diff --git a/tools/joystick/joystick_control.py b/tools/joystick/joystick_control.py
index 60131ba370..74d034d505 100755
--- a/tools/joystick/joystick_control.py
+++ b/tools/joystick/joystick_control.py
@@ -34,7 +34,7 @@ class Keyboard:
     elif key in self.axes_map:
       axis = self.axes_map[key]
       incr = self.axis_increment if key in ['w', 'a'] else -self.axis_increment
-      self.axes_values[axis] = np.clip(self.axes_values[axis] + incr, -1, 1)
+      self.axes_values[axis] = float(np.clip(self.axes_values[axis] + incr, -1, 1))
     else:
       return False
     return True
@@ -83,7 +83,7 @@ class Joystick:
       self.max_axis_value[event[0]] = max(event[1], self.max_axis_value[event[0]])
       self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])
 
-      norm = -np.interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
+      norm = -float(np.interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.]))
       norm = norm if abs(norm) > 0.03 else 0.  # center can be noisy, deadzone of 3%
       self.axes_values[event[0]] = EXPO * norm ** 3 + (1 - EXPO) * norm  # less action near center for fine control
     else:
diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index 21d10b36d4..8348ad82b5 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -45,13 +45,13 @@ def joystickd_thread():
       joystick_axes = [0.0, 0.0]
 
     if CC.longActive:
-      actuators.accel = 4.0 * np.clip(joystick_axes[0], -1, 1)
+      actuators.accel = 4.0 * float(np.clip(joystick_axes[0], -1, 1))
 
     if CC.latActive:
       max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5)
       max_angle = math.degrees(VM.get_steer_from_curvature(max_curvature, sm['carState'].vEgo, sm['liveParameters'].roll))
 
-      actuators.steer = np.clip(joystick_axes[1], -1, 1)
+      actuators.steer = float(np.clip(joystick_axes[1], -1, 1))
       actuators.steeringAngleDeg, actuators.curvature = actuators.steer * max_angle, actuators.steer * -max_curvature
 
     pm.send('carControl', cc_msg)