q->rx_fifo_size - dma_ndtr);
-
-  // Check for new data
-  if (w_index != prev_w_index){
-    // Check for overflow
-    if (
-      ((prev_w_index < q->r_ptr_rx) && (q->r_ptr_rx <= w_index)) ||                               // No rollover
-      ((w_index < prev_w_index) && ((q->r_ptr_rx <= w_index) || (prev_w_index < q->r_ptr_rx)))    // Rollover
-    ){
-      // We lost data. Set the new read pointer to the oldest byte still available
-      q->r_ptr_rx = (w_index + 1U) % q->rx_fifo_size;
-    }
-
-    // Set write pointer
-    q->w_ptr_rx = w_index;
-  }
-
-  prev_w_index = w_index;
-  EXIT_CRITICAL();
-}
-
 // This read after reading SR clears all error interrupts. We don't want compiler warnings, nor optimizations
 #define UART_READ_DR(uart) volatile uint8_t t = (uart)->DR; UNUSED(t);
 
@@ -106,103 +75,28 @@ void uart_interrupt_handler(uart_ring *q) {
   // Send if necessary
   uart_tx_ring(q);
 
-  // Run DMA pointer handler if the line is idle
-  if(q->dma_rx && (status & USART_SR_IDLE)){
-    // Reset IDLE flag
-    UART_READ_DR(q->uart)
-
-    if(q == &uart_ring_gps){
-      dma_pointer_handler(&uart_ring_gps, DMA2_Stream5->NDTR);
-    } else {
-      #ifdef DEBUG_UART
-        print("No IDLE dma_pointer_handler implemented for this UART.");
-      #endif
-    }
-  }
-
   EXIT_CRITICAL();
 }
 
-void USART1_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_gps); }
 void USART2_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_debug); }
 void USART3_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_lin2); }
 void UART5_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_lin1); }
 
-void DMA2_Stream5_IRQ_Handler(void) {
-  ENTER_CRITICAL();
-
-  // Handle errors
-  if((DMA2->HISR & DMA_HISR_TEIF5) || (DMA2->HISR & DMA_HISR_DMEIF5) || (DMA2->HISR & DMA_HISR_FEIF5)){
-    #ifdef DEBUG_UART
-      print("Encountered UART DMA error. Clearing and restarting DMA...\n");
-    #endif
-
-    // Clear flags
-    DMA2->HIFCR = DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5;
-
-    // Re-enable the DMA if necessary
-    DMA2_Stream5->CR |= DMA_SxCR_EN;
-  }
-
-  // Re-calculate write pointer and reset flags
-  dma_pointer_handler(&uart_ring_gps, DMA2_Stream5->NDTR);
-  DMA2->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5;
-
-  EXIT_CRITICAL();
-}
-
 // ***************************** Hardware setup *****************************
 
-void dma_rx_init(uart_ring *q) {
-  // Initialization is UART-dependent
-  if(q == &uart_ring_gps){
-    // DMA2, stream 5, channel 4
-
-    // Disable FIFO mode (enable direct)
-    DMA2_Stream5->FCR &= ~DMA_SxFCR_DMDIS;
-
-    // Setup addresses
-    DMA2_Stream5->PAR = (uint32_t)&(USART1->DR);    // Source
-    DMA2_Stream5->M0AR = (uint32_t)q->elems_rx;     // Destination
-    DMA2_Stream5->NDTR = q->rx_fifo_size;           // Number of bytes to copy
-
-    // Circular, Increment memory, byte size, periph -> memory, enable
-    // Transfer complete, half transfer, transfer error and direct mode error interrupt enable
-    DMA2_Stream5->CR = DMA_SxCR_CHSEL_2 | DMA_SxCR_MINC | DMA_SxCR_CIRC | DMA_SxCR_HTIE | DMA_SxCR_TCIE | DMA_SxCR_TEIE | DMA_SxCR_DMEIE | DMA_SxCR_EN;
-
-    // Enable DMA receiver in UART
-    q->uart->CR3 |= USART_CR3_DMAR;
-
-    // Enable UART IDLE interrupt
-    q->uart->CR1 |= USART_CR1_IDLEIE;
-
-    // Enable interrupt
-    NVIC_EnableIRQ(DMA2_Stream5_IRQn);
-  } else {
-    print("Tried to initialize RX DMA for an unsupported UART\n");
-  }
-}
-
 #define __DIV(_PCLK_, _BAUD_)                    (((_PCLK_) * 25U) / (4U * (_BAUD_)))
 #define __DIVMANT(_PCLK_, _BAUD_)                (__DIV((_PCLK_), (_BAUD_)) / 100U)
 #define __DIVFRAQ(_PCLK_, _BAUD_)                ((((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100U)) * 16U) + 50U) / 100U)
 #define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4) | (__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0FU))
 
