diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index fe582779e3..58d78d2dbf 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -27,7 +27,9 @@ LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
 LANE_DEPARTURE_THRESHOLD = 0.1
 STEER_ANGLE_SATURATION_TIMEOUT = 1.0 / DT_CTRL
 STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
+
 SIMULATION = "SIMULATION" in os.environ
+NOSENSOR = "NOSENSOR" in os.environ
 
 ThermalStatus = log.ThermalData.ThermalStatus
 State = log.ControlsState.OpenpilotState
@@ -192,9 +194,9 @@ class Controls:
         else:
           self.events.add(EventName.preLaneChangeRight)
     elif self.sm['pathPlan'].laneChangeState in [LaneChangeState.laneChangeStarting,
-                                        LaneChangeState.laneChangeFinishing]:
+                                                 LaneChangeState.laneChangeFinishing]:
       self.events.add(EventName.laneChange)
-    
+
     if self.can_rcv_error or (not CS.canValid and self.sm.frame > 5 / DT_CTRL):
       self.events.add(EventName.canError)
     if self.mismatch_counter >= 200:
@@ -206,13 +208,12 @@ class Controls:
       self.events.add(EventName.commIssue)
     if not self.sm['pathPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
-    if not self.sm['liveLocationKalman'].sensorsOK and os.getenv("NOSENSOR") is None:
+    if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
       if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive all the inputs
         self.events.add(EventName.sensorDataInvalid)
-    if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000) and os.getenv("NOSENSOR") is None:
+    if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000):
       # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
-      # GPS is not yet working in a simulation
-      if not SIMULATION:
+      if not (SIMULATION or NOSENSOR):  # TODO: send GPS in carla
         self.events.add(EventName.noGps)
     if not self.sm['pathPlan'].paramsValid:
       self.events.add(EventName.vehicleModelInvalid)
@@ -231,8 +232,7 @@ class Controls:
       self.events.add(EventName.relayMalfunction)
     if self.sm['plan'].fcw:
       self.events.add(EventName.fcw)
-    if self.sm['model'].frameDropPerc > 1:
-      if not SIMULATION:
+    if self.sm['model'].frameDropPerc > 1 and (not SIMULATION):
         self.events.add(EventName.modeldLagging)
 
     # Only allow engagement with brake pressed when stopped behind another stopped car