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
@@ -193,6 +192,7 @@ 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 \