diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index b665fbe9c7..ee25b8205f 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -219,13 +219,10 @@ class TestCarModelBase(unittest.TestCase):
         to_send = package_can_msg(msg)
         self.safety.safety_rx_hook(to_send)
 
-    if not self.CP.pcmCruise:
-      self.safety.set_controls_allowed(0)
-
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(lambda: 0)
-    for can in self.can_msgs:
+    for idx, can in enumerate(self.can_msgs):
       CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
       for msg in can_capnp_to_can_list(can.can, src_filter=range(64)):
         msg = list(msg)
@@ -234,6 +231,14 @@ class TestCarModelBase(unittest.TestCase):
         ret = self.safety.safety_rx_hook(to_send)
         self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")
 
+      # Skip first frame so CS_prev is properly initialized
+      if idx == 0:
+        CS_prev = CS
+        # Button may be left pressed in warm up period
+        if not self.CP.pcmCruise:
+          self.safety.set_controls_allowed(0)
+        continue
+
       # TODO: check rest of panda's carstate (steering, ACC main on, etc.)
 
       checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()