 void uart_set_baud(USART_TypeDef *u, unsigned int baud) {
-  if (u == USART1) {
-    // USART1 is on APB2
-    u->BRR = __USART_BRR(48000000U, baud);
-  } else {
-    u->BRR = __USART_BRR(24000000U, baud);
-  }
+  u->BRR = __USART_BRR(24000000U, baud);
 }
 
 void uart_init(uart_ring *q, int baud) {
   if(q->uart != NULL){
     // Register interrupts (max data rate: 115200 baud)
-    if(q->uart == USART1){
-      REGISTER_INTERRUPT(USART1_IRQn, USART1_IRQ_Handler, 150000U, FAULT_INTERRUPT_RATE_UART_1)
-    } else if (q->uart == USART2){
+    if (q->uart == USART2){
       REGISTER_INTERRUPT(USART2_IRQn, USART2_IRQ_Handler, 150000U, FAULT_INTERRUPT_RATE_UART_2)
     } else if (q->uart == USART3){
       REGISTER_INTERRUPT(USART3_IRQn, USART3_IRQ_Handler, 150000U, FAULT_INTERRUPT_RATE_UART_3)
@@ -211,9 +105,6 @@ void uart_init(uart_ring *q, int baud) {
     } else {
       // UART not used. Skip registering interrupts
     }
-    if(q->dma_rx){
-      REGISTER_INTERRUPT(DMA2_Stream5_IRQn, DMA2_Stream5_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_UART_DMA)   // Called twice per buffer
-    }
 
     // Set baud and enable peripheral with TX and RX mode
     uart_set_baud(q->uart, baud);
@@ -223,9 +114,7 @@ void uart_init(uart_ring *q, int baud) {
     }
 
     // Enable UART interrupts
-    if(q->uart == USART1){
-      NVIC_EnableIRQ(USART1_IRQn);
-    } else if (q->uart == USART2){
+    if (q->uart == USART2){
       NVIC_EnableIRQ(USART2_IRQn);
     } else if (q->uart == USART3){
       NVIC_EnableIRQ(USART3_IRQn);
@@ -234,10 +123,5 @@ void uart_init(uart_ring *q, int baud) {
     } else {
       // UART not used. Skip enabling interrupts
     }
-
-    // Initialise RX DMA if used
-    if(q->dma_rx){
-      dma_rx_init(q);
-    }
   }
 }
diff --git a/board/stm32fx/peripherals.h b/board/stm32fx/peripherals.h
index d910886d3c..33a1f6ffef 100644
--- a/board/stm32fx/peripherals.h
+++ b/board/stm32fx/peripherals.h
@@ -36,10 +36,6 @@ void common_init_gpio(void) {
 
   gpio_usb_init();
 
