diff --git a/frogpilot/common/frogpilot_variables.py b/frogpilot/common/frogpilot_variables.py
index 52fce61c1..c7ca7df19 100644
--- a/frogpilot/common/frogpilot_variables.py
+++ b/frogpilot/common/frogpilot_variables.py
@@ -241,7 +241,9 @@ class FrogPilotVariables:
     msg_bytes = self.params.get("LiveTorqueParameters")
     if msg_bytes:
       LTP = messaging.log_from_bytes(msg_bytes, log.LiveTorqueParametersData)
+      toggle.liveValid = LTP.liveValid
     else:
+      toggle.liveValid = False
 
     toggle.debug_mode = self.params.get_bool("DebugMode")
 
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 22b101377..a020fc535 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -258,6 +258,9 @@ def main(demo=False):
 
   frogpilot_toggles = get_frogpilot_toggles()
 
+  if not frogpilot_toggles.liveValid:
+    estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams), decimated=True)
+
   estimator.frogpilot_toggles = frogpilot_toggles
 
   while True: