diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index a180b4c410..41866efc3d 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -93,7 +93,8 @@ class Controls:
     else:
       self.CI, self.CP = CI, CI.CP
 
-    self.joystick_mode = self.params.get_bool("JoystickDebugMode") or self.CP.notCar
+    self.joystick_enabled = self.params.get_bool("JoystickDebugMode")
+    self.joystick_mode = self.joystick_enabled or self.CP.notCar
 
     # set alternative experiences from parameters
     self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
@@ -370,16 +371,17 @@ class Controls:
     else:
       self.logged_comm_issue = None
 
-    if not self.sm['lateralPlan'].mpcSolutionValid:
-      self.events.add(EventName.plannerError)
-    if not self.sm['liveLocationKalman'].posenetOK:
-      self.events.add(EventName.posenetInvalid)
-    if not self.sm['liveLocationKalman'].deviceStable:
-      self.events.add(EventName.deviceFalling)
-    if not self.sm['liveLocationKalman'].inputsOK:
-      self.events.add(EventName.locationdTemporaryError)
-    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
-      self.events.add(EventName.paramsdTemporaryError)
+    if not (self.CP.notCar and self.joystick_enabled):
+      if not self.sm['lateralPlan'].mpcSolutionValid:
+        self.events.add(EventName.plannerError)
+      if not self.sm['liveLocationKalman'].posenetOK:
+        self.events.add(EventName.posenetInvalid)
+      if not self.sm['liveLocationKalman'].deviceStable:
+        self.events.add(EventName.deviceFalling)
+      if not self.sm['liveLocationKalman'].inputsOK:
+        self.events.add(EventName.locationdTemporaryError)
+      if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
+        self.events.add(EventName.paramsdTemporaryError)
 
     # conservative HW alert. if the data or frequency are off, locationd will throw an error
     if any((self.sm.frame - self.sm.rcv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets):