diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 8cc996c28d..281c902933 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -2,8 +2,9 @@ import os
 import time
 from functools import wraps
 
-from system.hardware import PC
+import cereal.messaging as messaging
 from selfdrive.manager.process_config import managed_processes
+from system.hardware import PC
 from system.version import training_version, terms_version
 
 
@@ -15,6 +16,11 @@ def set_params_enabled():
   params.put_bool("OpenpilotEnabledToggle", True)
   params.put_bool("Passive", False)
 
+  # valid calib
+  msg = messaging.new_message('liveCalibration')
+  msg.liveCalibration.validBlocks = 20
+  msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
+  params.put("CalibrationParams", msg.to_bytes())
 
 def phone_only(f):
   @wraps(f)
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 679ba363f4..64d8febeeb 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -338,6 +338,17 @@ class TestOnroad(unittest.TestCase):
     expected = EVENTS[car.CarEvent.EventName.startup][ET.PERMANENT].alert_text_1
     self.assertEqual(startup_alert, expected, "wrong startup alert")
 
+  def test_engagable(self):
+    no_entries = Counter()
+    for m in self.service_msgs['carEvents']:
+      for evt in m.carEvents:
+        if evt.noEntry:
+          no_entries[evt.name] += 1
+
+    eng = [m.controlsState.engageable for m in self.service_msgs['controlsState']]
+    assert all(eng), \
+           f"Not engageable for whole segment:\n- controlsState.engageable: {Counter(eng)}\n- No entry events: {no_entries}"
+
 
 if __name__ == "__main__":
   unittest.main()