-  // A9,A10: USART 1 for talking to the GPS
-  set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
-  set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
-
    // B8,B9: CAN 1
   #ifdef STM32F4
     set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
@@ -84,7 +80,6 @@ void peripherals_init(void) {
   RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;  // interrupt timer
   RCC->APB1ENR |= RCC_APB1ENR_TIM12EN; // gmlan_alt
   RCC->APB1ENR |= RCC_APB1ENR_PWREN;   // for RTC config
-  RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
   RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
   RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;  // clock source timer
   RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
diff --git a/board/stm32h7/lluart.h b/board/stm32h7/lluart.h
index 6d1a363e27..640ea18d13 100644
--- a/board/stm32h7/lluart.h
+++ b/board/stm32h7/lluart.h
@@ -1,7 +1,3 @@
-
-void dma_pointer_handler(uart_ring *q, uint32_t dma_ndtr) { UNUSED(q); UNUSED(dma_ndtr); }
-void dma_rx_init(uart_ring *q) { UNUSED(q); }
-
 #define __DIV(_PCLK_, _BAUD_)                    (((_PCLK_) * 25U) / (4U * (_BAUD_)))
 #define __DIVMANT(_PCLK_, _BAUD_)                (__DIV((_PCLK_), (_BAUD_)) / 100U)
 #define __DIVFRAQ(_PCLK_, _BAUD_)                ((((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100U)) * 16U) + 50U) / 100U)
@@ -9,30 +5,28 @@ void dma_rx_init(uart_ring *q) { UNUSED(q); }
 
 void uart_rx_ring(uart_ring *q){
   // Do not read out directly if DMA enabled
-  if (q->dma_rx == false) {
-    ENTER_CRITICAL();
+  ENTER_CRITICAL();
 
-    // Read out RX buffer
-    uint8_t c = q->uart->RDR;  // This read after reading SR clears a bunch of interrupts
+  // Read out RX buffer
+  uint8_t c = q->uart->RDR;  // This read after reading SR clears a bunch of interrupts
 
-    uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size;
+  uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size;
 
-    if ((next_w_ptr == q->r_ptr_rx) && q->overwrite) {
-      // overwrite mode: drop oldest byte
-      q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size;
-    }
+  if ((next_w_ptr == q->r_ptr_rx) && q->overwrite) {
+    // overwrite mode: drop oldest byte
+    q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size;
+  }
 
-    // Do not overwrite buffer data
-    if (next_w_ptr != q->r_ptr_rx) {
-      q->elems_rx[q->w_ptr_rx] = c;
-      q->w_ptr_rx = next_w_ptr;
-      if (q->callback != NULL) {
-        q->callback(q);
-      }
+  // Do not overwrite buffer data
+  if (next_w_ptr != q->r_ptr_rx) {
+    q->elems_rx[q->w_ptr_rx] = c;
+    q->w_ptr_rx = next_w_ptr;
+    if (q->callback != NULL) {
+      q->callback(q);
     }
-
-    EXIT_CRITICAL();
   }
+
+  EXIT_CRITICAL();
 }
 
 void uart_tx_ring(uart_ring *q){
@@ -96,16 +90,6 @@ void uart_interrupt_handler(uart_ring *q) {
   // Send if necessary
   uart_tx_ring(q);
 
-  // Run DMA pointer handler if the line is idle
-  if(q->dma_rx && (status & USART_ISR_IDLE)){
-    // Reset IDLE flag
-    UART_READ_RDR(q->uart)
-
-    #ifdef DEBUG_UART
-      print("No IDLE dma_pointer_handler implemented for this UART.");
-    #endif
-  }
-
   EXIT_CRITICAL();
 }
 
@@ -115,10 +99,6 @@ void uart_init(uart_ring *q, int baud) {
   if (q->uart == UART7) {
     REGISTER_INTERRUPT(UART7_IRQn, UART7_IRQ_Handler, 150000U, FAULT_INTERRUPT_RATE_UART_7)
 
-    if (q->dma_rx) {
-      // TODO
-    }
-
     uart_set_baud(q->uart, baud);
     q->uart->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE;
 
