diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/test_speed_limit_controller.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/test_speed_limit_controller.py
index 578544ee90..3cfa764df4 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/test_speed_limit_controller.py
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/test_speed_limit_controller.py
@@ -165,6 +165,7 @@ class TestSpeedLimitController:
 
   def test_invalid_speed_limits_handling(self):
     self.slc.state = SpeedLimitControlState.active
+    self.slc.v_cruise_setpoint_prev = REQUIRED_INITIAL_MAX_SET_SPEED
     self.slc.last_valid_speed_limit_offsetted = SPEED_LIMITS['city']
 
     invalid_limits = [-10, 0, 200 * CV.MPH_TO_MS]
@@ -173,3 +174,13 @@ class TestSpeedLimitController:
       v_cruise_slc = self.slc.update(True, SPEED_LIMITS['city'], 0, REQUIRED_INITIAL_MAX_SET_SPEED, invalid_limit, 0, Source.car_state, self.events_sp)
       assert isinstance(v_cruise_slc, (int, float))
       assert v_cruise_slc == V_CRUISE_UNSET or v_cruise_slc > 0
+
+  def test_stale_data_handling(self):
+    self.slc.state = SpeedLimitControlState.active
+    self.slc.v_cruise_setpoint_prev = REQUIRED_INITIAL_MAX_SET_SPEED
+    old_speed_limit = SPEED_LIMITS['city']
+    self.slc.last_valid_speed_limit_offsetted = old_speed_limit
+
+    v_cruise_slc = self.slc.update(True, SPEED_LIMITS['city'], 0, REQUIRED_INITIAL_MAX_SET_SPEED, 0, 0, Source.car_state, self.events_sp)
+    assert self.slc.state in ACTIVE_STATES
+    assert v_cruise_slc == old_speed_limit