diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 0c87da4a2..bd9c8d78f 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -147,6 +147,7 @@ class ModularAssistiveDrivingSystem:
       self.events.remove(EventName.speedTooLow)
       self.events.remove(EventName.cruiseDisabled)
       self.events.remove(EventName.manualRestart)
+      self.events.remove(EventName.espActive)
 
     selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable)
     set_speed_btns_enable = any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents)