diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 32b7a6553f..0c420e94e0 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -174,7 +174,7 @@ class SubMaster:
 
       self.data[s] = getattr(data.as_reader(), s)
       self.logMonoTime[s] = 0
-      self.valid[s] = True  # FIXME: this should default to False
+      self.valid[s] = False
       self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
 
   def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
diff --git a/cereal/messaging/socketmaster.cc b/cereal/messaging/socketmaster.cc
index 38b9842414..1a7a48980e 100644
--- a/cereal/messaging/socketmaster.cc
+++ b/cereal/messaging/socketmaster.cc
@@ -34,7 +34,7 @@ struct SubMaster::SubMessage {
   std::string name;
   SubSocket *socket = nullptr;
   int freq = 0;
-  bool updated = false, alive = false, valid = true, ignore_alive;
+  bool updated = false, alive = false, valid = false, ignore_alive;
   uint64_t rcv_time = 0, rcv_frame = 0;
   void *allocated_msg_reader = nullptr;
   bool is_polled = false;
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 6a4f33c566..255ce080df 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -73,7 +73,7 @@ class SelfdriveD:
                                    'controlsState', 'carControl', 'driverAssistance'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore+['radarState',],
-                                  frequency=int(1/DT_CTRL))
+                                  ignore_valid=ignore, frequency=int(1/DT_CTRL))
 
     # read params
     self.is_metric = self.params.get_bool("IsMetric")
@@ -365,8 +365,10 @@ class SelfdriveD:
         available_streams = VisionIpcClient.available_streams("camerad", block=False)
         if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
           self.sm.ignore_alive.append('roadCameraState')
+          self.sm.ignore_valid.append('roadCameraState')
         if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
           self.sm.ignore_alive.append('wideRoadCameraState')
+          self.sm.ignore_valid.append('wideRoadCameraState')
 
         if REPLAY and any(ps.controlsAllowed for ps in self.sm['pandaStates']):
           self.state_machine.state = State.enabled
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 237713622b..66971ebde1 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-8726813f978d6baf519055f3105350cd071741f3
\ No newline at end of file
+32fe8cf4a0daa8d10a689c9ae2e51a879151c87c
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index b866e015ac..be74e5cfc9 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-eac137f456f25bf138677315b7c4907e2fe9971b
\ No newline at end of file
+fa642b559758928289d8092f30bb9787eb9ebcf2