@@ -127,10 +107,5 @@ void uart_init(uart_ring *q, int baud) {
 
     // Enable UART interrupts
     NVIC_EnableIRQ(UART7_IRQn);
-
-    // Initialise RX DMA if used
-    if (q->dma_rx) {
-      dma_rx_init(q);
-    }
   }
 }
diff --git a/python/__init__.py b/python/__init__.py
index 3037f2de60..6c714ca3b5 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -770,13 +770,6 @@ def set_power_save(self, power_save_enabled=0):
   def enable_deepsleep(self):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xfb, 0, 0, b'')
 
-  def set_esp_power(self, on):
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xd9, int(on), 0, b'')
-
-  def esp_reset(self, bootmode=0):
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xda, int(bootmode), 0, b'')
-    time.sleep(0.2)
-
   def set_safety_mode(self, mode=SAFETY_SILENT, param=0):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, param, b'')
 
diff --git a/tests/gps_stability_test.py b/tests/gps_stability_test.py
deleted file mode 100755
index f8cb13caab..0000000000
--- a/tests/gps_stability_test.py
+++ /dev/null
@@ -1,165 +0,0 @@
-#!/usr/bin/env python3
-# flake8: noqa
-
-import os
-import sys
-import time
-import random
-import threading
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda, PandaSerial  # noqa: E402
-
-INIT_GPS_BAUD = 9600
-GPS_BAUD = 460800
-
-def connect():
-  pandas = Panda.list()
-  print(pandas)
-
-  # make sure two pandas are connected
-  if len(pandas) != 2:
-    print("Connect white and grey/black panda to run this test!")
-    assert False
-
-  # connect
-  pandas[0] = Panda(pandas[0])
-  pandas[1] = Panda(pandas[1])
-
-  white_panda = None
-  gps_panda = None
-
-  # find out which one is white (for spamming the CAN buses)
-  if pandas[0].get_type() == Panda.HW_TYPE_WHITE_PANDA and pandas[1].get_type() != Panda.HW_TYPE_WHITE_PANDA:
-    white_panda = pandas[0]
-    gps_panda = pandas[1]
-  elif pandas[0].get_type() != Panda.HW_TYPE_WHITE_PANDA and pandas[1].get_type() == Panda.HW_TYPE_WHITE_PANDA:
-    white_panda = pandas[1]
-    gps_panda = pandas[0]
-  else:
-    print("Connect white and grey/black panda to run this test!")
-    assert False
-  return white_panda, gps_panda
-
-def spam_buses_thread(panda):
-  try:
-    panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-    while True:
-      at = random.randint(1, 2000)
-      st = (b"test" + os.urandom(10))[0:8]
-      bus = random.randint(0, 2)
-      panda.can_send(at, st, bus)
-  except Exception as e:
-    print(e)
-
-def read_can_thread(panda):
-  try:
-    while True:
-      panda.can_recv()
-  except Exception as e:
-    print(e)
-
-def init_gps(panda):
-  def add_nmea_checksum(msg):
-    d = msg[1:]
-    cs = 0
-    for i in d:
-      cs ^= ord(i)
-    return msg + "*%02X" % cs
-
-  ser = PandaSerial(panda, 1, INIT_GPS_BAUD)
-
-  # Power cycle the gps by toggling reset
-  print("Resetting GPS")
-  panda.set_esp_power(0)
-  time.sleep(0.5)
-  panda.set_esp_power(1)
-  time.sleep(0.5)
-
-  # Upping baud rate
-  print("Upping GPS baud rate")
-  msg = str.encode(add_nmea_checksum("$PUBX,41,1,0007,0003,%d,0" % GPS_BAUD) + "\r\n")
-  ser.write(msg)
-  time.sleep(1)   # needs a wait for it to actually send
-
-  # Reconnecting with the correct baud
-  ser = PandaSerial(panda, 1, GPS_BAUD)
-
-  # Sending all config messages boardd sends
-  print("Sending config")
-  ser.write(b"\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F")
-  ser.write(b"\xB5\x62\x06\x3E\x00\x00\x44\xD2")
-  ser.write(b"\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35")
-  ser.write(b"\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80")
-  ser.write(b"\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85")
-  ser.write(b"\xB5\x62\x06\x00\x00\x00\x06\x18")
-  ser.write(b"\xB5\x62\x06\x00\x01\x00\x01\x08\x22")
-  ser.write(b"\xB5\x62\x06\x00\x01\x00\x02\x09\x23")
-  ser.write(b"\xB5\x62\x06\x00\x01\x00\x03\x0A\x24")
-  ser.write(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")
