diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 92024ab0c2..18bf9c1f01 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -38,6 +38,8 @@ class TestCarInterfaces(unittest.TestCase):
       tuning = car_params.lateralTuning.which()
       if tuning == 'pid':
         self.assertTrue(len(car_params.lateralTuning.pid.kpV))
+      elif tuning == 'lqr':
+        self.assertTrue(len(car_params.lateralTuning.lqr.a))
       elif tuning == 'torque':
         self.assertTrue(car_params.lateralTuning.torque.kf > 0)
       elif tuning == 'indi':
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index ff2d49305c..eabfd06f26 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -114,6 +114,8 @@ class TestCarModel(unittest.TestCase):
       tuning = self.CP.lateralTuning.which()
       if tuning == 'pid':
         self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
+      elif tuning == 'lqr':
+        self.assertTrue(len(self.CP.lateralTuning.lqr.a))
       elif tuning == 'torque':
         self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
       elif tuning == 'indi':