diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 34d3d2b03d..119d22fb8c 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -38,8 +38,6 @@ class ParamsLearner:
       yaw_rate_std = msg.angularVelocityCalibrated.std[2]
 
       yaw_rate_valid = msg.angularVelocityCalibrated.valid
-      yaw_rate_valid = yaw_rate_valid and math.isfinite(yaw_rate)
-      yaw_rate_valid = yaw_rate_valid and math.isfinite(yaw_rate_std)
       yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10  # rad/s
       yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1  # rad/s