-  ser.write(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63")
-  ser.write(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
-  ser.write(b"\xB5\x62\x06\x24\x00\x00\x2A\x84")
-  ser.write(b"\xB5\x62\x06\x23\x00\x00\x29\x81")
-  ser.write(b"\xB5\x62\x06\x1E\x00\x00\x24\x72")
-  ser.write(b"\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51")
-  ser.write(b"\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70")
-  ser.write(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C")
-
-  print("Initialized GPS")
-
-received_messages = 0
-received_bytes = 0
-send_something = False
-def gps_read_thread(panda):
-  global received_messages, received_bytes, send_something
-  ser = PandaSerial(panda, 1, GPS_BAUD)
-  while True:
-    ret = ser.read(1024)
-    time.sleep(0.001)
-    if len(ret):
-      received_messages += 1
-      received_bytes += len(ret)
-    if send_something:
-      ser.write("test")
-      send_something = False
-
-
-CHECK_PERIOD = 5
-MIN_BYTES = 10000
-MAX_BYTES = 50000
-
-min_failures = 0
-max_failures = 0
-
-if __name__ == "__main__":
-  white_panda, gps_panda = connect()
-
-  # Start spamming the CAN buses with the white panda. Also read the messages to add load on the GPS panda
-  threading.Thread(target=spam_buses_thread, args=(white_panda,)).start()
-  threading.Thread(target=read_can_thread, args=(gps_panda,)).start()
-
-  # Start GPS checking
-  init_gps(gps_panda)
-
-  read_thread = threading.Thread(target=gps_read_thread, args=(gps_panda,))
-  read_thread.start()
-  while True:
-    time.sleep(CHECK_PERIOD)
-    if(received_bytes < MIN_BYTES):
-      print("Panda is not sending out enough data! Got " + str(received_messages) + " (" + str(received_bytes) + "B) in the last " + str(CHECK_PERIOD) + " seconds")
-      send_something = True
-      min_failures += 1
-    elif(received_bytes > MAX_BYTES):
-      print("Panda is not sending out too much data! Got " + str(received_messages) + " (" + str(received_bytes) + "B) in the last " + str(CHECK_PERIOD) + " seconds")
-      print("Probably not on the right baud rate, got reset somehow? Resetting...")
-      max_failures += 1
-      init_gps(gps_panda)
-    else:
-      print("Got " + str(received_messages) + " (" + str(received_bytes) + "B) messages in the last " + str(CHECK_PERIOD) + " seconds.")
-      if(min_failures > 0):
-        print("Total min failures: ", min_failures)
-      if(max_failures > 0):
-        print("Total max failures: ", max_failures)
-    received_messages = 0
-    received_bytes = 0
diff --git a/tests/hitl/5_gps.py b/tests/hitl/5_gps.py
deleted file mode 100644
index 3cead333ed..0000000000
--- a/tests/hitl/5_gps.py
+++ /dev/null
@@ -1,21 +0,0 @@
-import time
-import pytest
-
-from panda import PandaSerial
-from panda.tests.hitl.conftest import PandaGroup
-
-
-@pytest.mark.test_panda_types(PandaGroup.GPS)
-def test_gps_version(p):
-  serial = PandaSerial(p, 1, 9600)
-  # Reset and check twice to make sure the enabling works
-  for _ in range(2):
-    # Reset GPS
-    p.set_esp_power(0)
-    time.sleep(2)
-    p.set_esp_power(1)
-    time.sleep(1)
-
-    # Read startup message and check if version is contained
-    dat = serial.read(0x1000)    # Read one full panda DMA buffer. This should include the startup message
-    assert b'HPG 1.40ROV' in dat
\ No newline at end of file
diff --git a/tests/hitl/8_spi.py b/tests/hitl/5_spi.py
similarity index 100%
rename from tests/hitl/8_spi.py
rename to tests/hitl/5_spi.py
diff --git a/tests/hitl/conftest.py b/tests/hitl/conftest.py
index 22a0b23e85..50ef2a7134 100644
--- a/tests/hitl/conftest.py
+++ b/tests/hitl/conftest.py
@@ -25,7 +25,6 @@
 class PandaGroup:
   H7 = (Panda.HW_TYPE_RED_PANDA, Panda.HW_TYPE_RED_PANDA_V2, Panda.HW_TYPE_TRES)
   GEN2 = (Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_UNO, Panda.HW_TYPE_DOS) + H7
-  GPS = (Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_UNO)
   GMLAN = (Panda.HW_TYPE_WHITE_PANDA, Panda.HW_TYPE_GREY_PANDA)
 
