diff --git a/aos/common/controls/control_loop-tmpl.h b/aos/common/controls/control_loop-tmpl.h
index 449ffea..9bf395e 100644
--- a/aos/common/controls/control_loop-tmpl.h
+++ b/aos/common/controls/control_loop-tmpl.h
@@ -75,9 +75,10 @@
     } else if (::aos::joystick_state->enabled) {
       LOG(WARNING, "outputs disabled while enabled\n");
     }
-  } else if (::aos::joystick_state.IsNewerThanMS(kDSPacketTimeoutMs) &&
-             ::aos::joystick_state->enabled) {
-    outputs_enabled = true;
+  } else if (::aos::joystick_state.IsNewerThanMS(kDSPacketTimeoutMs)) {
+    if (::aos::joystick_state->enabled) {
+      outputs_enabled = true;
+    }
   } else {
     if (::aos::joystick_state.get()) {
       LOG_INTERVAL(driver_station_old_);