diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 36de2fc6d7..18aa2c7b28 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -200,7 +200,8 @@ class Controls:
     if not self.sm['pathPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
     if not self.sm['liveLocationKalman'].inputsOK and os.getenv("NOSENSOR") is None:
-      self.events.add(EventName.sensorDataInvalid)
+      if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive all the inputs
+        self.events.add(EventName.sensorDataInvalid)
     if not self.sm['pathPlan'].paramsValid:
       self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['liveLocationKalman'].posenetOK: