diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index a1620194bd..a584a44cb9 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -178,6 +178,7 @@ class Controls:
     self.desired_curvature_rate = 0.0
     self.experimental_mode = False
     self.v_cruise_helper = VCruiseHelper(self.CP)
+    self.recalibrating_seen = False
 
     # TODO: no longer necessary, aside from process replay
     self.sm['liveParameters'].valid = True
@@ -286,7 +287,9 @@ class Controls:
       if cal_status == log.LiveCalibrationData.Status.uncalibrated:
         self.events.add(EventName.calibrationIncomplete)
       elif cal_status == log.LiveCalibrationData.Status.recalibrating:
-        set_offroad_alert("Offroad_Recalibration", True)
+        if not self.recalibrating_seen:
+          set_offroad_alert("Offroad_Recalibration", True)
+        self.recalibrating_seen = True
         self.events.add(EventName.calibrationRecalibrating)
       else:
         self.events.add(EventName.calibrationInvalid)