diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index d216290f98..677c0b1e36 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -380,6 +380,10 @@ class SelfdriveD(CruiseHelper):
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
 
+    # mute canBusMissing event if in Park, as it sometimes may trigger a false alarm with MADS in Paused state
+    if CS.gearShifter == car.CarState.GearShifter.park and self.mads.enabled:
+      self.events.remove(EventName.canBusMissing)
+
     CruiseHelper.update(self, CS, self.events_sp, self.experimental_mode)
 
     # decrement personality on distance button press