diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 770c39d3f2..4f3b6a9128 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -36,7 +36,6 @@ LANE_DEPARTURE_THRESHOLD = 0.1
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
-NOSENSOR = "NOSENSOR" in os.environ
 IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 
 ThermalStatus = log.DeviceState.ThermalStatus
@@ -69,6 +68,7 @@ class Controls:
       self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
                                      'carControl', 'carEvents', 'carParams'])
 
+    self.sensor_packets = ["accelerometer", "gyroscope"]
     self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
 
     self.can_sock = can_sock
@@ -81,12 +81,13 @@ class Controls:
     self.params = Params()
     self.sm = sm
     if self.sm is None:
-      ignore = ['testJoystick']
+      ignore = self.sensor_packets + ['testJoystick']
       if SIMULATION:
         ignore += ['driverCameraState', 'managerState']
       self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                      'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
-                                     'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets,
+                                     'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
+                                     'testJoystick'] + self.camera_packets + self.sensor_packets,
                                     ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
 
     if CI is None:
@@ -380,14 +381,15 @@ class Controls:
       self.events.add(EventName.posenetInvalid)
     if not self.sm['liveLocationKalman'].deviceStable:
       self.events.add(EventName.deviceFalling)
-    if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK):
-      if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive sensor inputs
-        self.events.add(EventName.sensorDataInvalid)
     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):
+      self.events.add(EventName.sensorDataInvalid)
+
     if not REPLAY:
       # Check for mismatch between openpilot and car's PCM
       cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
@@ -415,10 +417,9 @@ class Controls:
 
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
-      if not NOSENSOR:
-        if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
-          # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
-          self.events.add(EventName.noGps)
+      if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
+        # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
+        self.events.add(EventName.noGps)
 
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index a00b8277de..aeeed47e6b 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -688,7 +688,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   EventName.sensorDataInvalid: {
     ET.PERMANENT: Alert(
       "Sensor Data Invalid",
-      "Ensure device is mounted securely",
+      "Possible Hardware Issue",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.),
     ET.NO_ENTRY: NoEntryAlert("Sensor Data Invalid"),
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 753262af12..913f506fa2 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -472,7 +472,7 @@ CONFIGS = [
       "can", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
       "longitudinalPlan", "lateralPlan", "liveLocationKalman", "liveParameters", "radarState",
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
-      "testJoystick", "liveTorqueParameters"
+      "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope"
     ],
     subs=["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
     ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],