diff --git a/SConstruct b/SConstruct
index e80fe3f7..1b863beb 100644
--- a/SConstruct
+++ b/SConstruct
@@ -138,6 +138,7 @@ env = Environment(
     "-Werror",
     "-Wno-unknown-warning-option",
     "-Wno-deprecated-register",
+    "-Wno-register",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",
@@ -177,7 +178,7 @@ env = Environment(
   RPATH=rpath,
 
   CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++14"] + cxxflags,
+  CXXFLAGS=["-std=c++1z"] + cxxflags,
   LIBPATH=libpath + [
     "#cereal",
     "#selfdrive/common",
diff --git a/cereal b/cereal
index 1e7810db..5c7e91ab 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 1e7810dbbfe31003b85f11f948ac6e03b1134570
+Subproject commit 5c7e91abb7fa93f86164fc48124c596bf9cfc849
diff --git a/common/common_pyx_setup.py b/common/common_pyx_setup.py
index 547fca81..d8f653e6 100644
--- a/common/common_pyx_setup.py
+++ b/common/common_pyx_setup.py
@@ -4,7 +4,7 @@ from Cython.Build import cythonize
 from common.cython_hacks import BuildExtWithoutPlatformSuffix
 
 sourcefiles = ['clock.pyx']
-extra_compile_args = ["-std=c++14"]
+extra_compile_args = ["-std=c++1z"]
 
 setup(name='common',
       cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
diff --git a/common/ffi_wrapper.py b/common/ffi_wrapper.py
index 0fbe1629..e6ee2c23 100644
--- a/common/ffi_wrapper.py
+++ b/common/ffi_wrapper.py
@@ -44,7 +44,7 @@ def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
   ffibuilder = FFI()
   ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
   ffibuilder.cdef(c_header)
-  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
+  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
   os.environ['CFLAGS'] = cflags
   ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
 
diff --git a/common/transformations/setup.py b/common/transformations/setup.py
index 4f18423f..32546192 100644
--- a/common/transformations/setup.py
+++ b/common/transformations/setup.py
@@ -12,7 +12,7 @@ setup(
       "transformations",
       sources=["transformations.pyx"],
       language="c++",
-      extra_compile_args=["-std=c++14", "-Wno-cpp"],
+      extra_compile_args=["-std=c++1z", "-Wno-cpp"],
       include_dirs=[numpy.get_include()],
     ),
     nthreads=4,
diff --git a/installer/Makefile b/installer/Makefile
index 6c80546a..cb42fab7 100644
--- a/installer/Makefile
+++ b/installer/Makefile
@@ -11,7 +11,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
              -Werror=format-extra-args
 
 CFLAGS = -std=gnu11 -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++1z -fPIC -O2 $(WARN_FLAGS)
 
 NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
 
diff --git a/installer/updater/Makefile b/installer/updater/Makefile
index d252fc2a..e222bc29 100644
--- a/installer/updater/Makefile
+++ b/installer/updater/Makefile
@@ -10,7 +10,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
              -Werror=format-extra-args
 
 CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++1z -g -fPIC -O2 $(WARN_FLAGS)
 
 CURL_FLAGS = -I$(PHONELIBS)/curl/include
 CURL_LIBS = $(PHONELIBS)/curl/lib/libcurl.a \
diff --git a/laika_repo b/laika_repo
index bb4003cc..bfb59fa1 160000
--- a/laika_repo
+++ b/laika_repo
@@ -1 +1 @@
-Subproject commit bb4003cc04efc615bce7cf9e883367ba3a7bd878
+Subproject commit bfb59fa18dd05d8766101b16624d020965793a14
diff --git a/opendbc b/opendbc
index a14baf55..25dc12a8 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit a14baf55531e8e2f10f4b8010f355def11e63bcc
+Subproject commit 25dc12a87b13c78e78be9664e496402f0e0286db
diff --git a/rednose_repo b/rednose_repo
index 32267071..10bf459f 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 32267071160ac461f513ca684b831e3a6d8896cc
+Subproject commit 10bf459f33adcdb75ca6851555f5ff870cfea10e
diff --git a/selfdrive/boardd/boardd_setup.py b/selfdrive/boardd/boardd_setup.py
index 4d272d9b..01ca0524 100644
--- a/selfdrive/boardd/boardd_setup.py
+++ b/selfdrive/boardd/boardd_setup.py
@@ -16,7 +16,7 @@ setup(name='Boardd API Implementation',
           ],
           sources=['boardd_api_impl.pyx'],
           language="c++",
-          extra_compile_args=["-std=c++11", "-Wno-nullability-completeness"],
+          extra_compile_args=["-std=c++1z", "-Wno-nullability-completeness"],
         )
       )
 )
diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc
index 6baaff71..d90d900c 100644
--- a/selfdrive/camerad/cameras/camera_qcom.cc
+++ b/selfdrive/camerad/cameras/camera_qcom.cc
@@ -8,6 +8,7 @@
 #include <poll.h>
 #include <sys/ioctl.h>
 #include <atomic>
+#include <algorithm>
 
