diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index fea19adbdb..b5d5e3d8a2 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -103,7 +103,7 @@ class Controls:
     else:
       self.CI, self.CP = CI, CI.CP
 
-    self.joystick_mode = self.params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None)
+    self.joystick_mode = self.params.get_bool("JoystickDebugMode") or self.CP.notCar
 
     # set alternative experiences from parameters
     self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index c23ff8a140..76f2ef06ba 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-c39b74fdc14bb22a1c95cd5deedd4f4fcadf8494
+d9432dcfb875a76be051137969e371c9926611e9