diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 33924a1f25..b80fafefa7 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -335,6 +335,7 @@ class TestCarModelBase(unittest.TestCase):
       prev_panda_vehicle_moving = self.safety.get_vehicle_moving()
       prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev()
       prev_panda_acc_main_on = self.safety.get_acc_main_on()
+      prev_panda_controls_allowed = self.safety.get_controls_allowed()
 
       to_send = libpanda_py.make_CANPacket(address, bus, dat)
       self.safety.safety_rx_hook(to_send)
@@ -362,9 +363,13 @@ class TestCarModelBase(unittest.TestCase):
       if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
         self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
 
-      if not (self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH):
-        if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
-          self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
+      if self.CP.pcmCruise:
+        if not (self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH):
+          if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
+            self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
+
+        if self.safety.get_controls_allowed() != prev_panda_controls_allowed:
+          self.assertEqual(CS.cruiseState.enabled, self.safety.get_controls_allowed())
 
       if self.CP.carName == "honda":
         if self.safety.get_acc_main_on() != prev_panda_acc_main_on: