try this

selfdrive/controls/controlsd.py

@@ -181,7 +181,6 @@ class Controls:
     """Compute carEvents from carState"""
 
     self.events.clear()
-    self.events.add_from_msg(CS.events)
     self.events.add_from_msg(self.sm['driverMonitoringState'].events)
 
     # Handle startup event
@@ -193,10 +192,11 @@ class Controls:
     if not self.initialized:
       self.events.add(EventName.controlsInitializing)
       return
+    self.events.add_from_msg(CS.events)
 
     # Create events for battery, temperature, disk space, and memory
     if EON and (self.sm['peripheralState'].pandaType != PandaType.uno) and \
-       self.sm['deviceState'].batteryPercent < 1 and self.sm['deviceState'].chargingError:
+      self.sm['deviceState'].batteryPercent < 1 and self.sm['deviceState'].chargingError:
       # at zero percent battery, while discharging, OP should not allowed
       self.events.add(EventName.lowBattery)
     if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
@@ -233,7 +233,7 @@ class Controls:
     if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
       direction = self.sm['lateralPlan'].laneChangeDirection
       if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
-         (CS.rightBlindspot and direction == LaneChangeDirection.right):
+        (CS.rightBlindspot and direction == LaneChangeDirection.right):
         self.events.add(EventName.laneChangeBlocked)
       else:
         if direction == LaneChangeDirection.left:

selfdrive/controls/radard.py

@@ -172,7 +172,7 @@ class RadarD():
     radarState.carStateMonoTime = sm.logMonoTime['carState']
 
     if enable_lead:
-      leads_v3 = sm['modelV2'].leadsV3 
+      leads_v3 = sm['modelV2'].leadsV3
       if len(leads_v3) > 1:
         radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True)
         radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False)