diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index d2fd0f099e..e376ea5c9c 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -331,12 +331,13 @@ class SelfdriveD:
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
       self.events.add(EventName.selfdrivedLagging)
-    if self.sm['radarState'].radarErrors.canError:
-      self.events.add(EventName.canError)
-    elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
-      self.events.add(EventName.radarTempUnavailable)
-    elif any(self.sm['radarState'].radarErrors.to_dict().values()):
-      self.events.add(EventName.radarFault)
+    if self.CP.openpilotLongitudinalControl:
+      if self.sm['radarState'].radarErrors.canError:
+        self.events.add(EventName.canError)
+      elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
+        self.events.add(EventName.radarTempUnavailable)
+      elif any(self.sm['radarState'].radarErrors.to_dict().values()):
+        self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)
     if CS.canTimeout: