diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index d800d895d3..437cf2d7ce 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -619,11 +619,18 @@ class Controls:
     else:
       lac_log = log.ControlsState.LateralDebugState.new_message()
       if self.sm.rcv_frame['testJoystick'] > 0:
+        # reset joystick if it hasn't been received in a while
+        should_reset_joystick = (self.sm.frame - self.sm.rcv_frame['testJoystick'])*DT_CTRL > 0.2
+        if not should_reset_joystick:
+          joystick_axes = self.sm['testJoystick'].axes
+        else:
+          joystick_axes = [0.0, 0.0]
+
         if CC.longActive:
-          actuators.accel = 4.0*clip(self.sm['testJoystick'].axes[0], -1, 1)
+          actuators.accel = 4.0*clip(joystick_axes[0], -1, 1)
 
         if CC.latActive:
-          steer = clip(self.sm['testJoystick'].axes[1], -1, 1)
+          steer = clip(joystick_axes[1], -1, 1)
           # max angle is 45 for angle-based cars, max curvature is 0.02
           actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 45., steer * -0.02