diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 0fbcfa25ba..ba622416ac 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -178,7 +178,7 @@ class LongitudinalPlanner:
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
 
-    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState'])
+    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState'])
 
     longitudinalPlan = plan_send.longitudinalPlan
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index ce03b44571..e43a25f409 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -312,12 +312,13 @@ class SelfdriveD:
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
       self.events.add(EventName.selfdrivedLagging)
-    if self.sm['radarState'].radarErrors.canError:
-      self.events.add(EventName.canError)
-    elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
-      self.events.add(EventName.radarTempUnavailable)
-    elif any(getattr(self.sm['radarState'].radarErrors, f) for f in self.sm['radarState'].radarErrors.schema.fields):
-      self.events.add(EventName.radarFault)
+    if not self.sm.valid['radarState']:
+      if self.sm['radarState'].radarErrors.canError:
+        self.events.add(EventName.canError)
+      elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
+        self.events.add(EventName.radarTempUnavailable)
+      else:
+        self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)
     if CS.canTimeout:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 7c49100fef..92669bec5c 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-7ecabd09f1f07c784806639114881fb6341be06c
\ No newline at end of file
+c289a0359d1b1f26cf4d9e73a2c04b2bbfec840f
\ No newline at end of file