diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index a584a44cb9..6d653091d2 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -34,6 +34,7 @@ LANE_DEPARTURE_THRESHOLD = 0.1
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
+TESTING_CLOSET = "TESTING_CLOSET" in os.environ
 NOSENSOR = "NOSENSOR" in os.environ
 IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 
@@ -373,7 +374,7 @@ class Controls:
     else:
       self.logged_comm_issue = None
 
-    if not self.sm['liveParameters'].valid:
+    if not self.sm['liveParameters'].valid and not TESTING_CLOSET:
       self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['lateralPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index acc98c85d6..793530b964 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -98,6 +98,7 @@ class TestOnroad(unittest.TestCase):
     params = Params()
     params.clear_all()
     set_params_enabled()
+    os.environ['TESTING_CLOSET'] = '1'
     if os.path.exists(ROOT):
       shutil.rmtree(ROOT)