diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 72f1514d88..13d7b25b29 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -369,7 +369,7 @@ class Controls:
     stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25
     model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
     planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
-    if planner_fcw or model_fcw:
+    if (planner_fcw or model_fcw) and not (self.CP.notCar and self.joystick_mode):
       self.events.add(EventName.fcw)
 
     for m in messaging.drain_sock(self.log_sock, wait_for_one=False):