diff --git a/openpilot/selfdrive/locationd/paramsd.py b/openpilot/selfdrive/locationd/paramsd.py
index c1088a8180..9b5ff7143e 100755
--- a/openpilot/selfdrive/locationd/paramsd.py
+++ b/openpilot/selfdrive/locationd/paramsd.py
@@ -121,7 +121,7 @@ class VehicleParamsLearner:
 
       in_linear_region = abs(steering_angle) < 45
       self.observed_speed = msg.vEgo
-      self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region
+      self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region and msg.gearShifter != car.CarState.GearShifter.reverse
 
       if self.active:
         self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[np.radians(steering_angle)]]))