diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index cca420a25..93f59f276 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -24,12 +24,8 @@ class LatControl(ABC):
     self.sat_count = 0.
 
   def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
-    # Treat either controller saturation, curvature limiting, or the safety layer
-    # clamping the request as a saturation event. The additional safety check
-    # catches cases where the torque request is being clipped
-    saturated = saturated or curvature_limited or steer_limited_by_safety
-
-    if saturated and CS.vEgo > self.sat_check_min_speed and not CS.steeringPressed:
+    # Saturated only if control output is not being limited by car torque/angle rate limits
+    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate