diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 421139e449..a04349cd67 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -69,10 +69,8 @@ class Controls:
     self.sensor_packets = ["accelerometer", "gyroscope"]
     self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
 
-    can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20
-    self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
-
     self.log_sock = messaging.sub_sock('androidLog')
+    self.can_sock = messaging.sub_sock('can', timeout=20)
 
     self.params = Params()
     ignore = self.sensor_packets + ['testJoystick']
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index f24f788a19..713b7801f8 100755
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -1,10 +1,8 @@
 #!/usr/bin/env python3
 import itertools
-import os
-from parameterized import parameterized_class
 import unittest
+from parameterized import parameterized_class
 
-from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
@@ -150,18 +148,6 @@ class LongitudinalControl(unittest.TestCase):
   e2e: bool
   force_decel: bool
 
-  @classmethod
-  def setUpClass(cls):
-    os.environ['SIMULATION'] = "1"
-    os.environ['SKIP_FW_QUERY'] = "1"
-    os.environ['NO_CAN_TIMEOUT'] = "1"
-
-  def setUp(self):
-    params = Params()
-    params.clear_all()
-    params.put_bool("Passive", bool(os.getenv("PASSIVE")))
-    params.put_bool("OpenpilotEnabledToggle", True)
-
   def test_maneuver(self):
     for maneuver in create_maneuvers({"e2e": self.e2e, "force_decel": self.force_decel}):
       with self.subTest(title=maneuver.title, e2e=maneuver.e2e, force_decel=maneuver.force_decel):