 #include <linux/media.h>
 
@@ -376,7 +377,7 @@ static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {
   unsigned int integ_lines = s->cur_integ_lines;
 
   if (exposure_frac >= 0) {
-    exposure_frac = clamp(exposure_frac, 2.0 / frame_length, 1.0);
+    exposure_frac = std::clamp(exposure_frac, 2.0f / frame_length, 1.0f);
     integ_lines = frame_length * exposure_frac;
 
     // See page 79 of the datasheet, this is the max allowed (-1 for phase adjust)
@@ -385,7 +386,7 @@ static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {
 
   if (gain_frac >= 0) {
     // ISO200 is minimum gain
-    gain_frac = clamp(gain_frac, 1.0/64, 1.0);
+    gain_frac = std::clamp(gain_frac, 1.0f/64, 1.0f);
 
     // linearize gain response
     // TODO: will be wrong for front camera
@@ -1718,7 +1719,7 @@ void actuator_move(CameraState *s, uint16_t target) {
   }
 
   int dest_step_pos = s->cur_step_pos + step;
-  dest_step_pos = clamp(dest_step_pos, 0, 255);
+  dest_step_pos = std::clamp(dest_step_pos, 0, 255);
 
   struct msm_actuator_cfg_data actuator_cfg_data = {0};
   actuator_cfg_data.cfgtype = CFG_MOVE_FOCUS;
@@ -1804,8 +1805,8 @@ static void do_autofocus(CameraState *s) {
   }
 
   // stay off the walls
-  lens_true_pos = clamp(lens_true_pos, dac_down, dac_up);
-  int target = clamp(lens_true_pos - sag, dac_down, dac_up);
+  lens_true_pos = std::clamp(lens_true_pos, float(dac_down), float(dac_up));
+  int target = std::clamp(lens_true_pos - sag, float(dac_down), float(dac_up));
   s->lens_true_pos = lens_true_pos;
 
   /*char debug[4096];
diff --git a/selfdrive/common/util.h b/selfdrive/common/util.h
index 18d9619c..c7a1dbfc 100644
--- a/selfdrive/common/util.h
+++ b/selfdrive/common/util.h
@@ -21,12 +21,6 @@ typedef void (*sighandler_t)(int sig);
 
 #endif
 
-#define clamp(a,b,c) \
- ({ __typeof__ (a) _a = (a); \
-     __typeof__ (b) _b = (b); \
-     __typeof__ (c) _c = (c); \
-   _a < _b ? _b : (_a > _c ? _c : _a); })
-
 #define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
 
 #undef ALIGN
diff --git a/selfdrive/loggerd/tests/Makefile b/selfdrive/loggerd/tests/Makefile
index d05d5491..99f834d2 100644
--- a/selfdrive/loggerd/tests/Makefile
+++ b/selfdrive/loggerd/tests/Makefile
@@ -11,7 +11,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
              -Wno-deprecated-declarations
 
 CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++1z -g -fPIC -O2 $(WARN_FLAGS)
 
 FFMPEG_LIBS = -lavformat \
               -lavcodec \
diff --git a/selfdrive/modeld/visiontest.mk b/selfdrive/modeld/visiontest.mk
index 8e8f199d..494e00f8 100644
--- a/selfdrive/modeld/visiontest.mk
+++ b/selfdrive/modeld/visiontest.mk
@@ -20,7 +20,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
              -Werror=format-extra-args
 
 CFLAGS = -std=gnu11 -g -fPIC $(OPT_FLAGS) $(WARN_FLAGS)
-CXXFLAGS = -std=c++14 -fPIC $(OPT_FLAGS) $(WARN_FLAGS)
+CXXFLAGS = -std=c++1z -fPIC $(OPT_FLAGS) $(WARN_FLAGS)
 
 EIGEN_FLAGS = -I$(PHONELIBS)/eigen
 
diff --git a/selfdrive/ui/spinner/Makefile b/selfdrive/ui/spinner/Makefile
index 8d80f69a..49401067 100644
--- a/selfdrive/ui/spinner/Makefile
+++ b/selfdrive/ui/spinner/Makefile
@@ -10,7 +10,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
              -Werror=format-extra-args
 
 CFLAGS = -std=gnu11 -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++1z -fPIC -O2 $(WARN_FLAGS)
 
 NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
 
diff --git a/selfdrive/ui/test/Makefile b/selfdrive/ui/test/Makefile
index f321593e..76a7eba0 100644
--- a/selfdrive/ui/test/Makefile
+++ b/selfdrive/ui/test/Makefile
@@ -10,7 +10,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
              -Werror=format-extra-args
 
 CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++1z -g -fPIC -O2 $(WARN_FLAGS)
 
 ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
 ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
diff --git a/selfdrive/ui/text/Makefile b/selfdrive/ui/text/Makefile
index fbde1077..ac0d720d 100644
--- a/selfdrive/ui/text/Makefile
+++ b/selfdrive/ui/text/Makefile
@@ -10,7 +10,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
              -Werror=format-extra-args
 
 CFLAGS = -std=gnu11 -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++1z -fPIC -O2 $(WARN_FLAGS)
 
 NANOVG_FLAGS = -I$(PHONELIBS)/nanovg