diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py
new file mode 100755
index 0000000000..3da16e855d
--- /dev/null
+++ b/selfdrive/controls/tests/test_startup.py
@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+import time
+import unittest
+from parameterized import parameterized
+
+from cereal import log, car
+import cereal.messaging as messaging
+from common.params import Params
+from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error
+from selfdrive.car.fingerprints import _FINGERPRINTS
+from selfdrive.car.hyundai.values import CAR as HYUNDAI
+from selfdrive.car.mazda.values import CAR as MAZDA
+from selfdrive.controls.lib.events import EVENT_NAME
+from selfdrive.test.helpers import with_processes
+
+EventName = car.CarEvent.EventName
+
+class TestStartup(unittest.TestCase):
+
+  @parameterized.expand([
+    # TODO: test EventName.startup for release branches
+
+    # officially supported car
+    (EventName.startupMaster, HYUNDAI.SONATA, False),
+    (EventName.startupMaster, HYUNDAI.SONATA, True),
+
+    # community supported car
+    (EventName.startupMaster, HYUNDAI.KIA_STINGER, True),
+    (EventName.startupMaster, HYUNDAI.KIA_STINGER, False),
+
+    # dashcamOnly car
+    (EventName.startupMaster, MAZDA.CX5, True),
+    (EventName.startupMaster, MAZDA.CX5, False),
+
+    # unrecognized car
+    (EventName.startupNoCar, None, True),
+    (EventName.startupNoCar, None, False),
+  ])
+  @with_processes(['controlsd'])
+  def test_startup_alert(self, expected_event, car, toggle_enabled):
+
+    # TODO: this should be done without any real sockets
+    sm = messaging.SubMaster(['controlsState'])
+    pm = messaging.PubMaster(['can', 'health'])
+    Params().put("CommunityFeaturesToggle", b"1" if toggle_enabled else b"0")
+
+    time.sleep(2) # wait for controlsd to be ready
+
+    health = messaging.new_message('health')
+    health.health.hwType = log.HealthData.HwType.uno
+    pm.send('health', health)
+
+    # fingerprint
+    if car is None:
+      finger = {addr: 1 for addr in range(1, 100)}
+    else:
+      finger = _FINGERPRINTS[car][0]
+
+    for _ in range(500):
+      msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
+      pm.send('can', can_list_to_can_capnp(msgs))
+
+      time.sleep(0.05)
+      sm.update(0)
+      if sm.updated["controlsState"]:
+        event_name = sm["controlsState"].alertType.split("/")[0]
+        self.assertEqual(EVENT_NAME[expected_event], event_name,
+                         f"expected {EVENT_NAME[expected_event]} for '{car}', got {event_name}")
+        break
+    else:
+      self.fail(f"failed to fingerprint {car}")
+
+if __name__ == "__main__":
+  unittest.main()