diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index e3f85d3e39..49e9b42d1f 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -366,12 +366,13 @@ class Controls:
 
     self.sm.update(0)
 
-    all_valid = CS.canValid and self.sm.all_alive_and_valid()
-    if not self.initialized and (all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION):
-      if not self.read_only:
-        self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
-      self.initialized = True
-      Params().put_bool("ControlsReady", True)
+    if not self.initialized:
+      all_valid = CS.canValid and self.sm.all_alive_and_valid()
+      if all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION:
+        if not self.read_only:
+          self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
+        self.initialized = True
+        Params().put_bool("ControlsReady", True)
 
     # Check for CAN timeout
     if not can_strs: