diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
index b805f1759d..aad8cff229 100644
--- a/selfdrive/locationd/test/test_lagd.py
+++ b/selfdrive/locationd/test/test_lagd.py
@@ -3,7 +3,7 @@ import numpy as np
 import time
 import pytest
 
-from cereal import messaging, log
+from cereal import messaging, log, car
 from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
                                                BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC
 from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
@@ -16,11 +16,7 @@ MAX_ERR_FRAMES = 1
 DT = 0.05
 
 
-def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0):
-  class ZeroMock(mocker.Mock):
-    def __getattr__(self, *args):
-      return 0
-
+def process_messages(estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0):
   for i in range(n_frames):
     t = i * estimator.dt
     desired_la = np.cos(10 * t) * 0.1
@@ -31,19 +27,15 @@ def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejecti
     if rejected:
       actual_la = desired_la
 
-    desired_cuvature = desired_la / (vego ** 2)
-    actual_yr = actual_la / vego
+    desired_cuvature = float(desired_la / (vego ** 2))
+    actual_yr = float(actual_la / vego)
     msgs = [
-      (t, "carControl", mocker.Mock(latActive=not rejected)),
-      (t, "carState", mocker.Mock(vEgo=vego, steeringPressed=False)),
-      (t, "controlsState", mocker.Mock(desiredCurvature=desired_cuvature,
-                                        lateralControlState=mocker.Mock(which=mocker.Mock(return_value='debugControlState'), debugControlState=ZeroMock()))),
-      (t, "livePose", mocker.Mock(orientationNED=ZeroMock(),
-                                velocityDevice=ZeroMock(),
-                                accelerationDevice=ZeroMock(),
-                                angularVelocityDevice=ZeroMock(z=actual_yr, valid=True),
-                                posenetOK=True, inputsOK=True)),
-      (t, "liveCalibration", mocker.Mock(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)),
+      (t, "carControl", car.CarControl(latActive=not rejected)),
+      (t, "carState", car.CarState(vEgo=vego, steeringPressed=False)),
+      (t, "controlsState", log.ControlsState(desiredCurvature=desired_cuvature)),
+      (t, "livePose", log.LivePose(angularVelocityDevice=log.LivePose.XYZMeasurement(z=actual_yr, valid=True),
+                                   posenetOK=True, inputsOK=True)),
+      (t, "liveCalibration", log.LiveCalibrationData(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)),
     ]
     for t, w, m in msgs:
       estimator.handle_log(t, w, m)
@@ -94,8 +86,8 @@ class TestLagd:
     corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
     assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
 
-  def test_empty_estimator(self, mocker):
-    mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
+  def test_empty_estimator(self):
+    mocked_CP = car.CarParams(steerActuatorDelay=0.8)
     estimator = LateralLagEstimator(mocked_CP, DT)
     msg = estimator.get_msg(True)
     assert msg.liveDelay.status == 'unestimated'
@@ -103,12 +95,12 @@ class TestLagd:
     assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag)
     assert msg.liveDelay.validBlocks == 0
 
-  def test_estimator_basics(self, mocker, subtests):
+  def test_estimator_basics(self, subtests):
     for lag_frames in range(5):
       with subtests.test(msg=f"lag_frames={lag_frames}"):
-        mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
+        mocked_CP = car.CarParams(steerActuatorDelay=0.8)
         estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
-        process_messages(mocker, estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
+        process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
         msg = estimator.get_msg(True)
         assert msg.liveDelay.status == 'estimated'
         assert np.allclose(msg.liveDelay.lateralDelay, lag_frames * DT, atol=0.01)
@@ -116,18 +108,18 @@ class TestLagd:
         assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
         assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
 
-  def test_estimator_masking(self, mocker):
-    mocked_CP, lag_frames = mocker.Mock(steerActuatorDelay=0.8), random.randint(1, 19)
+  def test_estimator_masking(self):
+    mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(1, 19)
     estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
-    process_messages(mocker, estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
+    process_messages(estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
     msg = estimator.get_msg(True)
     assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
     assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
 
   @pytest.mark.skipif(PC, reason="only on device")
   @pytest.mark.timeout(60)
-  def test_estimator_performance(self, mocker):
-    mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
+  def test_estimator_performance(self):
+    mocked_CP = car.CarParams(steerActuatorDelay=0.8)
     estimator = LateralLagEstimator(mocked_CP, DT)
 
     ds = []