diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 3fb19c7da7..adc680ed2a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -411,9 +411,12 @@ class Controls:
 
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
+      # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
       if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
-        # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
         self.events.add(EventName.noGps)
+      if self.sm['liveLocationKalman'].gpsOK:
+        self.distance_traveled = 0
+      self.distance_traveled += CS.vEgo * DT_CTRL
 
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
@@ -476,8 +479,6 @@ class Controls:
            if ps.safetyModel not in IGNORED_SAFETY_MODES):
       self.mismatch_counter += 1
 
-    self.distance_traveled += CS.vEgo * DT_CTRL
-
     return CS
 
   def state_transition(self, CS):