diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 3dceee4c41..4f79770634 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -474,7 +474,8 @@ class SelfdriveD:
     self.update_events(CS)
     if not self.CP.passive and self.initialized:
       self.enabled, self.active = self.state_machine.update(self.events)
-    self.mads.update(CS)
+    if not self.CP.notCar:
+      self.mads.update(CS)
     self.update_alerts(CS)
 
     self.publish_selfdriveState(CS)