diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 82c66a20f9..4af1e65e5b 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -262,7 +262,6 @@ class Controls:
     if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
       # under 7% of space free no enable allowed
       self.events.add(EventName.outOfSpace)
-    # TODO: make tici threshold the same
     if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION:
       self.events.add(EventName.lowMemory)
 
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 12a3ef48ac..ef6ce65201 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -113,6 +113,7 @@ class TestOnroad(unittest.TestCase):
     os.environ['TESTING_CLOSET'] = '1'
     if os.path.exists(ROOT):
       shutil.rmtree(ROOT)
+    os.system("rm /dev/shm/*")
 
     # Make sure athena isn't running
     os.system("pkill -9 -f athena")
@@ -256,6 +257,14 @@ class TestOnroad(unittest.TestCase):
 
     self.assertTrue(cpu_ok)
 
+  def test_memory_usage(self):
+    mems = [m.deviceState.memoryUsagePercent for m in self.service_msgs['deviceState']]
+    print("Memory usage: ", mems)
+
+    # check for big leaks. note that memory usage is
+    # expected to go up while the MSGQ buffers fill up
+    self.assertLessEqual(max(mems) - min(mems), 3.0)
+
   def test_camera_processing_time(self):
     result = "\n"
     result += "------------------------------------------------\n"