   TESTED = (Panda.HW_TYPE_WHITE_PANDA, Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_RED_PANDA, Panda.HW_TYPE_RED_PANDA_V2, Panda.HW_TYPE_UNO)
@@ -33,7 +32,7 @@ class PandaGroup:
 if PARTIAL_TESTS:
   # minimal set of pandas to get most of our coverage
   # * red panda covers GEN2, STM32H7
-  # * black panda covers STM32F4, GEN2, and GPS
+  # * black panda covers STM32F4, and GEN2
   PandaGroup.TESTED = (Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_RED_PANDA)  # type: ignore
 elif HW_TYPES is not None:
   PandaGroup.TESTED = [bytes([int(x), ]) for x in HW_TYPES.strip().split(",")] # type: ignore
@@ -222,7 +221,6 @@ def cnnct(s):
 
       p.set_can_loopback(False)
       p.set_gmlan(None)
-      p.set_esp_power(False)
       p.set_power_save(False)
       for bus, speed in BUS_SPEEDS:
         p.set_can_speed_kbps(bus, speed)
diff --git a/tests/location_listener.py b/tests/location_listener.py
deleted file mode 100755
index d997327ead..0000000000
--- a/tests/location_listener.py
+++ /dev/null
@@ -1,45 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import sys
-
-sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from panda import Panda, PandaSerial  # noqa: 402
-
-def add_nmea_checksum(msg):
-  d = msg[1:]
-  cs = 0
-  for i in d:
-    cs ^= ord(i)
-  return msg + "*%02X" % cs
-
-if __name__ == "__main__":
-  panda = Panda()
-  ser = PandaSerial(panda, 1, 9600)
-
-  # power cycle by toggling reset
-  print("resetting")
-  panda.set_esp_power(0)
-  time.sleep(0.5)
-  panda.set_esp_power(1)
-  time.sleep(0.5)
-  print("done")
-  print(ser.read(1024))
-
-  # upping baud rate
-  baudrate = 460800
-
-  print("upping baud rate")
-  msg = str.encode(add_nmea_checksum("$PUBX,41,1,0007,0003,%d,0" % baudrate) + "\r\n")
-  print(msg)
-  ser.write(msg)
-  time.sleep(0.1)  # needs a wait for it to actually send
-
-  # new panda serial
-  ser = PandaSerial(panda, 1, baudrate)
-
-  while True:
-    ret = ser.read(1024)
-    if len(ret) > 0:
-      sys.stdout.write(ret.decode('ascii', 'ignore'))
-      sys.stdout.flush()