diff --git a/opendbc_repo/opendbc/safety/tests/common.py b/opendbc_repo/opendbc/safety/tests/common.py
index d94bdf26c..8197ce872 100644
--- a/opendbc_repo/opendbc/safety/tests/common.py
+++ b/opendbc_repo/opendbc/safety/tests/common.py
@@ -12,6 +12,7 @@ from opendbc.safety.tests.libsafety import libsafety_py
 from opendbc.car.lateral import MAX_LATERAL_ACCEL, MAX_LATERAL_JERK
 
 from opendbc.safety.tests.mads_common import MadsSafetyTestBase
+from opendbc.safety.tests.rx_checks_common import RxChecksSafetyTestBase
 
 MAX_WRONG_COUNTERS = 5
 MAX_SAMPLE_VALS = 6
@@ -1040,7 +1041,7 @@ class SafetyTest(SafetyTestBase):
 
 
 @add_regen_tests
-class CarSafetyTest(SafetyTest, MadsSafetyTestBase):
+class CarSafetyTest(SafetyTest, MadsSafetyTestBase, RxChecksSafetyTestBase):
   STANDSTILL_THRESHOLD: float = 0.0
   GAS_PRESSED_THRESHOLD = 0
   RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = None
diff --git a/opendbc_repo/opendbc/safety/tests/libsafety/safety.c b/opendbc_repo/opendbc/safety/tests/libsafety/safety.c
index 834eca3c8..429324415 100644
--- a/opendbc_repo/opendbc/safety/tests/libsafety/safety.c
+++ b/opendbc_repo/opendbc/safety/tests/libsafety/safety.c
@@ -46,6 +46,46 @@ void tick_mads_state(bool vm, bool acc_main, bool op_allowed, bool braking, bool
   mads_state_update(vm, acc_main, op_allowed, braking, steering_disengage);
 }
 
+void set_unseen_rx_checks_valid(void){
+  for (int i = 0; i < current_safety_config.rx_checks_len; i++) {
+    RxStatus *status = &current_safety_config.rx_checks[i].status;
+    if (!status->msg_seen) {
+      status->msg_seen = true;
+      status->index = 0;
+      status->valid_checksum = true;
+      status->wrong_counters = 0;
+      status->valid_quality_flag = true;
+      status->last_timestamp = microsecond_timer_get();
+      status->lagging = false;
+    }
+  }
+}
+
+int get_ignore_frequency_check_count(void){
+  int count = 0;
+  for (int i = 0; i < current_safety_config.rx_checks_len; i++) {
+    for (uint8_t j = 0U; (j < MAX_ADDR_CHECK_MSGS) && (current_safety_config.rx_checks[i].msg[j].addr != 0); j++) {
+      if (current_safety_config.rx_checks[i].msg[j].ignore_frequency_check) {
+        count++;
+      }
+    }
+  }
+  return count;
+}
+
+bool get_rx_check_ignore_frequency(int addr, int bus){
+  bool ignore = false;
+  for (int i = 0; i < current_safety_config.rx_checks_len; i++) {
+    for (uint8_t j = 0U; (j < MAX_ADDR_CHECK_MSGS) && (current_safety_config.rx_checks[i].msg[j].addr != 0); j++) {
+      const CanMsgCheck *msg = &current_safety_config.rx_checks[i].msg[j];
+      if ((msg->addr == addr) && ((int)msg->bus == bus) && msg->ignore_frequency_check) {
+        ignore = true;
+      }
+    }
+  }
+  return ignore;
+}
+
 void set_relay_malfunction(bool c){
   relay_malfunction = c;
 }
diff --git a/opendbc_repo/opendbc/safety/tests/rx_checks_common.py b/opendbc_repo/opendbc/safety/tests/rx_checks_common.py
new file mode 100644
index 000000000..86db0a21a
--- /dev/null
+++ b/opendbc_repo/opendbc/safety/tests/rx_checks_common.py
@@ -0,0 +1,29 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import unittest
+
+from opendbc.safety.tests.libsafety import libsafety_py
+
+
+class RxChecksSafetyTestBase(unittest.TestCase):
+  safety: libsafety_py.LibSafety
+
+  def _ignore_frequency_check_msgs(self):
+    return []
+
+  def test_ignore_frequency_check(self):
+    msgs = self._ignore_frequency_check_msgs()
+    self.assertEqual(len(msgs), self.safety.get_ignore_frequency_check_count())
+
+    for msg in msgs:
+      self.assertTrue(self._rx(msg))
+      self.assertTrue(self.safety.get_rx_check_ignore_frequency(msg[0].addr, msg[0].bus))
+
+    self.safety.set_unseen_rx_checks_valid()
+    self.safety.set_controls_allowed(True)
+    self.safety.safety_tick()
+    self.assertTrue(self.safety.get_controls_allowed())
diff --git a/opendbc_repo/opendbc/safety/tests/test_chrysler.py b/opendbc_repo/opendbc/safety/tests/test_chrysler.py
index 20bcf7ba7..4a9c4761b 100755
--- a/opendbc_repo/opendbc/safety/tests/test_chrysler.py
+++ b/opendbc_repo/opendbc/safety/tests/test_chrysler.py
@@ -89,6 +89,11 @@ class TestChryslerSafety(common.CarSafetyTest, common.MotorTorqueSteeringSafetyT
   def _lkas_button_msg(self, enabled):
     values = {"TOGGLE_LKAS": enabled}
     return self.packer.make_can_msg_safety("TRACTION_BUTTON", 0, values)
+
+  def _ignore_frequency_check_msgs(self):
+    return [self._lkas_button_msg(False)]
+
+
 class TestChryslerRamDTSafety(TestChryslerSafety):
   DBC = "chrysler_ram_dt_generated"
 
