diff --git a/opendbc_repo/opendbc/car/subaru/carcontroller.py b/opendbc_repo/opendbc/car/subaru/carcontroller.py
index e0fb3cbbe..6cff58869 100644
--- a/opendbc_repo/opendbc/car/subaru/carcontroller.py
+++ b/opendbc_repo/opendbc/car/subaru/carcontroller.py
@@ -39,7 +39,6 @@ _STOP_START_PULSE_FRAMES = 30
 _STOP_START_PULSE_PERIOD_FRAMES = 5
 _AVH_STARTUP_DELAY_FRAMES = _STOP_START_STARTUP_DELAY_FRAMES
 _AVH_STARTUP_DEADLINE_FRAMES = _STOP_START_STARTUP_DEADLINE_FRAMES
-_AVH_PULSE_MESSAGES = 10  # Match the native 10 Hz AVH frame for roughly one second
 
 
 def get_safety_CP():
@@ -93,7 +92,6 @@ class CarController(CarControllerBase):
     self.avh_attempted = False
     self.avh_request_started = False
     self.avh_last_counter = None
-    self.avh_messages_sent = 0
 
   def _stop_start_off_request(self, CC, CS, starpilot_toggles):
     """Send one bounded Subaru Stop/Start OFF request after ignition.
@@ -183,20 +181,15 @@ class CarController(CarControllerBase):
       self.avh_request_started = True
       self.avh_last_counter = int(avh_msg.get("COUNTER", 0)) % 0x10
 
-    if self.avh_messages_sent >= _AVH_PULSE_MESSAGES:
-      self.avh_attempted = True
-      return None
-
     counter = int(avh_msg.get("COUNTER", 0)) % 0x10
     if counter == self.avh_last_counter:
       return None
 
+    self.avh_attempted = True
     msg = subarucan.create_avh_control(
       self.packer, avh_msg, raw_dat=avh_dat,
       counter=counter, bus=CanBus.alt_for_cp(self.CP),
     )
-    self.avh_last_counter = counter
-    self.avh_messages_sent += 1
     return msg
 
   def _reset_legacy_2025_handoff(self):
diff --git a/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py b/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py
index 760cf6b2e..a15298887 100644
--- a/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py
+++ b/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py
@@ -341,21 +341,7 @@ def test_avh_request_sets_observed_bit_and_is_bounded():
   assert parser.vl["AVH"]["AVH"] == 1
   assert parser.vl["AVH"]["COUNTER"] == 0
 
-  for counter in range(1, 10):
-    CS.avh_msg["COUNTER"] = counter
-    raw_dat = bytearray.fromhex("14001c4208800000")
-    raw_dat[1] = counter
-    raw_dat[0] = ((0x32B & 0xFF) + ((0x32B >> 8) & 0xFF) + sum(raw_dat[1:])) & 0xFF
-    CS.avh_dat = bytes(raw_dat)
-    controller.frame = 103 + (counter * 10)
-    _, can_sends = controller.update(CC, CS, 0, toggles)
-    avh_msgs.extend(msg for msg in can_sends if msg[0] == 0x32b)
-
-  assert len(avh_msgs) == 10
-  assert [msg[1][1] & 0x0F for msg in avh_msgs] == list(range(10))
-  assert all(msg[1][5] & 0x20 for msg in avh_msgs)
-
-  controller.frame = 203
+  controller.frame = 131
   _, can_sends = controller.update(CC, CS, 0, toggles)
   assert not any(msg[0] == 0x32b for msg in can_sends)
   assert controller.avh_attempted