diff --git a/opendbc_repo/opendbc/safety/tests/test_tesla.py b/opendbc_repo/opendbc/safety/tests/test_tesla.py
index c18c4ca28..0a0bbb939 100755
--- a/opendbc_repo/opendbc/safety/tests/test_tesla.py
+++ b/opendbc_repo/opendbc/safety/tests/test_tesla.py
@@ -489,6 +489,9 @@ class TestTeslaVehicleBusSafety(TestTeslaSafetyBase):
     values = {"UI_activeTouchPoints": 3 if enabled else 0}
     return self.packer_adas.make_can_msg_safety("UI_status2", CANBUS.vehicle, values)
 
+  def _ignore_frequency_check_msgs(self):
+    return [self._lkas_button_msg(False)]
+
   def _set_mads_screen_button_config(self, finger_flag):
     param_sp = TeslaSafetyFlagsSP.HAS_VEHICLE_BUS
     if finger_flag is not None:
diff --git a/opendbc_repo/opendbc/safety/tests/test_toyota.py b/opendbc_repo/opendbc/safety/tests/test_toyota.py
index 04a5dcb99..fce27ea57 100755
--- a/opendbc_repo/opendbc/safety/tests/test_toyota.py
+++ b/opendbc_repo/opendbc/safety/tests/test_toyota.py
@@ -37,6 +37,10 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
 
   SAFETY_PARAM_SP: int = 0
 
+  def setUp(self):
+    libsafety_py.libsafety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
+    super().setUp()
+
   packer: CANPackerSafety
   safety: libsafety_py.LibSafety
 
@@ -95,6 +99,9 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
     values = {"MAIN_ON": enabled}
     return self.packer.make_can_msg_safety(msg, 0, values)
 
+  def _ignore_frequency_check_msgs(self):
+    return [self._acc_state_msg(False)] if self.SAFETY_PARAM_SP & ToyotaSafetyFlagsSP.UNSUPPORTED_DSU else []
+
   def test_diagnostics(self, stock_longitudinal: bool = False, ecu_disabled: bool = True):
     for should_tx, msg in ((False, b"\x6D\x02\x3E\x00\x00\x00\x00\x00"),  # fwdCamera tester present
                            (False, b"\x0F\x03\xAA\xAA\x00\x00\x00\x00"),  # non-tester present